artisynth.core.mechmodels

Class FrameAttachedFrame

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Frame

artisynth.core.mechmodels.AttachedFrame

artisynth.core.mechmodels.FrameAttachedFrame

All Implemented Interfaces:

AttachingComponent, CollidableDynamicComponent, ContactMaster, DynamicAgent, DynamicComponent, ForceEffector, FrameAttachable, HasAttachments, IsMarkable, MotionTargetComponent, PointAttachable, ComponentChangeListener, CompositeComponent, CopyableComponent, HasCoordinateFrame, HasNumericState, HasPoseComponent, HasPosition, IndexedComponentList, ModelComponent, PostScannable, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class FrameAttachedFrame
extends AttachedFrame

A Frame that is rigidly attached to another Frame, analogous to FrameMarker, which is a Point attached to a Frame.

Nested Class Summary

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

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

CompositeComponent.NavpanelDisplay

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

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.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
FrameAttachedFrame() Creates a new FrameAttachedFrame with default (identity) pose and no master frame assigned.
FrameAttachedFrame(Frame frame, RigidTransform3d TFW) Creates a new FrameAttachedFrame with the specified world pose and attaches it to the given master frame.
FrameAttachedFrame(RigidTransform3d TFW) Creates a new FrameAttachedFrame with the specified world pose and no master frame assigned.
FrameAttachedFrame(java.lang.String name) Creates a new FrameAttachedFrame with the specified name, default (identity) pose, and no master frame assigned.

Method Summary

Modifier and Type	Method and Description
FrameAttachedFrame	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
boolean	getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor) Collects external references which must also be copied in order to duplicate this component.
Frame	getFrame() Returns the Frame to which this frame is attached, or null if no master frame has been set.
RigidTransform3d	getTFM() Returns the transform from this frame to its master frame.
boolean	isDuplicatable() Returns true if this component can be duplicated.
void	scaleDistance(double s) Scales all distance coordinates.
void	setAttached(DynamicAttachment ax) Attach this component to another via a DynamicAttachment object.
void	setFrame(Frame frame) Attaches this frame to the specified master frame.
void	setTFM(RigidTransform3d TFM) Sets the transform from this frame to its master frame and updates the world pose accordingly.
void	setTFW(RigidTransform3d TFW) Sets the world pose of this frame by specifying the transform from this frame to world coordinates.
void	updateAttachment()
void	updateState()

Methods inherited from class artisynth.core.mechmodels.AttachedFrame

connectAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachments, getHardReferences

Methods inherited from class artisynth.core.mechmodels.Frame

add, add1DConstraintBlocks, add2DConstraintBlocks, addAttachedFrame, addAttachedFrame, addAttachedFrameWorld, addEffectiveFrameMass, addEffectivePointMass, addExternalForce, addForce, addForce, addFrameForce, addMarker, addMarker, addMarker, addMarkerWorld, addPointForce, addPointForce, addPosImpulse, addPosJacobian, addRelativeVelocity, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, addTransformableDependencies, addVelJacobian, applyExternalForces, applyForces, applyGravity, canAddMarker, clearAttachedFrames, clearMarkers, collectMasterComponents, componentChanged, computeAppliedWrench, computeForceOnMasters, computeFrameLocation, computeFramePosition, computeFramePosVel, computeFrameVelocity, computePointCoriolis, computePointLocation, computePointPosition, computePointPosVel, computePointVelocity, createFrameAttachment, createMarker, createMarker, createMassBlock, createPointAttachment, createRenderProps, findComponent, get, get, getAttachedFrames, getAxisDrawStyle, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getByNumber, getChildren, getEffectiveMass, getEffectiveMass, getEffectiveMassForces, getExternalForce, getForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getFrameMarkers, getJacobianType, getMarkers, getMass, getMass, getMoment, getNavpanelDisplay, getNumberLimit, 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, hasChildren, hasForce, hierarchyContainsReferences, indexOf, isMassConstant, mulInverseEffectiveMass, numComponents, postscan, prerender, remove, removeAttachedFrame, removeMarker, render, resetEffectiveMass, resetTargets, scaleMass, scan, setAxisDrawStyle, setAxisLength, setBodyVelocity, setContactConstraint, setExternalForce, setForce, setForce, setFrameDamping, setFrameDampingMode, setNavpanelDisplay, setOrientation, setPose, setPosition, setPosState, setRandomForce, setRandomPosState, setRandomVelState, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, transformGeometry, transformPose, updateAttachmentPosStates, updateBounds, updateNameMap, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

addAttachmentRequest, addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getInverseMass, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, 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, 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, write

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.mechmodels.AttachingComponent

getAttachment

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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.mechmodels.DynamicComponent

addAttachmentRequest, removeAttachmentRequest

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

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

Methods inherited from interface artisynth.core.modelbase.CompositeComponent

recursivelyFind

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

FrameAttachedFrame

public FrameAttachedFrame()

Creates a new FrameAttachedFrame with default (identity) pose and no master frame assigned.

