artisynth.core.mechmodels

Class RigidCompositeBody

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Frame

artisynth.core.mechmodels.RigidBody

artisynth.core.mechmodels.RigidCompositeBody

All Implemented Interfaces:

Collidable, CollidableBody, CollidableDynamicComponent, ConnectableBody, DynamicComponent, ForceEffector, FrameAttachable, HasDistanceGrid, HasSurfaceMesh, MotionTargetComponent, PointAttachable, ComponentChangeListener, CompositeComponent, CopyableComponent, HasCoordinateFrame, IndexedComponentList, ModelComponent, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class RigidCompositeBody
extends RigidBody
implements CompositeComponent

Allows a rigid body to have multiple geometries, some used for computing mass/inertia, some for display only, some for collisions

Author:

Antonio

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.mechmodels.RigidBody

RigidBody.DistanceSurfaceRendering, RigidBody.InertiaMethod

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

CompositeComponent.NavpanelDisplay

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

ModelComponent.NavpanelVisibility

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

Collidable.Collidability, Collidable.Group

Field Summary

Fields inherited from class artisynth.core.mechmodels.RigidBody

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.mechmodels.Collidable

All, AllBodies, Deformable, Rigid, Self

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
RigidCompositeBody()
RigidCompositeBody(java.lang.String name)

Method Summary

Modifier and Type	Method and Description
RigidMeshComp	addMesh(MeshBase mesh) Adds a mesh to this object.
RigidMeshComp	addMesh(MeshBase mesh, boolean physical) Adds a mesh to this object.
RigidMeshComp	addMesh(MeshBase mesh, java.lang.String fileName, AffineTransform3dBase Xh, boolean physical) Adds a mesh to this object
void	addMeshComp(RigidMeshComp mc) Explicitly adds a mesh component.
void	addTransformableDependencies(TransformGeometryContext context, int flags) Adds to context any transformable components which should be transformed as the same time as this component.
void	componentChanged(ComponentChangeEvent e) Notifies this composite component that a change has occured within one or more of its descendants.
double	computeVolume()
boolean	containsMeshComp(RigidMeshComp mc) Checks if this object contains a particular geometry
RigidCompositeBody	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
ModelComponent	findComponent(java.lang.String path) Recursively searches for a sub-component of this ModelComponent, identified by a path of component names.
ModelComponent	get(int idx) Returns a specific sub-component of this ModelComponent, identified by index.
ModelComponent	get(java.lang.String nameOrNumber) Returns a specific sub-component of this ModelComponent, identified by name or string representation of the sub-component's number
ModelComponent	getByNumber(int num) Returns a specific sub-component of this ModelComponent, identified by number.
java.util.Iterator<? extends HierarchyNode>	getChildren()
PolygonalMesh	getMesh() returns the first available PolygonalMesh, for compatibility with RigidBody
RigidMeshComp	getMeshComp(java.lang.String name)
MeshComponentList<RigidMeshComp>	getMeshComps()
CompositeComponent.NavpanelDisplay	getNavpanelDisplay() Returns the DisplayMode for this component.
int	getNumberLimit() Returns the current upper limit for numbers among all sub-components in this composite.
PolygonalMesh[]	getSurfaceMeshes() Returns an array listing all the (non-null) surface meshes associated with this component, or a zero-length array if there are none.
boolean	hasChildren()
boolean	hasState() Queries if this component has state.
boolean	hierarchyContainsReferences() Returns true if the component hierarchy formed by this component and its descendents is closed with respect to references.
int	indexOf(ModelComponent comp) Returns the index of a specified sub-component, or -1 if that the component is not present.
boolean	isCompound() Queries whether or not this collidable has sub-collidables.
int	numComponents() Returns the number of components in this CompositeComponent.
int	numMeshComps() Number of meshes associated with this object
int	numSurfaceMeshes() Returns the number of surfaces meshes associated with this component, or 0 if no meshes exist.
void	postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor) Performs any required post-scanning for this component.
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).
boolean	removeMeshComp(RigidMeshComp mc)
RigidMeshComp	removeMeshComp(java.lang.String name)
void	scaleDistance(double s) Scales all distance coordinates.
void	scan(ReaderTokenizer rtok, java.lang.Object ref) Scans this element from a ReaderTokenizer.
void	setDensity(double density) Sets the density for the mesh, which is defined at the mass divided by the mesh volume.
void	setDisplayMode(CompositeComponent.NavpanelDisplay mode) Sets the display mode for this component.
void	setInertia(double m, double Jxx, double Jyy, double Jzz) Explicitly sets the mass and rotational inertia of this body.
void	setInertia(double m, SymmetricMatrix3d J) Explicitly sets the mass and rotational inertia of this body.
void	setInertia(double m, SymmetricMatrix3d J, Point3d com) Explicitly sets the mass, rotational inertia, and center of mass of this body.
void	setInertia(SpatialInertia M) Explicitly sets the spatial inertia of this body.
void	setInertiaFromDensity(double density) Causes the inertia to be automatically computed from the mesh volume and a given density.
void	setInertiaFromMass(double mass) Causes the inertia to be automatically computed from the mesh volume and a given mass (with the density computed by dividing the mass by the mesh volume).
void	setInertiaMethod(RigidBody.InertiaMethod method) Sets the InertiaMethod method used to determine the inertia for this RigidBody.
void	setMass(double mass) Sets the mass for the mesh.
void	setMesh(PolygonalMesh mesh, java.lang.String fileName, AffineTransform3dBase X) Sets a mesh for this body.
void	setSelected(boolean selected) Selects or deselects 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	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.
void	updateNameMap(java.lang.String newName, java.lang.String oldName, ModelComponent comp)

