FemModel3d (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
        
        artisynth.core.femmodels.FemModel3d

All Implemented Interfaces:

Collidable, ConnectableBody, Constrainer, ForceEffector, FrameAttachable, HasAuxState, HasSlaveObjects, HasSurfaceMesh, MechSystem, MechSystemModel, PointAttachable, ComponentChangeListener, ComponentListView<ModelComponent>, CompositeComponent, CopyableComponent, 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:

FemModelDeformer, FemMuscleModel, MFreeModel3d
```
public class FemModel3d
extends FemModel
implements TransformableGeometry, ScalableUnits, MechSystemModel, Collidable, CopyableComponent, HasAuxState, HasSurfaceMesh, PointAttachable, ConnectableBody
```

Nested Class Summary
- Nested classes/interfaces inherited from class artisynth.core.femmodels.FemModel
  FemModel.ElementFilter, FemModel.IncompMethod, FemModel.Ranging, FemModel.SurfaceRender
- Nested classes/interfaces inherited from interface artisynth.core.mechmodels.MechSystem
  MechSystem.ConstraintInfo, MechSystem.FrictionInfo
- Nested classes/interfaces inherited from interface artisynth.core.mechmodels.Collidable
  Collidable.Collidability, Collidable.Group
- Nested classes/interfaces inherited from interface artisynth.core.mechmodels.HasAuxState
  HasAuxState.StateContext
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent
  CompositeComponent.NavpanelDisplay

Field Summary

Fields
Modifier and Type	Field and Description
`static boolean`	`abortOnInvertedElems`
`static boolean`	`checkTangentStability`
`static FemModel.IncompMethod`	`DEFAULT_HARD_INCOMP`
`static FemModel.IncompMethod`	`DEFAULT_SOFT_INCOMP`
`static java.lang.String`	`DEFAULT_SURFACEMESH_NAME`
`static boolean`	`defaultAutoGenerateSurface`
`static double`	`detJStepReductionLimit`
`static double`	`frameMassFraction`
`static PropertyList`	`myProps`
`static boolean`	`noIncompressStiffnessDamping`
`static boolean`	`useFrameRelativeCouplingMasses`

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 artisynth.core.mechmodels.Collidable
All, AllBodies, Deformable, Rigid, Self

Fields inherited from interface artisynth.core.modelbase.CopyableComponent
COPY_REFERENCES

Fields inherited from interface maspack.render.IsRenderable
TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors
Constructor and Description

FemModel3d()

FemModel3d(java.lang.String name)

