DeformableBody (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.DynamicComponentBase
    - - artisynth.core.mechmodels.Frame
      - artisynth.core.mechmodels.RigidBody
        
        artisynth.core.mechmodels.DeformableBody

All Implemented Interfaces:

Collidable, CollidableBody, CollidableDynamicComponent, ConnectableBody, ContactMaster, DynamicAgent, DynamicComponent, ForceEffector, FrameAttachable, HasSurfaceMesh, MotionTargetComponent, PointAttachable, Wrappable, ComponentChangeListener, CompositeComponent, CopyableComponent, HasCoordinateFrame, HasNumericState, IndexedComponentList, ModelComponent, PostScannable, PropertyChangeListener, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

BeamBody, EBBeamBody
```
public abstract class DeformableBody
extends RigidBody
implements PropertyChangeListener
```

Nested Class Summary
- Nested classes/interfaces inherited from class artisynth.core.mechmodels.RigidBody
  RigidBody.InertiaMethod
- Nested classes/interfaces inherited from interface artisynth.core.mechmodels.Collidable
  Collidable.Collidability, Collidable.Group
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent
  CompositeComponent.NavpanelDisplay

Field Summary

Fields
Modifier and Type Field and Description

static PropertyList myProps
- Fields inherited from class artisynth.core.mechmodels.RigidBody
  DEFAULT_GROUNDED, DEFAULT_SUBMESHES_SELECTABLE
- Fields inherited from class artisynth.core.mechmodels.Frame
  dynamicVelInWorldCoords, myRenderFrame
- Fields inherited from class artisynth.core.modelbase.ModelComponentBase
  enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
- Fields inherited from interface artisynth.core.mechmodels.Collidable
  All, AllBodies, Deformable, Rigid, Self
- Fields inherited from interface artisynth.core.mechmodels.Wrappable
  OUTSIDE
- Fields inherited from interface artisynth.core.modelbase.CopyableComponent
  COPY_REFERENCES, REST_POSITION
- Fields inherited from interface artisynth.core.modelbase.TransformableGeometry
  TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

