artisynth.core.mechmodels

Class DynamicComponentBase

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

All Implemented Interfaces:

DynamicAgent, DynamicComponent, ForceEffector, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

BackNode3d, Frame, FrameNode3d, Point

public abstract class DynamicComponentBase
extends RenderableComponentBase
implements DynamicComponent

Nested Class Summary

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

ModelComponent.NavpanelVisibility

Field Summary

Fields inherited from class artisynth.core.modelbase.RenderableComponentBase

myProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, 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(AttachingComponent ac)
void	addConstrainer(Constrainer c) Adds a Constrainer to the list returned by DynamicAgent.getConstrainers().
void	addMasterAttachment(DynamicAttachment a) Add a DynamicAttachment to the list of master attachments associated with this component.
abstract void	addSolveBlock(SparseNumberedBlockMatrix S)
void	addTransformableDependencies(TransformGeometryContext context, int flags) Adds to context any transformable components which should be transformed as the same time as this component.
void	connectToHierarchy(CompositeComponent comp) Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent).
DynamicComponentBase	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
void	disconnectFromHierarchy(CompositeComponent comp) Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent).
DynamicAttachment	getAttachment() Returns the slave attachment associated with this component, if any.
java.util.List<Constrainer>	getConstrainers() Returns a list of Constrainers associated with this component.
void	getInverseMass(Matrix Minv, Matrix M) Inverts a mass for this component.
java.util.LinkedList<DynamicAttachment>	getMasterAttachments() Returns a list of the attachments for which this component is a master, or null if there are no such attachments.
int	getSolveIndex()
boolean	hasState() Queries if this component has state.
boolean	isActive() Returns true if this component is active.
boolean	isAttached() Returns true if this component is attached.
boolean	isControllable() Returns true is this component is active, or it is attached to one or more other components which ultimately are attached to at least one active component.
boolean	isDynamic() Returns true if this component is dynamic.
boolean	isParametric() Returns true if the state of this component is determined parametrically; i.e., it is neither dynamic nor attached.
boolean	removeAttachmentRequest(AttachingComponent ac)
boolean	removeConstrainer(Constrainer c) Removes a Constrainer from the list returned by DynamicAgent.getConstrainers().
void	removeMasterAttachment(DynamicAttachment a) Removes a DynamicAttachment from the list of master attachments associated with this component.
void	setAttached(DynamicAttachment attachment) Attach this component to another via a DynamicAttachment object.
void	setSolveIndex(int idx)
void	transformGeometry(AffineTransform3dBase X) Applies an affine transformation to the geometry of this component.
void	transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes.

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

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

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

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

Methods inherited from class java.lang.Object

equals, 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

Constructor Detail

DynamicComponentBase

public DynamicComponentBase()

Method Detail

getAttachment

public DynamicAttachment getAttachment()

Description copied from interface: DynamicAgent

Returns the slave attachment associated with this component, if any.

Specified by:

getAttachment in interface DynamicAgent

Returns:

slave attachment, or null if the component is unattached

isDynamic

public boolean isDynamic()

Description copied from interface: DynamicAgent

Returns true if this component is dynamic. If a component is unattached, then its state is determined by forces if it is dynamic, or parametrically if it is non-dynamic.

Specified by:

isDynamic in interface DynamicAgent

Returns:

true if this component is dynamic

setAttached

public void setAttached(DynamicAttachment attachment)

Description copied from interface: DynamicAgent

Attach this component to another via a DynamicAttachment object. This method is intended for internal use by attachment components.

Specified by:

setAttached in interface DynamicAgent

Parameters:

attachment - Specifies the attachment relationship between this component and its master(s)

isActive

public boolean isActive()

Description copied from interface: DynamicAgent

Returns true if this component is active. A component is active if its position and velocity are determined by forces, which implies that it is dynamic and unattached.

Specified by:

isActive in interface DynamicAgent

Returns:

true if this component is active

isAttached

public boolean isAttached()

Description copied from interface: DynamicAgent

Returns true if this component is attached. The state of an attached component is derived from the state of an attached master component.

Specified by:

isAttached in interface DynamicAgent

Returns:

true if this component is attached

isParametric

public boolean isParametric()

Description copied from interface: DynamicAgent

Returns true if the state of this component is determined parametrically; i.e., it is neither dynamic nor attached.

Specified by:

isParametric in interface DynamicAgent

Returns:

true if this component's state is determined parametrically.

isControllable

public boolean isControllable()

Description copied from interface: DynamicAgent

Returns true is this component is active, or it is attached to one or more other components which ultimately are attached to at least one active component.

Specified by:

isControllable in interface DynamicAgent

Returns:

true if this component is controllable.

getSolveIndex

public int getSolveIndex()

Specified by:

getSolveIndex in interface DynamicAgent

setSolveIndex

public void setSolveIndex(int idx)

Specified by:

setSolveIndex in interface DynamicAgent

addSolveBlock

public abstract void addSolveBlock(SparseNumberedBlockMatrix S)

Specified by:

addSolveBlock in interface DynamicAgent

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

Parameters:

Minv - matrix to return the inverse mass in

M - matrix containing the mass to be inverted

addMasterAttachment

public void addMasterAttachment(DynamicAttachment a)

Add a DynamicAttachment to the list of master attachments associated with this component. This method is intended for internal use by attachment components.

Specified by:

addMasterAttachment in interface DynamicAgent

Parameters:

a - master attachment to add

removeMasterAttachment

public void removeMasterAttachment(DynamicAttachment a)

Removes a DynamicAttachment from the list of master attachments associated with this component. This method is intended for internal use by attachment components.