Constructors
Constructor and Description
`FemModel3d()`
`FemModel3d(java.lang.String name)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`int`	`addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)`
`void`	`addConnector(BodyConnector c)`
`void`	`addElement(FemElement3d e)`
`void`	`addElements(java.util.Collection<? extends FemElement3d> elems)`
`void`	`addGeneralMassBlocks(SparseBlockMatrix M)`
`void`	`addMarker(FemMarker mkr)` Adds a marker to this FemModel.
`FemMarker`	`addMarker(Point3d pos)` Creates and adds a marker to this FemModel.
`FemMarker`	`addMarker(Point3d pos, boolean project)` Creates and adds a marker to this FemModel.
`void`	`addMaterialBundle(AuxMaterialBundle bundle)`
`FemMeshComp`	`addMesh(MeshBase mesh)`
`FemMeshComp`	`addMesh(java.lang.String name, MeshBase mesh)`
`void`	`addMeshComp(FemMeshComp surf)`
`void`	`addNode(FemNode3d p)`
`void`	`addNodes(java.util.Collection<? extends FemNode3d> nodes)`
`void`	`addNumberedElement(FemElement3d e, int elemId)`
`FemMarker`	`addNumberedMarker(Point3d pos, boolean project, int markerId)`
`FemMarker`	`addNumberedMarker(Point3d pos, int markerId)`
`void`	`addNumberedNode(FemNode3d p, int number)`
`void`	`addPosJacobian(SparseNumberedBlockMatrix M, double s)` Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
`void`	`addSolveBlocks(SparseNumberedBlockMatrix S)` Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector.
`void`	`addTransformableDependencies(TransformGeometryContext context, int flags)` Adds to `context` any transformable components which should be transformed as the same time as this component.
`void`	`addVelJacobian(SparseNumberedBlockMatrix M, double s)` Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
`void`	`advanceAuxState(double t0, double t1)` Called at the very beginning of the time step (in the system's preadvance() method) to perform any required updating of the component's state before the application in input probes or controllers.
`void`	`attachFrame(RigidTransform3d TRW)`
`void`	`clearElements()`
`void`	`clearMaterialBundles()`
`void`	`clearMeshComps()`
`void`	`componentChanged(ComponentChangeEvent e)` Notifies this composite component that a change has occured within one or more of its descendants.
`FemModel3d`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)` Create a copy of this component.
`static ColorMapBase`	`createDefaultColorMap()`
`FrameFem3dAttachment`	`createFrameAttachment(Frame frame, RigidTransform3d TFW)` Returns a FrameAttachment that attaches a `frame` to this component.
`FrameFem3dAttachment`	`createFrameAttachment(Frame frame, RigidTransform3d TFW, boolean project)` Returns a FrameAttachment that attaches a `frame` to this component.
`PointAttachment`	`createPointAttachment(Point pnt)` Returns a PointAttachment that attaches `pnt` to this component.
`PointAttachment`	`createPointAttachment(Point pnt, double reduceTol)`
`SparseBlockMatrix`	`createStiffnessMatrix()`
`FemMeshComp`	`createSurfaceMesh(FemModel.ElementFilter efilter)`
`void`	`dispose()` Called when the model is discarded.
`FemElement3d`	`findContainingElement(Point3d pnt)` Returns the element within an FEM that contains a specified point, or `null` if there is no such element.
`FemElement3d`	`findNearestElement(Point3d loc, Point3d pnt)` Returns the element within an FEM that contains a specified point, or if there is no such element, finds the closest surface element.
`FemNode3d`	`findNearestNode(Point3d pnt, double maxDist)` Finds the nearest node to a specified point that is within a specified maximum distance.
`FemElement3d`	`findNearestSurfaceElement(Point3d loc, Point3d pnt)` Returns the nearest surface element to a specified point, which is found by projecting the point onto the FEM surface.
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`void`	`getAuxState(DataBuffer data)` Saves state information for this component by adding data to the supplied DataBuffer.
`void`	`getAuxStateComponents(java.util.List<HasAuxState> comps, int level)`
`double`	`getAxisLength()`
`int`	`getBilateralImpulses(VectorNd lam, int idx)`
`int`	`getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)`
`void`	`getBilateralSizes(VectorNi sizes)`
`FemNode3d`	`getByNumber(int num)` Get the component with the specified number, or null if there is no such component.
`Collidable.Collidability`	`getCollidable()` Returns the `Collidable.Collidability` of this Collidable.
`Collidable`	`getCollidableAncestor()` Returns the most immediate Collidable ancestor of this Collidable, if any.
`void`	`getCollidables(java.util.List<Collidable> list, int level)`
`ColorMapBase`	`getColorMap()`
`PropertyMode`	`getColorMapMode()`
`java.util.List<BodyConnector>`	`getConnectors()`
`void`	`getConstrainedComponents(java.util.List<DynamicComponent> list)`
`boolean`	`getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor)` Collects external references which must also be copied in order to duplicate this component.
`void`	`getDynamicComponents(java.util.List<DynamicComponent> active, java.util.List<DynamicComponent> attached, java.util.List<DynamicComponent> parametric)`
`FemElement3d`	`getElement(int idx)`
`FemElement3d`	`getElementByNumber(int num)`
`java.util.LinkedList<FemElement3d>`	`getElementNeighbors(FemNode3d node)`
`RenderableComponentList<FemElement3d>`	`getElements()`
`double`	`getElementWidgetSize()`
`PropertyMode`	`getElementWidgetSizeMode()`
`FemModelFrame`	`getFrame()`
`FrameFem3dConstraint`	`getFrameConstraint()`
`FemModel.IncompMethod`	`getHardIncompMethod()`
`double`	`getIncompCompliance()`
`FemModel.IncompMethod`	`getIncompressible()`
`Range`	`getIncompressibleRange()`
`void`	`getInitialAuxState(DataBuffer newData, DataBuffer oldData)` Saves initial state information data for this component by adding data to the supplied data buffer.
`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.
`void`	`getMassMatrixValues(SparseBlockMatrix M, VectorNd f, double t)`
`RenderableComponentList<AuxMaterialBundle>`	`getMaterialBundles()`
`FemMeshComp`	`getMeshComp(int idx)`
`FemMeshComp`	`getMeshComp(java.lang.String name)`
`MeshComponentList<FemMeshComp>`	`getMeshComps()`
`void`	`getNodalDeformationGradients(Matrix3d[] Fnodal)`
`DoubleInterval`	`getNodalPlotRange(FemModel.SurfaceRender rendering)`
`FemNode3d`	`getNode(int idx)`
`java.util.LinkedList<FemNodeNeighbor>`	`getNodeNeighbors(FemNode3d node)`
`PointList<FemNode3d>`	`getNodes()`
`void`	`getSelection(java.util.LinkedList<java.lang.Object> list, int qid)` Append to `list` the component (or components) associated with the `qid`-th selection query issued by this component's render method.
`FemModel.IncompMethod`	`getSoftIncompMethod()`
`Range`	`getSoftIncompMethodRange()`
`FemElement3d`	`getSurfaceElement(Face face)`
`PolygonalMesh`	`getSurfaceMesh()` Returns the surface mesh associated with this component, or `null` if no mesh exists.
`FemMeshComp`	`getSurfaceMeshComp()`
`PolygonalMesh[]`	`getSurfaceMeshes()` Returns an array listing all the (non-null) surface meshes associated with this component, or a zero-length array if there are none.
`FemNode3d`	`getSurfaceNode(Vertex3d vtx)` Returns the FEM node (if any) associated with a specified surface mesh vertex.
`Vertex3d`	`getSurfaceVertex(FemNode3d node)` Returns the surface mesh vertex (if any) associated with a specified node.
`void`	`invalidateRestData()`
`void`	`invalidateStressAndStiffness()`
`void`	`invalidateSurfaceMesh()`
`boolean`	`isAbortOnInvertedElements()`
`boolean`	`isAutoGeneratingSurface()`
`boolean`	`isCompound()` Queries whether or not this collidable has sub-collidables.
`boolean`	`isDeformable()` Returns `true` if this collidable is deformable.
`boolean`	`isDuplicatable()` Returns true if this component can be duplicated.
`boolean`	`isFrameRelative()`
`boolean`	`isFreeBody()`
`boolean`	`isSurfaceMeshValid()`
`boolean`	`isSurfaceNode(FemNode3d node)` Returns true if a specified node lies on the surface mesh returned by `getSurfaceMesh()`.
`boolean`	`isVolumeValid()`
`boolean`	`isWarnOnInvertedElements()`
`int`	`markInvertedRestElements()`
`void`	`mulInverseMass(SparseBlockMatrix M, VectorNd a, VectorNd f)`
`int`	`numMeshComps()`
`int`	`numQuadraticElements()`
`int`	`numSurfaceMeshes()` Returns the number of surfaces meshes associated with this component, or 0 if no meshes exist.
`int`	`numTetElements()`
`void`	`postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor)` Performs any required post-scanning for this component.
`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`	`printANSYSElements(java.io.PrintWriter pw)` Prints the elements of this FEM in a format which is compatible with ANSYS.
`void`	`printANSYSNodes(java.io.PrintWriter pw)` Prints the nodes of this FEM in a format which is compatible with ANSYS.
`void`	`recursivelyFinalizeAdvance(StepAdjustment stepAdjust, double t0, double t1, int flags, int level)`
`void`	`recursivelyInitialize(double t, int level)`
`void`	`removeConnector(BodyConnector c)`
`boolean`	`removeElement(FemElement3d e)`
`boolean`	`removeMaterialBundle(AuxMaterialBundle bundle)`
`boolean`	`removeMeshComp(FemMeshComp surf)`
`boolean`	`removeNode(FemNode3d p)`
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`void`	`resetRestPosition()`
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`void`	`scan(ReaderTokenizer rtok, java.lang.Object ref)` Scans this element from a ReaderTokenizer.
`FemMeshComp`	`scanMesh(ReaderTokenizer rtok)`
`FemMeshComp`	`scanMesh(java.lang.String fileName)`
`FemMeshComp`	`scanSurfaceMesh(ReaderTokenizer rtok)`
`FemMeshComp`	`scanSurfaceMesh(java.lang.String fileName)`
`void`	`setAbortOnInvertedElements(boolean set)`
`void`	`setAutoGenerateSurface(boolean val)`
`void`	`setAuxState(DataBuffer data)` Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
`void`	`setAxisLength(double len)`
`int`	`setBilateralImpulses(VectorNd lam, double h, int idx)`
`void`	`setCollidable(Collidable.Collidability c)`
`void`	`setColorMap(ColorMapBase colorMap)`
`void`	`setColorMapMode(PropertyMode mode)`
`void`	`setComputeNodalStrain(boolean enable)`
`void`	`setComputeNodalStress(boolean enable)`
`void`	`setElementWidgetSize(double size)`
`void`	`setElementWidgetSizeMode(PropertyMode mode)`
`void`	`setFrameRelative(boolean enable)`
`void`	`setIncompCompliance(double c)`
`void`	`setIncompressible(FemModel.IncompMethod method)`
`void`	`setMaterial(FemMaterial mat)`
`void`	`setSoftIncompMethod(FemModel.IncompMethod method)`
`FemMeshComp`	`setSurfaceMesh(PolygonalMesh mesh)`
`void`	`setSurfaceMeshComp(FemMeshComp mesh)`
`void`	`setSurfaceRendering(FemModel.SurfaceRender mode)`
`void`	`setWarnOnInvertedElements(boolean set)`
`void`	`skipAuxState(DataBuffer data)` Skips over the state information for this component contained in the supplied data buffer, starting at the current buffer offsets.
`void`	`subdivideHex(HexElement hex)`
`void`	`subdivideHexs(java.util.List<HexElement> hexs)`
`void`	`transformGeometry(AffineTransform3dBase X)` Applies an affine transformation to the geometry of this component.
`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`	`transformPose(RigidTransform3d T)`
`void`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.
`double`	`updateConstraints(double t, int flags)`
`void`	`updateSlavePos()` Called when the system's dynamic position state changes, to update the position state of the slave objects.
`void`	`updateStress()`
`void`	`updateStressAndStiffness()`
`void`	`useAnsysNumbering()`
`boolean`	`usingAttachedRelativeFrame()`
`boolean`	`writeSurfaceMesh(java.io.PrintWriter pw)`
`void`	`writeSurfaceMesh(java.lang.String fileName)`
`void`	`zeroImpulses()`