FrameAttachedFrame

public FrameAttachedFrame(java.lang.String name)

Creates a new FrameAttachedFrame with the specified name, default (identity) pose, and no master frame assigned.

Parameters:

name - name of the frame

FrameAttachedFrame

public FrameAttachedFrame(RigidTransform3d TFW)

Creates a new FrameAttachedFrame with the specified world pose and no master frame assigned.

Parameters:

TFW - transform from this frame to world coordinates

FrameAttachedFrame

public FrameAttachedFrame(Frame frame,
                          RigidTransform3d TFW)

Creates a new FrameAttachedFrame with the specified world pose and attaches it to the given master frame. The relative transform between this frame and the master is computed from their current world poses.

Parameters:

frame - master frame to attach to

TFW - transform from this frame to 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 Frame

Returns:

static information for all exported properties

setAttached

public void setAttached(DynamicAttachment ax)

Description copied from class: DynamicComponentBase

Attach this component to another via a DynamicAttachment object. This method is intended for internal use by attachment components.

Specified by:

setAttached in interface DynamicAgent

Overrides:

setAttached in class DynamicComponentBase

Parameters:

ax - Specifies the attachment relationship between this component and its master(s)

getFrame

public Frame getFrame()

Returns the Frame to which this frame is attached, or null if no master frame has been set.

Returns:

master frame, or null

setFrame

public void setFrame(Frame frame)

Attaches this frame to the specified master frame. The relative transform between this frame and the master is computed from their current world poses.

Parameters:

frame - master frame to attach to

getTFM

public RigidTransform3d getTFM()

Returns the transform from this frame to its master frame. The returned value is a copy and may be modified without affecting the attachment.

Returns:

transform from this frame to the master frame

setTFM

public void setTFM(RigidTransform3d TFM)

Sets the transform from this frame to its master frame and updates the world pose accordingly.

Parameters:

TFM - transform from this frame to the master frame

setTFW

public void setTFW(RigidTransform3d TFW)

Sets the world pose of this frame by specifying the transform from this frame to world coordinates. The relative transform to the master frame is updated accordingly.

Parameters:

TFW - transform from this frame to world coordinates

updateState

public void updateState()

Specified by:

updateState in class AttachedFrame

updateAttachment

public void updateAttachment()

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 Frame

Parameters:

s - scaling factor

isDuplicatable

public boolean isDuplicatable()

Returns true if this component can be duplicated. Duplication means that we can expect to be able to make a complete copy of the component along with all it's external references. This method should return true if and only if CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) returns true.

This method is not currently used. It is intended to provide a faster way of determining if a component can be duplicated, without having to use CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) to build the list of copy references.

Specified by:

isDuplicatable in interface CopyableComponent

Overrides:

isDuplicatable in class Frame

Returns:

true if this component can be duplicated.

getCopyReferences

public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)

Collects external references which must also be copied in order to duplicate this component. These references should exclude those which are contained within a specified component hierarchy. This method should return true if and only if CopyableComponent.isDuplicatable() returns true.

Specified by:

getCopyReferences in interface CopyableComponent

Overrides:

getCopyReferences in class Frame

Parameters:

refs - list to which references are appended

ancestor - root node of the hierarchy from which references are to be excluded

Returns:

false if it is discovered that the component cannot be duplicated

copy

public FrameAttachedFrame copy(int flags,
                               java.util.Map<ModelComponent,ModelComponent> copyMap)

Description copied from interface: CopyableComponent

Create a copy of this component. If COPY_REFERENCES is set in flags, then any component referenced by this component should itself be set to a copy. This should be done first checking copyMap for an existing copy of the referenced component. If there is no existing copy, then a copy should be created by calling copy recursively and adding the new copy to copyMap.

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class Frame

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component