BodyConnector (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.BodyConnector

All Implemented Interfaces:

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

Direct Known Subclasses:

FullPlanarJoint, JointBase, PlanarConnector, SegmentedPlanarConnector
```
public abstract class BodyConnector
extends RenderableComponentBase
implements ScalableUnits, TransformableGeometry, BodyConstrainer, Constrainer, HasCoordinateFrame
```

Nested Class Summary
- Nested classes/interfaces inherited from interface artisynth.core.mechmodels.HasAuxState
  HasAuxState.StateContext
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
  ModelComponent.NavpanelVisibility

Field Summary

Fields
Modifier and Type Field and Description

static PropertyList myProps
- Fields inherited from class artisynth.core.modelbase.ModelComponentBase
  enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
- Fields inherited from interface artisynth.core.modelbase.TransformableGeometry
  TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

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

Method Summary

All Methods Static Methods Instance 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`	`addMasterBlocks(SparseBlockMatrix GT, int bj, MatrixNdBlock GC, FrameAttachment attachment)`
`void`	`addTransformableDependencies(TransformGeometryContext context, int flags)` Adds to `context` any transformable components which should be transformed as the same time as this component.
`int`	`addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu)`
`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`	`connectToHierarchy()` Called by the system after this component is added to the component hierarchy (i.e., when it is added as a child of another CompositeComponent).
`ModelComponent`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)`
`void`	`disconnectFromHierarchy()` Called by the system after this component is removed from the component hierarchy (i.e., when it is removed as a child of its parent).
`static boolean`	`findAttachedBodies(ConnectableBody body, ConnectableBody exclude, java.util.List<ConnectableBody> bodies)`
`double`	`getActivation(int idx)` Returns the activation level associated with a specific constraint.
`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.
`int`	`getBilateralConstraints(java.util.ArrayList<RigidBodyConstraint> bilaterals)` Gets the bilateral constraints associated with this constrainer.
`Wrench`	`getBilateralForceInA()` If body A is a Frame, computes the wrench acting on body A in response to the most recent bilateral constraint forces.
`void`	`getBilateralForceInA(Wrench wr)` If body A is a Frame, computes the wrench acting on body A in response to the most recent bilateral constraint forces.
`int`	`getBilateralImpulses(VectorNd lam, int idx)`
`int`	`getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)`
`void`	`getBilateralSizes(VectorNi sizes)`
`ConnectableBody`	`getBodyA()` Returns the first body associated with this constrainer.
`ConnectableBody`	`getBodyB()` Returns the second body associated with this constrainer, or null if there is no such body.
`double`	`getBreakAccel()`
`double`	`getBreakSpeed()`
`VectorNd`	`getCompliance()`
`void`	`getConstrainedComponents(java.util.List<DynamicComponent> list)`
`double`	`getContactDistance()`
`boolean`	`getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor)`
`RigidTransform3d`	`getCurrentTCW()`
`void`	`getCurrentTCW(RigidTransform3d TCW)`
`RigidTransform3d`	`getCurrentTDW()`
`void`	`getCurrentTDW(RigidTransform3d TDW)`
`RigidTransform3d`	`getCurrentTXW(FrameAttachable body)`
`VectorNd`	`getDamping()`