Methods inherited from class artisynth.core.femmodels.FemModel
addFrictionConstraints, addMarker, addMarker, addMarker, addMarker, addMarker, addMarker, addUnilateralConstraints, applyForces, attachments, attachPoint, checkVelocityStability, clear, createDefaultMaterial, detachAllNodes, detachPoint, forcesNeedUpdating, getAttachments, getCharacteristicSize, getCollidables, getConstrainers, getDensity, getDensityMode, getEnergy, getForceEffectors, getGravity, getGravityMode, getImplicitIterations, getImplicitPrecision, getIntegrator, getMass, getMassDamping, getMaterial, getMatrixSolver, getNodeMass, getNumInverted, getParticleDamping, getRestVolume, getSlaveObjectComponents, getStiffnessDamping, getStressPlotRange, getStressPlotRangeMode, getStressPlotRanging, getStressPlotRangingMode, getSurfaceRendering, getSurfaceRenderingMode, getToleranceType, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, getVolume, hasState, markers, maxFrictionConstraintSets, numElements, numNodes, printNodeMasses, propertyChanged, removeMarker, resetStressPlotRange, setBounds, setDensity, setDensityMode, setGravity, setGravity, setGravityMode, setImplicitIterations, setImplicitPrecision, setIntegrator, setLinearMaterial, setMassDamping, setMatrixSolver, setMaxStepSize, setParticleDamping, setStiffnessDamping, setStressPlotRange, setStressPlotRangeMode, setStressPlotRanging, setStressPlotRangingMode, setSurfaceRenderingMode, setToleranceType, setUnilateralImpulses, updateRestVolume, updateSlaveVel, updateVolume, validateMatrixSolver, zeroExternalForces

Methods inherited from class artisynth.core.mechmodels.MechSystemBase
addActivePosImpulse, addAttachmentJacobian, addAttachmentSolveBlocks, addGeneralSolveBlocks, addPosJacobian, addVelJacobian, advance, applyAttachmentForces, buildMassMatrix, buildSolveMatrix, closePrintStateFile, collectInitialForces, createState, createVelocityJacobian, getActiveForces, getActiveMass, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveStiffness, getActiveVelState, getActiveVelState, getActiveVelStateSize, getAttachmentConstraints, getAttachmentDerivatives, 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, reduceVelocityJacobian, reopenPrintStateFile, setActiveForces, setActivePosState, setActiveVelState, 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, isSelectable, numSelectionQueriesNeeded, setRenderProps

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

Methods inherited from class artisynth.core.modelbase.ComponentList
add, add, addAll, addComponents, addFixed, addNumbered, clone, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getChildren, getNavpanelDisplay, getNumberLimit, getShortName, getTypeParameter, hasChildren, indexOf, invalidateNumbers, isEmpty, iterator, nextComponentNumber, numComponents, remove, remove, removeAll, removeAll, removeComponents, retainAll, 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.mechmodels.MechSystemModel
checkVelocityStability, getAttachments, getConstrainers, getForceEffectors, getSlaveObjectComponents

Methods inherited from interface artisynth.core.modelbase.Model
advance, getMaxStepSize, initialize, preadvance

Methods inherited from interface artisynth.core.modelbase.HasState
createState, getInitialState, getState, setState

Methods inherited from interface artisynth.core.mechmodels.MechSystem
addActivePosImpulse, addPosJacobian, addVelJacobian, buildMassMatrix, buildSolveMatrix, getActiveForces, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveVelState, getActiveVelStateSize, getBilateralConstraints, getBilateralImpulses, getBilateralInfo, getFrictionConstraints, getInverseMassMatrix, getMassMatrix, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getSolveMatrixType, getStructureVersion, getUnilateralConstraints, getUnilateralImpulses, getUnilateralInfo, maxFrictionConstraintSets, numActiveComponents, numParametricComponents, setActiveForces, setActivePosState, setActiveVelState, setBilateralImpulses, setParametricForces, setParametricPosState, setParametricVelState, setUnilateralImpulses, updateConstraints, updateForces

