Interface  Description 

Collidable 
Indicates a model component that can collide with other Collidables.

CollidableBody 
Indicates a Collidable that is capable of actual collision handling.

CollidableDynamicComponent 
Describes a DynamicComponent that can response to collisions.

ConnectableBody 
Defines a component to which joints can be attached.

Constrainer 
Implements a constraint acting on one or more dynamic compnents.

ContactForceBehavior  
ContactMaster 
Adds blocks to constraint matrices to implement the constraint conditions
requires for contact, including both normal and frictional contact
conditions.

DynamicAgent  
DynamicAttachment 
Object that implements attachment between dynamic components.

DynamicAttachmentComp 
A ModelComponent that is also a DynamicAttachment

DynamicComponent  
ExcitationComponent 
Defines an object that can emit and recieve muscle control excitations.

ForceComponent 
A ModelComponent that implements ForceEffector

ForceEffector 
An object that exerts forces within a mechanical model.

ForceTargetComponent 
Indicates a force effector whose force can be controlled by the the inverse
controller.

FrameAttachable 
Defines a component to which a frame can be attached.

HasAttachments 
Indicates a model component that contains one or more DynamicAttachments
internally, as either child or internal (hidden) components.

HasDistanceGrid 
Methods exported by components which support a signed distance grid.

HasSlaveObjects 
Indicates a model component that contains objects (not necessarily just
ModelComponents) whose position and/or velocity are completely coupled to
the position and velocity of the dynamic components of the system.

HasSurfaceMesh 
Defines components that are associated with surface meshes.

IsMarkable 
Can add a marker to this component

MechSystem 
Interface to a second order mechanical system that can be integrated by
a variety of integrators.

MechSystemModel  
MotionTargetComponent 
Indicates a dynamic component for which motion targets can be set.

PlanarComponent 
Indicates a component that is constrained to a plane

PointAttachable 
Defines a component to which a point can be attached.

RequiresInitialize 
Indicates a component, other than a MechSystemModel, that requires
initialization when its containing model is initialized.

RequiresPrePostAdvance 
Indicates a component, other than a MechSystemModel, that requires
processing before and/or after its containing
model is advanced.

SolveMatrixModifier 
Class that modifiers a solve or stiffness matrix and associated force vector.

Wrappable 
Class  Description 

AttachedPoint  
AxialSpring  
AxialSpringList<S extends AxialSpring>  
AxialSpringTest  
BeamBody  
BodyConnector 
Base class for implementing constraints between two connectable bodies, or
between a single connectable body and ground.

Collidable.Group 
Special Collidable subclass used to denote generic groups of
Collidables.

CollidablePair 
Describes a pair of Collidable model components.

CollisionBehavior 
Contains information describing the appropriate collision response
between two bodies.

CollisionBehaviorList  
CollisionComponent 
Base class for both CollisionBehavior and CollisionResponse objects.

CollisionHandler 
Class that generates the contact constraints between a specific
pair of collidable bodies.

CollisionHandlerTable 
Structure to store ColllisionHandlers within a CollisionManager.

CollisionHandlerTableTest 
Unit tester for CollisionHandlerTable

CollisionManager 
A special component that manages collisions between collidable bodies on
behalf of a MechModel.

CollisionManagerTest 
Test jig for the CollisionManager.

CollisionRenderer 
Class to perform rendering for a CollisionHandlerX

CollisionResponse 
Collects the collision response characteristics for a specific pair of
collidables.

CollisionResponseList  
ConstrainerBase  
ContactConstraint 
Information for a contact constraint formed by a single contact point.

ContactPoint 
Stores information about a contact point, including the point
value (in world coordinates), and, if necessary, the associated
vertices and weights.

ContactPointTest 
Tests the methods in ContactPoint; specifically, the ones that reconstruct
vertex weights.

CylindricalJoint 
Implements a 2 DOF cylindrical joint, in which frame C rotates
clockwise about the z axis of frame D by an angle
theta , and
also translates along the z axis of D by a distance z . 
DeformableBody  
DistanceGridComp 
Component that encapsulates a DistanceGrid.

DualQuaternionDeriv 
Utility methods for computing derivatives assocaited with dual quaternions.

DualQuaternionDerivTest  
DynamicAttachmentBase 
Component that implements attachment between dynamic components.

DynamicAttachmentTestBase<C extends DynamicAttachment>  
DynamicAttachmentWorker 
Worker class that applies DynamicAttachments to reduce a dynamic system.

DynamicComponentBase  
DynamicMeshComponent 
Mesh component that is driven by dynamics

EBBeamBody  
EBBeamBodyTest  
ExcitationSource 
A container class comprising both an excitation component and a gain value.

ExcitationSourceList  
ExcitationUtils 
Support routines for Muscle excitations.

FixedAxisJoint 
Experimental 5 DOF joint in which rotation is restricted to 2 DOF.

FixedMeshBody  
ForceEffectorList  
Frame  
FrameAttachment  
FrameBlock  
FrameFrameAttachment 
Class to attach a frame to another frame.

FrameMarker  
FrameSpring  
FrameSpringTest  
FrameState  
FrameTarget 
Contains motion target information for a point.

FrameTargetTest 
Contains motion target information for a point.

GenericMarker  
GimbalJoint 
Implements a 3 DOF spherical joint parameterized by rollpitchyaw
angles.

HingeJoint 
Implements a 1 DOF revolute joint, in which frame C rotates
counterclockwise about the z axis of frame D by an angle
theta . 
JointBase 
Subclass of BodyConnector that provides support for coordinates.

