artisynth.core.mechmodels

Class EBBeamBody

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Frame

artisynth.core.mechmodels.RigidBody

artisynth.core.mechmodels.DeformableBody

artisynth.core.mechmodels.EBBeamBody

All Implemented Interfaces:

Collidable, CollidableBody, CollidableDynamicComponent, ConnectableBody, ContactMaster, DynamicAgent, DynamicComponent, ForceEffector, FrameAttachable, HasSurfaceMesh, MotionTargetComponent, PointAttachable, Wrappable, ComponentChangeListener, CompositeComponent, CopyableComponent, HasCoordinateFrame, HasNumericState, IndexedComponentList, ModelComponent, PostScannable, PropertyChangeListener, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class EBBeamBody
extends DeformableBody

Nested Class Summary

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

RigidBody.InertiaMethod

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

Collidable.Collidability, Collidable.Group

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

CompositeComponent.NavpanelDisplay

Field Summary

Fields

Modifier and Type	Field and Description
boolean	applyXCorrection
static PropertyList	myProps
double	myXScale
static boolean	useMassCrossTerms
static boolean	useNewMass
static boolean	useNewMassDamping

Fields inherited from class artisynth.core.mechmodels.RigidBody

DEFAULT_GROUNDED, DEFAULT_SUBMESHES_SELECTABLE

Fields inherited from class artisynth.core.mechmodels.Frame

dynamicVelInWorldCoords, myRenderFrame

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.mechmodels.Collidable

All, AllBodies, Deformable, Rigid, Self

Fields inherited from interface artisynth.core.mechmodels.Wrappable

OUTSIDE

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
EBBeamBody()
EBBeamBody(double len, double rad, double density, double E)
EBBeamBody(PolygonalMesh mesh, double len, double density, double E)

Method Summary

Modifier and Type	Method and Description
void	addEffectiveFrameMass(SpatialInertia M, RigidTransform3d TFL0) Adds a frame inertia to the effective spatial inertia for this Frame.
void	addEffectivePointMass(double m, Vector3d loc) Adds a point mass to the effective spatial inertia for this Frame.
void	addVelJacobian(SparseNumberedBlockMatrix S, double s) Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
void	applyForces(double t) Adds forces to the components affected by this force effector at a particular time.
void	applyGravity(Vector3d gacc) Applies a gravity force to this component, given a prescribed gravity acceleration vector.
void	computeDeformedFrame(RigidTransform3d A, RigidTransform3d A0)
void	computeDeformedFrameVel(Twist vel, RigidTransform3d A0) Computes the spatial velocity of an attached frame A, as represented in body coordinates.
void	computeDeformedLocation(Vector3d pos, Vector3d pos0) Computes the deformed position in body coordinates
void	computeElasticJacobian(MatrixNd Pi, RigidTransform3d A0, boolean worldCoords) Compute the transform that maps elastic velocities onto the spatial velocity of an attached frame A.
void	computeStiffnessMatrix()
void	computeUndeformedFrame(RigidTransform3d A0, RigidTransform3d A)
double	computeUndeformedLocation(Vector3d pos0, Vector3d pos, double tol) Computes the undeformed position of a given position in body coordinates
double	dshape0(double xi)
double	dshape1(double xi)
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
void	getDShape(Matrix3d Dshp, int i, Vector3d pos0)
SpatialInertia	getEffectiveInertia()
double	getEffectiveMass() Gets the effective scalar mass of this component.
void	getEffectiveMass(Matrix M, double t) Gets the effective mass of this component at a particular time.
int	getEffectiveMassForces(VectorNd f, double t, int idx) Gets the mass forces for this component at a particular time.
void	getMass(Matrix M, double t) Gets the mass of this component at a particular time.
void	getShape(Vector3d shp, int i, Vector3d pos0)
double	getStiffness()
static void	main(java.lang.String[] args)
int	numElasticCoords()
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
void	resetEffectiveMass() Resets the effective mass of this component to the nominal mass.
<T extends FemMaterial> T	setMaterial(T mat)
void	setStiffness(double E)
double	shape0(double xi)
double	shape1(double xi)
void	updateStiffnessMatrix()

