FemModel (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.ComponentList<ModelComponent>
  - - artisynth.core.modelbase.ModelBase
    - - artisynth.core.modelbase.RenderableModelBase
      - artisynth.core.mechmodels.MechSystemBase
        
        artisynth.core.femmodels.FemModel

All Implemented Interfaces:

Constrainer, ForceEffector, HasSlaveObjects, MechSystem, MechSystemModel, ComponentChangeListener, ComponentListView<ModelComponent>, CompositeComponent, HasMenuItems, HasState, IndexedComponentList, Model, ModelComponent, MutableCompositeComponent<ModelComponent>, ParameterizedClass, PropertyChangeListener, RenderableComponent, TransformableGeometry, ScalableUnits, java.awt.event.ActionListener, java.lang.Cloneable, java.lang.Iterable<ModelComponent>, java.util.Collection<ModelComponent>, java.util.EventListener, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Disposable, ListView<ModelComponent>, Scannable

Direct Known Subclasses:

FemModel3d
```
public abstract class FemModel
extends MechSystemBase
implements TransformableGeometry, ScalableUnits, Constrainer, ForceEffector, PropertyChangeListener, HasSlaveObjects
```

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`FemModel.ElementFilter`
`static class`	`FemModel.IncompMethod`
`static class`	`FemModel.Ranging`
`static class`	`FemModel.SurfaceRender`

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

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.MechSystem
MechSystem.ConstraintInfo, MechSystem.FrictionInfo

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.MechSystemBase
  myParametricsInSystemMatrix
- Fields inherited from class artisynth.core.modelbase.ComponentList
  DEFAULT_NAVPANEL_DISPLAY
- 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 artisynth.core.mechmodels.MechSystem
  COMPUTE_CONTACTS, UPDATE_CONTACTS
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

Fields
Modifier and Type	Field and Description
`static PropertyList`	`myProps`

Constructor Summary

Constructors
Constructor and Description

FemModel(java.lang.String name)

