public class RigidMesh extends RigidBody implements Wrappable
RigidBody.InertiaMethodModelComponent.NavpanelVisibilityCollidable.Collidability, Collidable.GroupCompositeComponent.NavpanelDisplay| Modifier and Type | Field and Description |
|---|---|
static PropertyList |
myProps |
DEFAULT_SUBMESHES_SELECTABLEdynamicVelInWorldCoords, myRenderFrameenforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNamesAll, AllBodies, Deformable, Rigid, SelfCOPY_REFERENCES, REST_POSITIONTG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATINGTRANSPARENT, TWO_DIMENSIONAL| Constructor and Description |
|---|
RigidMesh() |
RigidMesh(RigidTransform3d XBodyToWorld,
SpatialInertia M,
PolygonalMesh mesh,
java.lang.String meshFileName) |
RigidMesh(java.lang.String name,
PolygonalMesh mesh,
java.lang.String meshFilePath,
double density,
double scale) |
| Modifier and Type | Method and Description |
|---|---|
PropertyList |
getAllPropertyInfo()
Returns a list giving static information about all properties exported by
this object.
|
double |
getCharacteristicRadius()
Returns a typical "radius" that should be expected for this wrappable,
defined as the distance for a surface point to the center.
|
DistanceGrid.TetDesc |
getQuadTet(Point3d p0) |
boolean |
getRayCastTangent() |
boolean |
getSmoothInterpolation() |
double |
penetrationDistance(Vector3d nrm,
Matrix3d Dnrm,
Point3d p0)
Computes the penetration distance of a point
p0 into this
Wrappable, along with the normal nrm that points from
p0 to its nearest point on the surface. |
void |
setRayCastTangent(boolean enable) |
void |
setSmoothInterpolation(boolean smooth) |
void |
surfaceTangent(Point3d pr,
Point3d pa,
Point3d p1,
double lam0,
Vector3d sideNrm)
Computes the point
pt on the surface of this Wrappable such
that the line segment (pa,pt) is both tangent to the surface and as near
as possible to the line defined by the two points pa and p1. |
add, addConnector, addEffectiveFrameMass, addEffectivePointMass, addMesh, addMesh, addMesh, addMeshComp, addTransformableDependencies, addVelJacobian, allowCollision, applyForces, 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, getChildren, getCollidable, getCollidableAncestor, getCollidableIndex, getCollisionMesh, getConnectors, getCopyReferences, getDensity, getDensityRange, getDistanceGrid, getDistanceGridComp, getDistanceGridRes, getEffectiveInertia, getEffectiveMass, getEffectiveMass, getEffectiveMassForces, getEffectiveMassForces, getFrameMarkers, getGridSurfaceRendering, getInertia, getInertialDamping, getInertialDampingMode, getInertiaMethod, getInverseMass, getMass, getMass, getMass, getMassRange, getMesh, getMeshComp, getMeshComp, getMeshComps, getNavpanelDisplay, getNumberLimit, getRotationalInertia, getRotationalInertia, getSubmeshesSelectable, getSurfaceMesh, getSurfaceMeshComp, getSurfaceMeshes, getVolume, hasChildren, hasDistanceGrid, hasForce, hasInvariantMasters, hierarchyContainsReferences, indexOf, isCompound, isDeformable, isDuplicatable, isFreeBody, isMassConstant, mulInverseEffectiveMass, mulInverseEffectiveMass, numComponents, numMeshComps, numSurfaceMeshes, postscan, prerender, remove, removeConnector, removeMeshComp, removeMeshComp, render, resetEffectiveMass, scaleDistance, scaleMass, scaleSurfaceMesh, scan, setCenterOfMass, setCollidable, setCollidableIndex, setDensity, setDisplayMode, setDistanceGridRes, setDynamic, setGridSurfaceRendering, setInertia, setInertia, setInertia, setInertia, setInertiaFromDensity, setInertiaFromMass, setInertialDamping, setInertialDampingMode, setInertiaMethod, setMass, setMesh, setMesh, setMesh, setPose, setPosState, setRotationalInertia, setSubmeshesSelectable, setSurfaceMesh, setSurfaceMesh, setSurfaceMesh, subEffectiveInertia, transformCoordinateFrame, transformGeometry, translateCoordinateFrame, updateBounds, updateNameMap, writeadd1DConstraintBlocks, add2DConstraintBlocks, addExternalForce, addForce, addForce, addFrameForce, addPointForce, addPointForce, addPosImpulse, addPosJacobian, addRelativeVelocity, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, applyExternalForces, collectMasterComponents, computeAppliedWrench, computeForceOnMasters, computeFrameLocation, computeFramePosition, computeFramePosVel, computeFrameVelocity, computePointCoriolis, computePointLocation, computePointPosition, computePointPosVel, computePointVelocity, createFrameAttachment, createMassBlock, createPointAttachment, getAxisDrawStyle, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getExternalForce, getForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getJacobianType, getMoment, getOrientation, getOrientation, getPosDerivative, getPose, getPose, getPosition, getPosState, getPosStateSize, getRenderFrame, getRotaryDamping, getRotaryDampingMode, getRotation, getSelection, getState, getTargetActivity, getTargetOrientation, getTargetPos, getTargetPose, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getTransForce, getVelocity, getVelocity, getVelState, getVelStateSize, getWorldVelState, resetTargets, setAxisDrawStyle, setAxisLength, setBodyVelocity, setContactConstraint, setExternalForce, setForce, setForce, setFrameDamping, setFrameDampingMode, setOrientation, setPose, setPosition, setRandomForce, setRandomPosState, setRandomVelState, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, transformPose, updateAttachmentPosStates, velocityLimitExceeded, zeroExternalForces, zeroForcesaddAttachmentRequest, addConstrainer, addMasterAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex, transformGeometrydefaultRenderPropsAreNull, getRenderHints, getRenderProps, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderPropscheckFlag, 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, updateReferencesequals, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitcreatePointAttachmentconnectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferencesgetPropertygetChildren, hasChildrenpostscanisWritable, writetransformPosecreateFrameAttachmentaddAttachmentRequest, removeAttachmentRequestaddConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndexadvanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarStatetransformGeometryisControllablepublic static PropertyList myProps
public RigidMesh(RigidTransform3d XBodyToWorld, SpatialInertia M, PolygonalMesh mesh, java.lang.String meshFileName)
public RigidMesh(java.lang.String name,
PolygonalMesh mesh,
java.lang.String meshFilePath,
double density,
double scale)
public RigidMesh()
public void setSmoothInterpolation(boolean smooth)
public boolean getSmoothInterpolation()
public void setRayCastTangent(boolean enable)
public boolean getRayCastTangent()
public PropertyList getAllPropertyInfo()
HasPropertiesgetAllPropertyInfo in interface HasPropertiesgetAllPropertyInfo in class RigidBodypublic void surfaceTangent(Point3d pr, Point3d pa, Point3d p1, double lam0, Vector3d sideNrm)
RigidBodypt on the surface of this Wrappable such
that the line segment (pa,pt) is both tangent to the surface and as near
as possible to the line defined by the two points pa and p1.
To assist with the computation, pKcheck[kmax]t can be assumed to lie
fairly close to p1, and its projection onto the line can be
assumed to lie between p1 and another point p0 defined by
p0 = (1-lam0) pa + lam0 p1where
lam0 is a parameter between 0 and 1.surfaceTangent in interface WrappablesurfaceTangent in class RigidBodypr - returns the tangent pointpa - first point of the linep1 - second point of the linelam0 - parameter defining point p0 as defined abovesideNrm - a normalized vector perpendicular to the plane defined by
pa, p1 and pt. Can be used
to help compute ptpublic DistanceGrid.TetDesc getQuadTet(Point3d p0)
public double penetrationDistance(Vector3d nrm, Matrix3d Dnrm, Point3d p0)
RigidBodyp0 into this
Wrappable, along with the normal nrm that points from
p0 to its nearest point on the surface. The distance should
be negative if the point is inside the wrappable, and positive otherwise.
If the point is outside and further than some minimum distance,
then the method should return the constant Wrappable.OUTSIDE.
If possible, the method should also compute the derivative of the
normal with respect to changes in p0, and return this in
dnrm. If this is not possible, dnrm should be
set to 0.
penetrationDistance in interface WrappablepenetrationDistance in class RigidBodynrm - returns the normal (should be normalized)Dnrm - returns the derivative of the normal with respect to
changes in p0, or zero if this cannot be determined.p0 - point to determine penetration forWrappable.OUTSIDE if the
point is further than some minimum distance from the wrappable.public double getCharacteristicRadius()
getCharacteristicRadius in interface WrappablegetCharacteristicRadius in class RigidBody