artisynth.core.mechmodels

Class FixedMeshBody

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.MeshComponent

artisynth.core.mechmodels.FixedMeshBody

All Implemented Interfaces:

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

public class FixedMeshBody
extends MeshComponent
implements HasCoordinateFrame

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.MeshComponent

DEFAULT_COLOR_INTERPOLATION, DEFAULT_SELECTABLE, DEFAULT_VERTEX_COLOR_MIXING

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

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
FixedMeshBody() Create an empty, unnamed FixedMeshBody.
FixedMeshBody(MeshBase mesh) Create an unnamed FixedMeshBody containing the specified mesh.
FixedMeshBody(java.lang.String name) Create an empty, named FixedMeshBody.
FixedMeshBody(java.lang.String name, MeshBase mesh) Create a named FixedMeshBody containing the specified mesh.

Method Summary

Modifier and Type	Method and Description
Vector3d	centerPoseOnCentroid() Adjusts the pose so that it reflects the mesh's centroid.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
Renderer.AxisDrawStyle	getAxisDrawStyle()
double	getAxisLength()
Point3d	getCentroid() Returns the centroid of this mesh body.
AxisAngle	getOrientation() Queries the orientation of this body's coordinate frame relative to world.
RigidTransform3d	getPose() Queries the pose of this body's coordinate frame relative to world.
void	getPose(RigidTransform3d XFrameToWorld)
Point3d	getPosition() Queries the position of this body's coordinate frame relative to world.
Quaternion	getRotation()
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	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
void	scaleDistance(double s) Scales all distance coordinates.
void	scaleMesh(double s)
void	scaleMesh(double sx, double sy, double sz)
void	scan(ReaderTokenizer rtok, java.lang.Object ref) Scans this element from a ReaderTokenizer.
void	setAxisDrawStyle(Renderer.AxisDrawStyle style)
void	setAxisLength(double len)
void	setMesh(MeshBase mesh, java.lang.String fileName, AffineTransform3dBase X) Sets a mesh for this body.
void	setMeshFromFile(MeshBase mesh, java.lang.String fileName)
void	setMeshFromFile(MeshBase mesh, java.lang.String fileName, AffineTransform3dBase X)
void	setOrientation(AxisAngle axisAng) Sets the orientation of this body's coordinate frame relative to world.
void	setPose(RigidTransform3d XFrameToWorld) Sets the pose of this body's coordinate frame relative to world.
void	setPosition(Point3d pos) Sets the position of this body's coordinate frame relative to world.
void	setRotation(Quaternion q)
void	transformCoordinateFrame(RigidTransform3d TNB) Transforms the coordinate frame of this body, given a transform TNB from the new frame N to the current body frame B.
void	transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes.
void	transformMesh(AffineTransform3dBase X)
void	translateCoordinateFrame(Point3d off) Shifts the coordinate frame by a specified offset.
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.

Methods inherited from class artisynth.core.mechmodels.MeshComponent

addTransformableDependencies, copy, createSurfaceMeshArray, getColorInterpolation, getFileName, getFileTransform, getMesh, getMeshToWorld, getSurfaceMeshes, getVertex, getVertexColorMixing, isFileTransformRigid, isMeshModified, isMeshPolygonal, isMeshTriangular, isSelectable, numSurfaceMeshes, numVertices, prerenderMesh, render, scaleMass, setColorInterpolation, setFileName, setFileTransform, setMesh, setMesh, setMeshToWorld, setSelectable, setVertexColorMixing, transformGeometry, updatePosition, updateSlavePos

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

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

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, 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.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, 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

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

FixedMeshBody

public FixedMeshBody()

Create an empty, unnamed FixedMeshBody.

FixedMeshBody

public FixedMeshBody(java.lang.String name)

Create an empty, named FixedMeshBody.

Parameters:

name - name of the body

FixedMeshBody

public FixedMeshBody(MeshBase mesh)

Create an unnamed FixedMeshBody containing the specified mesh. Note that the mesh is stored by reference, and not copied, so that subsequent changes to it will be reflected in the body.

Parameters:

mesh - mesh geometry

FixedMeshBody

public FixedMeshBody(java.lang.String name,
                     MeshBase mesh)

Create a named FixedMeshBody containing the specified mesh. Note that the mesh is stored by reference, and not copied, so that subsequent changes to it will be reflected in the body.

Parameters:

name - name of the body

mesh - mesh geometry

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 MeshComponent

Returns:

static information for all exported properties

setPose

public void setPose(RigidTransform3d XFrameToWorld)

Sets the pose of this body's coordinate frame relative to world.

Parameters:

XFrameToWorld - pose of this body relative to world

getPose

public RigidTransform3d getPose()

Queries the pose of this body's coordinate frame relative to world.

Returns:

pose of this body relative to world

getPose

public void getPose(RigidTransform3d XFrameToWorld)

Specified by:

getPose in interface HasCoordinateFrame

getPosition

public Point3d getPosition()

Queries the position of this body's coordinate frame relative to world.

Returns:

body position relative to world

setPosition

public void setPosition(Point3d pos)

Sets the position of this body's coordinate frame relative to world.