Fields
Modifier and Type	Field and Description
`static PropertyList`	`myProps`

Method Summary

All Methods Static Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addDeformedFrameForce(RigidTransform3d A0, Wrench wr)` Adds to this body's elastic forces the forces arising from applying a wrench `f` on an attached frame.
`void`	`addEffectivePointMass(double m, Vector3d loc)` Adds a point mass to the effective spatial inertia for this Frame.
`void`	`addElasticForce(VectorNd f)`
`void`	`addExternalElasticForce(VectorNd f)`
`int`	`addForce(double[] f, int idx)`
`void`	`addFrameForce(RigidTransform3d TFL0, Wrench wr)` Adds to this body's forces the wrench arising from applying a wrench `f` on an attached frame.
`void`	`addPointForce(Point3d loc, Vector3d f)` Adds to this body's forces the wrench arising from applying a force `f` on an attached point.
`void`	`addPointForce(Wrench wr, VectorNd fe, Point3d loc, Vector3d f)` Adds to `wr` and `fe` the wrench and elastic forces arising from applying a force `f` on a point `loc`.
`void`	`addPosImpulse(double[] xbuf, int xidx, double h, double[] vbuf, int vidx)`
`void`	`addPosJacobian(SparseNumberedBlockMatrix S, double s)` Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
`void`	`addScaledExternalElasticForce(double s, VectorNd f)`
`void`	`addSolveBlock(SparseNumberedBlockMatrix S)`
`void`	`addToPointVelocity(Vector3d vel, double w, ContactPoint cpnt)` Computes the velocity imparted to a contact point by this component's current velocity, multiples it by a weighting factor `w`, and add it to `vel`.
`void`	`addVelJacobian(SparseNumberedBlockMatrix S, double s)` Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
`void`	`applyExternalForces()`
`void`	`applyForces(double t)` Adds forces to the components affected by this force effector at a particular time.
`void`	`computeDeformationGradient(Matrix3d F, Vector3d x0)`
`void`	`computeDeformedFrame(RigidTransform3d A, RigidTransform3d A0)`
`void`	`computeDeformedFrameVel(Twist vel, RigidTransform3d A0)` Computes the spatial velocity of an attached frame A, as represented in body coordinates.
`void`	`computeDeformedLocation(Vector3d pos, Vector3d pos0)` Computes the deformed position in body coordinates
`void`	`computeDeformedVelocity(Vector3d vel, Vector3d pos0)` Computes the deformed velocity in body coordinates
`void`	`computeElasticJacobian(MatrixNd Pi, RigidTransform3d A0, boolean worldCoords)` Compute the transform that maps elastic velocities onto the spatial velocity of an attached frame A.
`void`	`computeFrameLocation(RigidTransform3d TFL0, RigidTransform3d TFW)`
`void`	`computeFramePosition(RigidTransform3d TFW, RigidTransform3d TFL0)`
`void`	`computeFrameVelocity(Twist vel, RigidTransform3d TFL0)`
`void`	`computePointCoriolis(Vector3d cor, Vector3d loc)` Computes the velocity derivative of a point attached to this frame that is due to the current velocity of the frame.
`void`	`computePointLocation(Vector3d loc0, Vector3d pos)` Computes the location, in body coordinates, of a point whose position is given in world coordinates.
`void`	`computePointPosition(Vector3d pos, Point3d loc)` Computes the position, in world coordinates, of a point attached to this frame.
`void`	`computePointVelocity(Vector3d vel, Vector3d loc)` Computes the velocity, in world coordinates, of a point attached to this frame.
`void`	`computeUndeformedFrame(RigidTransform3d A0, RigidTransform3d A)`
`void`	`computeUndeformedLocation(Vector3d loc0, Vector3d loc)`
`double`	`computeUndeformedLocation(Vector3d pos0, Vector3d pos, double tol)` Computes the undeformed position of a given position in body coordinates
`void`	`computeWorldPointForceJacobian(MatrixBlock GT, Point3d loc)` Computes the force Jacobian, in world coordinates, for a point attached to this frame.
`static FemMaterial`	`createDefaultMaterial()`
`MatrixBlock`	`createMassBlock()` Create a matrix block for representing the mass of this component, initialized to the component's effective mass (instrinsic mass plus the mass due to all attachmented components).
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`DistanceGridComp`	`getDistanceGridComp()` Returns a `DistanceGridComp` object that in turn contains a signed distance grid that can be used with a SignedDistanceCollider, or `null` if this Collidable does not support a signed distance grid (i.e., if `CollidableBody.hasDistanceGrid()` returns `false`).
`abstract void`	`getDShape(Matrix3d Dshp, int i, Vector3d pos0)`
`void`	`getEffectiveMass(Matrix M, double t)` Gets the effective mass of this component at a particular time.
`int`	`getEffectiveMassForces(VectorNd f, double t, int idx)` Gets the mass forces for this component at a particular time.
`VectorNd`	`getElasticForce()`
`VectorNd`	`getElasticPos()`
`double`	`getElasticPos(int idx)`
`void`	`getElasticPos(VectorNd pos)`
`VectorNd`	`getElasticVel()`
`double`	`getElasticVel(int idx)`
`void`	`getElasticVel(VectorNd vel)`
`VectorNd`	`getExternalElasticForce()`
`int`	`getForce(double[] f, int idx)`
`boolean`	`getFreezeFrame()`
`void`	`getInverseMass(Matrix Minv, Matrix M)` Inverts a mass for this component.
`void`	`getMass(Matrix M, double t)` Gets the mass of this component at a particular time.
`double`	`getMassDamping()`
`FemMaterial`	`getMaterial()`
`int`	`getPosDerivative(double[] dxdt, int idx)`
`int`	`getPosState(double[] buf, int idx)`
`int`	`getPosStateSize()`
`abstract void`	`getShape(Vector3d shp, int i, Vector3d pos0)`
`double`	`getStiffnessDamping()`
`int`	`getVelState(double[] buf, int idx)`
`int`	`getVelStateSize()`
`boolean`	`hasDistanceGrid()` Returns `true` if this RigidBody supports a signed distance grid that can be used with a SignedDistanceCollider.
`void`	`invalidateStiffness()`
`boolean`	`isDeformable()` Returns `true` if this collidable is deformable.
`int`	`mulInverseEffectiveMass(Matrix M, double[] a, double[] f, int idx)`
`abstract int`	`numElasticCoords()`
`void`	`propertyChanged(PropertyChangeEvent e)`
`void`	`setContactConstraint(double[] buf, double w, Vector3d dir, ContactPoint cpnt)` Computes the values for the block matrix which defines this component's contribution to a contact constraint matrix.
`void`	`setElasticForce(VectorNd f)`
`void`	`setElasticPos(int idx, double value)`
`void`	`setElasticPos(VectorNd pos)`
`void`	`setElasticVel(int idx, double value)`
`void`	`setElasticVel(VectorNd vel)`
`void`	`setExternalElasticForce(VectorNd f)`
`int`	`setForce(double[] f, int idx)`
`void`	`setFreezeFrame(boolean freeze)`
`void`	`setMassDamping(double d)`
`<T extends FemMaterial> T`	`setMaterial(T mat)`
`int`	`setPosState(double[] buf, int idx)` Replace updatePosState() with updateSlavePosStates() so we don't update attachments when doing general state uodates.
`void`	`setRandomForce()` Sets the force of this component to a random value.
`void`	`setRandomPosState()` Sets the position state of this component to a random value.
`void`	`setRandomVelState()` Sets the velocity state of this component to a random value.
`void`	`setStiffnessDamping(double d)`
`int`	`setVelState(double[] buf, int idx)`
`abstract void`	`updateStiffnessMatrix()`
`void`	`zeroExternalForces()`
`void`	`zeroForces()`

