artisynth.core.mfreemodels

Class MFreeNode3d

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Point

artisynth.core.mechmodels.Particle

artisynth.core.femmodels.FemNode

artisynth.core.femmodels.FemNode3d

artisynth.core.mfreemodels.MFreeNode3d

All Implemented Interfaces:

CollidableDynamicComponent, DynamicComponent, ForceEffector, MotionTargetComponent, PointAttachable, MFreePoint3d, CopyableComponent, ModelComponent, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, Boundable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class MFreeNode3d
extends FemNode3d
implements MFreePoint3d, Boundable

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

Fields inherited from class artisynth.core.mechmodels.Point

myRenderCoords

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
MFreeNode3d()
MFreeNode3d(double x, double y, double z)
MFreeNode3d(Point3d p)

Method Summary

Modifier and Type	Method and Description
void	computeCentroid(Vector3d centroid) Computed the centroid of this element.
double	computeCovariance(Matrix3d C) Computes the covariance of the element, assuming a uniform density of one.
double	computeMassFromDensity()
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).
MFreeNode3d	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.
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).
double	distance(Point pnt)
double	distance(Point3d pos)
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
FemNode3d[]	getDependentNodes()
Vector3d	getDisplacement()
Vector3d	getFalseDisplacement()
void	getFalseDisplacement(Vector3d disp)
Point3d	getFalsePosition()
Vector3d	getFalseVelocity()
double	getInfluenceRadius()
VectorNd	getNodeCoordinates()
Point3d	getPoint(int idx) Returns the idx-th point associated with this element.
Point3d	getPosition() Returns the current position of this point, in world coordinates.
Point3d	getTrueDisplacement()
Point3d	getTruePosition()
Vector3d	getTrueVelocity()
Vector3d	getVelocity()
double	getWeight(Point3d pos)
MFreeWeightFunction	getWeightFunction()
boolean	intersects(MFreeNode3d node)
boolean	isInDomain(Point3d pos, double tol)
boolean	isInRestDomain(Vector3d coords)
boolean	isRadial()
int	numPoints() Returns the number of points associated with this element, if any, or zero otherwise.
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	reduceDependencies(double tol) Removes all dependencies with have very low weights ( |w| <= tol )
void	setDependentNodes(FemNode3d[] nodes, VectorNd coords)
void	setFalsePosition(Point3d pos)
void	setFalseVelocity(Vector3d vel)
void	setNodeCoordinates(VectorNd coords)
void	setWeightFunction(RadialWeightFunction f)
void	transformGeometry(GeometryTransformer gt, 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	updatePosState()
void	updateSlavePos()
void	updateVelState()

Methods inherited from class artisynth.core.femmodels.FemNode3d

addElementDependency, addIndirectNeighbor, addScaledStrain, addScaledStress, clearIndirectNeighbors, deregisterNodeNeighbor, getElementDependencies, getIncompressIndex, getIndex, getIndirectNeighbor, getIndirectNeighborBySolveIndex, getIndirectNeighbors, getInternalForce, getLocalRestPosition, getNodeNeighbor, getNodeNeighborBySolveIndex, getNodeNeighbors, getRestPosition, getStrain, getStress, getTargetDisplacement, getVonMisesStrain, getVonMisesStress, numAdjacentElements, removeElementDependency, resetRestPosition, scaleDistance, scanItem, setFrame, setIncompressIndex, setIndex, setRestPosition, setStrain, setStress, setTargetDisplacement, zeroStrain, zeroStress

Methods inherited from class artisynth.core.femmodels.FemNode

addMass, clearMass, getMass, invalidateMassIfNecessary, isMassExplicit, scaleMass, setMass, setMassExplicit

Methods inherited from class artisynth.core.mechmodels.Particle

addEffectiveMass, applyGravity, applyPosImpulse, createPointAttachment, getConstraint, getCopyReferences, getEffectiveMass, getEffectiveMass, getInverseMass, getMass, getMass, getVelDerivative, isDuplicatable, mulInverseEffectiveMass, resetEffectiveMass, setConstraint, setDynamic