Constructors
Constructor and Description
`FemModel(java.lang.String name)`

Method Summary

All Methods Static Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`int`	`addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)`
`int`	`addFrictionConstraints(SparseBlockMatrix DT, MechSystem.FrictionInfo[] finfo, int numf)`
`void`	`addMarker(FemMarker mkr)`
`boolean`	`addMarker(FemMarker mkr, java.util.Collection<? extends FemNode> nodes)`
`void`	`addMarker(FemMarker mkr, java.util.Collection<? extends FemNode> nodes, VectorNd weights)`
`void`	`addMarker(FemMarker mkr, FemElement elem)`
`void`	`addMarker(FemMarker mkr, FemElement elem, int markerId)`
`boolean`	`addMarker(FemMarker mkr, FemNode[] nodes)`
`void`	`addMarker(FemMarker mkr, FemNode[] nodes, double[] weights)`
`abstract void`	`addSolveBlocks(SparseNumberedBlockMatrix M)` Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector.
`int`	`addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu)`
`void`	`applyForces(double t)` Adds forces to the components affected by this force effector at a particular time.
`ComponentList<DynamicAttachment>`	`attachments()`
`void`	`attachPoint(Point p, FemNode[] nodes, double[] coords)`
`DynamicComponent`	`checkVelocityStability()` Checks the velocity stability of this system.
`void`	`clear()`
`FemModel`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)`
`static FemMaterial`	`createDefaultMaterial()`
`void`	`detachAllNodes()`
`boolean`	`detachPoint(Point p)`
`boolean`	`forcesNeedUpdating()`
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`void`	`getAttachments(java.util.List<DynamicAttachment> list, int level)`
`int`	`getBilateralImpulses(VectorNd lam, int idx)`
`int`	`getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)`
`void`	`getBilateralSizes(VectorNi sizes)`
`double`	`getCharacteristicSize()`
`void`	`getCollidables(java.util.List<Collidable> list)`
`void`	`getConstrainedComponents(java.util.List<DynamicComponent> list)`
`void`	`getConstrainers(java.util.List<Constrainer> constrainers, int level)`
`double`	`getDensity()`
`PropertyMode`	`getDensityMode()`
`void`	`getDynamicComponents(java.util.List<DynamicComponent> active, java.util.List<DynamicComponent> attached, java.util.List<DynamicComponent> parametric)`
`abstract FemElement`	`getElement(int idx)`
`abstract ComponentList<? extends FemElement>`	`getElements()`
`double`	`getEnergy()`
`void`	`getForceEffectors(java.util.List<ForceEffector> forceEffectors, int level)`
`Vector3d`	`getGravity()`
`PropertyMode`	`getGravityMode()`
`int`	`getImplicitIterations()`
`double`	`getImplicitPrecision()`
`MechSystemSolver.Integrator`	`getIntegrator()`
`int`	`getJacobianType()` Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix.
`double`	`getMass()`
`double`	`getMassDamping()` Gets the Rayleigh damping coefficient associated with the FEM's mass
`FemMaterial`	`getMaterial()`
`MechSystemSolver.MatrixSolver`	`getMatrixSolver()`
`abstract FemNode`	`getNode(int idx)`
`double`	`getNodeMass()`
`abstract PointList<? extends FemNode>`	`getNodes()`
`int`	`getNumInverted()`
`double`	`getParticleDamping()`
`double`	`getRestVolume()`
`void`	`getSlaveObjectComponents(java.util.List<HasSlaveObjects> comps, int level)` Should be overridden in subclasses to return all the HasSlaveObjects ' components within this model.
`double`	`getStiffnessDamping()` Gets the Rayleigh damping coefficient associated with the FEM's stiffness
`DoubleInterval`	`getStressPlotRange()`
`PropertyMode`	`getStressPlotRangeMode()`
`FemModel.Ranging`	`getStressPlotRanging()`
`PropertyMode`	`getStressPlotRangingMode()`
`FemModel.SurfaceRender`	`getSurfaceRendering()`
`PropertyMode`	`getSurfaceRenderingMode()`
`IterativeSolver.ToleranceType`	`getToleranceType()`
`int`	`getUnilateralImpulses(VectorNd the, int idx)`
`int`	`getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)`
`void`	`getUnilateralSizes(VectorNi sizes)`
`double`	`getVolume()`
`boolean`	`hasState()` Queries if this component has state.
`void`	`invalidateRestData()`
`void`	`invalidateStressAndStiffness()`
`RenderableComponentList<FemMarker>`	`markers()`
`int`	`maxFrictionConstraintSets()` Returns that maximum number of friction constraint set that may be added by the method `getFrictionConstraints()`.
`int`	`numElements()`
`int`	`numNodes()`
`void`	`printNodeMasses(int num)`
`void`	`propertyChanged(PropertyChangeEvent e)`
`void`	`recursivelyInitialize(double t, int level)`
`boolean`	`removeMarker(FemMarker mkr)`
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`void`	`resetStressPlotRange()`
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`int`	`setBilateralImpulses(VectorNd lam, double h, int idx)`
`void`	`setBounds(Point3d pmin, Point3d pmax)`
`void`	`setDensity(double p)`
`void`	`setDensityMode(PropertyMode mode)`
`void`	`setGravity(double gx, double gy, double gz)`
`void`	`setGravity(Vector3d g)`
`void`	`setGravityMode(PropertyMode mode)`
`void`	`setImplicitIterations(int max)`
`void`	`setImplicitPrecision(double prec)`
`void`	`setIntegrator(MechSystemSolver.Integrator method)`
`void`	`setLinearMaterial(double E, double nu, boolean corotated)`
`void`	`setMassDamping(double d)` Sets the Rayleigh damping coefficient associated with the FEM's mass
`void`	`setMaterial(FemMaterial mat)`
`void`	`setMatrixSolver(MechSystemSolver.MatrixSolver method)`
`void`	`setMaxStepSize(double sec)` Sets the maximum step size by which this model should be advanced within a simulation loop.
`void`	`setParticleDamping(double d)`
`void`	`setStiffnessDamping(double d)` Sets the Rayleigh damping coefficient associated with the FEM's stiffness
`void`	`setStressPlotRange(DoubleInterval range)`
`void`	`setStressPlotRangeMode(PropertyMode mode)`
`void`	`setStressPlotRanging(FemModel.Ranging ranging)`
`void`	`setStressPlotRangingMode(PropertyMode mode)`
`void`	`setSurfaceRendering(FemModel.SurfaceRender mode)`
`void`	`setSurfaceRenderingMode(PropertyMode mode)`
`void`	`setToleranceType(IterativeSolver.ToleranceType type)`
`int`	`setUnilateralImpulses(VectorNd the, double h, int idx)`
`void`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.
`double`	`updateConstraints(double t, int flags)`
`double`	`updateRestVolume()`
`void`	`updateSlavePos()` Called when the system's dynamic position state changes, to update the position state of the slave objects.
`void`	`updateSlaveVel()` Called when the system's dynamic velocity state changes, to update the velocity state of the slave objects.
`double`	`updateVolume()`
`java.lang.Object`	`validateMatrixSolver(MechSystemSolver.MatrixSolver method, StringHolder errMsg)`
`void`	`zeroExternalForces()`
`void`	`zeroImpulses()`