Methods inherited from class artisynth.core.mechmodels.RigidBody
add, addConnector, addEffectiveFrameMass, addMesh, addMesh, addMesh, addMeshComp, addTransformableDependencies, allowCollision, applyGravity, centerPoseOnCenterOfMass, clearMeshComps, collectVertexMasters, componentChanged, containsConnector, containsContactMaster, containsMeshComp, copy, createBox, createBox, createBox, createCylinder, createEllipsoid, createFromMesh, createFromMesh, createFromMesh, createFromMesh, createIcosahedralSphere, createRenderProps, createSphere, extrapolatePose, findComponent, get, get, getByNumber, getCenterOfMass, getCenterOfMass, getCharacteristicRadius, getChildren, getCollidable, getCollidableAncestor, getCollidableIndex, getCollisionMesh, getConnectors, getCopyReferences, getDensity, getDensityRange, getDistanceGrid, getDistanceGridRes, getEffectiveInertia, getEffectiveMass, getEffectiveMassForces, getGridSurfaceRendering, getInertia, getInertialDamping, getInertialDampingMode, getInertiaMethod, getMass, getMass, getMassRange, getMesh, getMeshComp, getMeshComp, getMeshComps, getNavpanelDisplay, getNumberLimit, getRotationalInertia, getRotationalInertia, getSubmeshesSelectable, getSurfaceMesh, getSurfaceMeshComp, getSurfaceMeshes, getVolume, hasChildren, hasForce, hasInvariantMasters, hierarchyContainsReferences, indexOf, isCompound, isDuplicatable, isFreeBody, isGrounded, isMassConstant, mulInverseEffectiveMass, numComponents, numMeshComps, numSurfaceMeshes, penetrationDistance, postscan, prerender, remove, removeConnector, removeMeshComp, removeMeshComp, render, resetEffectiveMass, scaleDistance, scaleMass, scaleSurfaceMesh, scan, setCenterOfMass, setCollidable, setCollidableIndex, setDensity, setDisplayMode, setDistanceGridRes, setDynamic, setGridSurfaceRendering, setGrounded, setInertia, setInertia, setInertia, setInertia, setInertiaFromDensity, setInertiaFromMass, setInertialDamping, setInertialDampingMode, setInertiaMethod, setMass, setMesh, setMesh, setMesh, setPose, setRotationalInertia, setSubmeshesSelectable, setSurfaceMesh, setSurfaceMesh, setSurfaceMesh, subEffectiveInertia, surfaceTangent, transformCoordinateFrame, transformGeometry, translateCoordinateFrame, updateBounds, updateNameMap, write

Methods inherited from class artisynth.core.mechmodels.Frame
add1DConstraintBlocks, add2DConstraintBlocks, addExternalForce, addForce, addPointForce, addRelativeVelocity, addScaledExternalForce, addSolveBlocks, addTargetJacobian, collectMasterComponents, computeAppliedWrench, computeForceOnMasters, computeFramePosVel, computePointPosVel, createFrameAttachment, createPointAttachment, getAxisDrawStyle, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getExternalForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getFrameMarkers, getJacobianType, getMoment, getOrientation, getOrientation, getPose, getPose, getPosition, getRenderFrame, getRotaryDamping, getRotaryDampingMode, getRotation, getSelection, getState, getTargetActivity, getTargetOrientation, getTargetPos, getTargetPose, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getTransForce, getVelocity, getVelocity, getWorldVelState, resetTargets, setAxisDrawStyle, setAxisLength, setBodyVelocity, setExternalForce, setForce, setFrameDamping, setFrameDampingMode, setOrientation, setPose, setPosition, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, transformPose, updateAttachmentPosStates, velocityLimitExceeded

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase
addAttachmentRequest, addConstrainer, addMasterAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex, transformGeometry

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
defaultRenderPropsAreNull, getRenderHints, getRenderProps, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody
transformPose

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable
createFrameAttachment

Methods inherited from interface artisynth.core.mechmodels.PointAttachable
createPointAttachment

Methods inherited from interface artisynth.core.modelbase.CompositeComponent
recursivelyFind

