artisynth.core.mechmodels

Class RevoluteJoint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.BodyConnector

artisynth.core.mechmodels.JointBase

artisynth.core.mechmodels.RevoluteJoint

All Implemented Interfaces:

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

public class RevoluteJoint
extends JointBase
implements CopyableComponent

Auxiliary class used to solve constrained rigid body problems.

Nested Class Summary

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

ModelComponent.NavpanelVisibility

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

HasAuxState.StateContext

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.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
RevoluteJoint()
RevoluteJoint(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TCW)
RevoluteJoint(ConnectableBody bodyA, RigidTransform3d TCW)
RevoluteJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d XDB)
RevoluteJoint(RigidBody bodyA, RigidTransform3d TCA, RigidTransform3d TDW)

Method Summary

Modifier and Type	Method and Description
ModelComponent	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
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.
double	getTheta()
DoubleInterval	getThetaRange()
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
boolean	scanItem(ReaderTokenizer rtok, java.util.Deque<ScanToken> tokens)
void	setDefaultValues() Sets the attributes of this component to their default values.
void	setMaxTheta(double max)
void	setMinTheta(double min)
void	setTheta(double theta)
void	setThetaRange(double min, double max)
void	setThetaRange(DoubleInterval range)
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.

Methods inherited from class artisynth.core.mechmodels.JointBase

getAxisLength, getDrawFrame, getDrawFrameC, getDrawFrameD, getPosition, getRenderFrame, prerender, scaleDistance, setAxisLength, setDrawFrame, setDrawFrameC, setDrawFrameD

Methods inherited from class artisynth.core.mechmodels.BodyConnector

addBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, advanceAuxState, connectToHierarchy, disconnectFromHierarchy, findAttachedBodies, getActivation, getAuxState, getBilateralConstraints, getBilateralForceInA, getBilateralForceInA, getBilateralImpulses, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getBreakAccel, getBreakSpeed, getCompliance, getConstrainedComponents, getContactDistance, getCopyReferences, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getCurrentTXW, getDamping, getHardReferences, getInitialAuxState, getLinearCompliance, getOtherBody, getPenetrationTol, getPenetrationTolMode, getPose, getRotaryCompliance, getUnilateralConstraints, getUnilateralForceInA, getUnilateralForceInA, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, hasState, hasTranslation, hasUnilateralConstraints, isActive, isDuplicatable, isEnabled, maxFrictionConstraintSets, numBilateralConstraints, numBodies, numUnilateralConstraints, printConstraintInfo, scaleMass, setAuxState, setBilateralImpulses, setBodies, setBodies, setBodies, setBodies, setBreakAccel, setBreakSpeed, setCompliance, setContactDistance, setCurrentTCW, setCurrentTDW, setDamping, setEnabled, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setUnilateralImpulses, skipAuxState, transformGeometry, transformGeometry, updateBodyStates, updateConstraints, updateForBodyPositionChange, updateUnilateralConstraints, zeroImpulses

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, 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.CopyableComponent

getCopyReferences, isDuplicatable

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

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

RevoluteJoint

public RevoluteJoint()

RevoluteJoint

public RevoluteJoint(RigidBody bodyA,
                     RigidTransform3d TCA,
                     RigidBody bodyB,
                     RigidTransform3d XDB)

RevoluteJoint

public RevoluteJoint(RigidBody bodyA,
                     RigidTransform3d TCA,
                     RigidTransform3d TDW)

RevoluteJoint

public RevoluteJoint(ConnectableBody bodyA,
                     RigidTransform3d TCW)

RevoluteJoint

public RevoluteJoint(ConnectableBody bodyA,
                     ConnectableBody bodyB,
                     RigidTransform3d TCW)

Method Detail

getTheta

public double getTheta()

setTheta

public void setTheta(double theta)

getThetaRange

public DoubleInterval getThetaRange()

setThetaRange

public void setThetaRange(DoubleInterval range)

setThetaRange

public void setThetaRange(double min,
                          double max)

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 JointBase

Returns:

static information for all exported properties

setDefaultValues

public void setDefaultValues()

Description copied from class: ModelComponentBase

Sets the attributes of this component to their default values.

Overrides:

setDefaultValues in class JointBase

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

Overrides:

createRenderProps in class JointBase

Returns:

new render properties for this object

setMaxTheta

public void setMaxTheta(double max)

setMinTheta

public void setMinTheta(double min)

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 JointBase

Parameters:

pmin - minimum point

pmax - maximum point

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 JointBase

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.

scanItem

public boolean scanItem(ReaderTokenizer rtok,
                        java.util.Deque<ScanToken> tokens)
                 throws java.io.IOException

Throws:

java.io.IOException

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 JointBase

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component