artisynth.core.mechmodels

Class DynamicComponentBase

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

All Implemented Interfaces:

artisynth.core.mechmodels.DynamicAgent, artisynth.core.mechmodels.DynamicComponent, artisynth.core.mechmodels.ForceEffector, artisynth.core.modelbase.HasNumericState, artisynth.core.modelbase.ModelComponent, artisynth.core.modelbase.PostScannable, artisynth.core.modelbase.RenderableComponent, artisynth.core.modelbase.TransformableGeometry, java.lang.Cloneable, maspack.properties.HasProperties, maspack.properties.HierarchyNode, maspack.render.HasRenderProps, maspack.render.IsRenderable, maspack.render.IsSelectable, maspack.render.Renderable, maspack.util.Scannable

public abstract class DynamicComponentBase
extends artisynth.core.modelbase.RenderableComponentBase
implements artisynth.core.mechmodels.DynamicComponent

Nested Class Summary

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

artisynth.core.modelbase.ModelComponent.FilePathSaveType, artisynth.core.modelbase.ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
protected artisynth.core.mechmodels.DynamicAttachment	myAttachment
protected java.util.LinkedList<artisynth.core.mechmodels.AttachingComponent>	myAttachmentRequests
protected java.util.ArrayList<artisynth.core.mechmodels.Constrainer>	myConstrainers
protected boolean	myDynamicP
protected java.util.LinkedList<artisynth.core.mechmodels.DynamicAttachment>	myMasterAttachments
protected int	mySolveIdx

Fields inherited from class artisynth.core.modelbase.RenderableComponentBase

myProps, myRenderProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

ANCESTOR_SELECTED, DEFAULT_NAVPANEL_VISIBILITY, enforceUniqueCompositeNames, enforceUniqueNames, FIXED, FREE_FLAG_MASK, freeFlags, MARKED, myFlags, myName, myNumber, myParent, NAVPANEL_ALWAYS, NAVPANEL_HIDDEN, NON_WRITABLE, NULL_OBJ, SCANNING, SELECTED, useCompactPathNames

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

Constructor Summary

Constructors

Constructor and Description
DynamicComponentBase()

Method Summary

Modifier and Type	Method and Description
void	addAttachmentRequest(artisynth.core.mechmodels.AttachingComponent ac)
void	addConstrainer(artisynth.core.mechmodels.Constrainer c)
void	addMasterAttachment(artisynth.core.mechmodels.DynamicAttachment a)
abstract void	addSolveBlock(maspack.matrix.SparseNumberedBlockMatrix S)
void	addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext context, int flags)
void	connectToHierarchy(artisynth.core.modelbase.CompositeComponent comp)
DynamicComponentBase	copy(int flags, java.util.Map<artisynth.core.modelbase.ModelComponent,artisynth.core.modelbase.ModelComponent> copyMap)
void	disconnectFromHierarchy(artisynth.core.modelbase.CompositeComponent comp)
artisynth.core.mechmodels.DynamicAttachment	getAttachment()
java.util.List<artisynth.core.mechmodels.Constrainer>	getConstrainers()
void	getInverseMass(maspack.matrix.Matrix Minv, maspack.matrix.Matrix M)
java.util.LinkedList<artisynth.core.mechmodels.DynamicAttachment>	getMasterAttachments()
int	getSolveIndex()
boolean	hasState()
boolean	isActive()
boolean	isAttached()
boolean	isControllable()
boolean	isDynamic()
boolean	isParametric()
boolean	removeAttachmentRequest(artisynth.core.mechmodels.AttachingComponent ac)
boolean	removeConstrainer(artisynth.core.mechmodels.Constrainer c)
void	removeMasterAttachment(artisynth.core.mechmodels.DynamicAttachment a)
void	setAttached(artisynth.core.mechmodels.DynamicAttachment attachment)
protected void	setDynamic(boolean dynamic) Sets the dynamic property for this component.
void	setSolveIndex(int idx)
void	transformGeometry(maspack.matrix.AffineTransform3dBase X)
void	transformGeometry(maspack.geometry.GeometryTransformer gtr, artisynth.core.modelbase.TransformGeometryContext context, int flags)

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

createRenderProps, defaultRenderProps, defaultRenderPropsAreNull, getAllPropertyInfo, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, prerender, render, setDefaultValues, setRenderProps, setVisible, updateBounds, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, dowrite, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, postscanAttributeName, postscanItem, postscanReference, postscanReferences, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, scanAndStoreReference, scanAndStoreReferences, scanAttributeName, scanItem, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write, writeItems

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

addForce, addPosImpulse, applyExternalForces, applyGravity, createMassBlock, getEffectiveMass, getEffectiveMass, getEffectiveMassForces, getForce, getMass, getMass, getPosDerivative, getPosState, getPosStateSize, getState, getVelState, getVelStateSize, hasForce, isMassConstant, mulInverseEffectiveMass, resetEffectiveMass, setForce, setPosState, setRandomForce, setRandomPosState, setRandomVelState, setState, setVelState, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.ModelComponent

getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Methods inherited from interface artisynth.core.mechmodels.ForceEffector

addPosJacobian, addSolveBlocks, addVelJacobian, applyForces, getJacobianType

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformPriority

Field Detail

myAttachment

protected artisynth.core.mechmodels.DynamicAttachment myAttachment

myMasterAttachments

protected java.util.LinkedList<artisynth.core.mechmodels.DynamicAttachment> myMasterAttachments

myAttachmentRequests

protected java.util.LinkedList<artisynth.core.mechmodels.AttachingComponent> myAttachmentRequests

myConstrainers

protected java.util.ArrayList<artisynth.core.mechmodels.Constrainer> myConstrainers

myDynamicP

protected boolean myDynamicP

mySolveIdx

protected int mySolveIdx

Constructor Detail

DynamicComponentBase

public DynamicComponentBase()

Method Detail

getAttachment

public artisynth.core.mechmodels.DynamicAttachment getAttachment()

Specified by:

getAttachment in interface artisynth.core.mechmodels.DynamicAgent

setDynamic

protected void setDynamic(boolean dynamic)

Sets the dynamic property for this component. If the property value is true, the component's position/velocity state will evolve in time in response to forces. Typically, this method is made publicly available only for components which contain mass, since force response is ill-defined for components which don't.