Methods inherited from interface artisynth.core.mechmodels.Wrappable
getPose

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent
addAttachmentRequest, removeAttachmentRequest

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent
addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex

Methods inherited from interface artisynth.core.modelbase.HasNumericState
advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry
transformGeometry, transformPriority

Methods inherited from interface artisynth.core.mechmodels.ContactMaster
isControllable

- Field Detail
  - myProps
```
public static PropertyList myProps
```
- Method Detail
  - invalidateStiffness
```
public void invalidateStiffness()
```
  - getAllPropertyInfo
```
public PropertyList getAllPropertyInfo()
```
    Description copied from interface: HasProperties
    
    Returns a list giving static information about all properties exported by this object.
    
    Specified by:
    
    getAllPropertyInfo in interface HasProperties
    
    Overrides:
    
    getAllPropertyInfo in class RigidBody
    
    Returns:
    
    static information for all exported properties
  - numElasticCoords
```
public abstract int numElasticCoords()
```
  - isDeformable
```
public boolean isDeformable()
```
    Description copied from interface: Collidable
    
    Returns true if this collidable is deformable. Whether or not a collidable is deformable determines how it responds to default collision behaviors involving deformable and rigid collidables. Also, self-collisions among sub-collidables of a collidable A are permitted only if A is deformable.
    
    Specified by:
    
    isDeformable in interface Collidable
    
    Specified by:
    
    isDeformable in interface ConnectableBody
    
    Overrides:
    
    isDeformable in class RigidBody
    
    Returns:
    
    true if this collidable is deformable
  - hasDistanceGrid
```
public boolean hasDistanceGrid()
```
    Description copied from class: RigidBody
    
    Returns true if this RigidBody supports a signed distance grid that can be used with a SignedDistanceCollider. The grid itself can be obtained with RigidBody.getDistanceGrid().
    
    Specified by:
    
    hasDistanceGrid in interface CollidableBody
    
    Overrides:
    
    hasDistanceGrid in class RigidBody
    
    Returns:
    
    true if a signed distance grid is available for this RigidBody
  - getDistanceGridComp
```
public DistanceGridComp getDistanceGridComp()
```
    Description copied from class: RigidBody
    
    Returns a DistanceGridComp object that in turn contains a signed distance grid that can be used with a SignedDistanceCollider, or null if this Collidable does not support a signed distance grid (i.e., if CollidableBody.hasDistanceGrid() returns false).
    
    Specified by:
    
    getDistanceGridComp in interface CollidableBody
    
    Overrides:
    
    getDistanceGridComp in class RigidBody
  - setMassDamping
```
public void setMassDamping(double d)
```
  - getMassDamping
```
public double getMassDamping()
```
  - setStiffnessDamping
```
public void setStiffnessDamping(double d)
```
  - getStiffnessDamping
```
public double getStiffnessDamping()
```
  - createDefaultMaterial
```
public static FemMaterial createDefaultMaterial()
```
  - getMaterial
```
public FemMaterial getMaterial()
```
  - setMaterial
```
public <T extends FemMaterial> T setMaterial(T mat)
```
  - getFreezeFrame
```
public boolean getFreezeFrame()
```
  - setFreezeFrame
```
public void setFreezeFrame(boolean freeze)
```
  - propertyChanged
```
public void propertyChanged(PropertyChangeEvent e)
```
    Specified by:
    
    propertyChanged in interface PropertyChangeListener
  - getElasticPos
```
public VectorNd getElasticPos()
```
  - getElasticVel
```
public VectorNd getElasticVel()
```
  - getElasticPos
```
public void getElasticPos(VectorNd pos)
```
  - getElasticVel
```
public void getElasticVel(VectorNd vel)
```
  - getElasticForce
```
public VectorNd getElasticForce()
```
  - setElasticForce
```
public void setElasticForce(VectorNd f)
```
  - addElasticForce
```
public void addElasticForce(VectorNd f)
```
  - getExternalElasticForce
```
public VectorNd getExternalElasticForce()
```
  - setExternalElasticForce
```
public void setExternalElasticForce(VectorNd f)
```
  - addExternalElasticForce
```
public void addExternalElasticForce(VectorNd f)
```
  - addScaledExternalElasticForce
```
public void addScaledExternalElasticForce(double s,
                                          VectorNd f)
```
  - setElasticPos
```
public void setElasticPos(VectorNd pos)
```
  - setElasticVel
```
public void setElasticVel(VectorNd vel)
```
  - createMassBlock
```
public MatrixBlock createMassBlock()
```
    Description copied from interface: DynamicAgent
    
    Create a matrix block for representing the mass of this component, initialized to the component's effective mass (instrinsic mass plus the mass due to all attachmented components).
    