Methods inherited from class artisynth.core.mechmodels.MechSystemBase
addActivePosImpulse, addAttachmentJacobian, addAttachmentSolveBlocks, addGeneralMassBlocks, addGeneralSolveBlocks, addPosJacobian, addVelJacobian, advance, applyAttachmentForces, buildMassMatrix, buildSolveMatrix, closePrintStateFile, collectInitialForces, createState, createVelocityJacobian, getActiveForces, getActiveMass, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveStiffness, getActiveVelState, getActiveVelState, getActiveVelStateSize, getAttachmentConstraints, getAttachmentDerivatives, getAuxState, getBilateralConstraints, getBilateralConstraintSizes, getBilateralForces, getBilateralImpulses, getBilateralInfo, getDefaultStabilization, getDynamicDOFs, getDynamicsEnabled, getForces, getFrictionConstraints, getInitialState, getInverseMassMatrix, getMassMatrix, getNumBilateralImpulses, getNumUnilateralImpulses, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getPenetrationLimit, getPrintState, getProfiling, getSolveMatrixType, getSolver, getStabilization, getState, getStructureVersion, getUnilateralConstraints, getUnilateralConstraintSizes, getUnilateralForces, getUnilateralImpulses, getUnilateralInfo, getUpdateForcesAtStepEnd, getUpdateForcesAtStepEndMode, hasParameterizedType, initialize, numActiveComponents, numAttachedComponents, numParametricComponents, openPrintStateFile, preadvance, printActiveStiffness, recursivelyFinalizeAdvance, reduceVelocityJacobian, reopenPrintStateFile, setActiveForces, setActivePosState, setActiveVelState, setAuxState, setBilateralImpulses, setDefaultStabilization, setDynamicsEnabled, setForces, setParametricForces, setParametricPosState, setParametricVelState, setPenetrationLimit, setPrintState, setPrintState, setProfiling, setStabilization, setState, setUnilateralImpulses, setUpdateForcesAtStepEnd, setUpdateForcesAtStepEndMode, topMechSystem, updateAttachmentPos, updateAttachmentVel, updateConstraints, updateForces, updatePosState, updateVelState, writeBilateralConstraintMatrix, writeBilateralConstraintMatrix, writeMassMatrix, writeMassMatrix, writeStiffnessMatrix, writeStiffnessMatrix

Methods inherited from class artisynth.core.modelbase.RenderableModelBase
createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setRenderProps

Methods inherited from class artisynth.core.modelbase.ModelBase
actionPerformed, copy, dispose, getInitialState, getMaxStepSize, getMenuItems, hierarchyContainsReferences, setInitialState

Methods inherited from class artisynth.core.modelbase.ComponentList
add, add, addAll, addComponents, addFixed, addNumbered, clone, componentChanged, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNumberLimit, getShortName, getTypeParameter, hasChildren, indexOf, invalidateNumbers, isEmpty, iterator, nextComponentNumber, numComponents, postscan, remove, remove, removeAll, removeAll, removeComponents, retainAll, scan, set, setNavpanelDisplay, setNumbered, setNumberingStartAtOne, setShortName, size, toArray, toArray, updateNameMap

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry
addTransformableDependencies, transformGeometry, transformGeometry

Methods inherited from interface artisynth.core.mechmodels.ForceEffector
addPosJacobian, addVelJacobian

Methods inherited from interface artisynth.core.mechmodels.MechSystemModel
getAuxStateComponents, getCollidables, getMassMatrixValues, mulInverseMass

Methods inherited from interface artisynth.core.modelbase.Model
dispose, getMaxStepSize

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences

Methods inherited from interface maspack.properties.HasProperties
getProperty

Methods inherited from interface maspack.properties.HierarchyNode
getChildren, hasChildren

Methods inherited from interface maspack.util.Scannable
isWritable, write

Methods inherited from interface artisynth.core.modelbase.ComponentListView
getName