LinearPointConstraint 
Constrain a linear combination of points to sum to a value:
sum( w_i p_i, i=0..N ) = pos
Useful for "attaching" an arbitrary position inside one finite element
to another arbitrary position inside a different element, or to a
specific point in space

Marker  
MechModel  
MechModelState  
MechSystem.ConstraintInfo 
Contains information for a single constraint direction

MechSystem.FrictionInfo 
Contains information for a single friction constraint set.

MechSystemBase  
MechSystemSolver 
Implements implicit integration for MechSystem

MeshComponent 
Contains information about a mesh, including the mesh itself, and it's
possible file name and transformation with respect to the original file
definition.

MeshComponentList<P extends MeshComponent>  
MeshInfo 
Contains information about a mesh, including the mesh itself, and it's
possible file name and transformation with respect to the original file
definition.

MotionTarget 
Contains motion target information for a point.

MultiPointMuscle  
MultiPointMuscleVia  
MultiPointSpring 
Multisegment pointbased spring that supports supports wrapping of selected
segments.

MultiPointSpringList<S extends MultiPointSpring>  
MultiPointSpringTest  
Muscle  
MuscleExciter  
NodalFrameTest  
Particle  
ParticleConstraintBase 
NOTE: This class is still under construction.

ParticleLineConstraint  
ParticleMeshConstraint 
NOTE: This class is still under construction.

ParticlePlaneConstraint  
PlanarConnector 
Implements a 5 DOF connector in which the origin of C is constrained
to lie on the xy plane of D, and C is otherwise free to rotate.

PlanarJoint 
Implements a 3 DOF planer joint, in which the origin of frame C is
constrained to lie in the xy plane of frame D, while being free to rotate
about D's z axis.

PlanarPoint 
A 3dimensional point that is confined to a plane.

PlanarProjection 
Utility methods for transforming between matrices from world to planar
coordinates.

PlanarTranslationJoint 
Implements a 2 DOF planer joint, in which the origin of frame C is
constrained to lie in the xy plane of frame D and rotation is not
permitted.

Point  
PointAttachment  
PointForce  
PointFrameAttachment  
PointFrameAttachmentTest  
PointList<P extends Point>  
PointParticleAttachment  
PointParticleAttachmentTest  
PointPlaneForce  
PointSpringBase 
Base class for springs based on two or more points

PointSpringList<S extends PointSpringBase>  
PointState  
PointTarget 
Contains motion target information for a point.

PointTargetTest 
Contains motion target information for a point.

RevoluteJoint 
Legacy class that implements a 1 DOF revolute joint, in which frame C
rotates about the z axis of frame D.

RigidBody  
RigidBodySolver 
Solves a subset of a MechSystem defined by rigid bodies

RigidBodyTest  
RigidCompositeBody  Deprecated
the functionality offered is now provided by
RigidBody . 
RigidCylinder  
RigidEllipsoid  
RigidMesh  
RigidMeshComp  
RigidSphere  
RigidTorus  
RollPitchJoint 
Legacy class that implements a 2 DOF rollpitch joint, which allows frame C
to rotate with respect to frame D.

SegmentedPlanarConnector 
Implements a 5 DOF connector in which the origin of C is constrained to lie
on a piecewise linear surface defined by a piecewise linear curve in the xz
plane of D.

SkewedUniversalJoint 
Implements a skewed 2 DOF rollpitch joint, in which the roll and pitch
joints are skewed with respect to each other by an angle
skewAngle ,
such that the angle between them is PI/2  skewAngle . 
SkinMeshBase 
Base class for a SkinMeshBody, which is a type of mesh component in which each
vertex is attached to one or more underlying dynamic master components using
a
PointAttachment . 
SliderJoint 
Implements a 1 DOF prismatic joint, in which frame C translates along the z
axis of frame D by a distance
z . 
SlottedHingeJoint 
Implements a 2 DOF ``slotted revolute'' joint, in which frame C rotates
clockwise about the z axis of frame D by an angle
theta , and
also translates along the x axis of D by a distance x . 
SoftPlaneCollider  
SolidJoint 
Auxiliary class used to solve constrained rigid body problems.

SolveMatrixTest  
SphericalJoint 
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.

SphericalJointBase 
Auxiliary class used to solve constrained rigid body problems.

SphericalRpyJoint 
Legacy class that implements a 3 DOF spherical joint parameterized by
rollpitchyaw angles.

Spring  
StiffnessMatrixScaler 
Class that applies both mass and length scaling to a stiffness matrix.

UniversalJoint 
Implements a 2 DOF rotary joint, which allows frame C to rotate with respect
to frame D by a rotation
roll about the z axis, followed by a
rotation pitch about the rotated y axis. 
VertexContactMaster 
Implements a ContactMaster that combines the weighted contact
masters for a single vertexbased contact

YPRStiffnessTest  
YPRStiffnessUtils 
Methods to support the computation of stiffness matrices where the
orientation derivatives for Frames are represented with respect to
yawpitchroll instead of angular displacement.

Enum  Description 

Collidable.Collidability 
Indicates the collision types that are enabled for this Collidable.

CollisionBehavior.ColorMapType 
Specified what type of data should be used when drawing a color
map over the collision area.

CollisionBehavior.Method 
Specifies how the constraints are generated for handling collisions.

CollisionManager.ColliderType 
Specifies the collider that generates contact information between the
two meshes.

DistanceGridComp.SurfaceType 
Specfies the type of interpolation that should be used when constructing
an isosurface for the grid.

ExcitationComponent.CombinationRule 
Combination rules for excitations.

Frame.AxisDrawStyle 
Describes how to render the axes of this frame.

MechSystemSolver.Integrator  
MechSystemSolver.PosStabilization 
Indicates the method by which positions should be stabilized.

MotionTarget.TargetActivity  
PointPlaneForce.ForceType  
RigidBody.InertiaMethod 