`void`	`getHardReferences(java.util.List<ModelComponent> refs)` Appends all hard references for this component to a list.
`void`	`getInitialAuxState(DataBuffer newData, DataBuffer oldData)` Saves initial state information data for this component by adding data to the supplied data buffer.
`double`	`getLinearCompliance()`
`ConnectableBody`	`getOtherBody(ConnectableBody body)`
`double`	`getPenetrationTol()`
`PropertyMode`	`getPenetrationTolMode()`
`void`	`getPose(RigidTransform3d X)`
`double`	`getRotaryCompliance()`
`double`	`getUnilateralConstraints(java.util.ArrayList<RigidBodyConstraint> unilaterals, boolean setEngaged)` Gets the unilateral constraints associated with this constrainer.
`Wrench`	`getUnilateralForceInA()` If body A is a Frame, computes the wrench acting on body A in response to the most recent unilateral constraint forces.
`void`	`getUnilateralForceInA(Wrench wr)` If body A is a Frame, computes the wrench acting on body A in response to the most recent unilateral constraint forces.
`int`	`getUnilateralImpulses(VectorNd the, int idx)`
`int`	`getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)`
`void`	`getUnilateralSizes(VectorNi sizes)`
`boolean`	`hasState()` Queries if this component has state.
`boolean`	`hasTranslation()`
`boolean`	`hasUnilateralConstraints()` Returns true if this constrainer has unilateral constraints.
`boolean`	`isActive()` Returns true if this RigidBodyConnectorX is enabled and at least one of it's underlying master components is active.
`boolean`	`isDuplicatable()`
`boolean`	`isEnabled()`
`int`	`maxFrictionConstraintSets()`
`int`	`numBilateralConstraints()` Returns the number of bilateral constraints associated with this constrainer.
`int`	`numBodies()`
`int`	`numUnilateralConstraints()` Returns the number of unilateral constraints which are currently engaged.
`void`	`printConstraintInfo()` For debugging only
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double m)` Nothing to do for scale mass.
`void`	`setAuxState(DataBuffer data)` Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
`int`	`setBilateralImpulses(VectorNd lam, double h, int idx)`
`void`	`setBodies(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TDW)`
`void`	`setBodies(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TCW, RigidTransform3d TDW)`
`void`	`setBodies(ConnectableBody bodyA, FrameAttachment attachmentA, ConnectableBody bodyB, FrameAttachment attachmentB)`
`void`	`setBodies(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d TDB)`
`void`	`setBreakAccel(double a)`
`void`	`setBreakSpeed(double s)`
`void`	`setCompliance(VectorNd compliance)`
`void`	`setContactDistance(double d)`
`void`	`setCurrentTCW(RigidTransform3d TCW)`
`void`	`setCurrentTDW(RigidTransform3d TDW)`
`void`	`setDamping(VectorNd damping)`
`void`	`setEnabled(boolean enabled)`
`void`	`setLinearCompliance(double c)`
`void`	`setPenetrationTol(double tol)` Sets the penetration tolerance for this component.
`void`	`setPenetrationTolMode(PropertyMode mode)`
`void`	`setRotaryCompliance(double c)`
`int`	`setUnilateralImpulses(VectorNd the, double h, int idx)`
`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`	`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`	`updateBodyStates(double t, boolean setEngaged)` Updates internal information needed for computing constraints.
`void`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.
`double`	`updateConstraints(double t, int flags)`
`void`	`updateForBodyPositionChange(ConnectableBody body, RigidTransform3d TXW)`
`void`	`updateUnilateralConstraints(java.util.ArrayList<RigidBodyConstraint> unilaterals, int offset, int numc)` Updates the unilateral constraints associated with this constrainer.
`void`	`zeroImpulses()`