Methods inherited from interface java.lang.Iterable
forEach, spliterator

Methods inherited from interface java.util.Collection
equals, hashCode, parallelStream, removeIf, spliterator, stream

- Field Detail
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - FemModel
```
public FemModel(java.lang.String name)
```
- 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 RenderableModelBase
    
    Returns:
    
    static information for all exported properties
  - createDefaultMaterial
```
public static FemMaterial createDefaultMaterial()
```
  - getMaterial
```
public FemMaterial getMaterial()
```
  - setMaterial
```
public void setMaterial(FemMaterial mat)
```
  - setLinearMaterial
```
public void setLinearMaterial(double E,
                              double nu,
                              boolean corotated)
```
  - setSurfaceRendering
```
public void setSurfaceRendering(FemModel.SurfaceRender mode)
```
  - getSurfaceRendering
```
public FemModel.SurfaceRender getSurfaceRendering()
```
  - setSurfaceRenderingMode
```
public void setSurfaceRenderingMode(PropertyMode mode)
```
  - getSurfaceRenderingMode
```
public PropertyMode getSurfaceRenderingMode()
```
  - getStressPlotRanging
```
public FemModel.Ranging getStressPlotRanging()
```
  - getStressPlotRangingMode
```
public PropertyMode getStressPlotRangingMode()
```
  - setStressPlotRangingMode
```
public void setStressPlotRangingMode(PropertyMode mode)
```
  - getStressPlotRangeMode
```
public PropertyMode getStressPlotRangeMode()
```
  - setStressPlotRangeMode
```
public void setStressPlotRangeMode(PropertyMode mode)
```
  - setStressPlotRanging
```
public void setStressPlotRanging(FemModel.Ranging ranging)
```
  - getStressPlotRange
```
public DoubleInterval getStressPlotRange()
```
  - resetStressPlotRange
```
public void resetStressPlotRange()
```
  - setStressPlotRange
```
public void setStressPlotRange(DoubleInterval range)
```
  - invalidateStressAndStiffness
```
public void invalidateStressAndStiffness()
```
  - invalidateRestData
```
public void invalidateRestData()
```
  - getGravity
```
public Vector3d getGravity()
```
  - setGravity
```
public void setGravity(Vector3d g)
```
  - setGravity
```
public void setGravity(double gx,
                       double gy,
                       double gz)
```
  - getGravityMode
```
public PropertyMode getGravityMode()
```
  - setGravityMode
```
public void setGravityMode(PropertyMode mode)
```
  - setParticleDamping
```
public void setParticleDamping(double d)
```
  - getParticleDamping
```
public double getParticleDamping()
```
  - setMassDamping
```
public void setMassDamping(double d)
```
    Sets the Rayleigh damping coefficient associated with the FEM's mass
    
    Parameters:
    
    d - new mass damping
  - getMassDamping
```
public double getMassDamping()
```
    Gets the Rayleigh damping coefficient associated with the FEM's mass
    
    Returns:
    
    mass damping value
  - setStiffnessDamping
```
public void setStiffnessDamping(double d)
```
    Sets the Rayleigh damping coefficient associated with the FEM's stiffness
    
    Parameters:
    
    d - new stiffness damping
  - getStiffnessDamping
```
public double getStiffnessDamping()
```
    Gets the Rayleigh damping coefficient associated with the FEM's stiffness
    
    Returns:
    
