artisynth.core.mechmodels

Class MultiPointMuscle

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.Spring

artisynth.core.mechmodels.PointSpringBase

artisynth.core.mechmodels.MultiPointSpring

artisynth.core.mechmodels.MultiPointMuscle

All Implemented Interfaces:

ExcitationComponent, ForceComponent, ForceEffector, HasSlaveObjects, MuscleComponent, RequiresPrePostAdvance, CopyableComponent, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

MultiPointMuscleOsim, MultiPointMuscleVia

public class MultiPointMuscle
extends MultiPointSpring
implements MuscleComponent

Nested Class Summary

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

MultiPointSpring.Segment, MultiPointSpring.SegmentSpec, MultiPointSpring.SubSegment, MultiPointSpring.WrapKnot, MultiPointSpring.WrapSegment

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

ExcitationComponent.CombinationRule

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.MultiPointSpring

maxForceNorm, maxLengthErr, myDebug, myDrawWrapPoints, sumForceNorm, sumLengthErr, totalCalls, totalFails, totalFalseStuck, totalStuck

Fields inherited from class artisynth.core.mechmodels.PointSpringBase

myIgnoreCoriolisInJacobian, useMaterial

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors

Constructor and Description
MultiPointMuscle()
MultiPointMuscle(java.lang.String name)
MultiPointMuscle(java.lang.String name, double k, double d, double maxf, double l)

Method Summary

Modifier and Type	Method and Description
void	addExcitationSource(ExcitationComponent ex, double gain) Adds a new excitation source to this Excitable with a specified gain.
double	computeDFdl(double l, double ldot) Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle) with respect to spring length.
double	computeDFdldot(double l, double ldot) Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle)with respect to the time derivative of spring length.
double	computeF(double l, double ldot) Computes the force magnitude acting along the unit vector from the first to the second particle.
double	computePassiveF(double l, double ldot) Computes the force magnitude acting along the unit vector from the first to the second particle with zero excitation.
static MultiPointMuscle	createConstant()
static MultiPointMuscle	createConstant(double maxForce)
static MultiPointMuscle	createLinear()
static MultiPointMuscle	createLinear(double maxForce, double maxLen)
static MultiPointMuscle	createPai()
static MultiPointMuscle	createPai(double maxForce, double optLen, double maxLen, double ratio)
static MultiPointMuscle	createPeck()
static MultiPointMuscle	createPeck(double maxForce, double optLen, double maxLen, double ratio)
static MultiPointMuscle	createPeck(java.lang.String name, double maxForce, double optLen, double maxLen, double ratio)
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
ExcitationComponent.CombinationRule	getCombinationRule() Return the combination rule for excitations.
double	getExcitation() Returns the primary excitation for this component.
java.awt.Color	getExcitationColor()
PropertyMode	getExcitationColorMode()
double	getExcitationGain(ExcitationComponent ex) Gets the gain for an excitation source in this component.
double	getForceNorm()
int	getJacobianType() Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix.
double	getMaxColoredExcitation()
PropertyMode	getMaxColoredExcitationMode()
double	getNetExcitation() Returns the net excitation for this Excitable.
double	getPassiveForceNorm()
float[]	getRenderColor()
void	getSoftReferences(java.util.List<ModelComponent> refs) Appends all soft references for this component to a list.
void	getState(DataBuffer data) Saves state information for this component by adding data to the supplied DataBuffer.
boolean	hasState() Queries if this component has state.
boolean	isEnabled()
void	prerender(RenderList list) Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates).
boolean	removeExcitationSource(ExcitationComponent ex) Removes an excitation source from this Excitable.
void	resetLengthProps() sets the opt length to current muscle length and max length with the original ratio of opt to max length
void	scaleDistance(double s) Scales all distance coordinates.
void	scaleMass(double s) Scales all mass units.
void	setCombinationRule(ExcitationComponent.CombinationRule rule) Sets the rule for combining excitations.
void	setEnabled(boolean enabled)
void	setExcitation(double a) SetsJust reiterating the primary excitation for this component.
void	setExcitationColor(java.awt.Color color)
void	setExcitationColorMode(PropertyMode mode)
boolean	setExcitationGain(ExcitationComponent ex, double gain) Sets the gain for an excitation source in this component.
void	setMaxColoredExcitation(double excitation)
void	setMaxColoredExcitationMode(PropertyMode mode)
void	setState(DataBuffer data) Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
void	updateReferences(boolean undo, java.util.Deque<java.lang.Object> undoInfo) May be called by the system if any of the soft references for this component are removed from the the component hierarchy.