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
  - useFrameRelativeCouplingMasses
```
public static boolean useFrameRelativeCouplingMasses
```
  - abortOnInvertedElems
```
public static boolean abortOnInvertedElems
```
  - checkTangentStability
```
public static boolean checkTangentStability
```
  - noIncompressStiffnessDamping
```
public static boolean noIncompressStiffnessDamping
```
  - detJStepReductionLimit
```
public static double detJStepReductionLimit
```
  - frameMassFraction
```
public static double frameMassFraction
```
  - DEFAULT_HARD_INCOMP
```
public static FemModel.IncompMethod DEFAULT_HARD_INCOMP
```
  - DEFAULT_SOFT_INCOMP
```
public static FemModel.IncompMethod DEFAULT_SOFT_INCOMP
```
  - myProps
```
public static PropertyList myProps
```
  - defaultAutoGenerateSurface
```
public static boolean defaultAutoGenerateSurface
```
  - DEFAULT_SURFACEMESH_NAME
```
public static java.lang.String DEFAULT_SURFACEMESH_NAME
```
- Constructor Detail
  - FemModel3d
```
public FemModel3d()
```
  - FemModel3d
```
public FemModel3d(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 FemModel
    
    Returns:
    
    static information for all exported properties
  - setElementWidgetSize
```
public void setElementWidgetSize(double size)
```
  - getElementWidgetSize
```
public double getElementWidgetSize()
```
  - setElementWidgetSizeMode
```
public void setElementWidgetSizeMode(PropertyMode mode)
```
  - getElementWidgetSizeMode
```
public PropertyMode getElementWidgetSizeMode()
```
  - getCollidables
```
public void getCollidables(java.util.List<Collidable> list,
                           int level)
```
    Specified by:
    
    getCollidables in interface MechSystemModel
  - setComputeNodalStress
```
public void setComputeNodalStress(boolean enable)
```
  - setComputeNodalStrain
```
public void setComputeNodalStrain(boolean enable)
```
  - createDefaultColorMap
```
public static ColorMapBase createDefaultColorMap()
```
  - addMaterialBundle
```
public void addMaterialBundle(AuxMaterialBundle bundle)
```
  - removeMaterialBundle
```
public boolean removeMaterialBundle(AuxMaterialBundle bundle)
```
  - clearMaterialBundles
```
public void clearMaterialBundles()
```
  - getMaterialBundles
```
public RenderableComponentList<AuxMaterialBundle> getMaterialBundles()
```
  - getNodes
```
public PointList<FemNode3d> getNodes()
```
    Specified by:
    
    getNodes in class FemModel
  - getNode
```
public FemNode3d getNode(int idx)
```
    Specified by:
    
    getNode in class FemModel
  - getByNumber
```
public FemNode3d getByNumber(int num)
```
    Description copied from class: ComponentList
    
    Get the component with the specified number, or null if there is no such component.
    
    Specified by:
    
    getByNumber in interface ComponentListView<ModelComponent>
    
    Specified by:
    
    getByNumber in interface CompositeComponent
    
    Overrides:
    
    getByNumber in class ComponentList<ModelComponent>
    
    Parameters:
    
    num - number of the component
    
    Returns:
    
    component with specified number
  - getElementByNumber
```
public FemElement3d getElementByNumber(int num)
```
  - getElements
```
public RenderableComponentList<FemElement3d> getElements()
```
    Specified by:
    
    getElements in class FemModel
  - addNodes
```
public void addNodes(java.util.Collection<? extends FemNode3d> nodes)
```
  - addNode
```
public void addNode(FemNode3d p)
```
  - addNumberedNode
```
public void addNumberedNode(FemNode3d p,
                            int number)
```
  - removeNode
```
public boolean removeNode(FemNode3d p)
```
  - getElement
```
public FemElement3d getElement(int idx)
```
    Specified by:
    
    getElement in class FemModel
  - getNodeNeighbors
```
public java.util.LinkedList<FemNodeNeighbor> getNodeNeighbors(FemNode3d node)
```
  - getElementNeighbors
```
public java.util.LinkedList<FemElement3d> getElementNeighbors(FemNode3d node)
```
  - addElements
```
public void addElements(java.util.Collection<? extends FemElement3d> elems)
```
  - addElement
```
public void addElement(FemElement3d e)
```
  - addNumberedElement
```
public void addNumberedElement(FemElement3d e,
                               int elemId)
```
  - removeElement
```
public boolean removeElement(FemElement3d e)
```
  - clearElements
```
public void clearElements()
```
  - addMarker
```
public void addMarker(FemMarker mkr)
```
    Adds a marker to this FemModel. If the marker has not already been set (i.e., if no nodes or elements have been assigned to it), then it is attached to the nearest element in the model. This is either the containing element, or the nearest element on the model's surface.
    
    Overrides:
    
    addMarker in class FemModel
    
    Parameters:
    
    mkr - marker point to add to the model
  - addMarker
```
public FemMarker addMarker(Point3d pos)
```
    Creates and adds a marker to this FemModel. The element to which it belongs is determined automatically. If the marker's current position does not lie within the model, it is projected onto the model's surface.
    
    Parameters:
    
    pos - position to place a marker in the model
    
    Returns:
    
    created marker
  - addMarker
```
public FemMarker addMarker(Point3d pos,
                           boolean project)
```
    Creates and adds a marker to this FemModel. The element to which it belongs is determined automatically. If the marker's current position does not lie within the model and project == true, it will be projected onto the model's surface.
    
    Parameters:
    
    pos - position to place a marker in the model
    
    project - if true and pnt is outside the model, projects to the nearest point on the surface. Otherwise, uses the original position.
    
    Returns:
    
    created marker
  - addNumberedMarker
```
public FemMarker addNumberedMarker(Point3d pos,
                                   int markerId)
```
  - addNumberedMarker
```
public FemMarker addNumberedMarker(Point3d pos,
                                   boolean project,
                                   int markerId)
```
  - updateStressAndStiffness
```
public void updateStressAndStiffness()
```
  - updateStress
```
public void updateStress()
```
  - 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
    
    Overrides:
    
    getJacobianType in class FemModel
    
    Returns:
    
    solve matrix type resulting from adding Jacobian terms
  - addVelJacobian
```
public void addVelJacobian(SparseNumberedBlockMatrix M,
                           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
    
    Parameters:
    
    M - solve matrix to which scaled velocity Jacobian is to be added
    
    s - scaling factor for velocity Jacobian
  - addPosJacobian
```
public void addPosJacobian(SparseNumberedBlockMatrix M,
                           double s)
```
    Description copied from interface: ForceEffector
    
    Scales the components of the position 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:
    
    addPosJacobian in interface ForceEffector
    
    Parameters:
    
    M - solve matrix to which scaled position Jacobian is to be added
    
    s - scaling factor for position Jacobian
  - createStiffnessMatrix
```
public SparseBlockMatrix createStiffnessMatrix()
```
  - addSolveBlocks
```
public void addSolveBlocks(SparseNumberedBlockMatrix S)
```
    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
    
    Specified by:
    
    addSolveBlocks in class FemModel
    
    Parameters:
    
    S - solve matrix to which blocks should be added
  - recursivelyInitialize
```
public void recursivelyInitialize(double t,
                                  int level)
```
    Specified by:
    
    recursivelyInitialize in interface MechSystemModel
    
    Overrides:
    
    recursivelyInitialize in class FemModel
  - setSurfaceRendering
```
public void setSurfaceRendering(FemModel.SurfaceRender mode)
```
    Overrides:
    
    setSurfaceRendering in class FemModel
  - 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 FemModel
    
    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.
  - getNodalPlotRange
```
public DoubleInterval getNodalPlotRange(FemModel.SurfaceRender rendering)
```
  - 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 RenderableModelBase
    
    Parameters:
    
    list - list of objects to be rendered
  - getSelection
```
public void getSelection(java.util.LinkedList<java.lang.Object> list,
                         int qid)
```
    Description copied from interface: IsSelectable
    
    Append to list the component (or components) associated with the qid-th selection query issued by this component's render method. This will only be called if this component manages its own selection (i.e., the number nums returned by IsSelectable.numSelectionQueriesNeeded() is positive), and qid will in turn be a number between 0 and nums-1.
    