Methods inherited from class artisynth.core.mechmodels.RigidBody

addConnector, addEffectiveInertia, addEffectivePointMass, allowCollision, applyGravity, centerPoseOnCenterOfMass, containsContactMaster, createBox, createBox, createCylinder, createEllipsoid, createFromMesh, createFromMesh, createFromMesh, createFromMesh, createIcosahedralSphere, createRenderProps, createSphere, extrapolatePose, getAllPropertyInfo, getCenterOfMass, getCenterOfMass, getCollidable, getCollidableAncestor, getCollidableIndex, getCollisionMesh, getConnectors, getCopyReferences, getDensity, getDensityRange, getDistanceGrid, getDistanceGridMaxRes, getDistanceGridOBB, getDistanceGridRenderRanges, getDistanceGridRenderRangesRange, getDistanceGridRes, getDistanceSurfaceIso, getEffectiveInertia, getEffectiveMass, getEffectiveMassForces, getEffectiveMassForces, getFileTransform, getFrameMarkers, getInertia, getInertiaMethod, getInverseMass, getMass, getMass, getMass, getMassRange, getMeshFileName, getMeshFileTransform, getRenderDistanceGrid, getRenderDistanceSurface, getRotationalInertia, getRotationalInertia, getSurfaceMesh, getVertexMasters, hasDistanceGrid, isDeformable, isDuplicatable, isFileTransformRigid, isFreeBody, isMassConstant, isMeshModfied, mulInverseEffectiveMass, mulInverseEffectiveMass, removeConnector, render, resetEffectiveMass, scaleMass, scaleMesh, scaleMesh, setCenterOfMass, setCollidable, setCollidableIndex, setDistanceGridMaxRes, setDistanceGridOBB, setDistanceGridRenderRanges, setDistanceGridRes, setDistanceSurfaceIso, setDynamic, setMesh, setMesh, setMeshFileName, setPose, setRenderDistanceGrid, setRenderDistanceSurface, setRotationalInertia, setSurfaceMesh, setSurfaceMesh, updateAttachmentPosStates, write

Methods inherited from class artisynth.core.mechmodels.Frame

addExternalForce, addForce, addPointForce, addPointForce, addPointMass, addPosImpulse, addPosJacobian, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, addVelJacobian, applyExternalForces, applyForces, computeAppliedWrench, computeLocalPointForceJacobian, computePointCoriolis, computePointLocation, computePointPosition, computePointVelocity, computePointVelocity, computePointVelocity, computeWorldPointForceJacobian, createFrameAttachment, createMassBlock, createPointAttachment, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, 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, resetTargets, 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, transformPose, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, 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, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, isConnectedToHierarchy, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, updateReferences

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, isFixed, isMarked, isSelected, notifyParentOfChange, setFixed, setMarked, setName, setNumber, setParent, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.util.Scannable

isWritable, write

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody

transformPose

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable

createFrameAttachment

Methods inherited from interface artisynth.core.mechmodels.PointAttachable

createPointAttachment

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

Constructor Detail

RigidCompositeBody

public RigidCompositeBody()