    stiffness damping value
  - setIntegrator
```
public void setIntegrator(MechSystemSolver.Integrator method)
```
  - getIntegrator
```
public MechSystemSolver.Integrator getIntegrator()
```
  - setMatrixSolver
```
public void setMatrixSolver(MechSystemSolver.MatrixSolver method)
```
  - validateMatrixSolver
```
public java.lang.Object validateMatrixSolver(MechSystemSolver.MatrixSolver method,
                                             StringHolder errMsg)
```
  - getMatrixSolver
```
public MechSystemSolver.MatrixSolver getMatrixSolver()
```
  - setDensity
```
public void setDensity(double p)
```
  - getDensity
```
public double getDensity()
```
  - setDensityMode
```
public void setDensityMode(PropertyMode mode)
```
  - getDensityMode
```
public PropertyMode getDensityMode()
```
  - numNodes
```
public int numNodes()
```
  - getNodes
```
public abstract PointList<? extends FemNode> getNodes()
```
  - getNode
```
public abstract FemNode getNode(int idx)
```
  - getElements
```
public abstract ComponentList<? extends FemElement> getElements()
```
  - addMarker
```
public void addMarker(FemMarker mkr)
```
  - addMarker
```
public void addMarker(FemMarker mkr,
                      FemElement elem)
```
  - addMarker
```
public void addMarker(FemMarker mkr,
                      FemElement elem,
                      int markerId)
```
  - addMarker
```
public void addMarker(FemMarker mkr,
                      java.util.Collection<? extends FemNode> nodes,
                      VectorNd weights)
```
  - addMarker
```
public void addMarker(FemMarker mkr,
                      FemNode[] nodes,
                      double[] weights)
```
  - addMarker
```
public boolean addMarker(FemMarker mkr,
                         java.util.Collection<? extends FemNode> nodes)
```
  - addMarker
```
public boolean addMarker(FemMarker mkr,
                         FemNode[] nodes)
```
  - removeMarker
```
public boolean removeMarker(FemMarker mkr)
```
  - markers
```
public RenderableComponentList<FemMarker> markers()
```
  - attachments
```
public ComponentList<DynamicAttachment> attachments()
```
  - attachPoint
```
public void attachPoint(Point p,
                        FemNode[] nodes,
                        double[] coords)
```
  - detachPoint
```
public boolean detachPoint(Point p)
```
  - detachAllNodes
```
public void detachAllNodes()
```
  - clear
```
public void clear()
```
    Specified by:
    
    clear in interface java.util.Collection<ModelComponent>
    
    Overrides:
    
    clear in class ComponentList<ModelComponent>
  - getElement
```
public abstract FemElement getElement(int idx)
```
  - numElements
```
public int numElements()
```
  - setBounds
```
public void setBounds(Point3d pmin,
                      Point3d pmax)
```
  - zeroExternalForces
```
public void zeroExternalForces()
```
  - forcesNeedUpdating
```
public boolean forcesNeedUpdating()
```
  - 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
    
    Parameters:
    
    t - time (seconds)
  - 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 RenderableModelBase
    
    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
    
    Specified by:
    
    render in class RenderableModelBase
    
    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.
  - getAttachments
```
public void getAttachments(java.util.List<DynamicAttachment> list,
                           int level)
```
    Specified by:
    
    getAttachments in interface MechSystemModel
  - hasState
```
public boolean hasState()
```
    Queries if this component has state. Structure change events involving components that have state will cause the current state history of of the system to be cleared.
    
    Specified by:
    
    hasState in interface ModelComponent
    
    Overrides:
    
    hasState in class ModelComponentBase
    
    Returns:
    
    true if this component has state
  - getImplicitIterations
```
public int getImplicitIterations()
```
  - setImplicitIterations
```
public void setImplicitIterations(int max)
```
  - getToleranceType
```
public IterativeSolver.ToleranceType getToleranceType()
```
  - setToleranceType
```
public void setToleranceType(IterativeSolver.ToleranceType type)
```
  - scaleDistance
```
public void scaleDistance(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all distance coordinates.
    
    Specified by:
    
    scaleDistance in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - getMass
```
public double getMass()
```
  - getNodeMass
```
public double getNodeMass()
```
  - printNodeMasses
```
public void printNodeMasses(int num)
```
  - getEnergy
```
public double getEnergy()
```
  - scaleMass
```
public void scaleMass(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all mass units.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - getCollidables
```
public void getCollidables(java.util.List<Collidable> list)
```
  - getDynamicComponents
```
public void getDynamicComponents(java.util.List<DynamicComponent> active,
                                 java.util.List<DynamicComponent> attached,
                                 java.util.List<DynamicComponent> parametric)
```
    Specified by:
    
    getDynamicComponents in interface MechSystemModel
  - getConstrainers
```
public void getConstrainers(java.util.List<Constrainer> constrainers,
                            int level)
```
    Specified by:
    
    getConstrainers in interface MechSystemModel
  - getForceEffectors
```
public void getForceEffectors(java.util.List<ForceEffector> forceEffectors,
                              int level)
```
    Specified by:
    
    getForceEffectors in interface MechSystemModel
  - getSlaveObjectComponents
```
public void getSlaveObjectComponents(java.util.List<HasSlaveObjects> comps,
                                     int level)
```
    Should be overridden in subclasses to return all the HasSlaveObjects ' components within this model.
    