    Specified by:
    
    getSelection in interface IsSelectable
    
    Overrides:
    
    getSelection in class RenderableModelBase
    
    Parameters:
    
    list - selected objects are appended to the end of this list
    
    qid - index of the selection query
  - 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 ComponentList<ModelComponent>
    
    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
  - postscan
```
public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException
```
    Description copied from interface: ModelComponent
    
    Performs any required post-scanning for this component. This involves handling any information whose processing was deferred during the scan() method and stored in the token queue. The most common use of this method is to resolve the paths of component references, which may not have been created at the time of the initial scan() call.
    
    Specified by:
    
    postscan in interface ModelComponent
    
    Overrides:
    
    postscan in class ComponentList<ModelComponent>
    
    Parameters:
    
    tokens - token information that was stored during scan().
    
    ancestor - ancestor component with respect to which reference component paths are defined.
    
    Throws:
    
    java.io.IOException - if an error is encountered (such as a reference to a non-existent component)
  - writeSurfaceMesh
```
public boolean writeSurfaceMesh(java.io.PrintWriter pw)
```
  - writeSurfaceMesh
```
public void writeSurfaceMesh(java.lang.String fileName)
```
  - scanSurfaceMesh
```
public FemMeshComp scanSurfaceMesh(ReaderTokenizer rtok)
                            throws java.io.IOException
```
    Throws:
    
    java.io.IOException
  - scanSurfaceMesh
```
public FemMeshComp scanSurfaceMesh(java.lang.String fileName)
                            throws java.io.IOException
```
    Throws:
    
    java.io.IOException
  - scanMesh
```
public FemMeshComp scanMesh(ReaderTokenizer rtok)
                     throws java.io.IOException
```
    Throws:
    
    java.io.IOException
  - scanMesh
```
public FemMeshComp scanMesh(java.lang.String fileName)
                     throws java.io.IOException
```
    Throws:
    
    java.io.IOException
  - addConnector
```
public void addConnector(BodyConnector c)
```
    Specified by:
    
    addConnector in interface ConnectableBody
  - removeConnector
```
public void removeConnector(BodyConnector c)
```
    Specified by:
    
    removeConnector in interface ConnectableBody
  - getConnectors
```
public java.util.List<BodyConnector> getConnectors()
```
    Specified by:
    
    getConnectors in interface ConnectableBody
  - isFreeBody
```
public boolean isFreeBody()
```
    Specified by:
    
    isFreeBody in interface ConnectableBody
  - transformPose
```
public void transformPose(RigidTransform3d T)
```
    Specified by:
    
    transformPose in interface ConnectableBody
  - transformGeometry
```
public void transformGeometry(AffineTransform3dBase X)
```
    Description copied from interface: TransformableGeometry
    Applies an affine transformation to the geometry of this component. This method should be equivalent to
```
 TransformGeometryContext.transform (this, X, 0);
 
```
    Specified by:
    
    transformGeometry in interface TransformableGeometry
    
    Parameters:
    
    X - affine transformation to apply to the component
  - 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
    
    Parameters:
    
    gtr - transformer implementing the transform
    
    context - context information, including what other components are being transformed
    
    flags - specifies conditions associated with the transformation
  - addTransformableDependencies
```
public void addTransformableDependencies(TransformGeometryContext context,
                                         int flags)
```
    Description copied from interface: TransformableGeometry
    
    Adds to context any transformable components which should be transformed as the same time as this component. This will generally include descendant components, and may also include other components to which this component is connected in some way.
    This method is generally called from with the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of a TransformGeometryContext.
    
    Specified by:
    
    addTransformableDependencies in interface TransformableGeometry
    
    Parameters:
    
    context - context information, to which the dependent components are added.
    
    flags - specifies conditions associated with the transformation
  - getIncompressible
```
public FemModel.IncompMethod getIncompressible()
```
  - setMaterial
```
public void setMaterial(FemMaterial mat)
```
    Overrides:
    
    setMaterial in class FemModel
  - getHardIncompMethod
```
public FemModel.IncompMethod getHardIncompMethod()
```
  - setIncompressible
```
public void setIncompressible(FemModel.IncompMethod method)
```
  - getIncompressibleRange
```
public Range getIncompressibleRange()
```
  - setSoftIncompMethod
```
public void setSoftIncompMethod(FemModel.IncompMethod method)
```
  - getSoftIncompMethod
```
public FemModel.IncompMethod getSoftIncompMethod()
```
  - getSoftIncompMethodRange
```
public Range getSoftIncompMethodRange()
```
  - getIncompCompliance
```
public double getIncompCompliance()
```
  - setIncompCompliance
```
public void setIncompCompliance(double c)
```
  - numTetElements
```
public int numTetElements()
```
  - numQuadraticElements
```
public int numQuadraticElements()
```
  - printANSYSNodes
```
public void printANSYSNodes(java.io.PrintWriter pw)
```
    Prints the nodes of this FEM in a format which is compatible with ANSYS.
    
    Parameters:
    
    pw - PrintWriter to which nodes are written
  - printANSYSElements
```
public void printANSYSElements(java.io.PrintWriter pw)
```
    Prints the elements of this FEM in a format which is compatible with ANSYS.
    
    Parameters:
    
    pw - PrintWriter to which elements are written
  - getSurfaceVertex
```
public Vertex3d getSurfaceVertex(FemNode3d node)
```
    Returns the surface mesh vertex (if any) associated with a specified node. The mesh checked is the one returned by getSurfaceMesh().
    
    Parameters:
    
    node - node to check
    
    Returns:
    
    surface vertex associated with node, or null if no such vertex exists
  - getSurfaceNode
```
public FemNode3d getSurfaceNode(Vertex3d vtx)
```
    Returns the FEM node (if any) associated with a specified surface mesh vertex. The mesh checked is the one returned by getSurfaceMesh().
    