Methods inherited from class artisynth.core.mechmodels.DeformableBody

addDeformedFrameForce, addElasticForce, addExternalElasticForce, addForce, addFrameForce, addPointForce, addPointForce, addPosImpulse, addPosJacobian, addScaledExternalElasticForce, addSolveBlock, addToPointVelocity, applyExternalForces, computeDeformationGradient, computeDeformedVelocity, computeFrameLocation, computeFramePosition, computeFrameVelocity, computePointCoriolis, computePointLocation, computePointPosition, computePointVelocity, computeUndeformedLocation, computeWorldPointForceJacobian, createDefaultMaterial, createMassBlock, getDistanceGridComp, getElasticForce, getElasticPos, getElasticPos, getElasticPos, getElasticVel, getElasticVel, getElasticVel, getExternalElasticForce, getForce, getFreezeFrame, getInverseMass, getMassDamping, getMaterial, getPosDerivative, getPosState, getPosStateSize, getStiffnessDamping, getVelState, getVelStateSize, hasDistanceGrid, invalidateStiffness, isDeformable, mulInverseEffectiveMass, propertyChanged, setContactConstraint, setElasticForce, setElasticPos, setElasticPos, setElasticVel, setElasticVel, setExternalElasticForce, setForce, setFreezeFrame, setMassDamping, setPosState, setRandomForce, setRandomPosState, setRandomVelState, setStiffnessDamping, setVelState, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.RigidBody

add, addConnector, addMesh, addMesh, addMesh, addMeshComp, addTransformableDependencies, allowCollision, 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, getCharacteristicRadius, getChildren, getCollidable, getCollidableAncestor, getCollidableIndex, getCollisionMesh, getConnectors, getCopyReferences, getDensity, getDensityRange, getDistanceGrid, getDistanceGridRes, getEffectiveMassForces, getGridSurfaceRendering, getInertia, getInertialDamping, getInertialDampingMode, getInertiaMethod, getMass, getMass, getMassRange, getMesh, getMeshComp, getMeshComp, getMeshComps, getNavpanelDisplay, getNumberLimit, getRotationalInertia, getRotationalInertia, getSubmeshesSelectable, getSurfaceMesh, getSurfaceMeshComp, getSurfaceMeshes, getVolume, hasChildren, hasForce, hasInvariantMasters, hierarchyContainsReferences, indexOf, isCompound, isDuplicatable, isFreeBody, isGrounded, isMassConstant, mulInverseEffectiveMass, numComponents, numMeshComps, numSurfaceMeshes, penetrationDistance, postscan, prerender, remove, removeConnector, removeMeshComp, removeMeshComp, scaleDistance, scaleMass, scaleSurfaceMesh, scan, setCenterOfMass, setCollidable, setCollidableIndex, setDensity, setDisplayMode, setDistanceGridRes, setDynamic, setGridSurfaceRendering, setGrounded, setInertia, setInertia, setInertia, setInertia, setInertiaFromDensity, setInertiaFromMass, setInertialDamping, setInertialDampingMode, setInertiaMethod, setMass, setMesh, setMesh, setMesh, setPose, setRotationalInertia, setSubmeshesSelectable, setSurfaceMesh, setSurfaceMesh, setSurfaceMesh, subEffectiveInertia, surfaceTangent, transformCoordinateFrame, transformGeometry, translateCoordinateFrame, updateBounds, updateNameMap, write

Methods inherited from class artisynth.core.mechmodels.Frame

add1DConstraintBlocks, add2DConstraintBlocks, addExternalForce, addForce, addPointForce, addRelativeVelocity, addScaledExternalForce, addSolveBlocks, addTargetJacobian, collectMasterComponents, computeAppliedWrench, computeForceOnMasters, computeFramePosVel, computePointPosVel, createFrameAttachment, createPointAttachment, getAxisDrawStyle, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getExternalForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getFrameMarkers, getJacobianType, getMoment, getOrientation, getOrientation, getPose, getPose, getPosition, getRenderFrame, getRotaryDamping, getRotaryDampingMode, getRotation, getSelection, getState, getTargetActivity, getTargetOrientation, getTargetPos, getTargetPose, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getTransForce, getVelocity, getVelocity, getWorldVelState, resetTargets, setAxisDrawStyle, setAxisLength, setBodyVelocity, setExternalForce, setForce, setFrameDamping, setFrameDampingMode, setOrientation, setPose, setPosition, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, transformPose, updateAttachmentPosStates, velocityLimitExceeded