RigidCompositeBody

public RigidCompositeBody(java.lang.String name)

Method Detail

getMesh

public PolygonalMesh getMesh()

returns the first available PolygonalMesh, for compatibility with RigidBody

Overrides:

getMesh in class RigidBody

getMeshComps

public MeshComponentList<RigidMeshComp> getMeshComps()

getMeshComp

public RigidMeshComp getMeshComp(java.lang.String name)

addMesh

public RigidMeshComp addMesh(MeshBase mesh)

Adds a mesh to this object. Can be of any type.

Parameters:

mesh - Instance of MeshBase

Returns:

a special "mesh component" object that is created internally

addMesh

public RigidMeshComp addMesh(MeshBase mesh,
                             boolean physical)

Adds a mesh to this object. Can be of any type.

Parameters:

mesh - Instance of MeshBase

physical - true if to be used for mass/inertia calculations

Returns:

a special "mesh component" object that is created internally

addMesh

public RigidMeshComp addMesh(MeshBase mesh,
                             java.lang.String fileName,
                             AffineTransform3dBase Xh,
                             boolean physical)

Adds a mesh to this object

Parameters:

mesh - Instance of MeshBase

fileName - name of file (can be null)

Xh - transform associated with mesh

physical - if true, this mesh is used for computing mass and inertia

Returns:

a special "mesh component" object that is created internally

addMeshComp

public void addMeshComp(RigidMeshComp mc)

Explicitly adds a mesh component. If the flag mc.isPhysical() is true, then this mesh is used for mass/inertia computations

numMeshComps

public int numMeshComps()

Number of meshes associated with this object

containsMeshComp

public boolean containsMeshComp(RigidMeshComp mc)

Checks if this object contains a particular geometry

setInertiaMethod

public void setInertiaMethod(RigidBody.InertiaMethod method)

Sets the InertiaMethod method used to determine the inertia for this RigidBody.

Overrides:

setInertiaMethod in class RigidBody

Parameters:

method - inertia method for this RigidBody

See Also:

RigidBody.setInertia(maspack.spatialmotion.SpatialInertia), RigidBody.setInertiaFromDensity(double), RigidBody.setInertiaFromMass(double)

setInertia

public void setInertia(SpatialInertia M)

Explicitly sets the spatial inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).

Overrides:

setInertia in class RigidBody

setInertia

public void setInertia(double m,
                       SymmetricMatrix3d J)

Explicitly sets the mass and rotational inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).

Overrides:

setInertia in class RigidBody

setInertia

public void setInertia(double m,
                       SymmetricMatrix3d J,
                       Point3d com)

Explicitly sets the mass, rotational inertia, and center of mass of this body. Also sets the uniform density (as returned by getDensity) to be undefined).

Overrides:

setInertia in class RigidBody

setInertia

public void setInertia(double m,
                       double Jxx,
                       double Jyy,
                       double Jzz)

Explicitly sets the mass and rotational inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).

Overrides:

setInertia in class RigidBody

setInertiaFromDensity

public void setInertiaFromDensity(double density)

Causes the inertia to be automatically computed from the mesh volume and a given density. If the mesh is currently null then the inertia remains unchanged. Subsequent (non-null) changes to the mesh will cause the inertia to be recomputed. The inertia method is set to Density.

Overrides:

setInertiaFromDensity in class RigidBody

Parameters:

density - desired uniform density

setInertiaFromMass

public void setInertiaFromMass(double mass)

Causes the inertia to be automatically computed from the mesh volume and a given mass (with the density computed by dividing the mass by the mesh volume). If the mesh is currently null the mass of the inertia is updated but the otherwise the inertia and density are left unchanged. Subsequent (non-null) changes to the mesh will cause the inertia to be recomputed. The inertia method is set to Mass.

Overrides:

setInertiaFromMass in class RigidBody

Parameters:

mass - desired body mass

computeVolume

public double computeVolume()

Overrides:

computeVolume in class RigidBody

setDensity

public void setDensity(double density)

Sets the density for the mesh, which is defined at the mass divided by the mesh volume. If the mesh is currently non-null, the mass will be updated accordingly. If the current InertiaMethod is either Density or Mass, the other components of the spatial inertia will also be updated.