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

Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, 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.modelbase.ModelComponent
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

- Field Detail
  - myProps
```
public static PropertyList myProps
```
- Method Detail
  - hasTranslation
```
public boolean hasTranslation()
```
  - setPenetrationTol
```
public void setPenetrationTol(double tol)
```
    Sets the penetration tolerance for this component. Setting a value of -1 will cause a default value to be computed based on the radius of the topmost MechModel.
    
    Specified by:
    
    setPenetrationTol in interface BodyConstrainer
    
    Parameters:
    
    tol - new penetration tolerance
  - getPenetrationTol
```
public double getPenetrationTol()
```
    Specified by:
    
    getPenetrationTol in interface BodyConstrainer
  - getPenetrationTolMode
```
public PropertyMode getPenetrationTolMode()
```
  - setPenetrationTolMode
```
public void setPenetrationTolMode(PropertyMode mode)
```
  - getBilateralForceInA
```
public void getBilateralForceInA(Wrench wr)
```
    If body A is a Frame, computes the wrench acting on body A in response to the most recent bilateral constraint forces. If body A is not a Frame, the computed wrench is set to zero.
    
    Parameters:
    
    wr - returns the bilateral constraint wrench acting on A, in the coordinates of A
  - printConstraintInfo
```
public void printConstraintInfo()
```
    For debugging only
  - getBilateralForceInA
```
public Wrench getBilateralForceInA()
```
    If body A is a Frame, computes the wrench acting on body A in response to the most recent bilateral constraint forces. If body A is not a Frame, the computed wrench is set to zero.
    
    Returns:
    
    the bilateral constraint wrench acting on A, in the coordinates of A
  - getUnilateralForceInA
```
public void getUnilateralForceInA(Wrench wr)
```
    If body A is a Frame, computes the wrench acting on body A in response to the most recent unilateral constraint forces. If body A is not a Frame, the computed wrench is set to zero.
    
    Parameters:
    
    wr - returns the unilateral constraint wrench acting on A, in the coordinates of A
  - getUnilateralForceInA
```
public Wrench getUnilateralForceInA()
```
    If body A is a Frame, computes the wrench acting on body A in response to the most recent unilateral constraint forces. If body A is not a Frame, the computed wrench is set to zero.
    
    Returns:
    
    the unilateral constraint wrench acting on A, in the coordinates of A
  - getLinearCompliance
```
public double getLinearCompliance()
```
  - setLinearCompliance
```
public void setLinearCompliance(double c)
```
  - getRotaryCompliance
```
public double getRotaryCompliance()
```
  - setRotaryCompliance
```
public void setRotaryCompliance(double c)
```
  - 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 ModelComponentBase
    
    Returns:
    
    static information for all exported properties
  - getCompliance
```
public VectorNd getCompliance()
```
  - setCompliance
```
public void setCompliance(VectorNd compliance)
```
  - getDamping
```
public VectorNd getDamping()
```
  - setDamping
```
public void setDamping(VectorNd damping)
```
  - setEnabled
```
public void setEnabled(boolean enabled)
```
  - isEnabled
```
public boolean isEnabled()
```
  - numBodies
```
public int numBodies()
```
  - getBodyA
```
public ConnectableBody getBodyA()
```
    Description copied from interface: BodyConstrainer
    
    Returns the first body associated with this constrainer.
    
    Specified by:
    
    getBodyA in interface BodyConstrainer
    
    Returns:
    
    first body associated with this constrainer
  - getBodyB
```
public ConnectableBody getBodyB()
```
    Description copied from interface: BodyConstrainer
    
    Returns the second body associated with this constrainer, or null if there is no such body.
    
    Specified by:
    
    getBodyB in interface BodyConstrainer
    
    Returns:
    
    second body associated with this constrainer
  - getOtherBody
```
public ConnectableBody getOtherBody(ConnectableBody body)
```
  - numBilateralConstraints
```
public int numBilateralConstraints()
```
    Description copied from interface: BodyConstrainer
    
    Returns the number of bilateral constraints associated with this constrainer.
    
    Specified by:
    
    numBilateralConstraints in interface BodyConstrainer
    
    Returns:
    
    number of bilateral constraints
  - numUnilateralConstraints
```
public int numUnilateralConstraints()
```
    Description copied from interface: BodyConstrainer
    
    Returns the number of unilateral constraints which are currently engaged. This should be the same as the number of constraints that would be returned by getUnilateralConstraints with setEngaged set to false.
    
