artisynth.core.mechmodels

Class Muscle

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.Spring

artisynth.core.mechmodels.PointSpringBase

artisynth.core.mechmodels.AxialSpring

artisynth.core.mechmodels.Muscle

All Implemented Interfaces:

ExcitationComponent, ForceComponent, ForceEffector, ForceTargetComponent, MuscleComponent, RequiresInitialize, CopyableComponent, HasNumericState, ModelComponent, PostScannable, PropertyChangeListener, RenderableComponent, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class Muscle
extends AxialSpring
implements MuscleComponent, RequiresInitialize, PropertyChangeListener

Nested Class Summary

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.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.CopyableComponent

COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors

Constructor and Description
Muscle()
Muscle(Point p1, Point p2)
Muscle(java.lang.String name)
Muscle(java.lang.String name, double l0)

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 the tension F (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 the tension F (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 tension F acting along the unit vector from the first to the second particle.
double	computePassiveF(double l, double ldot) Computes the passive tension F acting along the unit vector from the first to the second particle.
void	computePassiveForce(Vector3d f)
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.
Vector3d	getForce()
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.
Vector3d	getPassiveForce()
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.
void	initialize(double t) stub implementation of RequiresInitialize which can be overridden as needed by subclasses.
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).
void	printMuscleDirection()
void	propertyChanged(PropertyChangeEvent e)
boolean	removeExcitationSource(ExcitationComponent ex) Removes an excitation source from this Excitable.
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
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	setConstantMuscleMaterial(double maxF)
void	setConstantMuscleMaterial(double maxF, double forceScaling)
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	setLinearMuscleMaterial(double maxF, double optL, double maxL, double pf)
void	setMaxColoredExcitation(double excitation)
void	setMaxColoredExcitationMode(PropertyMode mode)
void	setPeckMuscleMaterial(double maxF, double optL, double maxL, double tendonRatio)
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.AxialSpring

addForcePosJacobian, addForceVelJacobian, addPosJacobian, addSolveBlocks, addVelJacobian, applyForces, computeForce, computeForcePositionJacobian, computeForceVelocityJacobian, copy, getCopyReferences, getDir, getFirstPoint, getForce, getForceSize, getHardReferences, getLength, getLengthDot, getPoint, getSecondPoint, indexOfPoint, isDuplicatable, numPoints, printPointReferences, setFirstPoint, setPoint, setPoints, setPoints, setRestLengthFromPoints, setSecondPoint, updateBounds, write

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, getStateVersion, 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, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable

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, updateBounds

Methods inherited from interface maspack.render.HasRenderProps

createRenderProps, getRenderProps, setRenderProps

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

Muscle

public Muscle()

Muscle

public Muscle(java.lang.String name)

Muscle

public Muscle(java.lang.String name,
              double l0)

Muscle

public Muscle(Point p1,
              Point p2)

Method Detail

setConstantMuscleMaterial

public void setConstantMuscleMaterial(double maxF)

setConstantMuscleMaterial

public void setConstantMuscleMaterial(double maxF,
                                      double forceScaling)

setLinearMuscleMaterial

public void setLinearMuscleMaterial(double maxF,
                                    double optL,
                                    double maxL,
                                    double pf)

setPeckMuscleMaterial

public void setPeckMuscleMaterial(double maxF,
                                  double optL,
                                  double maxL,
                                  double tendonRatio)

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 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 AxialSpring

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

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.

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

getRenderColor

public float[] getRenderColor()

Overrides:

getRenderColor in class PointSpringBase

prerender

public void prerender(RenderList list)

Description copied from interface: IsRenderable

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 PointSpringBase

Parameters:

list - list of objects to be rendered

render

public void render(Renderer renderer,
                   int flags)

Description copied from interface: IsRenderable

Render this object using the functionality of the supplied Renderer.

Specified by:

render in interface IsRenderable

Overrides:

render in class AxialSpring

Parameters:

renderer - provides the functionality used to perform the rendering.

flags - flags that may be used to control different aspects of the rendering. Flags are defined in Renderer and currently include Renderer.HIGHLIGHT and Renderer.SORT_FACES.

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 tension F acting along the unit vector from the first to the second particle.

The computation includes the effect of the net excitation acting on this Muscle.

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 passive tension F acting along the unit vector from the first to the second particle.

Parameters:

l - spring length

ldot - spring length derivative

Returns:

force tension

computeDFdl

public double computeDFdl(double l,
                          double ldot)

Computes the derivative of the tension F (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 tension derivative with respect to length

computeDFdldot

public double computeDFdldot(double l,
                             double ldot)

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

The computation includes the effect of the net excitation acting on this Muscle.

Overrides:

computeDFdldot in class PointSpringBase

Parameters:

l - spring length

ldot - spring length derivative

Returns:

force tension 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()

getForce

public Vector3d getForce()

computePassiveForce

public void computePassiveForce(Vector3d f)

getPassiveForceNorm

public double getPassiveForceNorm()

getPassiveForce

public Vector3d getPassiveForce()

scaleDistance

public void scaleDistance(double s)

Description copied from interface: ScalableUnits

Scales all distance coordinates.

Specified by:

scaleDistance in interface ScalableUnits

Overrides:

scaleDistance in class AxialSpring

Parameters:

s - scaling factor

scaleMass

public void scaleMass(double s)

Description copied from interface: ScalableUnits

Scales all mass units.

Specified by:

scaleMass in interface ScalableUnits

Overrides:

scaleMass in class AxialSpring

Parameters:

s - scaling factor

printMuscleDirection

public void printMuscleDirection()

getJacobianType

public int getJacobianType()

Description copied from interface: ForceEffector

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 AxialSpring

Returns:

solve matrix type resulting from adding Jacobian terms

isEnabled

public boolean isEnabled()

setEnabled

public void setEnabled(boolean enabled)

propertyChanged

public void propertyChanged(PropertyChangeEvent e)

Specified by:

propertyChanged in interface PropertyChangeListener

getSoftReferences

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

Description copied from class: ModelComponentBase

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.

Specified by:

getSoftReferences in interface ModelComponent

Overrides:

getSoftReferences in class ModelComponentBase

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 ModelComponentBase

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.

initialize

public void initialize(double t)

stub implementation of RequiresInitialize which can be overridden as needed by subclasses. Provided only for legacy support for some applications in artisynth_projects.

Specified by:

initialize in interface RequiresInitialize

Parameters:

t - initialization time (seconds)

getState

public void getState(DataBuffer data)

Description copied from class: PointSpringBase

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 PointSpringBase

Parameters:

data - buffer for storing the state values.

setState

public void setState(DataBuffer data)

Description copied from class: PointSpringBase

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 PointSpringBase

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 PointSpringBase

Returns:

true if this component has state