Methods inherited from class artisynth.core.mechmodels.MultiPointSpring

addPoint, addPoint, addPosJacobian, addPosJacobianOld, addSegmentPosBlocks, addSegmentVelBlocks, addSolveBlocks, addTransformableDependencies, addVelJacobian, addVelJacobianOld, addWrappable, addWrappable, applyForces, clearPoints, clearWrappables, clearWrappableSegment, containsWrappable, containsWrappable, copy, getABPointColor, getActiveLength, getActiveLengthDot, getAllABPoints, getContactCount, getContactDamping, getContactingKnotsColor, getContactStiffness, getConvergedCount, getConvergenceTol, getCopyReferences, getDebugLevel, getDrawABPoints, getDrawDisplacements, getDrawKnots, getHardReferences, getInitializingPoints, getIterationCount, getKnot, getLength, getLengthDot, getLineSearch, getMaxWrapDisplacement, getMaxWrapIterations, getNumKnots, getPoint, getPrintProfiling, getProfileCount, getProfileTimeUsec, getProfiling, getSegment, getSegments, getSegmentSpec, getSor, getStateVersion, getUpdateContactsCount, getWrapDamping, getWrapKnotDensity, getWrapKnotDensityMode, getWrappable, getWrappableRange, getWrappables, getWrapStiffness, hasConditionalPoints, hasMovingMarkers, hasWrappableSegments, indexOfPoint, indexOfWrappable, indexOfWrappable, initializeSegment, isDuplicatable, isSegmentPassive, isSegmentWrappable, main, numKnots, numPassiveSegments, numPoints, numSegments, numSegmentSpecs, numWrappables, pathWrapString, postadvance, postscan, preadvance, printSegments, printSegmentSpecs, removePoint, removeWrappable, removeWrappable, render, scan, setABPointColor, setAllSegmentsWrappable, setContactDamping, setContactingKnotsColor, setContactStiffness, setConvergenceTol, setDebugLevel, setDrawABPoints, setDrawDisplacements, setDrawKnots, setInitializingPoints, setKnotPositions, setLineSearch, setMaxWrapDisplacement, setMaxWrapIterations, setNumKnots, setPoint, setPrintProfiling, setProfiling, setRestLengthFromPoints, setSegmentPassive, setSegmentPassive, setSegmentWrappable, setSegmentWrappable, setSegmentWrappable, setSor, setWrapDamping, setWrapKnotDensity, setWrapKnotDensityMode, setWrapStiffness, transformGeometry, transformGeometry, updateBounds, updateSlavePos, updateSlaveVel, updateStructure, updateWrapSegments, updateWrapSegments

Methods inherited from class artisynth.core.mechmodels.PointSpringBase

advanceState, computeDFdl, computeDFdldot, computeF, containsPoint, createDefaultMaterial, createRenderProps, getAuxVarDerivative, getAuxVarState, getEffectiveMaterial, getForceScaling, getMaterial, getMaxForce, getRenderHints, getRenderProps, getRestLength, getSelection, isSelectable, normalizeForceScaling, numAuxVars, numSelectionQueriesNeeded, requiresAdvance, setAuxVarState, setDamping, setLinearMaterial, setMaterial, setMaxForce, setRenderProps, setRestLength, setStiffness

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

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

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.mechmodels.MuscleComponent

getLength, getLengthDot, getMaterial, getPoint, getRestLength, numPoints, setMaterial, setRestLength

Methods inherited from interface artisynth.core.mechmodels.ForceEffector

addPosJacobian, addSolveBlocks, addVelJacobian, applyForces

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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

Methods inherited from interface maspack.properties.HasProperties

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 maspack.render.IsSelectable

getSelection, isSelectable, numSelectionQueriesNeeded

Methods inherited from interface maspack.render.IsRenderable

getRenderHints, render, updateBounds

Methods inherited from interface maspack.render.HasRenderProps

createRenderProps, getRenderProps, setRenderProps

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformPriority

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

MultiPointMuscle

public MultiPointMuscle()

MultiPointMuscle

public MultiPointMuscle(java.lang.String name)

MultiPointMuscle

public MultiPointMuscle(java.lang.String name,
                        double k,
                        double d,
                        double maxf,
                        double l)