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

addAttachmentRequest, addConstrainer, addMasterAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex, transformGeometry

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

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

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, 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, updateReferences

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody

transformPose

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable

createFrameAttachment

Methods inherited from interface artisynth.core.mechmodels.PointAttachable

createPointAttachment

Methods inherited from interface artisynth.core.modelbase.CompositeComponent

recursivelyFind

Methods inherited from interface artisynth.core.mechmodels.Wrappable

getPose

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

addAttachmentRequest, removeAttachmentRequest

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformGeometry, transformPriority

Methods inherited from interface artisynth.core.mechmodels.ContactMaster

isControllable

Field Detail

useNewMass

public static boolean useNewMass

useNewMassDamping

public static boolean useNewMassDamping

useMassCrossTerms

public static boolean useMassCrossTerms

applyXCorrection

public boolean applyXCorrection

myXScale

public double myXScale

myProps

public static PropertyList myProps

Constructor Detail

EBBeamBody

public EBBeamBody()

EBBeamBody

public EBBeamBody(PolygonalMesh mesh,
                  double len,
                  double density,
                  double E)

EBBeamBody

public EBBeamBody(double len,
                  double rad,
                  double density,
                  double E)

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 DeformableBody

Returns:

static information for all exported properties

getStiffness

public double getStiffness()

setStiffness

public void setStiffness(double E)

setMaterial

public <T extends FemMaterial> T setMaterial(T mat)

Overrides:

setMaterial in class DeformableBody

numElasticCoords

public int numElasticCoords()

Specified by:

numElasticCoords in class DeformableBody

computeDeformedLocation

public void computeDeformedLocation(Vector3d pos,
                                    Vector3d pos0)

Description copied from class: DeformableBody

Computes the deformed position in body coordinates

Overrides:

computeDeformedLocation in class DeformableBody

computeUndeformedLocation

public double computeUndeformedLocation(Vector3d pos0,
                                        Vector3d pos,
                                        double tol)

Description copied from class: DeformableBody

Computes the undeformed position of a given position in body coordinates

Overrides:

computeUndeformedLocation in class DeformableBody

computeDeformedFrame

public void computeDeformedFrame(RigidTransform3d A,
                                 RigidTransform3d A0)

Overrides:

computeDeformedFrame in class DeformableBody

computeUndeformedFrame

public void computeUndeformedFrame(RigidTransform3d A0,
                                   RigidTransform3d A)

Overrides:

computeUndeformedFrame in class DeformableBody

computeDeformedFrameVel

public void computeDeformedFrameVel(Twist vel,
                                    RigidTransform3d A0)

Description copied from class: DeformableBody

Computes the spatial velocity of an attached frame A, as represented in body coordinates.

Overrides:

computeDeformedFrameVel in class DeformableBody

computeElasticJacobian

public void computeElasticJacobian(MatrixNd Pi,
                                   RigidTransform3d A0,
                                   boolean worldCoords)

Description copied from class: DeformableBody

Compute the transform that maps elastic velocities onto the spatial velocity of an attached frame A.

Overrides:

computeElasticJacobian in class DeformableBody

Parameters:

Pi - stores the elastic Jacobian

A0 - rest pose of A (relative to the body frame)

worldCoords - if true, the spatial velocity is rotated into world coordinates. Otherwise, it is returned in the coordinates of A.

updateStiffnessMatrix

public void updateStiffnessMatrix()

Specified by:

updateStiffnessMatrix in class DeformableBody

computeStiffnessMatrix

public void computeStiffnessMatrix()

getMass

public void getMass(Matrix M,
                    double t)

Description copied from interface: DynamicAgent

Gets the mass of this component at a particular time. Not currently used; getEffectiveMass() is used instead.