Parameters:

dynamic - setting for the dynamic property

isDynamic

public boolean isDynamic()

Specified by:

isDynamic in interface artisynth.core.mechmodels.DynamicAgent

setAttached

public void setAttached(artisynth.core.mechmodels.DynamicAttachment attachment)

Specified by:

setAttached in interface artisynth.core.mechmodels.DynamicAgent

isActive

public boolean isActive()

Specified by:

isActive in interface artisynth.core.mechmodels.DynamicAgent

isAttached

public boolean isAttached()

Specified by:

isAttached in interface artisynth.core.mechmodels.DynamicAgent

isParametric

public boolean isParametric()

Specified by:

isParametric in interface artisynth.core.mechmodels.DynamicAgent

isControllable

public boolean isControllable()

Specified by:

isControllable in interface artisynth.core.mechmodels.DynamicAgent

getSolveIndex

public int getSolveIndex()

Specified by:

getSolveIndex in interface artisynth.core.mechmodels.DynamicAgent

setSolveIndex

public void setSolveIndex(int idx)

Specified by:

setSolveIndex in interface artisynth.core.mechmodels.DynamicAgent

addSolveBlock

public abstract void addSolveBlock(maspack.matrix.SparseNumberedBlockMatrix S)

Specified by:

addSolveBlock in interface artisynth.core.mechmodels.DynamicAgent

getInverseMass

public void getInverseMass(maspack.matrix.Matrix Minv,
                           maspack.matrix.Matrix M)

Specified by:

getInverseMass in interface artisynth.core.mechmodels.DynamicAgent

addMasterAttachment

public void addMasterAttachment(artisynth.core.mechmodels.DynamicAttachment a)

Specified by:

addMasterAttachment in interface artisynth.core.mechmodels.DynamicAgent

removeMasterAttachment

public void removeMasterAttachment(artisynth.core.mechmodels.DynamicAttachment a)

Specified by:

removeMasterAttachment in interface artisynth.core.mechmodels.DynamicAgent

getMasterAttachments

public java.util.LinkedList<artisynth.core.mechmodels.DynamicAttachment> getMasterAttachments()

Specified by:

getMasterAttachments in interface artisynth.core.mechmodels.DynamicAgent

getConstrainers

public java.util.List<artisynth.core.mechmodels.Constrainer> getConstrainers()

Specified by:

getConstrainers in interface artisynth.core.mechmodels.DynamicAgent

addConstrainer

public void addConstrainer(artisynth.core.mechmodels.Constrainer c)

Specified by:

addConstrainer in interface artisynth.core.mechmodels.DynamicAgent

removeConstrainer

public boolean removeConstrainer(artisynth.core.mechmodels.Constrainer c)

Specified by:

removeConstrainer in interface artisynth.core.mechmodels.DynamicAgent

copy

public DynamicComponentBase copy(int flags,
                                 java.util.Map<artisynth.core.modelbase.ModelComponent,artisynth.core.modelbase.ModelComponent> copyMap)

Overrides:

copy in class artisynth.core.modelbase.RenderableComponentBase

hasState

public boolean hasState()

Specified by:

hasState in interface artisynth.core.modelbase.HasNumericState

Specified by:

hasState in interface artisynth.core.modelbase.ModelComponent

Overrides:

hasState in class artisynth.core.modelbase.ModelComponentBase

transformGeometry

public void transformGeometry(maspack.matrix.AffineTransform3dBase X)

Specified by:

transformGeometry in interface artisynth.core.modelbase.TransformableGeometry

addTransformableDependencies

public void addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext context,
                                         int flags)

Specified by:

addTransformableDependencies in interface artisynth.core.modelbase.TransformableGeometry

transformGeometry

public void transformGeometry(maspack.geometry.GeometryTransformer gtr,
                              artisynth.core.modelbase.TransformGeometryContext context,
                              int flags)

Specified by:

transformGeometry in interface artisynth.core.modelbase.TransformableGeometry

addAttachmentRequest

public void addAttachmentRequest(artisynth.core.mechmodels.AttachingComponent ac)

Specified by:

addAttachmentRequest in interface artisynth.core.mechmodels.DynamicComponent

removeAttachmentRequest

public boolean removeAttachmentRequest(artisynth.core.mechmodels.AttachingComponent ac)

Specified by:

removeAttachmentRequest in interface artisynth.core.mechmodels.DynamicComponent

connectToHierarchy

public void connectToHierarchy(artisynth.core.modelbase.CompositeComponent comp)

Specified by:

connectToHierarchy in interface artisynth.core.modelbase.ModelComponent

Overrides:

connectToHierarchy in class artisynth.core.modelbase.ModelComponentBase

disconnectFromHierarchy

public void disconnectFromHierarchy(artisynth.core.modelbase.CompositeComponent comp)

Specified by:

disconnectFromHierarchy in interface artisynth.core.modelbase.ModelComponent

Overrides:

disconnectFromHierarchy in class artisynth.core.modelbase.ModelComponentBase