    Parameters:
    
    vtx - vertex to check
    
    Returns:
    
    FEM node associated with vtx, or null if no such node exists
  - isSurfaceNode
```
public boolean isSurfaceNode(FemNode3d node)
```
    Returns true if a specified node lies on the surface mesh returned by getSurfaceMesh().
    
    Parameters:
    
    node - node to check
    
    Returns:
    
    true if node lies on the surface mesh
  - createSurfaceMesh
```
public FemMeshComp createSurfaceMesh(FemModel.ElementFilter efilter)
```
  - getSurfaceMeshComp
```
public FemMeshComp getSurfaceMeshComp()
```
  - getSurfaceMesh
```
public PolygonalMesh getSurfaceMesh()
```
    Description copied from interface: HasSurfaceMesh
    
    Returns the surface mesh associated with this component, or null if no mesh exists. If multiple surface meshes exist, this should be first one in the array returned by HasSurfaceMesh.getSurfaceMeshes().
    
    Specified by:
    
    getSurfaceMesh in interface HasSurfaceMesh
    
    Returns:
    
    component's (primary) surface mesh
  - numSurfaceMeshes
```
public int numSurfaceMeshes()
```
    Description copied from interface: HasSurfaceMesh
    
    Returns the number of surfaces meshes associated with this component, or 0 if no meshes exist. If HasSurfaceMesh.getSurfaceMesh() returns null, then this method should return 0.
    
    Specified by:
    
    numSurfaceMeshes in interface HasSurfaceMesh
    
    Returns:
    
    number of surface meshes associated with this component
  - getSurfaceMeshes
```
public PolygonalMesh[] getSurfaceMeshes()
```
    Description copied from interface: HasSurfaceMesh
    
    Returns an array listing all the (non-null) surface meshes associated with this component, or a zero-length array if there are none. If HasSurfaceMesh.getSurfaceMesh() returns null, then a zero-length array should be returned.
    
    Specified by:
    
    getSurfaceMeshes in interface HasSurfaceMesh
    
    Returns:
    
    surface meshes associated with this component
  - getCollidable
```
public Collidable.Collidability getCollidable()
```
    Description copied from interface: Collidable
    
    Returns the Collidable.Collidability of this Collidable. This provides control over whether external and/or internal collisions are enabled for this Collidable. This setting takes precedence over default and explicitly requested collision behaviors.
    Note that for collisions to actually occur, they still need to be enabled through either a default or explicit collision behavior in the MechModel.
    
    Specified by:
    
    getCollidable in interface Collidable
    
    Returns:
    
    Collidability of this collidable.
  - setCollidable
```
public void setCollidable(Collidable.Collidability c)
```
  - getCollidableAncestor
```
public Collidable getCollidableAncestor()
```
    Description copied from interface: Collidable
    
    Returns the most immediate Collidable ancestor of this Collidable, if any. Otherwise, return null.
    
    Specified by:
    
    getCollidableAncestor in interface Collidable
    
    Returns:
    
    immediate Collidable ancestor, or null.
  - isCompound
```
public boolean isCompound()
```
    Description copied from interface: Collidable
    
    Queries whether or not this collidable has sub-collidables.
    
    Specified by:
    
    isCompound in interface Collidable
    
    Returns:
    
    true if this collidable has sub-collidables
  - isDeformable
```
public boolean isDeformable()
```
    Description copied from interface: Collidable
    
    Returns true if this collidable is deformable. Whether or not a collidable is deformable determines how it responds to default collision behaviors involving deformable and rigid collidables. Also, self-collisions among sub-collidables of a collidable A are permitted only if A is deformable.
    
    Specified by:
    
    isDeformable in interface Collidable
    
    Specified by:
    
    isDeformable in interface ConnectableBody
    
    Returns:
    
    true if this collidable is deformable
  - addMesh
```
public FemMeshComp addMesh(MeshBase mesh)
```
  - addMesh
```
public FemMeshComp addMesh(java.lang.String name,
                           MeshBase mesh)
```
  - getMeshComp
```
public FemMeshComp getMeshComp(java.lang.String name)
```
  - getMeshComp
```
public FemMeshComp getMeshComp(int idx)
```
  - getMeshComps
```
public MeshComponentList<FemMeshComp> getMeshComps()
```
  - numMeshComps
```
public int numMeshComps()
```
  - addMeshComp
```
public void addMeshComp(FemMeshComp surf)
```
  - removeMeshComp
```
public boolean removeMeshComp(FemMeshComp surf)
```
  - clearMeshComps
```
public void clearMeshComps()
```
  - setAutoGenerateSurface
```
public void setAutoGenerateSurface(boolean val)
```
  - isAutoGeneratingSurface
```
public boolean isAutoGeneratingSurface()
```
  - isSurfaceMeshValid
```
public boolean isSurfaceMeshValid()
```
  - setSurfaceMesh
```
public FemMeshComp setSurfaceMesh(PolygonalMesh mesh)
```
  - setSurfaceMeshComp
```
public void setSurfaceMeshComp(FemMeshComp mesh)
```
  - invalidateSurfaceMesh
```
public void invalidateSurfaceMesh()
```
  - componentChanged
```
public void componentChanged(ComponentChangeEvent e)
```
    Description copied from class: ComponentList
    
    Notifies this composite component that a change has occured within one or more of its descendants. When this occurs, the composite may need to invalidate cached information that depends on the descendants.
    This method should propagate the notification up the component hierarchy by calling notifyParentOfChange.
    
    Specified by:
    
    componentChanged in interface ComponentChangeListener
    
    Specified by:
    
    componentChanged in interface CompositeComponent
    
    Overrides:
    
    componentChanged in class ComponentList<ModelComponent>
    
    Parameters:
    
    e - optional argument giving specific information about the change
  - getSurfaceElement
```
public FemElement3d getSurfaceElement(Face face)
```
  - findContainingElement
```
public FemElement3d findContainingElement(Point3d pnt)
```
    Returns the element within an FEM that contains a specified point, or null if there is no such element.
    
    Parameters:
    
    pnt - Point for which containing element is desired.
    
    Returns:
    
    containing element, or null.
  - findNearestSurfaceElement
```
public FemElement3d findNearestSurfaceElement(Point3d loc,
                                              Point3d pnt)
```
    Returns the nearest surface element to a specified point, which is found by projecting the point onto the FEM surface. The location of the projection is returned in loc.
    
    Parameters:
    
    loc - Projected location of the point onto the surface.
    
    pnt - Point for which nearest surface element is desired.
    
    Returns:
    
    Nearest surface element.
  - findNearestElement
```
public FemElement3d findNearestElement(Point3d loc,
                                       Point3d pnt)
```
    Returns the element within an FEM that contains a specified point, or if there is no such element, finds the closest surface element.
    
