artisynth.core.mechmodels

Class SphericalJoint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.BodyConnector

artisynth.core.mechmodels.JointBase

artisynth.core.mechmodels.SphericalJointBase

artisynth.core.mechmodels.SphericalJoint

All Implemented Interfaces:

Constrainer, CopyableComponent, HasCoordinateFrame, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class SphericalJoint
extends SphericalJointBase

Implements a 3 DOF spherical joint in which frames C and D share an origin and C is free to assume any orientation with respect to D. This class does not provide any coordinates to represent the orientation, but it does allow for bounds to be set on C's orientation with respect to D. These bounds may take the form of either a maximum rotation, as described for setMaxRotation(double,double,double), or a maximum tilt, as described for setMaxTilt(double).

Nested Class Summary

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

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.SphericalJointBase

DEFAULT_JOINT_RADIUS

Fields inherited from class artisynth.core.mechmodels.JointBase

DEFAULT_SHAFT_LENGTH, DEFAULT_SHAFT_RADIUS

Fields inherited from class artisynth.core.mechmodels.BodyConnector

debug, useOldDerivativeMethod

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

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
SphericalJoint() Creates a SphericalJoint which is not attached to any bodies.
SphericalJoint(ConnectableBody bodyA, ConnectableBody bodyB, Point3d originD) Creates a SphericalJoint connecting two connectable bodies, bodyA and bodyB.
SphericalJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TDW) Creates a SphericalJoint connecting two connectable bodies, bodyA and bodyB.
SphericalJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TCW, RigidTransform3d TDW) Creates a SphericalJoint connecting two connectable bodies, bodyA and bodyB.
SphericalJoint(ConnectableBody bodyA, Point3d originD) Creates a SphericalJoint connecting a single connectable body, bodyA, to ground.
SphericalJoint(ConnectableBody bodyA, RigidTransform3d TDW) Creates a SphericalJoint connecting a single connectable body, bodyA, to ground.
SphericalJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d TDB) Creates a SphericalJoint connecting two rigid bodies, bodyA and bodyB.

Method Summary

Modifier and Type	Method and Description
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
double	getMaximumTilt()
Vector3d	getMaxRotation()
double	getMaxTilt()
double	getTilt()
boolean	isRotationLimited()
boolean	isTiltLimited()
void	setMaximumTilt(double max)
void	setMaxRotation(double max)
void	setMaxRotation(double maxx, double maxy, double maxz)
void	setMaxRotation(Vector3d maxRot)
void	setMaxTilt(double max)
void	setRotationLimited(boolean enable)
void	setTiltLimited(boolean enable)

Methods inherited from class artisynth.core.mechmodels.SphericalJointBase

copy, getJointRadius, render, setJointRadius, updateBounds

Methods inherited from class artisynth.core.mechmodels.JointBase

addCoordinateSolveBlocks, addCoordinateVelJacobian, applyCoordinateForce, coordinatesToTCD, getCoordinate, getCoordinateDeg, getCoordinateIndex, getCoordinateMotionType, getCoordinateName, getCoordinateRange, getCoordinateRangeDeg, getCoordinates, getCoordinateSpeed, getCoordinateValue, getMaxCoordinate, getMaxCoordinateDeg, getMinCoordinate, getMinCoordinateDeg, getPosition, getShaftLength, getShaftRadius, getStoredCoordinates, getStoredTCD, getStoredTCD, isCoordinateLocked, numCoordinates, setCoordinate, setCoordinateDeg, setCoordinateLocked, setCoordinateName, setCoordinateRange, setCoordinateRangeDeg, setCoordinates, setShaftLength, setShaftRadius

Methods inherited from class artisynth.core.mechmodels.BodyConnector

addBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, computeConstraintMatrixA, computeConstraintMatrixB, connectToHierarchy, disconnectFromHierarchy, findAttachedBodies, getActivation, getAxisLength, getBilateralForceInA, getBilateralForceInA, getBilateralForceInB, getBilateralForceInB, getBilateralForceInC, getBilateralForceInC, getBilateralForces, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getCompliance, getConstrainedComponents, getConstraint, getConstraintFlags, getConstraintForce, getCopyReferences, getCoupling, getCurrentTCD, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getDamping, getDrawFrameC, getDrawFrameD, getFrameAttachmentA, getFrameAttachmentB, getFrictionForces, getFrictionState, getHardReferences, getLinearCompliance, getPenetrationTol, getPenetrationTolMode, getPose, getRenderFrame, getRotaryCompliance, getRotaryLimitTol, getRotaryLimitTolMode, getState, getStateVersion, getTransformDGeometryOnly, getTransformPositionOnly, getUnilateralForceInA, getUnilateralForceInA, getUnilateralForceInB, getUnilateralForceInB, getUnilateralForceInC, getUnilateralForceInC, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, getUnilateralState, hasState, isActive, isConnectedToBodies, isDuplicatable, isEnabled, isNotAttached, maxFrictionConstraintSets, numBilateralConstraints, numConstraints, numEngagedUnilateralConstraints, numUnilateralConstraints, prerender, printConnectedBodies, printConstraintInfo, scaleDistance, scaleMass, setAlwaysAdjustBodyA, setAxisLength, setBilateralForces, setBodies, setBodies, setBodies, setBodies, setCompliance, setCurrentTCW, setCurrentTDW, setDamping, setDrawFrameC, setDrawFrameD, setEnabled, setFrictionForces, setFrictionState, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setRotaryLimitTol, setRotaryLimitTolMode, setState, setTransformDGeometryOnly, setTransformPositionOnly, setUnilateralForces, setUnilateralState, transformGeometry, transformGeometry, updateAttachments, updateConstraints, zeroForces