Specified by:

getMass in interface DynamicAgent

Overrides:

getMass in class DeformableBody

Parameters:

M - matrix to return the mass in

t - current time

getEffectiveMassForces

public int getEffectiveMassForces(VectorNd f,
                                  double t,
                                  int idx)

Description copied from interface: DynamicAgent

Gets the mass forces for this component at a particular time. The forces should be stored in f, starting at the location specified by idx. Upon return, this method should return the value of idx incremented by the dimension of the mass forces.

Specified by:

getEffectiveMassForces in interface DynamicAgent

Overrides:

getEffectiveMassForces in class DeformableBody

Parameters:

f - vector to return the forces in

t - current time

idx - starting location within f where forces should be stored

Returns:

updated value for idx

getEffectiveMass

public void getEffectiveMass(Matrix M,
                             double t)

Description copied from interface: DynamicAgent

Gets the effective mass of this component at a particular time. The effective mass is the nominal mass plus any additional mass incurred from attached components.

Specified by:

getEffectiveMass in interface DynamicAgent

Overrides:

getEffectiveMass in class DeformableBody

Parameters:

M - matrix to return the mass in

t - current time

getEffectiveMass

public double getEffectiveMass()

Gets the effective scalar mass of this component. The effective mass is the nominal mass plus any additional mass incurred from attached components.

Specified by:

getEffectiveMass in interface DynamicAgent

Overrides:

getEffectiveMass in class RigidBody

Returns:

effective scalar mass

getEffectiveInertia

public SpatialInertia getEffectiveInertia()

Overrides:

getEffectiveInertia in class RigidBody

addEffectivePointMass

public void addEffectivePointMass(double m,
                                  Vector3d loc)

Adds a point mass to the effective spatial inertia for this Frame.

Overrides:

addEffectivePointMass in class DeformableBody

Parameters:

m - mass of the point

loc - location of the point (in local frame coordinates)

addEffectiveFrameMass

public void addEffectiveFrameMass(SpatialInertia M,
                                  RigidTransform3d TFL0)

Adds a frame inertia to the effective spatial inertia for this Frame.

Overrides:

addEffectiveFrameMass in class RigidBody

Parameters:

M - spatial inertia to be added

TFL0 - location of the inertia (in local frame coordinates)

resetEffectiveMass

public void resetEffectiveMass()

Description copied from interface: DynamicAgent

Resets the effective mass of this component to the nominal mass.

Specified by:

resetEffectiveMass in interface DynamicAgent

Overrides:

resetEffectiveMass in class RigidBody

applyForces

public void applyForces(double t)

Description copied from interface: ForceEffector

Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.

Specified by:

applyForces in interface ForceEffector

Overrides:

applyForces in class DeformableBody

Parameters:

t - time (seconds)

addVelJacobian

public void addVelJacobian(SparseNumberedBlockMatrix S,
                           double s)

Description copied from interface: ForceEffector

Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.

M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.

Specified by:

addVelJacobian in interface ForceEffector

Overrides:

addVelJacobian in class DeformableBody

Parameters:

S - solve matrix to which scaled velocity Jacobian is to be added

s - scaling factor for velocity Jacobian

applyGravity

public void applyGravity(Vector3d gacc)

Description copied from class: Frame

Applies a gravity force to this component, given a prescribed gravity acceleration vector.

Specified by:

applyGravity in interface DynamicAgent

Overrides:

applyGravity in class RigidBody

getShape

public void getShape(Vector3d shp,
                     int i,
                     Vector3d pos0)

Specified by:

getShape in class DeformableBody

shape0

public double shape0(double xi)

shape1

public double shape1(double xi)

dshape0

public double dshape0(double xi)

dshape1

public double dshape1(double xi)

getDShape

public void getDShape(Matrix3d Dshp,
                      int i,
                      Vector3d pos0)

Specified by:

getDShape in class DeformableBody

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 RigidBody

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.

main

public static void main(java.lang.String[] args)