Method Detail

createConstant

public static MultiPointMuscle createConstant(double maxForce)

createConstant

public static MultiPointMuscle createConstant()

createLinear

public static MultiPointMuscle createLinear(double maxForce,
                                            double maxLen)

createLinear

public static MultiPointMuscle createLinear()

createPai

public static MultiPointMuscle createPai(double maxForce,
                                         double optLen,
                                         double maxLen,
                                         double ratio)

createPai

public static MultiPointMuscle createPai()

createPeck

public static MultiPointMuscle createPeck(double maxForce,
                                          double optLen,
                                          double maxLen,
                                          double ratio)

createPeck

public static MultiPointMuscle createPeck(java.lang.String name,
                                          double maxForce,
                                          double optLen,
                                          double maxLen,
                                          double ratio)

createPeck

public static MultiPointMuscle createPeck()

getExcitationColor

public java.awt.Color getExcitationColor()

Specified by:

getExcitationColor in interface MuscleComponent

setExcitationColor

public void setExcitationColor(java.awt.Color color)

Specified by:

setExcitationColor in interface MuscleComponent

getExcitationColorMode

public PropertyMode getExcitationColorMode()

setExcitationColorMode

public void setExcitationColorMode(PropertyMode mode)

getMaxColoredExcitation

public double getMaxColoredExcitation()

setMaxColoredExcitation

public void setMaxColoredExcitation(double excitation)

getMaxColoredExcitationMode

public PropertyMode getMaxColoredExcitationMode()

setMaxColoredExcitationMode

public void setMaxColoredExcitationMode(PropertyMode mode)

getAllPropertyInfo

public PropertyList getAllPropertyInfo()

Description copied from class: MultiPointSpring

Returns a list giving static information about all properties exported by this object.

Specified by:

getAllPropertyInfo in interface HasProperties

Overrides:

getAllPropertyInfo in class MultiPointSpring

Returns:

static information for all exported properties

getExcitation

public double getExcitation()

Returns the primary excitation for this component.

Specified by:

getExcitation in interface ExcitationComponent

Returns:

primary excitation value

setExcitation

public void setExcitation(double a)

SetsJust reiterating the primary excitation for this component.

Specified by:

setExcitation in interface ExcitationComponent

Parameters:

a - excitation value

setCombinationRule

public void setCombinationRule(ExcitationComponent.CombinationRule rule)

Sets the rule for combining excitations.

Specified by:

setCombinationRule in interface ExcitationComponent

Parameters:

rule - rule for combining excitations

getCombinationRule

public ExcitationComponent.CombinationRule getCombinationRule()

Return the combination rule for excitations.

Specified by:

getCombinationRule in interface ExcitationComponent

Returns:

combination rule for excitations

addExcitationSource

public void addExcitationSource(ExcitationComponent ex,
                                double gain)

Adds a new excitation source to this Excitable with a specified gain.

Specified by:

addExcitationSource in interface ExcitationComponent

Parameters:

ex - excitatation source to be added

gain - gain for the source

removeExcitationSource

public boolean removeExcitationSource(ExcitationComponent ex)

Removes an excitation source from this Excitable. Returns false if the source was not present.

Specified by:

removeExcitationSource in interface ExcitationComponent

Parameters:

ex - excitatation source to be removed

Returns:

true if the source was present and removed

getExcitationGain

public double getExcitationGain(ExcitationComponent ex)

Gets the gain for an excitation source in this component.

Specified by:

getExcitationGain in interface ExcitationComponent

Parameters:

ex - excitatation source whose gain is to be queried

Returns:

source gain value, or -1 if the source is not present in this component.

setExcitationGain

public boolean setExcitationGain(ExcitationComponent ex,
                                 double gain)

Sets the gain for an excitation source in this component.

Specified by:

setExcitationGain in interface ExcitationComponent

Parameters:

ex - excitatation source whose gain is to be modified

gain - new gain for the source

Returns:

false if the source is not present in this component.

getRenderColor

public float[] getRenderColor()

Overrides:

getRenderColor in class PointSpringBase

prerender

public void prerender(RenderList list)

Description copied from class: MultiPointSpring

Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates). The object may add internal objects to the list of objects being rendered, by calling

list.addIfVisible (obj);

for each of the objects in question.

Specified by:

prerender in interface IsRenderable

Overrides:

prerender in class MultiPointSpring

Parameters:

list - list of objects to be rendered

getNetExcitation

public double getNetExcitation()

Returns the net excitation for this Excitable. The net excitation is the combination of the primary excitation and the net excitations of all the excitation sources.