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

createRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, 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.modelbase.CopyableComponent

getCopyReferences, isDuplicatable

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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

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 artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, numAuxVars, requiresAdvance, setAuxVarState

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

SphericalJoint

public SphericalJoint()

Creates a SphericalJoint which is not attached to any bodies. It can subsequently be connected using one of the setBodies methods.

SphericalJoint

public SphericalJoint(RigidBody bodyA,
                      RigidTransform3d TCA,
                      RigidBody bodyB,
                      RigidTransform3d TDB)

Creates a SphericalJoint connecting two rigid bodies, bodyA and bodyB. If A and B describe the coordinate frames of bodyA and bodyB, then TCA and TDB give the (fixed) transforms from the joint's C and D frames to A and B, respectively. Since C and D are specified independently, the joint transform TCD may not necessarily be initialized to the identity.

Specifying bodyB as null will cause bodyA to be connected to ground, with TDB then being the same as TDW.

Parameters:

bodyA - rigid body A

TCA - transform from joint frame C to body frame A

bodyB - rigid body B (or null)

TDB - transform from joint frame D to body frame B

SphericalJoint

public SphericalJoint(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      RigidTransform3d TCW,
                      RigidTransform3d TDW)

Creates a SphericalJoint connecting two connectable bodies, bodyA and bodyB. The joint frames C and D are located independently with respect to world coordinates by TCW and TDW.

Specifying bodyB as null will cause bodyA to be connected to ground.

Parameters:

bodyA - body A

bodyB - body B (or null)

TCW - initial transform from joint frame C to world

TDW - initial transform from joint frame D to world

SphericalJoint

public SphericalJoint(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      RigidTransform3d TDW)

Creates a SphericalJoint connecting two connectable bodies, bodyA and bodyB. The joint frames D and C are assumed to be initially coincident, with D (and C) is located by TDW, which gives the transform from D to world coordinates.

Parameters:

bodyA - body A

bodyB - body B

TDW - initial transform from joint frames D and C to world

SphericalJoint

public SphericalJoint(ConnectableBody bodyA,
                      RigidTransform3d TDW)

Creates a SphericalJoint connecting a single connectable body, bodyA, to ground. The joint frames D and C are assumed to be initially coincident, with D (and C) is located by TDW, which gives the transform from D to world coordinates.

Parameters:

bodyA - body A

TDW - initial transform from joint frames D and C to world

SphericalJoint

public SphericalJoint(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      Point3d originD)

Creates a SphericalJoint connecting two connectable bodies, bodyA and bodyB. The joint frames D and C are assumed to be initially coincident, with D (and C) is located (with respect to world) so that its origin is at pointD and its orientation is aligned with the world.

Specifying bodyB as null will cause bodyA to be connected to ground.

Parameters:

bodyA - body A

bodyB - body B, or null if bodyA is connected to ground.

originD - origin of frame D (world coordinates)

SphericalJoint

public SphericalJoint(ConnectableBody bodyA,
                      Point3d originD)

Creates a SphericalJoint connecting a single connectable body, bodyA, to ground. The joint frames D and C are assumed to be initially coincident, with D (and C) located (with respect to world) so that its origin is at originD and its orientation is aligned with the world.

Parameters:

bodyA - body A

originD - origin of frame D (world coordinates)

Method Detail

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 SphericalJointBase

Returns:

static information for all exported properties

isTiltLimited

public boolean isTiltLimited()

setTiltLimited

public void setTiltLimited(boolean enable)

getTilt

public double getTilt()

setMaximumTilt

public void setMaximumTilt(double max)

getMaximumTilt

public double getMaximumTilt()

setMaxTilt

public void setMaxTilt(double max)

getMaxTilt

public double getMaxTilt()

isRotationLimited

public boolean isRotationLimited()

setRotationLimited

public void setRotationLimited(boolean enable)

setMaxRotation

public void setMaxRotation(Vector3d maxRot)

setMaxRotation

public void setMaxRotation(double maxx,
                           double maxy,
                           double maxz)

setMaxRotation

public void setMaxRotation(double max)

getMaxRotation

public Vector3d getMaxRotation()