artisynth.core.femmodels

Class SkinMeshBody.FrameInfo

java.lang.Object

artisynth.core.femmodels.SkinMeshBody.BodyInfo

artisynth.core.femmodels.SkinMeshBody.FrameInfo

Enclosing class:

SkinMeshBody

public static class SkinMeshBody.FrameInfo
extends SkinMeshBody.BodyInfo

Contains information for each frame controlling this SkinMeshBody.

Method Summary

Modifier and Type	Method and Description
RigidTransform3d	getBasePose() Returns the current base pose for this frame.
DualQuaternion	getBlendQuaternion() Returns the DualQuaternion representation of the transform returned by getDeltaPose().
Frame	getBody()
RigidTransform3d	getDeltaPose() Returns the displacement from the base pose to the Frame's current pose.
Frame	getFrame() Returns the Frame component itself.
PolygonalMesh	getMesh() Returns the PolygonalMesh, if any, associated with this body.
void	setBasePose(RigidTransform3d T) Sets the base pose for this frame.
void	setFrame(Frame frame)
void	updateDualQuaternion()
void	updatePosState(SkinMeshBody.FrameBlending frameBlending) Computes the quantities returned by getDeltaPose(), and, for non-linear blending, getBlendQuaternion().

Methods inherited from class artisynth.core.femmodels.SkinMeshBody.BodyInfo

getIndex, setIndex

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

getFrame

public Frame getFrame()

Returns the Frame component itself.

setFrame

public void setFrame(Frame frame)

getBasePose

public RigidTransform3d getBasePose()

Returns the current base pose for this frame. Skin displacements are computed with respect to the base pose.

setBasePose

public void setBasePose(RigidTransform3d T)

Sets the base pose for this frame.

getDeltaPose

public RigidTransform3d getDeltaPose()

Returns the displacement from the base pose to the Frame's current pose. If the base pose is XBW, and the current pose is TFW, then this is computed as

  TFW * inv(XBW)
 

getBlendQuaternion

public DualQuaternion getBlendQuaternion()

Returns the DualQuaternion representation of the transform returned by getDeltaPose().

getMesh

public PolygonalMesh getMesh()

Description copied from class: SkinMeshBody.BodyInfo

Returns the PolygonalMesh, if any, associated with this body.

Specified by:

getMesh in class SkinMeshBody.BodyInfo

getBody

public Frame getBody()

Specified by:

getBody in class SkinMeshBody.BodyInfo

updatePosState

public void updatePosState(SkinMeshBody.FrameBlending frameBlending)

Computes the quantities returned by getDeltaPose(), and, for non-linear blending, getBlendQuaternion(). This should be called, before these quantities are used, whenever the Frame's pose changes.

updateDualQuaternion

public void updateDualQuaternion()