    Specified by:
    
    createMassBlock in interface DynamicAgent
    
    Overrides:
    
    createMassBlock in class Frame
  - getMass
```
public void getMass(Matrix M,
                    double t)
```
    Description copied from interface: DynamicAgent
    
    Gets the mass of this component at a particular time. Not currently used; getEffectiveMass() is used instead.
    
    Specified by:
    
    getMass in interface DynamicAgent
    
    Overrides:
    
    getMass in class RigidBody
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - getEffectiveMassForces
```
public int getEffectiveMassForces(VectorNd f,
                                  double t,
                                  int idx)
```
    Description copied from interface: DynamicAgent
    
    Gets the mass forces for this component at a particular time. The forces should be stored in f, starting at the location specified by idx. Upon return, this method should return the value of idx incremented by the dimension of the mass forces.
    
    Specified by:
    
    getEffectiveMassForces in interface DynamicAgent
    
    Overrides:
    
    getEffectiveMassForces in class RigidBody
    
    Parameters:
    
    f - vector to return the forces in
    
    t - current time
    
    idx - starting location within f where forces should be stored
    
    Returns:
    
    updated value for idx
  - getEffectiveMass
```
public void getEffectiveMass(Matrix M,
                             double t)
```
    Description copied from interface: DynamicAgent
    
    Gets the effective mass of this component at a particular time. The effective mass is the nominal mass plus any additional mass incurred from attached components.
    
    Specified by:
    
    getEffectiveMass in interface DynamicAgent
    
    Overrides:
    
    getEffectiveMass in class RigidBody
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - mulInverseEffectiveMass
```
public int mulInverseEffectiveMass(Matrix M,
                                   double[] a,
                                   double[] f,
                                   int idx)
```
    Specified by:
    
    mulInverseEffectiveMass in interface DynamicAgent
    
    Overrides:
    
    mulInverseEffectiveMass in class RigidBody
  - addEffectivePointMass
```
public void addEffectivePointMass(double m,
                                  Vector3d loc)
```
    Adds a point mass to the effective spatial inertia for this Frame.
    
    Overrides:
    
    addEffectivePointMass in class RigidBody
    
    Parameters:
    
    m - mass of the point
    
    loc - location of the point (in local frame coordinates)
  - getInverseMass
```
public void getInverseMass(Matrix Minv,
                           Matrix M)
```
    Description copied from interface: DynamicAgent
    
    Inverts a mass for this component.
    
    Specified by:
    
    getInverseMass in interface DynamicAgent
    
    Overrides:
    
    getInverseMass in class RigidBody
    
    Parameters:
    
    Minv - matrix to return the inverse mass in
    
    M - matrix containing the mass to be inverted
  - addSolveBlock
```
public void addSolveBlock(SparseNumberedBlockMatrix S)
```
    Specified by:
    
    addSolveBlock in interface DynamicAgent
    
    Overrides:
    
    addSolveBlock in class Frame
  - addPosImpulse
```
public void addPosImpulse(double[] xbuf,
                          int xidx,
                          double h,
                          double[] vbuf,
                          int vidx)
```
    Specified by:
    
    addPosImpulse in interface DynamicAgent
    
    Overrides:
    
    addPosImpulse in class Frame
  - getPosDerivative
```
public int getPosDerivative(double[] dxdt,
                            int idx)
```
    Specified by:
    
    getPosDerivative in interface DynamicAgent
    
    Overrides:
    
    getPosDerivative in class Frame
  - getPosState
```
public int getPosState(double[] buf,
                       int idx)
```
    Specified by:
    
    getPosState in interface DynamicAgent
    
    Overrides:
    
    getPosState in class Frame
  - setPosState
```
public int setPosState(double[] buf,
                       int idx)
```
    Description copied from class: RigidBody
    
    Replace updatePosState() with updateSlavePosStates() so we don't update attachments when doing general state uodates. (Attachment updates should be done by the general state update itself).
    