    Specified by:
    
    numUnilateralConstraints in interface BodyConstrainer
    
    Returns:
    
    number of currently engaged unilateral constraints
  - getBilateralSizes
```
public void getBilateralSizes(VectorNi sizes)
```
    Specified by:
    
    getBilateralSizes in interface BodyConstrainer
    
    Specified by:
    
    getBilateralSizes in interface Constrainer
  - getUnilateralSizes
```
public void getUnilateralSizes(VectorNi sizes)
```
    Specified by:
    
    getUnilateralSizes in interface BodyConstrainer
    
    Specified by:
    
    getUnilateralSizes in interface Constrainer
  - updateConstraints
```
public double updateConstraints(double t,
                                int flags)
```
    Specified by:
    
    updateConstraints in interface BodyConstrainer
    
    Specified by:
    
    updateConstraints in interface Constrainer
  - getConstrainedComponents
```
public void getConstrainedComponents(java.util.List<DynamicComponent> list)
```
    Specified by:
    
    getConstrainedComponents in interface Constrainer
  - addMasterBlocks
```
public void addMasterBlocks(SparseBlockMatrix GT,
                            int bj,
                            MatrixNdBlock GC,
                            FrameAttachment attachment)
```
  - addBilateralConstraints
```
public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb)
```
    Specified by:
    
    addBilateralConstraints in interface Constrainer
  - addUnilateralConstraints
```
public int addUnilateralConstraints(SparseBlockMatrix NT,
                                    VectorNd dn,
                                    int numu)
```
    Specified by:
    
    addUnilateralConstraints in interface Constrainer
  - getBilateralInfo
```
public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)
```
    Specified by:
    
    getBilateralInfo in interface Constrainer
  - getUnilateralInfo
```
public int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                             int idx)
```
    Specified by:
    
    getUnilateralInfo in interface Constrainer
  - maxFrictionConstraintSets
```
public int maxFrictionConstraintSets()
```
    Specified by:
    
    maxFrictionConstraintSets in interface Constrainer
  - addFrictionConstraints
```
public int addFrictionConstraints(SparseBlockMatrix DT,
                                  MechSystem.FrictionInfo[] finfo,
                                  int numf)
```
    Specified by:
    
    addFrictionConstraints in interface Constrainer
  - setBodies
```
public void setBodies(RigidBody bodyA,
                      RigidTransform3d TCA,
                      RigidBody bodyB,
                      RigidTransform3d TDB)
```
  - setBodies
```
public void setBodies(ConnectableBody bodyA,
                      FrameAttachment attachmentA,
                      ConnectableBody bodyB,
                      FrameAttachment attachmentB)
```
  - setBodies
```
public void setBodies(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      RigidTransform3d TDW)
```
  - setBodies
```
public void setBodies(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      RigidTransform3d TCW,
                      RigidTransform3d TDW)
```
  - getCurrentTDW
```
public RigidTransform3d getCurrentTDW()
```
  - getCurrentTDW
```
public void getCurrentTDW(RigidTransform3d TDW)
```
  - setCurrentTDW
```
public void setCurrentTDW(RigidTransform3d TDW)
```
  - getPose
```
public void getPose(RigidTransform3d X)
```
    Specified by:
    
    getPose in interface HasCoordinateFrame
  - getCurrentTCW
```
public RigidTransform3d getCurrentTCW()
```
  - getCurrentTCW
```
public void getCurrentTCW(RigidTransform3d TCW)
```
  - setCurrentTCW
```
public void setCurrentTCW(RigidTransform3d TCW)
```
  - getCurrentTXW
```
public RigidTransform3d getCurrentTXW(FrameAttachable body)
```
  - getActivation
```
public double getActivation(int idx)
```
    Returns the activation level associated with a specific constraint.
    
    Parameters:
    
    idx - index of the constraint
    
    Returns:
    
    activation level of the constraint
  - updateBodyStates
```
public void updateBodyStates(double t,
                             boolean setEngaged)
```
    Description copied from interface: BodyConstrainer
    
    Updates internal information needed for computing constraints.
    
    Specified by:
    
    updateBodyStates in interface BodyConstrainer
    
    Parameters:
    
    t - current time (seconds)
    
    setEngaged - if true, then the method should determine which unilateral constraints are engaged
  - scaleMass
```
public void scaleMass(double m)
```
    Nothing to do for scale mass.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Parameters:
    
    m - scaling factor
  - 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
  - getBilateralConstraints
```
public int getBilateralConstraints(java.util.ArrayList<RigidBodyConstraint> bilaterals)
```
    Description copied from interface: BodyConstrainer
    
    Gets the bilateral constraints associated with this constrainer. They are supplied by the constrainer and appended to an array list.
    