Parameters:

pos - new body position

getOrientation

public AxisAngle getOrientation()

Queries the orientation of this body's coordinate frame relative to world.

Returns:

body orientation relative to world

setOrientation

public void setOrientation(AxisAngle axisAng)

Sets the orientation of this body's coordinate frame relative to world.

Parameters:

axisAng - body orientation relative to world

getRotation

public Quaternion getRotation()

setRotation

public void setRotation(Quaternion q)

getAxisLength

public double getAxisLength()

setAxisLength

public void setAxisLength(double len)

getAxisDrawStyle

public Renderer.AxisDrawStyle getAxisDrawStyle()

setAxisDrawStyle

public void setAxisDrawStyle(Renderer.AxisDrawStyle style)

setMeshFromFile

public void setMeshFromFile(MeshBase mesh,
                            java.lang.String fileName)
                     throws java.io.IOException

Throws:

java.io.IOException

setMeshFromFile

public void setMeshFromFile(MeshBase mesh,
                            java.lang.String fileName,
                            AffineTransform3dBase X)
                     throws java.io.IOException

Throws:

java.io.IOException

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 MeshComponent

Parameters:

s - scaling factor

setMesh

public void setMesh(MeshBase mesh,
                    java.lang.String fileName,
                    AffineTransform3dBase X)

Sets a mesh for this body.

Overrides:

setMesh in class MeshComponent

scaleMesh

public void scaleMesh(double sx,
                      double sy,
                      double sz)

scaleMesh

public void scaleMesh(double s)

transformMesh

public void transformMesh(AffineTransform3dBase X)

transformGeometry

public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)

Description copied from interface: TransformableGeometry

Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes. The context argument supplies information about what other components are currently being transformed, and also allows the requesting of update actions to be performed after all transform called have completed. The context is also the usual entity that calls this method, from within its TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method. The argument flags provides flags to specify various conditions associated with the the transformation. At present, the available flags are TransformableGeometry.TG_SIMULATING and TransformableGeometry.TG_ARTICULATED.

This method is not usually called directly by applications. Instead, it is typically called from within the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of the context, which takes care of the various operations needed for a complete transform operation, including calling TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int) to collect other components that should be transformed, calling TransformableGeometry.transformGeometry(maspack.matrix.AffineTransform3dBase) for each component, notifying component parents that the geometry has changed, and calling any requested TransformGeometryActions. More details are given in the documentation for TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int).

TransformGeometryContext provides a number of static convenience transform methods which take care of building the context and calling apply() for a specified set of components.

This method should not generally call transformGeometry() for its descendant components. Instead, descendants needing transformation should be specified by adding them to the context in the method TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int).

Specified by:

transformGeometry in interface TransformableGeometry

Overrides:

transformGeometry in class MeshComponent

Parameters:

gtr - transformer implementing the transform

context - context information, including what other components are being transformed

flags - specifies conditions associated with the transformation

scan

public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException

Description copied from class: ModelComponentBase

Scans this element from a ReaderTokenizer. The expected text format is assumed to be compatible with that produced by write.

Specified by:

scan in interface ModelComponent

Specified by:

scan in interface Scannable

Overrides:

scan in class ModelComponentBase

Parameters:

rtok - Tokenizer from which to scan the element

ref - optional reference object which can be used for resolving references to other objects

Throws:

java.io.IOException - if an I/O or formatting error occured

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 MeshComponent

Parameters:

list - list of objects to be rendered

updateBounds

public void updateBounds(Vector3d pmin,
                         Vector3d pmax)

Description copied from interface: IsRenderable

Update the minimum and maximum points for this object. In an x-y-z coordinate system with x directed to the right and y directed upwards, the minimum and maximum points can be thought of as defining the left-lower-far and right-upper-near corners of a bounding cube. This method should only reduce the elements of the minimum point and increase the elements of the maximum point, since it may be used as part of an iteration to determine the bounding cube for several different objects.

Specified by:

updateBounds in interface IsRenderable

Overrides:

updateBounds in class MeshComponent

Parameters:

pmin - minimum point

pmax - maximum point

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 MeshComponent

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.

getCentroid

public Point3d getCentroid()

Returns the centroid of this mesh body.

Returns:

mesh centroid

centerPoseOnCentroid

public Vector3d centerPoseOnCentroid()

Adjusts the pose so that it reflects the mesh's centroid. Returns the previous centroid position, with respect to body coordinates. The negative of this gives the previous location of body frame's origin, also with respect to body coordinates.

Returns:

previous centroid position

translateCoordinateFrame

public void translateCoordinateFrame(Point3d off)

Shifts the coordinate frame by a specified offset. The offset is added to the pose, and subtracted from the mesh vertex positions and inertia.

transformCoordinateFrame

public void transformCoordinateFrame(RigidTransform3d TNB)

Transforms the coordinate frame of this body, given a transform TNB from the new frame N to the current body frame B. If the current pose if TBW, the new pose will be updated to TBW TNB. The mesh geometry of the body will be adjusted so that they remain ``in place''.