    Specified by:
    
    getSlaveObjectComponents in interface MechSystemModel
    
    Overrides:
    
    getSlaveObjectComponents in class MechSystemBase
    
    Parameters:
    
    comps - HasSlaveObjects components should be added to this list
  - updateSlavePos
```
public void updateSlavePos()
```
    Description copied from interface: HasSlaveObjects
    
    Called when the system's dynamic position state changes, to update the position state of the slave objects.
    
    Specified by:
    
    updateSlavePos in interface HasSlaveObjects
  - updateSlaveVel
```
public void updateSlaveVel()
```
    Description copied from interface: HasSlaveObjects
    
    Called when the system's dynamic velocity state changes, to update the velocity state of the slave objects.
    
    Specified by:
    
    updateSlaveVel in interface HasSlaveObjects
  - setMaxStepSize
```
public void setMaxStepSize(double sec)
```
    Sets the maximum step size by which this model should be advanced within a simulation loop.
    
    Overrides:
    
    setMaxStepSize in class ModelBase
    
    Parameters:
    
    sec - maximum step size (seconds)
  - updateVolume
```
public double updateVolume()
```
  - getRestVolume
```
public double getRestVolume()
```
  - updateRestVolume
```
public double updateRestVolume()
```
  - getVolume
```
public double getVolume()
```
  - getNumInverted
```
public int getNumInverted()
```
  - getImplicitPrecision
```
public double getImplicitPrecision()
```
  - setImplicitPrecision
```
public void setImplicitPrecision(double prec)
```
  - getBilateralSizes
```
public void getBilateralSizes(VectorNi sizes)
```
    Specified by:
    
    getBilateralSizes in interface Constrainer
  - addBilateralConstraints
```
public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb)
```
    Specified by:
    
    addBilateralConstraints in interface Constrainer
  - getBilateralInfo
```
public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)
```
    Specified by:
    
    getBilateralInfo in interface Constrainer
  - getUnilateralSizes
```
public void getUnilateralSizes(VectorNi sizes)
```
    Specified by:
    
    getUnilateralSizes in interface Constrainer
  - addUnilateralConstraints
```
public int addUnilateralConstraints(SparseBlockMatrix NT,
                                    VectorNd dn,
                                    int numu)
```
    Specified by:
    
    addUnilateralConstraints in interface Constrainer
  - getUnilateralInfo
```
public int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                             int idx)
```
    Specified by:
    
    getUnilateralInfo in interface Constrainer
  - maxFrictionConstraintSets
```
public int maxFrictionConstraintSets()
```
    Description copied from interface: MechSystem
    
    Returns that maximum number of friction constraint set that may be added by the method getFrictionConstraints(). This is used to size the finfo array supplied to that method.
    
    Specified by:
    
    maxFrictionConstraintSets in interface Constrainer
    
    Specified by:
    
    maxFrictionConstraintSets in interface MechSystem
    
    Overrides:
    
    maxFrictionConstraintSets in class MechSystemBase
    
    Returns:
    
    maximum friction constraint sets
  - addFrictionConstraints
```
public int addFrictionConstraints(SparseBlockMatrix DT,
                                  MechSystem.FrictionInfo[] finfo,
                                  int numf)
```
    Specified by:
    
    addFrictionConstraints in interface Constrainer
  - setBilateralImpulses
```
public int setBilateralImpulses(VectorNd lam,
                                double h,
                                int idx)
```
    Specified by:
    
    setBilateralImpulses in interface Constrainer
    
    Overrides:
    
    setBilateralImpulses in class MechSystemBase
  - zeroImpulses
```
public void zeroImpulses()
```
    Specified by:
    
    zeroImpulses in interface Constrainer
  - getBilateralImpulses
```
public int getBilateralImpulses(VectorNd lam,
                                int idx)
```
    Specified by:
    
    getBilateralImpulses in interface Constrainer
    
    Overrides:
    
    getBilateralImpulses in class MechSystemBase
  - setUnilateralImpulses
```
public int setUnilateralImpulses(VectorNd the,
                                 double h,
                                 int idx)
```
    Specified by:
    
    setUnilateralImpulses in interface Constrainer
    
    Overrides:
    
    setUnilateralImpulses in class MechSystemBase
  - getUnilateralImpulses
```
public int getUnilateralImpulses(VectorNd the,
                                 int idx)
```
    Specified by:
    
    getUnilateralImpulses in interface Constrainer
    
    Overrides:
    
    getUnilateralImpulses in class MechSystemBase
  - recursivelyInitialize
```
public void recursivelyInitialize(double t,
                                  int level)
```
    Specified by:
    
    recursivelyInitialize in interface MechSystemModel
    
    Overrides:
    
    recursivelyInitialize in class MechSystemBase
  - getCharacteristicSize
```
public double getCharacteristicSize()
```
  - checkVelocityStability
```
public DynamicComponent checkVelocityStability()
```
    Checks the velocity stability of this system. If the velocity of any component appears to be unstable, return that component. Otherwise, return null.
    