Specified by:

removeMasterAttachment in interface DynamicAgent

Parameters:

a - master attachment to remove

getMasterAttachments

public java.util.LinkedList<DynamicAttachment> getMasterAttachments()

Returns a list of the attachments for which this component is a master, or null if there are no such attachments. The returned list must not be modified.

Specified by:

getMasterAttachments in interface DynamicAgent

Returns:

list of master attachments

getConstrainers

public java.util.List<Constrainer> getConstrainers()

Description copied from interface: DynamicAgent

Returns a list of Constrainers associated with this component. This list is not necessarily complete; it is up to Constrainer objects themselves to decide whether to add themselves to this list. Constrainers which are in the list can be notified when aspects of this component change in a way that requires the attention of the Constrainer. For example, calling transformGeometry() on this component may require some of its constrainers to be updated.

Specified by:

getConstrainers in interface DynamicAgent

Returns:

list of Constrainers associated with this component.

addConstrainer

public void addConstrainer(Constrainer c)

Description copied from interface: DynamicAgent

Adds a Constrainer to the list returned by DynamicAgent.getConstrainers(). This method is intended for internal use by the Constrainer components themselves.

Specified by:

addConstrainer in interface DynamicAgent

Parameters:

c - Constrainer to add the constrainer list.

removeConstrainer

public boolean removeConstrainer(Constrainer c)

Description copied from interface: DynamicAgent

Removes a Constrainer from the list returned by DynamicAgent.getConstrainers(). This method is intended for internal use by the Constrainer components themselves.

Specified by:

removeConstrainer in interface DynamicAgent

Parameters:

c - Constrainer to remove from the constrainer list.

Returns:

true if the constrainer was present in the list.

copy

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

Overrides:

copy in class RenderableComponentBase

hasState

public boolean hasState()

Queries if this component has state. Structure change events involving components that have state will cause the current state history of of the system to be cleared.

Specified by:

hasState in interface HasNumericState

Specified by:

hasState in interface ModelComponent

Overrides:

hasState in class ModelComponentBase

Returns:

true if this component has state

transformGeometry

public void transformGeometry(AffineTransform3dBase X)

Description copied from interface: TransformableGeometry

Applies an affine transformation to the geometry of this component. This method should be equivalent to

 TransformGeometryContext.transform (this, X, 0);
 

Specified by:

transformGeometry in interface TransformableGeometry

Parameters:

X - affine transformation to apply to the component

addTransformableDependencies

public void addTransformableDependencies(TransformGeometryContext context,
                                         int flags)

Description copied from interface: TransformableGeometry

Adds to context any transformable components which should be transformed as the same time as this component. This will generally include descendant components, and may also include other components to which this component is connected in some way.

This method is generally called from with the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of a TransformGeometryContext.

Specified by:

addTransformableDependencies in interface TransformableGeometry

Parameters:

context - context information, to which the dependent components are added.

flags - specifies conditions associated with the transformation

transformGeometry

public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)

Description copied from interface: TransformableGeometry

Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes. The context argument supplies information about what other components are currently being transformed, and also allows the requesting of update actions to be performed after all transform called have completed. The context is also the usual entity that calls this method, from within its TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method. The argument flags provides flags to specify various conditions associated with the the transformation. At present, the available flags are TransformableGeometry.TG_SIMULATING and TransformableGeometry.TG_ARTICULATED.

This method is not usually called directly by applications. Instead, it is typically called from within the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of the context, which takes care of the various operations needed for a complete transform operation, including calling TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int) to collect other components that should be transformed, calling TransformableGeometry.transformGeometry(maspack.matrix.AffineTransform3dBase) for each component, notifying component parents that the geometry has changed, and calling any requested TransformGeometryActions. More details are given in the documentation for TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int).

TransformGeometryContext provides a number of static convenience transform methods which take care of building the context and calling apply() for a specified set of components.

This method should not generally call transformGeometry() for its descendant components. Instead, descendants needing transformation should be specified by adding them to the context in the method TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int).

Specified by:

transformGeometry in interface TransformableGeometry

Parameters:

gtr - transformer implementing the transform

context - context information, including what other components are being transformed

flags - specifies conditions associated with the transformation

addAttachmentRequest

public void addAttachmentRequest(AttachingComponent ac)

Specified by:

addAttachmentRequest in interface DynamicComponent

removeAttachmentRequest

public boolean removeAttachmentRequest(AttachingComponent ac)

Specified by:

removeAttachmentRequest in interface DynamicComponent

connectToHierarchy

public void connectToHierarchy(CompositeComponent comp)

Description copied from class: ModelComponentBase

Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent). This method is responsible for doing any required hierarchy-dependent initialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will return the new parent component; the system will have set this beforehand.

Specified by:

connectToHierarchy in interface ModelComponent

Overrides:

connectToHierarchy in class ModelComponentBase

Parameters:

comp - hierarchy component to which this component, or its ancestor, was attached

disconnectFromHierarchy

public void disconnectFromHierarchy(CompositeComponent comp)

Description copied from class: ModelComponentBase

Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent). This method is responsible for any required hierarchy-dependent deinitialization, including any updating of referenced components.

When this method is called, ModelComponent.getParent() will still return this original parent component; the system will set this to null after.

Specified by:

disconnectFromHierarchy in interface ModelComponent

Overrides:

disconnectFromHierarchy in class ModelComponentBase

Parameters:

comp - hierarchy component from which this component, or its ancestor, was detached