    Specified by:
    
    setPosState in interface DynamicAgent
    
    Overrides:
    
    setPosState in class RigidBody
  - getVelState
```
public int getVelState(double[] buf,
                       int idx)
```
    Specified by:
    
    getVelState in interface DynamicAgent
    
    Overrides:
    
    getVelState in class Frame
  - setVelState
```
public int setVelState(double[] buf,
                       int idx)
```
    Specified by:
    
    setVelState in interface DynamicAgent
    
    Overrides:
    
    setVelState in class Frame
  - setForce
```
public int setForce(double[] f,
                    int idx)
```
    Specified by:
    
    setForce in interface DynamicAgent
    
    Overrides:
    
    setForce in class Frame
  - addForce
```
public int addForce(double[] f,
                    int idx)
```
    Specified by:
    
    addForce in interface DynamicAgent
    
    Overrides:
    
    addForce in class Frame
  - getForce
```
public int getForce(double[] f,
                    int idx)
```
    Specified by:
    
    getForce in interface DynamicAgent
    
    Overrides:
    
    getForce in class Frame
  - getPosStateSize
```
public int getPosStateSize()
```
    Specified by:
    
    getPosStateSize in interface DynamicAgent
    
    Specified by:
    
    getPosStateSize in interface MotionTargetComponent
    
    Overrides:
    
    getPosStateSize in class Frame
  - getVelStateSize
```
public int getVelStateSize()
```
    Specified by:
    
    getVelStateSize in interface DynamicAgent
    
    Specified by:
    
    getVelStateSize in interface MotionTargetComponent
    
    Overrides:
    
    getVelStateSize in class Frame
  - zeroForces
```
public void zeroForces()
```
    Specified by:
    
    zeroForces in interface DynamicAgent
    
    Overrides:
    
    zeroForces in class Frame
  - zeroExternalForces
```
public void zeroExternalForces()
```
    Specified by:
    
    zeroExternalForces in interface DynamicAgent
    
    Overrides:
    
    zeroExternalForces in class Frame
  - applyExternalForces
```
public void applyExternalForces()
```
    Specified by:
    
    applyExternalForces in interface DynamicAgent
    
    Overrides:
    
    applyExternalForces in class Frame
  - updateStiffnessMatrix
```
public abstract void updateStiffnessMatrix()
```
  - applyForces
```
public void applyForces(double t)
```
    Description copied from interface: ForceEffector
    
    Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.
    
    Specified by:
    
    applyForces in interface ForceEffector
    
    Overrides:
    
    applyForces in class RigidBody
    
    Parameters:
    
    t - time (seconds)
  - addVelJacobian
```
public void addVelJacobian(SparseNumberedBlockMatrix S,
                           double s)
```
    Description copied from interface: ForceEffector
    
    Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
    M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.
    
    Specified by:
    
    addVelJacobian in interface ForceEffector
    
    Overrides:
    
    addVelJacobian in class RigidBody
    
    Parameters:
    
    S - solve matrix to which scaled velocity Jacobian is to be added
    
    s - scaling factor for velocity Jacobian
  - addPosJacobian
```
public void addPosJacobian(SparseNumberedBlockMatrix S,
                           double s)
```
    Description copied from interface: ForceEffector
    
    Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
    M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.
    
    Specified by:
    
    addPosJacobian in interface ForceEffector
    
    Overrides:
    
    addPosJacobian in class Frame
    
    Parameters:
    
    S - solve matrix to which scaled position Jacobian is to be added
    
    s - scaling factor for position Jacobian
  - getShape
```
public abstract void getShape(Vector3d shp,
                              int i,
                              Vector3d pos0)
```
  - getDShape
```
public abstract void getDShape(Matrix3d Dshp,
                               int i,
                               Vector3d pos0)
```
  - computePointPosition
```
public void computePointPosition(Vector3d pos,
                                 Point3d loc)
```
    Description copied from class: Frame
    
    Computes the position, in world coordinates, of a point attached to this frame.
    
    Overrides:
    
    computePointPosition in class Frame
    
    Parameters:
    
    pos - returns the point position
    
    loc - position of the point, in body coordinates
  - computePointLocation
```
public void computePointLocation(Vector3d loc0,
                                 Vector3d pos)
```
    Description copied from class: Frame
    
    Computes the location, in body coordinates, of a point whose position is given in world coordinates. This is the inverse computation of Frame.computePointPosition(maspack.matrix.Vector3d, maspack.matrix.Point3d).
    
    Overrides:
    
    computePointLocation in class Frame
    
    Parameters:
    
    loc0 - returns the point location
    
    pos - position of the point, in world coordinates
  - computeUndeformedLocation
```
public void computeUndeformedLocation(Vector3d loc0,
                                      Vector3d loc)
```
  - computePointVelocity
```
public void computePointVelocity(Vector3d vel,
                                 Vector3d loc)
```
    Description copied from class: Frame
    
    Computes the velocity, in world coordinates, of a point attached to this frame.
    
    Overrides:
    
    computePointVelocity in class Frame
    
    Parameters:
    
    vel - returns the point velocity
    
    loc - position of the point, in body coordinates
  - computePointCoriolis
```
public void computePointCoriolis(Vector3d cor,
                                 Vector3d loc)
```
    Description copied from class: Frame
    
    Computes the velocity derivative of a point attached to this frame that is due to the current velocity of the frame.
    