    Specified by:
    
    getBilateralConstraints in interface BodyConstrainer
    
    Parameters:
    
    bilaterals - array list into which the constrainer places the constraints
  - setBilateralImpulses
```
public int setBilateralImpulses(VectorNd lam,
                                double h,
                                int idx)
```
    Specified by:
    
    setBilateralImpulses in interface BodyConstrainer
    
    Specified by:
    
    setBilateralImpulses in interface Constrainer
  - getBilateralImpulses
```
public int getBilateralImpulses(VectorNd lam,
                                int idx)
```
    Specified by:
    
    getBilateralImpulses in interface BodyConstrainer
    
    Specified by:
    
    getBilateralImpulses in interface Constrainer
  - zeroImpulses
```
public void zeroImpulses()
```
    Specified by:
    
    zeroImpulses in interface BodyConstrainer
    
    Specified by:
    
    zeroImpulses in interface Constrainer
  - hasUnilateralConstraints
```
public boolean hasUnilateralConstraints()
```
    Description copied from interface: BodyConstrainer
    
    Returns true if this constrainer has unilateral constraints.
    
    Specified by:
    
    hasUnilateralConstraints in interface BodyConstrainer
    
    Returns:
    
    true if there are unilateral constraints
  - setContactDistance
```
public void setContactDistance(double d)
```
  - getContactDistance
```
public double getContactDistance()
```
  - setBreakSpeed
```
public void setBreakSpeed(double s)
```
  - getBreakSpeed
```
public double getBreakSpeed()
```
  - setBreakAccel
```
public void setBreakAccel(double a)
```
  - getBreakAccel
```
public double getBreakAccel()
```
  - getUnilateralConstraints
```
public double getUnilateralConstraints(java.util.ArrayList<RigidBodyConstraint> unilaterals,
                                       boolean setEngaged)
```
    Description copied from interface: BodyConstrainer
    
    Gets the unilateral constraints associated with this constrainer. They are supplied by the constrainer and appended to an array list.
    
    Specified by:
    
    getUnilateralConstraints in interface BodyConstrainer
    
    Parameters:
    
    unilaterals - array list into which the constrainer places the constraints
    
    setEngaged - if true, recompute the set of unilateral constraints. If false, the set of unilateral constraints will stay the same.
    
    Returns:
    
    maximum penetration of the unilateral constraints
  - updateUnilateralConstraints
```
public void updateUnilateralConstraints(java.util.ArrayList<RigidBodyConstraint> unilaterals,
                                        int offset,
                                        int numc)
```
    Description copied from interface: BodyConstrainer
    
    Updates the unilateral constraints associated with this constrainer. The constraints are the same as those returned by the most recent call to getUnilateralConstraints, located at a specific offset within an array list.
    
    Specified by:
    
    updateUnilateralConstraints in interface BodyConstrainer
    
    Parameters:
    
    unilaterals - contains constraints which should be updated
    
    offset - starting location of constraints within unilaterals
    
    numc - number of constraints to update
  - setUnilateralImpulses
```
public int setUnilateralImpulses(VectorNd the,
                                 double h,
                                 int idx)
```
    Specified by:
    
    setUnilateralImpulses in interface BodyConstrainer
    
    Specified by:
    
    setUnilateralImpulses in interface Constrainer
  - getUnilateralImpulses
```
public int getUnilateralImpulses(VectorNd the,
                                 int idx)
```
    Specified by:
    
    getUnilateralImpulses in interface BodyConstrainer
    
    Specified by:
    
    getUnilateralImpulses in interface Constrainer
  - isActive
```
public boolean isActive()
```
    Returns true if this RigidBodyConnectorX is enabled and at least one of it's underlying master components is active.
  - 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
  - getHardReferences
```
public void getHardReferences(java.util.List<ModelComponent> refs)
```
    Description copied from class: ModelComponentBase
    
    Appends all hard references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an AxialSpring refers to two Point components as for it's end points. A hard reference is one which the referring component must have, and which if deleted, implies that the referring component should be deleted too.
    
