artisynth.core.mechmodels

Class PointSpringBase

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.Spring

artisynth.core.mechmodels.PointSpringBase

All Implemented Interfaces:

ForceComponent, ForceEffector, ModelComponent, RenderableComponent, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

AxialSpring, MultiPointSpring

public abstract class PointSpringBase
extends Spring
implements RenderableComponent, ScalableUnits

Base class for springs based on two or more points

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 boolean	myIgnoreCoriolisInJacobian
static PropertyList	myProps
static boolean	useMaterial

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
double	computeDFdl(double l, double ldot) Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle) with respect to spring length.
double	computeDFdldot(double l, double ldot) Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle)with respect to the time derivative of spring length.
double	computeF(double l, double ldot) Computes the force magnitude acting along the unit vector from the first to the second particle.
ModelComponent	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
static AxialMaterial	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.
AxialMaterial	getEffectiveMaterial()
abstract double	getLength()
abstract double	getLengthDot()
AxialMaterial	getMaterial()
static double	getMaxForce(PointSpringBase s)
float[]	getRenderColor()
int	getRenderHints() Returns a bit code giving rendering hints about this renderable.
RenderProps	getRenderProps() Returns the render properities for this object.
double	getRestLength()
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.
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).
abstract 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.
static void	setDamping(PointSpringBase s, double d)
void	setLinearMaterial(double k, double d)
void	setMaterial(AxialMaterial mat)
static void	setMaxForce(PointSpringBase s, double maxf)
void	setRenderProps(RenderProps props) Assigns a new set of render properties to this object.
void	setRestLength(double l)
abstract double	setRestLengthFromPoints() Sets the rest length of the spring from the current point locations
static void	setStiffness(PointSpringBase s, double k)
abstract void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.

Methods inherited from class artisynth.core.mechmodels.Spring

applyForces

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, hasState, 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

connectToHierarchy, disconnectFromHierarchy, getHardReferences, 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

Methods inherited from interface artisynth.core.mechmodels.ForceEffector

addPosJacobian, addSolveBlocks, addVelJacobian, getJacobianType

Field Detail

myIgnoreCoriolisInJacobian

public static boolean myIgnoreCoriolisInJacobian

useMaterial

public static boolean useMaterial

myProps

public static PropertyList myProps

Constructor Detail

PointSpringBase

public PointSpringBase(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 ModelComponentBase

Returns:

static information for all exported properties

createDefaultMaterial

public static AxialMaterial createDefaultMaterial()

getMaterial

public AxialMaterial getMaterial()

setLinearMaterial

public void setLinearMaterial(double k,
                              double d)

setMaterial

public void setMaterial(AxialMaterial mat)

getEffectiveMaterial

public AxialMaterial getEffectiveMaterial()

getLength

public abstract double getLength()

getLengthDot

public abstract double getLengthDot()

setRestLengthFromPoints

public abstract double setRestLengthFromPoints()

Sets the rest length of the spring from the current point locations

Returns:

the new rest length

getRestLength

public double getRestLength()

setRestLength

public void setRestLength(double l)

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 abstract 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 abstract 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

computeF

public double computeF(double l,
                       double ldot)

Computes the force magnitude acting along the unit vector from the first to the second particle.

Returns:

force magnitude

computeDFdl

public double computeDFdl(double l,
                          double ldot)

Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle) with respect to spring length.

Returns:

force magnitude derivative with respect to length

computeDFdldot

public double computeDFdldot(double l,
                             double ldot)

Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle)with respect to the time derivative of spring length.

Returns:

force magnitude derivative with respect to length time derivative

getRenderColor

public float[] getRenderColor()

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

setStiffness

public static void setStiffness(PointSpringBase s,
                                double k)

setDamping

public static void setDamping(PointSpringBase s,
                              double d)

setMaxForce

public static void setMaxForce(PointSpringBase s,
                               double maxf)

getMaxForce

public static double getMaxForce(PointSpringBase s)

copy

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

Overrides:

copy in class ModelComponentBase