    Overrides:
    
    computePointCoriolis in class Frame
    
    Parameters:
    
    cor - returns the point Coriolis term (in world coordinates)
    
    loc - position of the point, in body coordinates
  - addPointForce
```
public void addPointForce(Wrench wr,
                          VectorNd fe,
                          Point3d loc,
                          Vector3d f)
```
    Adds to wr and fe the wrench and elastic forces arising from applying a force f on a point loc.
    
    Parameters:
    
    wr - accumulates the wrench (world coordinates)
    
    fe - accumulates the elastic forces
    
    loc - location of the point (undeformed body coordinates)
    
    f - force applied to the point (world coordinates)
  - addPointForce
```
public void addPointForce(Point3d loc,
                          Vector3d f)
```
    Adds to this body's forces the wrench arising from applying a force f on an attached point.
    
    Overrides:
    
    addPointForce in class Frame
    
    Parameters:
    
    loc - location of the point (body coordinates)
    
    f - force applied to the point (world coordinates)
  - addFrameForce
```
public void addFrameForce(RigidTransform3d TFL0,
                          Wrench wr)
```
    Adds to this body's forces the wrench arising from applying a wrench f on an attached frame.
    
    Overrides:
    
    addFrameForce in class Frame
    
    Parameters:
    
    TFL0 - location of the frame with respect to the body
    
    wr - 6 DOF force applied to the frame (world coordinates)
  - computeWorldPointForceJacobian
```
public void computeWorldPointForceJacobian(MatrixBlock GT,
                                           Point3d loc)
```
    Description copied from class: Frame
    Computes the force Jacobian, in world coordinates, for a point attached to this frame. If the velocity state size (vsize) of this frame is 6, then GT should be an instance of Matrix6x3Block. Otherwise, it should be an instance of MatrixNdBlock with a size of vsize x 3. For the Matrix6x3Block case, the Jacobian is a 6x3 matrix with the following form:
```
 [     I     ]
 [           ]
 [ [ R loc ] ]
 
```
    where I is the 3x3 identity matrix, R is the frame orientation matrix, and [ x ] denotes the 3x3 skew-symmetric cross product matrix.
    Parameters:
    
    GT - returns the force Jacobian
    
    loc - position of the point, in body coordinates
  - computeDeformedLocation
```
public void computeDeformedLocation(Vector3d pos,
                                    Vector3d pos0)
```
    Computes the deformed position in body coordinates
  - computeUndeformedLocation
```
public double computeUndeformedLocation(Vector3d pos0,
                                        Vector3d pos,
                                        double tol)
```
    Computes the undeformed position of a given position in body coordinates
  - computeDeformedVelocity
```
public void computeDeformedVelocity(Vector3d vel,
                                    Vector3d pos0)
```
    Computes the deformed velocity in body coordinates
  - computeDeformationGradient
```
public void computeDeformationGradient(Matrix3d F,
                                       Vector3d x0)
```
  - computeFramePosition
```
public void computeFramePosition(RigidTransform3d TFW,
                                 RigidTransform3d TFL0)
```
    Overrides:
    
    computeFramePosition in class Frame
  - computeFrameLocation
```
public void computeFrameLocation(RigidTransform3d TFL0,
                                 RigidTransform3d TFW)
```
    Overrides:
    
    computeFrameLocation in class Frame
  - computeFrameVelocity
```
public void computeFrameVelocity(Twist vel,
                                 RigidTransform3d TFL0)
```
    Overrides:
    
    computeFrameVelocity in class Frame
  - computeUndeformedFrame
```
public void computeUndeformedFrame(RigidTransform3d A0,
                                   RigidTransform3d A)
```
  - computeDeformedFrame
```
public void computeDeformedFrame(RigidTransform3d A,
                                 RigidTransform3d A0)
```
  - computeDeformedFrameVel
```
public void computeDeformedFrameVel(Twist vel,
                                    RigidTransform3d A0)
```
    Computes the spatial velocity of an attached frame A, as represented in body coordinates.
  - addDeformedFrameForce
```
public void addDeformedFrameForce(RigidTransform3d A0,
                                  Wrench wr)
```
    Adds to this body's elastic forces the forces arising from applying a wrench f on an attached frame.
    
    Parameters:
    
    A0 - undeformed location of the frame with respect to the body
    
    wr - 6 DOF force applied to the frame (body coordinates)
  - computeElasticJacobian
```
public void computeElasticJacobian(MatrixNd Pi,
                                   RigidTransform3d A0,
                                   boolean worldCoords)
```
    Compute the transform that maps elastic velocities onto the spatial velocity of an attached frame A.
    