    Specified by:
    
    getHardReferences in interface ModelComponent
    
    Overrides:
    
    getHardReferences in class ModelComponentBase
    
    Parameters:
    
    refs - list to which hard references are appended
  - connectToHierarchy
```
public void connectToHierarchy()
```
    Description copied from class: ModelComponentBase
    
    Called by the system after this component is added to the component hierarchy (i.e., when it is added as a child of another CompositeComponent). This method is responsible for doing any required hierarchy-dependent initialization.
    When this method is called, ModelComponent.getParent() will return the new parent component; the system will have set this beforehand.
    
    Specified by:
    
    connectToHierarchy in interface ModelComponent
    
    Overrides:
    
    connectToHierarchy in class ModelComponentBase
  - disconnectFromHierarchy
```
public void disconnectFromHierarchy()
```
    Description copied from class: ModelComponentBase
    
    Called by the system after this component is removed from the component hierarchy (i.e., when it is removed as a child of its parent). This method is responsible for any required hierarchy-dependent deinitialization.
    When this method is called, ModelComponent.getParent() will still return this original parent component; the system will set this to null after.
    
    Specified by:
    
    disconnectFromHierarchy in interface ModelComponent
    
    Overrides:
    
    disconnectFromHierarchy in class ModelComponentBase
  - isDuplicatable
```
public boolean isDuplicatable()
```
  - getCopyReferences
```
public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)
```
  - copy
```
public ModelComponent copy(int flags,
                           java.util.Map<ModelComponent,ModelComponent> copyMap)
```
    Overrides:
    
    copy in class RenderableComponentBase
  - 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 RenderableComponentBase
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - updateForBodyPositionChange
```
public void updateForBodyPositionChange(ConnectableBody body,
                                        RigidTransform3d TXW)
```
  - 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
    
    Parameters:
    
    data - buffer for storing the state values.
  - 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
    
    Parameters:
    
    data - buffer containing the state information
  - 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.
  - 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
  - findAttachedBodies
```
public static boolean findAttachedBodies(ConnectableBody body,
                                         ConnectableBody exclude,
                                         java.util.List<ConnectableBody> bodies)
```

Class BodyConnector

Nested Class Summary

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

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

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface maspack.render.IsRenderable

Method Summary

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

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

Field Detail

myProps

Method Detail

hasTranslation

setPenetrationTol

getPenetrationTol

getPenetrationTolMode

setPenetrationTolMode

getBilateralForceInA

printConstraintInfo

getBilateralForceInA

getUnilateralForceInA

getUnilateralForceInA

getLinearCompliance

setLinearCompliance

getRotaryCompliance

setRotaryCompliance

getAllPropertyInfo

getCompliance

setCompliance

getDamping

setDamping

setEnabled

isEnabled

numBodies

getBodyA

getBodyB

getOtherBody

numBilateralConstraints

numUnilateralConstraints

getBilateralSizes

getUnilateralSizes

updateConstraints

getConstrainedComponents

addMasterBlocks

addBilateralConstraints

addUnilateralConstraints

getBilateralInfo

getUnilateralInfo

maxFrictionConstraintSets

addFrictionConstraints

setBodies

setBodies

setBodies

setBodies

getCurrentTDW

getCurrentTDW

setCurrentTDW

getPose

getCurrentTCW

getCurrentTCW

setCurrentTCW

getCurrentTXW

getActivation

updateBodyStates

scaleMass

scaleDistance

getBilateralConstraints

setBilateralImpulses

getBilateralImpulses

zeroImpulses

hasUnilateralConstraints

setContactDistance

getContactDistance