Overrides:

setDensity in class RigidBody

Parameters:

density - new density value

setMass

public void setMass(double mass)

Sets the mass for the mesh. If the mesh is currently non-null, then the density (defined as the mass divided by the mesh volume) will be updated accordingly. If the current InertiaMethod is either Density or Mass, the other components of the spatial inertia will also be updated.

Overrides:

setMass in class RigidBody

Parameters:

mass - new mass value

removeMeshComp

public boolean removeMeshComp(RigidMeshComp mc)

removeMeshComp

public RigidMeshComp removeMeshComp(java.lang.String name)

setMesh

public void setMesh(PolygonalMesh mesh,
                    java.lang.String fileName,
                    AffineTransform3dBase X)

Description copied from class: RigidBody

Sets a mesh for this body. If the body has a uniform density (i.e., getDensity returns a non-negative value), then the spatial inertia is automatically calculated from the mesh and the uniform density.

Overrides:

setMesh in class RigidBody

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

Overrides:

prerender in class RigidBody

Parameters:

list - list of objects to be rendered

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

Overrides:

addTransformableDependencies in class Frame

Parameters:

context - context information, to which the dependent components are added.

flags - specifies conditions associated with the transformation

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

Overrides:

transformGeometry in class RigidBody

Parameters:

gtr - transformer implementing the transform

context - context information, including what other components are being transformed

flags - specifies conditions associated with the transformation

scaleDistance

public void scaleDistance(double s)

Description copied from interface: ScalableUnits

Scales all distance coordinates.

Specified by:

scaleDistance in interface ScalableUnits

Overrides:

scaleDistance in class RigidBody

Parameters:

s - scaling factor

updateNameMap

public void updateNameMap(java.lang.String newName,
                          java.lang.String oldName,
                          ModelComponent comp)

Specified by:

updateNameMap in interface CompositeComponent

findComponent

public ModelComponent findComponent(java.lang.String path)

Recursively searches for a sub-component of this ModelComponent, identified by a path of component names.

Specified by:

findComponent in interface CompositeComponent

Parameters:

path - path leading to the sub-component

Returns:

named sub-component, or null if the component does not exist.

get

public ModelComponent get(java.lang.String nameOrNumber)

Returns a specific sub-component of this ModelComponent, identified by name or string representation of the sub-component's number

Specified by:

get in interface CompositeComponent

Parameters:

nameOrNumber - name or number of the sub-component

Returns:

named sub-component, or null if the component does not exist.

get

public ModelComponent get(int idx)

Returns a specific sub-component of this ModelComponent, identified by index.

Specified by:

get in interface CompositeComponent

Specified by:

get in interface IndexedComponentList

Parameters:

idx - index of the sub-component

Returns:

indexed sub-component, or null if the component does not exist.

getByNumber

public ModelComponent getByNumber(int num)

Returns a specific sub-component of this ModelComponent, identified by number.

Specified by:

getByNumber in interface CompositeComponent

Parameters:

num - number of the sub-component

Returns:

specified sub-component, or null if the component does not exist.

getNumberLimit

public int getNumberLimit()

Returns the current upper limit for numbers among all sub-components in this composite. This is one greater than the maximum sub-component number currently assigned. A value of 0 means that there are no sub-components. This method is useful for creating and sizing arrays whose contents are indexed by component numbers.

Specified by:

getNumberLimit in interface CompositeComponent

Returns:

upper limit for numbers among all sub-components

indexOf

public int indexOf(ModelComponent comp)

Returns the index of a specified sub-component, or -1 if that the component is not present.

Specified by:

indexOf in interface CompositeComponent

Parameters:

comp - component whose index is requested

Returns:

indexed sub-component

numComponents

public int numComponents()

Returns the number of components in this CompositeComponent.

Specified by:

numComponents in interface CompositeComponent

Specified by:

numComponents in interface IndexedComponentList

Returns:

number of sub-components

componentChanged

public void componentChanged(ComponentChangeEvent e)

Notifies this composite component that a change has occured within one or more of its descendants. When this occurs, the composite may need to invalidate cached information that depends on the descendants.

This method should propagate the notification up the component hierarchy by calling notifyParentOfChange.