    Parameters:
    
    Pi - stores the elastic Jacobian
    
    A0 - rest pose of A (relative to the body frame)
    
    worldCoords - if true, the spatial velocity is rotated into world coordinates. Otherwise, it is returned in the coordinates of A.
  - setElasticPos
```
public void setElasticPos(int idx,
                          double value)
```
  - getElasticPos
```
public double getElasticPos(int idx)
```
  - setElasticVel
```
public void setElasticVel(int idx,
                          double value)
```
  - getElasticVel
```
public double getElasticVel(int idx)
```
  - setContactConstraint
```
public void setContactConstraint(double[] buf,
                                 double w,
                                 Vector3d dir,
                                 ContactPoint cpnt)
```
    Description copied from interface: CollidableDynamicComponent
    
    Computes the values for the block matrix which defines this component's contribution to a contact constraint matrix. The matrix is 1 x n, where n is the component's velocity state size, and the contact is defined by a direction dir and a point cpnt. The computed values should be scaled by a weighting factor w.
    
    Specified by:
    
    setContactConstraint in interface CollidableDynamicComponent
    
    Overrides:
    
    setContactConstraint in class Frame
    
    Parameters:
    
    buf - returns the n values for the block matrix
    
    w - weighting factor by which the values should be scaled
    
    dir - contact direction (world coordinates)
    
    cpnt - contact point
  - addToPointVelocity
```
public void addToPointVelocity(Vector3d vel,
                               double w,
                               ContactPoint cpnt)
```
    Description copied from interface: CollidableDynamicComponent
    
    Computes the velocity imparted to a contact point by this component's current velocity, multiples it by a weighting factor w, and add it to vel.
    
    Specified by:
    
    addToPointVelocity in interface CollidableDynamicComponent
    
    Overrides:
    
    addToPointVelocity in class Frame
    
    Parameters:
    
    vel - accumulates contact point velocity (world coordinates)
    
    w - weighting factor
    
    cpnt - contact point
  - setRandomPosState
```
public void setRandomPosState()
```
    Description copied from class: Frame
    
    Sets the position state of this component to a random value. Used for testing.
    
    Specified by:
    
    setRandomPosState in interface DynamicAgent
    
    Overrides:
    
    setRandomPosState in class Frame
  - setRandomVelState
```
public void setRandomVelState()
```
    Description copied from class: Frame
    
    Sets the velocity state of this component to a random value. Used for testing.
    
    Specified by:
    
    setRandomVelState in interface DynamicAgent
    
    Overrides:
    
    setRandomVelState in class Frame
  - setRandomForce
```
public void setRandomForce()
```
    Description copied from class: Frame
    
    Sets the force of this component to a random value. Used for testing.
    
    Specified by:
    
    setRandomForce in interface DynamicAgent
    
    Overrides:
    
    setRandomForce in class Frame

Class DeformableBody

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.mechmodels.RigidBody

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.Collidable

Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent

Field Summary

Fields inherited from class artisynth.core.mechmodels.RigidBody

Fields inherited from class artisynth.core.mechmodels.Frame

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.mechmodels.Collidable

Fields inherited from interface artisynth.core.mechmodels.Wrappable

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface maspack.render.IsRenderable

Method Summary

Methods inherited from class artisynth.core.mechmodels.RigidBody

Methods inherited from class artisynth.core.mechmodels.Frame

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable

Methods inherited from interface artisynth.core.mechmodels.PointAttachable

Methods inherited from interface artisynth.core.modelbase.CompositeComponent

Methods inherited from interface artisynth.core.mechmodels.Wrappable

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

Methods inherited from interface artisynth.core.modelbase.HasNumericState

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

Methods inherited from interface artisynth.core.mechmodels.ContactMaster

Field Detail

myProps

Method Detail

invalidateStiffness

getAllPropertyInfo

numElasticCoords

isDeformable

hasDistanceGrid

getDistanceGridComp

setMassDamping

getMassDamping

setStiffnessDamping

getStiffnessDamping

createDefaultMaterial

getMaterial

setMaterial

getFreezeFrame

setFreezeFrame

propertyChanged

getElasticPos

getElasticVel

getElasticPos

getElasticVel

getElasticForce

setElasticForce

addElasticForce

getExternalElasticForce

setExternalElasticForce

addExternalElasticForce

addScaledExternalElasticForce

setElasticPos

setElasticVel

createMassBlock

getMass

getEffectiveMassForces

getEffectiveMass

mulInverseEffectiveMass

addEffectivePointMass

getInverseMass

addSolveBlock

addPosImpulse

getPosDerivative

getPosState

setPosState

getVelState

setVelState

setForce

addForce

getForce