artisynth.core.femmodels

Class FemModelFrame

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Frame

artisynth.core.femmodels.FemModelFrame

All Implemented Interfaces:

CollidableDynamicComponent, DynamicComponent, ForceEffector, FrameAttachable, MotionTargetComponent, PointAttachable, CopyableComponent, HasCoordinateFrame, ModelComponent, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class FemModelFrame
extends Frame

Instance of Frame for FemModels

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.Frame

dynamicVelInWorldCoords, myRenderFrame

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
FemModelFrame(java.lang.String name)

Method Summary

Modifier and Type	Method and Description
FemModelFrame	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
Point3d	getCenterOfMass() Returns the center of mass of this body (in body coordinates).
int	getEffectiveMassForces(VectorNd f, double t, int idx) Gets the mass forces for this component at a particular time.
void	getInertia(SpatialInertia M)
void	getInverseMass(Matrix Minv, Matrix M) Inverts a mass for this component.
double	getMass() Returns the mass of this body.
double	getMass(double t) Returns the scalar mass of this component at time t.
void	getMass(Matrix M, double t) Gets the mass of this component at a particular time.
SymmetricMatrix3d	getRotationalInertia() Returns the rotational inertia of this body (in body coordinates).
void	setDynamic(boolean dynamic)
void	setInertia(SpatialInertia M)

Methods inherited from class artisynth.core.mechmodels.Frame

addEffectivePointMass, addExternalForce, addForce, addPointForce, addPointForce, addPointMass, addPosImpulse, addPosJacobian, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, addTransformableDependencies, addVelJacobian, applyExternalForces, applyForces, applyGravity, computeAppliedWrench, computeLocalPointForceJacobian, computePointCoriolis, computePointLocation, computePointPosition, computePointVelocity, computePointVelocity, computePointVelocity, computeWorldPointForceJacobian, createFrameAttachment, createMassBlock, createPointAttachment, createRenderProps, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getCopyReferences, getEffectiveMass, getExternalForce, getForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getJacobianType, getMoment, getOrientation, getOrientation, getPosDerivative, getPose, getPose, getPosition, getPosState, getPosStateSize, getRotaryDamping, getRotaryDampingMode, getRotation, getSelection, getTargetActivity, getTargetOrientation, getTargetPos, getTargetPose, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getTransForce, getVelocity, getVelocity, getVelState, getVelStateSize, getWorldVelState, isDuplicatable, isMassConstant, mulInverseEffectiveMass, prerender, render, resetEffectiveMass, resetTargets, scaleDistance, scaleMass, setAxisLength, setBodyVelocity, setContactConstraint, setExternalForce, setForce, setForce, setFrameDamping, setFrameDampingMode, setOrientation, setPose, setPosition, setPosState, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, subPointForce, subPointForce, transformGeometry, transformPose, updateBounds, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

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

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

getRenderHints, getRenderProps, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isConnectedToHierarchy, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, updateReferences, write

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

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

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformGeometry

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

FemModelFrame

public FemModelFrame(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 Frame

Returns:

static information for all exported properties

getMass

public double getMass(double t)

Description copied from interface: DynamicComponent

Returns the scalar mass of this component at time t.

Specified by:

getMass in interface DynamicComponent

Overrides:

getMass in class Frame

getMass

public void getMass(Matrix M,
                    double t)

Description copied from interface: DynamicComponent

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

Specified by:

getMass in interface DynamicComponent

Overrides:

getMass in class Frame

Parameters:

M - matrix to return the mass in

t - current time

getEffectiveMassForces

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

Description copied from interface: DynamicComponent

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

Specified by:

getEffectiveMassForces in interface DynamicComponent

Overrides:

getEffectiveMassForces in class Frame

Parameters:

f - vector to return the forces in

t - current time

idx - starting location within f where forces should be stored

Returns:

updated value for idx

getInverseMass

public void getInverseMass(Matrix Minv,
                           Matrix M)

Description copied from interface: DynamicComponent

Inverts a mass for this component.

Specified by:

getInverseMass in interface DynamicComponent

Overrides:

getInverseMass in class DynamicComponentBase

Parameters:

Minv - matrix to return the inverse mass in

M - matrix containing the mass to be inverted

getMass

public double getMass()

Returns the mass of this body.

getRotationalInertia

public SymmetricMatrix3d getRotationalInertia()

Returns the rotational inertia of this body (in body coordinates).

Returns:

rotational inertia (should not be modified).

getCenterOfMass

public Point3d getCenterOfMass()

Returns the center of mass of this body (in body coordinates).

Returns:

center of mass (should not be modified).

setInertia

public void setInertia(SpatialInertia M)

getInertia

public void getInertia(SpatialInertia M)

setDynamic

public void setDynamic(boolean dynamic)

copy

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

Description copied from interface: CopyableComponent

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

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class Frame

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component