Specified by:

componentChanged in interface ComponentChangeListener

Specified by:

componentChanged in interface CompositeComponent

Parameters:

e - optional argument giving specific information about the change

scan

public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException

Description copied from class: ModelComponentBase

Scans this element from a ReaderTokenizer. The expected text format is assumed to be compatible with that produced by write.

Specified by:

scan in interface ModelComponent

Specified by:

scan in interface Scannable

Overrides:

scan in class RigidBody

Parameters:

rtok - Tokenizer from which to scan the element

ref - optional reference object which can be used for resolving references to other objects

Throws:

java.io.IOException - if an I/O or formatting error occured

postscan

public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException

Description copied from interface: ModelComponent

Performs any required post-scanning for this component. This involves handling any information whose processing was deferred during the scan() method and stored in the token queue. The most common use of this method is to resolve the paths of component references, which may not have been created at the time of the initial scan() call.

Specified by:

postscan in interface ModelComponent

Overrides:

postscan in class ModelComponentBase

Parameters:

tokens - token information that was stored during scan().

ancestor - ancestor component with respect to which reference component paths are defined.

Throws:

java.io.IOException - if an error is encountered (such as a reference to a non-existent component)

getChildren

public java.util.Iterator<? extends HierarchyNode> getChildren()

Specified by:

getChildren in interface HierarchyNode

Overrides:

getChildren in class ModelComponentBase

hasChildren

public boolean hasChildren()

Specified by:

hasChildren in interface HierarchyNode

Overrides:

hasChildren in class ModelComponentBase

setSelected

public void setSelected(boolean selected)

Description copied from class: ModelComponentBase

Selects or deselects this component. This method should only be used by the selection manager, since object selection must be coordinated with other system components.

Specified by:

setSelected in interface ModelComponent

Overrides:

setSelected in class ModelComponentBase

Parameters:

selected - if true, this component is selected

getNavpanelDisplay

public CompositeComponent.NavpanelDisplay getNavpanelDisplay()

Returns the DisplayMode for this component. This specifies how the component should be displayed in a navigation panel.

Specified by:

getNavpanelDisplay in interface CompositeComponent

Returns:

display mode for this component

setDisplayMode

public void setDisplayMode(CompositeComponent.NavpanelDisplay mode)

Sets the display mode for this component. This controls how the component is displayed in a navigation panel. The default setting is NORMAL.

Parameters:

mode - new display mode

hierarchyContainsReferences

public boolean hierarchyContainsReferences()

Returns true if the component hierarchy formed by this component and its descendents is closed with respect to references. In other words, all components referenced by components within the hierarchy are themselves components within the hierarchy.

In particular, this means that one does not need to search outside the hierarchy when looking for dependencies.

Specified by:

hierarchyContainsReferences in interface CompositeComponent

Returns:

true if this component's hierarchy is closed with respect to references.

copy

public RigidCompositeBody 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 RigidBody

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component

hasState

public boolean hasState()

Description copied from class: DynamicComponentBase

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 DynamicComponentBase

Returns:

true if this component has state

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 RigidBody

Parameters:

pmin - minimum point

pmax - maximum point

numSurfaceMeshes

public int numSurfaceMeshes()

Description copied from interface: HasSurfaceMesh

Returns the number of surfaces meshes associated with this component, or 0 if no meshes exist. If HasSurfaceMesh.getSurfaceMesh() returns null, then this method should return 0.

Specified by:

numSurfaceMeshes in interface HasSurfaceMesh

Overrides:

numSurfaceMeshes in class RigidBody

Returns:

number of surface meshes associated with this component

getSurfaceMeshes

public PolygonalMesh[] getSurfaceMeshes()

Description copied from interface: HasSurfaceMesh

Returns an array listing all the (non-null) surface meshes associated with this component, or a zero-length array if there are none. If HasSurfaceMesh.getSurfaceMesh() returns null, then a zero-length array should be returned.

Specified by:

getSurfaceMeshes in interface HasSurfaceMesh

Overrides:

getSurfaceMeshes in class RigidBody

Returns:

surface meshes associated with this component

isCompound

public boolean isCompound()

Description copied from interface: Collidable

Queries whether or not this collidable has sub-collidables.

Specified by:

isCompound in interface Collidable

Overrides:

isCompound in class RigidBody

Returns:

true if this collidable has sub-collidables