    Parameters:
    
    loc - Location of the point, within the FEM or projected onto the surface.
    
    pnt - Point for which the nearest element is desired.
    
    Returns:
    
    Nearest element.
  - findNearestNode
```
public FemNode3d findNearestNode(Point3d pnt,
                                 double maxDist)
```
    Finds the nearest node to a specified point that is within a specified maximum distance. If no node is within the specified maximum distance, null is returned.
    
    Parameters:
    
    pnt - Point for which the nearest node should be located
    
    maxDist - Maximum distance that the node must be from the point. If maxDist < 0, then null will be returned.
    
    Returns:
    
    Nearest point within the prescribed distance, or null if there is no such point
  - 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
    
    Overrides:
    
    updateSlavePos in class FemModel
  - isVolumeValid
```
public boolean isVolumeValid()
```
  - markInvertedRestElements
```
public int markInvertedRestElements()
```
  - recursivelyFinalizeAdvance
```
public void recursivelyFinalizeAdvance(StepAdjustment stepAdjust,
                                       double t0,
                                       double t1,
                                       int flags,
                                       int level)
```
    Specified by:
    
    recursivelyFinalizeAdvance in interface MechSystemModel
    
    Overrides:
    
    recursivelyFinalizeAdvance in class MechSystemBase
  - invalidateStressAndStiffness
```
public void invalidateStressAndStiffness()
```
    Overrides:
    
    invalidateStressAndStiffness in class FemModel
  - invalidateRestData
```
public void invalidateRestData()
```
    Overrides:
    
    invalidateRestData in class FemModel
  - resetRestPosition
```
public void resetRestPosition()
```
  - updateConstraints
```
public double updateConstraints(double t,
                                int flags)
```
    Specified by:
    
    updateConstraints in interface Constrainer
    
    Overrides:
    
    updateConstraints in class FemModel
  - getConstrainedComponents
```
public void getConstrainedComponents(java.util.List<DynamicComponent> list)
```
    Specified by:
    
    getConstrainedComponents in interface Constrainer
    
    Overrides:
    
    getConstrainedComponents in class FemModel
  - setBilateralImpulses
```
public int setBilateralImpulses(VectorNd lam,
                                double h,
                                int idx)
```
    Specified by:
    
    setBilateralImpulses in interface Constrainer
    
    Overrides:
    
    setBilateralImpulses in class FemModel
  - zeroImpulses
```
public void zeroImpulses()
```
    Specified by:
    
    zeroImpulses in interface Constrainer
    
    Overrides:
    
    zeroImpulses in class FemModel
  - getBilateralImpulses
```
public int getBilateralImpulses(VectorNd lam,
                                int idx)
```
    Specified by:
    
    getBilateralImpulses in interface Constrainer
    
    Overrides:
    
    getBilateralImpulses in class FemModel
  - getBilateralSizes
```
public void getBilateralSizes(VectorNi sizes)
```
    Specified by:
    
    getBilateralSizes in interface Constrainer
    
    Overrides:
    
    getBilateralSizes in class FemModel
  - addBilateralConstraints
```
public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb)
```
    Specified by:
    
    addBilateralConstraints in interface Constrainer
    
    Overrides:
    
    addBilateralConstraints in class FemModel
  - getBilateralInfo
```
public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)
```
    Specified by:
    
    getBilateralInfo in interface Constrainer
    
    Overrides:
    
    getBilateralInfo in class FemModel
  - createPointAttachment
```
public PointAttachment createPointAttachment(Point pnt)
```
    Description copied from interface: PointAttachable
    
    Returns a PointAttachment that attaches pnt to this component. It should not be assumed that pnt is currently connected to the component hierarchy, and no attempt should be made to connect the returned attachment to the hierarchy; the latter, if desired, is the responsibility of the caller.
    In some cases, it may not be possible to attach the point at its present location. In that case, the method will create an attachment to the nearest feasible location.
    
    Specified by:
    
    createPointAttachment in interface PointAttachable
    
    Parameters:
    
    pnt - point for which an attachment should be created
    
    Returns:
    
    attachment connecting pnt to this component
  - createPointAttachment
```
public PointAttachment createPointAttachment(Point pnt,
                                             double reduceTol)
```
  - createFrameAttachment
```
public FrameFem3dAttachment createFrameAttachment(Frame frame,
                                                  RigidTransform3d TFW)
```
    Returns a FrameAttachment that attaches a frame to this component. Once attached the frame will follow the body around. The initial pose of the frame is specified by TFW, which gives its position and orientation in world coordinates. If TFW is null, then the current pose of the frame is used. If frame is null, then a virtual attachment is created at the initial pose specified by TFW. frame and TFW cannot both be null.
    In some cases, it may not be possible to attach the frame at the requested location. In that case, the method will relocate the frame to the nearest feasible attachment location.
    
    Specified by:
    
    createFrameAttachment in interface FrameAttachable
    
    Parameters:
    
    frame - frame to be attached
    
    TFW - transform from (initial) frame coordinates to world coordinates
    
    Returns:
    
    attachment connecting frame to this component
  - createFrameAttachment
```
public FrameFem3dAttachment createFrameAttachment(Frame frame,
                                                  RigidTransform3d TFW,
                                                  boolean project)
```
    Returns a FrameAttachment that attaches a frame to this component. Once attached the frame will follow the body around. The initial pose of the frame is specified by TFW, which gives its position and orientation in world coordinates. If TFW is null, then the current pose of the frame is used. If frame is null, then a virtual attachment is created at the initial pose specified by TFW. frame and TFW cannot both be null.
    
    Parameters:
    
    frame - frame to be attached
    
    TFW - transform from (initial) frame coordinates to world coordinates
    
    project - if true and if the frame is outside the FEM, then the frame gets projected to the nearest point on the FEM
    
    Returns:
    
    attachment attaching frame to this component
  - subdivideHexs
```
public void subdivideHexs(java.util.List<HexElement> hexs)
```
  - subdivideHex
```
public void subdivideHex(HexElement hex)
```
  - dispose
```
public void dispose()
```
    Description copied from class: ModelBase
    
    Called when the model is discarded. Disposes of any resources used.
    
