FrameSpring (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.mechmodels.Spring
  - - artisynth.core.mechmodels.FrameSpring

All Implemented Interfaces:

ForceComponent, ForceEffector, CopyableComponent, ModelComponent, RenderableComponent, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable
```
public class FrameSpring
extends Spring
implements RenderableComponent, ScalableUnits, CopyableComponent
```

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

Field Summary

Fields
Modifier and Type Field and Description

static PropertyList myProps

boolean mySymmetricJacobian
- Fields inherited from class artisynth.core.modelbase.ModelComponentBase
  enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL
- Fields inherited from interface artisynth.core.modelbase.CopyableComponent
  COPY_REFERENCES

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

Constructor Summary

Constructors
Constructor and Description
`FrameSpring()`
`FrameSpring(java.lang.String name)`
`FrameSpring(java.lang.String name, double k, double kRot, double d, double dRot)`
`FrameSpring(java.lang.String name, FrameMaterial mat)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`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`	`addPosJacobianWorld(SparseNumberedBlockMatrix M, double s)`
`void`	`addSolveBlocks(SparseNumberedBlockMatrix M)` Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector.
`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`	`addVelJacobianWorld(SparseNumberedBlockMatrix M, double s)`
`void`	`applyForces(double t)` Adds forces to the components affected by this force effector at a particular time.
`ModelComponent`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)` Create a copy of this component.
`static FrameMaterial`	`createDefaultMaterial()`
`RenderProps`	`createRenderProps()` Factory method to create render properties appropriate to this object.
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`RigidTransform3d`	`getAttachFrameA()`
`RigidTransform3d`	`getAttachFrameB()`
`double`	`getAxisLength()`
`boolean`	`getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor)` Collects external references which must also be copied in order to duplicate this component.
`Frame`	`getFrameA()`
`Frame`	`getFrameB()`
`void`	`getHardReferences(java.util.List<ModelComponent> refs)` Appends all hard references for this component to a list.
`RigidTransform3d`	`getInitialT21()`
`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.
`FrameMaterial`	`getMaterial()`
`int`	`getRenderHints()` Returns a bit code giving rendering hints about this renderable.
`RenderProps`	`getRenderProps()` Returns the render properities for this object.
`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.
`Wrench`	`getSpringForce()`
`boolean`	`isDuplicatable()` Returns true if this component can be duplicated.
`boolean`	`isJacobianSymmetric()`
`boolean`	`isSelectable()` Returns true if this object is in fact selectable.
`int`	`numSelectionQueriesNeeded()` If this selectable manages its own selection (by issuing selection queries within its `render` method), then this method should return the maximum number of selection queries that will be required.
`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`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`void`	`setAttachFrameA(RigidTransform3d X1A)`
`void`	`setAttachFrameB(RigidTransform3d X2B)`
`void`	`setAxisLength(double len)`
`void`	`setFrameA(Frame frame)`
`void`	`setFrameB(Frame frame)`
`void`	`setFrames(Frame frameA, Frame frameB, RigidTransform3d TDW)`
`void`	`setFrames(Frame frameA, RigidTransform3d T1A, Frame frameB, RigidTransform3d T2B)`
`void`	`setInitialT21()` Set the initialX21 to the current value of the transform from frame 2 to frame 1.
`void`	`setInitialT21(RigidTransform3d X21)`
`void`	`setJacobianSymmetric(boolean symmetric)`
`void`	`setMaterial(FrameMaterial mat)`
`void`	`setRenderProps(RenderProps props)` Assigns a new set of render properties to this object.
`void`	`setRotaryStiffness(double k)`
`void`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.

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

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, 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
  - mySymmetricJacobian
```
public boolean mySymmetricJacobian
```
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - FrameSpring
```
public FrameSpring()
```
  - FrameSpring
```
public FrameSpring(java.lang.String name)
```
  - FrameSpring
```
public FrameSpring(java.lang.String name,
                   double k,
                   double kRot,
                   double d,
                   double dRot)
```
  - FrameSpring
```
public FrameSpring(java.lang.String name,
                   FrameMaterial mat)
```
- 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 ModelComponentBase
    
    Returns:
    
    static information for all exported properties
  - getAxisLength
```
public double getAxisLength()
```
  - setAxisLength
```
public void setAxisLength(double len)
```
  - setInitialT21
```
public void setInitialT21(RigidTransform3d X21)
```
  - getInitialT21
```
public RigidTransform3d getInitialT21()
```
  - setInitialT21
```
public void setInitialT21()
```
    Set the initialX21 to the current value of the transform from frame 2 to frame 1.
  - getRenderProps
```
public RenderProps getRenderProps()
```
    Description copied from interface: HasRenderProps
    
    Returns the render properities for this object. If no render properties are assigned, this routines returns null.
    
    Specified by:
    
    getRenderProps in interface HasRenderProps
    
    Returns:
    
    current render properties for this object
  - setRenderProps
```
public void setRenderProps(RenderProps props)
```
    Description copied from interface: HasRenderProps
    
    Assigns a new set of render properties to this object. An argument of null will remove render properties from this object.
    
    Specified by:
    
    setRenderProps in interface HasRenderProps
    
    Parameters:
    
    props - new render properties for this object
  - createRenderProps
```
public RenderProps createRenderProps()
```
    Description copied from interface: HasRenderProps
    
    Factory method to create render properties appropriate to this object.
    
    Specified by:
    
    createRenderProps in interface HasRenderProps
    
    Returns:
    
    new render properties for this object
  - 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
    
    Parameters:
    
    list - list of objects to be rendered
  - 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
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - getRenderHints
```
public int getRenderHints()
```
    Description copied from interface: IsRenderable
    
    Returns a bit code giving rendering hints about this renderable. Current bit codes include TRANSPARENT and TWO_DIMENSIONAL.
    