Specified by:

getNetExcitation in interface ExcitationComponent

Returns:

net excitation for this Excitable

computeF

public double computeF(double l,
                       double ldot)

Computes the force magnitude acting along the unit vector from the first to the second particle. ` * @return force magnitude

Overrides:

computeF in class PointSpringBase

Parameters:

l - spring length

ldot - spring length derivative

Returns:

force tension

computePassiveF

public double computePassiveF(double l,
                              double ldot)

Computes the force magnitude acting along the unit vector from the first to the second particle with zero excitation.

Returns:

force magnitude

computeDFdl

public double computeDFdl(double l,
                          double ldot)

Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle) with respect to spring length.

Overrides:

computeDFdl in class PointSpringBase

Parameters:

l - spring length

ldot - spring length derivative

Returns:

force magnitude derivative with respect to length

computeDFdldot

public double computeDFdldot(double l,
                             double ldot)

Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle)with respect to the time derivative of spring length.

Overrides:

computeDFdldot in class PointSpringBase

Parameters:

l - spring length

ldot - spring length derivative

Returns:

force magnitude derivative with respect to length time derivative

resetLengthProps

public void resetLengthProps()

sets the opt length to current muscle length and max length with the original ratio of opt to max length

getForceNorm

public double getForceNorm()

getPassiveForceNorm

public double getPassiveForceNorm()

scaleDistance

public void scaleDistance(double s)

Description copied from class: MultiPointSpring

Scales all distance coordinates.

Specified by:

scaleDistance in interface ScalableUnits

Overrides:

scaleDistance in class MultiPointSpring

Parameters:

s - scaling factor

scaleMass

public void scaleMass(double s)

Description copied from class: MultiPointSpring

Scales all mass units.

Specified by:

scaleMass in interface ScalableUnits

Overrides:

scaleMass in class MultiPointSpring

Parameters:

s - scaling factor

getJacobianType

public int getJacobianType()

Description copied from class: MultiPointSpring

Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. This should be a logical or-ing of either Matrix.SYMMETRIC or Matrix.POSITIVE_DEFINITE. The former should be set if adding the Jacobian terms preserves symmetry, and the latter should be set if positive definiteness if preserved. Both should be set if there is no Jacobian for this effector (i.e., the Jacobian methods are not implemented). Matrix types from all the force effectors are logically and-ed together to determine the type for the entire solve matrix.

Specified by:

getJacobianType in interface ForceEffector

Overrides:

getJacobianType in class MultiPointSpring

Returns:

solve matrix type resulting from adding Jacobian terms

isEnabled

public boolean isEnabled()

setEnabled

public void setEnabled(boolean enabled)

getSoftReferences

public void getSoftReferences(java.util.List<ModelComponent> refs)

Appends all soft references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an ExcitationComponent may refer to one or more other ExcitationComponents to act as excitation sources. A soft reference is one which can be removed from the referring component. In particular, if any soft references for a component are deleted, then that component's updateReferences() method will be called to update its internal reference information. Soft references for MultiPointSpring include intermediate points between the two end points, and the wrappables.

Specified by:

getSoftReferences in interface ModelComponent

Overrides:

getSoftReferences in class MultiPointSpring

Parameters:

refs - list to which soft references are appended

updateReferences

public void updateReferences(boolean undo,
                             java.util.Deque<java.lang.Object> undoInfo)

May be called by the system if any of the soft references for this component are removed from the the component hierarchy. If called with undo equal to false, this component should then examine its soft references and use ComponentUtils.areConnected() to determine which of them have been disconnected from the hierarchy. Disconnected references should be removed, and sufficient information should be appended to undoInfo to allow this update to be undone if this method is called later with undo equal to true. When undoing an update, the undo information should be removed from the front of undoInfo.

Specified by:

updateReferences in interface ModelComponent

Overrides:

updateReferences in class MultiPointSpring

Parameters:

undo - if true, indicates that the most recent reference update should be undone, using the supplied undo information.

undoInfo - if undo is false, should be used to store information allowing the reference update to be undone. Otherwise, if undo is true, then this supplied information to undo the most recent update.

getState

public void getState(DataBuffer data)

Description copied from class: MultiPointSpring

Saves state information for this component by adding data to the supplied DataBuffer. Existing data in the buffer should not be disturbed.

Specified by:

getState in interface HasNumericState

Overrides:

getState in class MultiPointSpring

Parameters:

data - buffer for storing the state values.

setState

public void setState(DataBuffer data)

Description copied from class: MultiPointSpring

Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.

Specified by:

setState in interface HasNumericState

Overrides:

setState in class MultiPointSpring

Parameters:

data - buffer containing the state information

hasState

public boolean hasState()

Description copied from class: PointSpringBase

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 MultiPointSpring

Returns:

true if this component has state