    Specified by:
    
    dispose in interface Model
    
    Specified by:
    
    dispose in interface Disposable
    
    Overrides:
    
    dispose in class ModelBase
  - useAnsysNumbering
```
public void useAnsysNumbering()
```
  - 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 FemModel
    
    Parameters:
    
    s - scaling factor
  - scaleMass
```
public void scaleMass(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all mass units.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Overrides:
    
    scaleMass in class FemModel
    
    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
    
    Returns:
    
    true if this component can be duplicated.
  - getCopyReferences
```
public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)
```
    Description copied from interface: CopyableComponent
    
    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
    
    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
  - getAuxStateComponents
```
public void getAuxStateComponents(java.util.List<HasAuxState> comps,
                                  int level)
```
    Specified by:
    
    getAuxStateComponents in interface MechSystemModel
  - advanceAuxState
```
public void advanceAuxState(double t0,
                            double t1)
```
    Description copied from interface: HasAuxState
    
    Called at the very beginning of the time step (in the system's preadvance() method) to perform any required updating of the component's state before the application in input probes or controllers. If no such updating is required, this method may do nothing.
    
    Specified by:
    
    advanceAuxState in interface HasAuxState
    
    Parameters:
    
    t0 - beginning time associated with the time step advance
    
    t1 - end time associated with the time step advance
  - skipAuxState
```
public void skipAuxState(DataBuffer data)
```
    Skips over the state information for this component contained in the supplied data buffer, starting at the current buffer offsets. Essentially this a dummy read; the buffer offsets should be advanced over the state information, but that information should not actually be stored in the component.
    
    Specified by:
    
    skipAuxState in interface HasAuxState
    
    Parameters:
    
    data - buffer containing the state information
  - getAuxState
```
public void getAuxState(DataBuffer data)
```
    Description copied from interface: HasAuxState
    
    Saves state information for this component by adding data to the supplied DataBuffer. Existing data in the buffer should not be disturbed.
    
    Specified by:
    
    getAuxState in interface HasAuxState
    
    Overrides:
    
    getAuxState in class MechSystemBase
    
    Parameters:
    
    data - buffer for storing the state values.
  - getInitialAuxState
```
public void getInitialAuxState(DataBuffer newData,
                               DataBuffer oldData)
```
    Description copied from interface: HasAuxState
    
    Saves initial state information data for this component by adding data to the supplied data buffer. Existing data in the buffer should not be disturbed.
    If oldData is non-null, then this contains previously stored initial state information (starting at its current buffer offsets), which should be stored into newData in place of the current component state data. This may only be partially possible if the component's state structure has changed since oldData was written.
    
    Specified by:
    
    getInitialAuxState in interface HasAuxState
    
    Parameters:
    
    newData - buffer for storing the state values.
    
    oldData - if non-null, contains old state information that should be written into newData in place of the current state information.
  - setAuxState
```
public void setAuxState(DataBuffer data)
```
    Description copied from interface: HasAuxState
    
    Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
    
    Specified by:
    
    setAuxState in interface HasAuxState
    
    Overrides:
    
    setAuxState in class MechSystemBase
    
    Parameters:
    
    data - buffer containing the state information
  - copy
```
public FemModel3d 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 FemModel
    
    Parameters:
    
    flags - flags to control the copying
    
    copyMap - map to possible existing instances of referenced components
    
    Returns:
    
    copy of this component
  - 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 FemModel
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - getColorMap
```
public ColorMapBase getColorMap()
```
  - setColorMap
```
public void setColorMap(ColorMapBase colorMap)
```
  - getColorMapMode
```
public PropertyMode getColorMapMode()
```
  - setColorMapMode
```
public void setColorMapMode(PropertyMode mode)
```
  - isAbortOnInvertedElements
```
public boolean isAbortOnInvertedElements()
```
  - setAbortOnInvertedElements
```
public void setAbortOnInvertedElements(boolean set)
```
  - setWarnOnInvertedElements
```
public void setWarnOnInvertedElements(boolean set)
```
  - isWarnOnInvertedElements
```
public boolean isWarnOnInvertedElements()
```
  - getNodalDeformationGradients
```
public void getNodalDeformationGradients(Matrix3d[] Fnodal)
```
  - getFrame
```
public FemModelFrame getFrame()
```
  - isFrameRelative
```
public boolean isFrameRelative()
```
  - setFrameRelative
```
public void setFrameRelative(boolean enable)
```
  - usingAttachedRelativeFrame
```
public boolean usingAttachedRelativeFrame()
```
  - getFrameConstraint
```
public FrameFem3dConstraint getFrameConstraint()
```
  - attachFrame
```
public void attachFrame(RigidTransform3d TRW)
```
  - getAxisLength
```
public double getAxisLength()
```
  - setAxisLength
```
public void setAxisLength(double len)
```
  - 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
    
    Overrides:
    
    getDynamicComponents in class FemModel
  - addGeneralMassBlocks
```
public void addGeneralMassBlocks(SparseBlockMatrix M)
```
    Specified by:
    
    addGeneralMassBlocks in interface MechSystemModel
    
    Overrides:
    
    addGeneralMassBlocks in class MechSystemBase
  - getMassMatrixValues
```
public void getMassMatrixValues(SparseBlockMatrix M,
                                VectorNd f,
                                double t)
```
    Specified by:
    
    getMassMatrixValues in interface MechSystemModel
  - mulInverseMass
```
public void mulInverseMass(SparseBlockMatrix M,
                           VectorNd a,
                           VectorNd f)
```
    Specified by:
    
    mulInverseMass in interface MechSystem
    
    Specified by:
    
    mulInverseMass in interface MechSystemModel

Class FemModel3d

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.femmodels.FemModel

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

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

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

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 artisynth.core.mechmodels.Collidable

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.femmodels.FemModel

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.mechmodels.MechSystemModel

Methods inherited from interface artisynth.core.modelbase.Model

Methods inherited from interface artisynth.core.modelbase.HasState

Methods inherited from interface artisynth.core.mechmodels.MechSystem

Methods inherited from interface artisynth.core.modelbase.ComponentListView

Methods inherited from interface java.lang.Iterable

Methods inherited from interface java.util.Collection

Field Detail

useFrameRelativeCouplingMasses

abortOnInvertedElems

checkTangentStability

noIncompressStiffnessDamping

detJStepReductionLimit

frameMassFraction

DEFAULT_HARD_INCOMP

DEFAULT_SOFT_INCOMP

myProps

defaultAutoGenerateSurface

DEFAULT_SURFACEMESH_NAME

Constructor Detail

FemModel3d

FemModel3d

Method Detail

getAllPropertyInfo

setElementWidgetSize

getElementWidgetSize

setElementWidgetSizeMode

getElementWidgetSizeMode

getCollidables

setComputeNodalStress

setComputeNodalStrain

createDefaultColorMap

addMaterialBundle

removeMaterialBundle

clearMaterialBundles

getMaterialBundles

getNodes

getNode

getByNumber

getElementByNumber

getElements

addNodes

addNode

addNumberedNode

removeNode

getElement

getNodeNeighbors

getElementNeighbors

addElements

addElement

addNumberedElement

removeElement

clearElements

addMarker

addMarker