    Specified by:
    
    checkVelocityStability in interface MechSystemModel
    
    Returns:
    
    first component containing an unstable velocity, or null if there is no instability
  - copy
```
public FemModel copy(int flags,
                     java.util.Map<ModelComponent,ModelComponent> copyMap)
```
    Overrides:
    
    copy in class MechSystemBase
  - propertyChanged
```
public void propertyChanged(PropertyChangeEvent e)
```
    Specified by:
    
    propertyChanged in interface PropertyChangeListener
  - updateConstraints
```
public double updateConstraints(double t,
                                int flags)
```
    Specified by:
    
    updateConstraints in interface Constrainer
  - getConstrainedComponents
```
public void getConstrainedComponents(java.util.List<DynamicComponent> list)
```
    Specified by:
    
    getConstrainedComponents in interface Constrainer
  - getJacobianType
```
public int getJacobianType()
```
    Description copied from interface: ForceEffector
    
    Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. This should be a logical or-ing of either Matrix.SYMMETRIC or Matrix.POSITIVE_DEFINITE. The former should be set if adding the Jacobian terms preserves symmetry, and the latter should be set if positive definiteness if preserved. Both should be set if there is no Jacobian for this effector (i.e., the Jacobian methods are not implemented). Matrix types from all the force effectors are logically and-ed together to determine the type for the entire solve matrix.
    
    Specified by:
    
    getJacobianType in interface ForceEffector
    
    Returns:
    
    solve matrix type resulting from adding Jacobian terms
  - addSolveBlocks
```
public abstract void addSolveBlocks(SparseNumberedBlockMatrix M)
```
    Description copied from interface: ForceEffector
    
    Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector. In general, blocks will be need to be added at locations given by the block indices (bi, bj), where bi and bj correspond to the solve indices (as returned by getSolveIndex) for all dynamic or attached components affected by this force effector.
    
    Specified by:
    
    addSolveBlocks in interface ForceEffector
    
    Parameters:
    
    M - solve matrix to which blocks should be added

Class FemModel

Nested Class Summary

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

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

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

Field Summary

Fields inherited from class artisynth.core.mechmodels.MechSystemBase

Fields inherited from class artisynth.core.modelbase.ComponentList

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface artisynth.core.mechmodels.MechSystem

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.mechmodels.MechSystemBase

Methods inherited from class artisynth.core.modelbase.RenderableModelBase

Methods inherited from class artisynth.core.modelbase.ModelBase

Methods inherited from class artisynth.core.modelbase.ComponentList

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

Methods inherited from interface artisynth.core.mechmodels.ForceEffector

Methods inherited from interface artisynth.core.mechmodels.MechSystemModel

Methods inherited from interface artisynth.core.modelbase.Model

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface maspack.util.Scannable

Methods inherited from interface artisynth.core.modelbase.ComponentListView

Methods inherited from interface java.lang.Iterable

Methods inherited from interface java.util.Collection

Field Detail

myProps

Constructor Detail

FemModel

Method Detail

getAllPropertyInfo

createDefaultMaterial

getMaterial

setMaterial

setLinearMaterial

setSurfaceRendering

getSurfaceRendering

setSurfaceRenderingMode

getSurfaceRenderingMode

getStressPlotRanging

getStressPlotRangingMode

setStressPlotRangingMode

getStressPlotRangeMode

setStressPlotRangeMode

setStressPlotRanging

getStressPlotRange

resetStressPlotRange

setStressPlotRange

invalidateStressAndStiffness

invalidateRestData

getGravity

setGravity

setGravity

getGravityMode

setGravityMode

setParticleDamping

getParticleDamping

setMassDamping

getMassDamping

setStiffnessDamping

getStiffnessDamping

setIntegrator

getIntegrator

setMatrixSolver

validateMatrixSolver

getMatrixSolver

setDensity

getDensity

setDensityMode

getDensityMode

numNodes

getNodes

getNode

getElements