    Specified by:
    
    getRenderHints in interface IsRenderable
    
    Returns:
    
    bit code of rendering hints.
  - isSelectable
```
public boolean isSelectable()
```
    Description copied from interface: IsSelectable
    
    Returns true if this object is in fact selectable.
    
    Specified by:
    
    isSelectable in interface IsSelectable
    
    Returns:
    
    true if this object is selectable
  - numSelectionQueriesNeeded
```
public int numSelectionQueriesNeeded()
```
    Description copied from interface: IsSelectable
    
    If this selectable manages its own selection (by issuing selection queries within its render method), then this method should return the maximum number of selection queries that will be required. Otherwise, this method should return -1.
    
    Specified by:
    
    numSelectionQueriesNeeded in interface IsSelectable
    
    Returns:
    
    maximum number of selection queries needed by this component, or -1 if this component does not manage its own selection.
  - 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
    
    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.
  - 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
    
    Parameters:
    
    list - selected objects are appended to the end of this list
    
    qid - index of the selection query
  - createDefaultMaterial
```
public static FrameMaterial createDefaultMaterial()
```
  - getMaterial
```
public FrameMaterial getMaterial()
```
  - setMaterial
```
public void setMaterial(FrameMaterial mat)
```
  - setRotaryStiffness
```
public void setRotaryStiffness(double k)
```
  - setFrameA
```
public void setFrameA(Frame frame)
```
  - getFrameA
```
public Frame getFrameA()
```
  - setFrameB
```
public void setFrameB(Frame frame)
```
  - getFrameB
```
public Frame getFrameB()
```
  - setAttachFrameA
```
public void setAttachFrameA(RigidTransform3d X1A)
```
  - getAttachFrameA
```
public RigidTransform3d getAttachFrameA()
```
  - setAttachFrameB
```
public void setAttachFrameB(RigidTransform3d X2B)
```
  - getAttachFrameB
```
public RigidTransform3d getAttachFrameB()
```
  - setFrames
```
public void setFrames(Frame frameA,
                      Frame frameB,
                      RigidTransform3d TDW)
```
  - setFrames
```
public void setFrames(Frame frameA,
                      RigidTransform3d T1A,
                      Frame frameB,
                      RigidTransform3d T2B)
```
  - getSpringForce
```
public Wrench getSpringForce()
```
  - applyForces
```
public void applyForces(double t)
```
    Description copied from interface: ForceEffector
    
    Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.
    
    Specified by:
    
    applyForces in interface ForceEffector
    
    Specified by:
    
    applyForces in class Spring
    
    Parameters:
    
    t - time (seconds)
  - 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
  - addPosJacobianWorld
```
public void addPosJacobianWorld(SparseNumberedBlockMatrix M,
                                double s)
```
  - 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
  - addVelJacobianWorld
```
public void addVelJacobianWorld(SparseNumberedBlockMatrix M,
                                double s)
```
  - addSolveBlocks
```
public void addSolveBlocks(SparseNumberedBlockMatrix M)
```
    Description copied from interface: ForceEffector
    
    Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector. In general, blocks will be need to be added at locations given by the block indices (bi, bj), where bi and bj correspond to the solve indices (as returned by getSolveIndex) for all dynamic or attached components affected by this force effector.
    
    Specified by:
    
    addSolveBlocks in interface ForceEffector
    
    Parameters:
    
    M - solve matrix to which blocks should be added
  - 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
  - scaleMass
```
public void scaleMass(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all mass units.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - setJacobianSymmetric
```
public void setJacobianSymmetric(boolean symmetric)
```
  - isJacobianSymmetric
```
public boolean isJacobianSymmetric()
```
  - getJacobianType
```
public int getJacobianType()
```
    Description copied from interface: ForceEffector
    
    Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. This should be a logical or-ing of either Matrix.SYMMETRIC or Matrix.POSITIVE_DEFINITE. The former should be set if adding the Jacobian terms preserves symmetry, and the latter should be set if positive definiteness if preserved. Both should be set if there is no Jacobian for this effector (i.e., the Jacobian methods are not implemented). Matrix types from all the force effectors are logically and-ed together to determine the type for the entire solve matrix.
    
    Specified by:
    
    getJacobianType in interface ForceEffector
    
    Returns:
    
    solve matrix type resulting from adding Jacobian terms
  - 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
  - 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)
```
    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
  - copy
```
public ModelComponent 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 ModelComponentBase
    
    Parameters:
    
    flags - flags to control the copying
    
    copyMap - map to possible existing instances of referenced components
    
    Returns:
    
    copy of this component

Class FrameSpring

Nested Class Summary

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

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface maspack.render.IsRenderable

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

Constructor Summary

Method Summary

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

mySymmetricJacobian

myProps

Constructor Detail

FrameSpring

FrameSpring

FrameSpring

FrameSpring

Method Detail

getAllPropertyInfo

getAxisLength

setAxisLength

setInitialT21

getInitialT21

setInitialT21

getRenderProps

setRenderProps

createRenderProps

prerender

updateBounds

getRenderHints

isSelectable

numSelectionQueriesNeeded

render

getSelection

createDefaultMaterial

getMaterial

setMaterial

setRotaryStiffness

setFrameA

getFrameA

setFrameB

getFrameB

setAttachFrameA

getAttachFrameA

setAttachFrameB

getAttachFrameB

setFrames

setFrames

getSpringForce

applyForces

addPosJacobian

addPosJacobianWorld

addVelJacobian

addVelJacobianWorld

addSolveBlocks

scaleDistance

scaleMass

setJacobianSymmetric

isJacobianSymmetric

getJacobianType

getHardReferences

isDuplicatable

getCopyReferences

copy