Methods inherited from class artisynth.core.mechmodels.Point

addExternalForce, addForce, addLocalForce, addPosImpulse, addPosJacobian, addScaledExternalForce, addScaledForce, addScaledLocalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, addToSolveBlockDiagonal, addTransformableDependencies, addVelJacobian, applyExternalForces, applyForces, createMassBlock, createSolveBlock, getEffectiveMassForces, getExternalForce, getForce, getForce, getJacobianType, getLocalPosition, getLocalPosition, getLocalVelocity, getLocalVelocity, getPointDamping, getPointDampingMode, getPointFrame, getPosDerivative, getPosition, getPosState, getPosStateSize, getRenderCoords, getRenderProps, getSelection, getState, getTargetActivity, getTargetPos, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getVelocity, getVelState, getVelStateSize, isMassConstant, isSelectable, render, resetTargets, setContactConstraint, setExternalForce, setForce, setForce, setLocalPosition, setLocalPosition, setLocalVelocity, setLocalVelocity, setPointDamping, setPointDampingMode, setPointFrame, setPosition, setPosition, setPosState, setRenderProps, setScaledExternalForce, setState, setState, setTargetActivity, setTargetPos, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, subForce, subLocalForce, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex, transformGeometry

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

getRenderHints, numSelectionQueriesNeeded, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getHardReferences, 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.mfreemodels.MFreePoint3d

getRestPosition

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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.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

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

MFreeNode3d

public MFreeNode3d()

MFreeNode3d

public MFreeNode3d(Point3d p)

MFreeNode3d

public MFreeNode3d(double x,
                   double y,
                   double z)

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 FemNode3d

Returns:

static information for all exported properties

setWeightFunction

public void setWeightFunction(RadialWeightFunction f)

getWeightFunction

public MFreeWeightFunction getWeightFunction()

isInRestDomain

public boolean isInRestDomain(Vector3d coords)

isInDomain

public boolean isInDomain(Point3d pos,
                          double tol)

intersects

public boolean intersects(MFreeNode3d node)

getWeight

public double getWeight(Point3d pos)

copy

public MFreeNode3d 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 FemNode3d

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component

getTrueDisplacement

public Point3d getTrueDisplacement()

getFalseDisplacement

public void getFalseDisplacement(Vector3d disp)

getFalseDisplacement

public Vector3d getFalseDisplacement()

getDisplacement

public Vector3d getDisplacement()

Overrides:

getDisplacement in class FemNode3d

getFalsePosition

public Point3d getFalsePosition()

setFalsePosition

public void setFalsePosition(Point3d pos)

getFalseVelocity

public Vector3d getFalseVelocity()

setFalseVelocity

public void setFalseVelocity(Vector3d vel)

getDependentNodes

public FemNode3d[] getDependentNodes()

Specified by:

getDependentNodes in interface MFreePoint3d

setDependentNodes

public void setDependentNodes(FemNode3d[] nodes,
                              VectorNd coords)

Specified by:

setDependentNodes in interface MFreePoint3d

reduceDependencies

public boolean reduceDependencies(double tol)

Description copied from interface: MFreePoint3d

Removes all dependencies with have very low weights ( |w| <= tol )

Specified by:

reduceDependencies in interface MFreePoint3d

Returns:

true if modified

getNodeCoordinates

public VectorNd getNodeCoordinates()

Specified by:

getNodeCoordinates in interface MFreePoint3d

setNodeCoordinates

public void setNodeCoordinates(VectorNd coords)

Specified by:

setNodeCoordinates in interface MFreePoint3d

updateSlavePos

public void updateSlavePos()

Specified by:

updateSlavePos in interface MFreePoint3d

updatePosState

public void updatePosState()

Specified by:

updatePosState in interface MFreePoint3d

Overrides:

updatePosState in class Point

updateVelState

public void updateVelState()

Specified by:

updateVelState in interface MFreePoint3d

Overrides:

updateVelState in class Point

getTruePosition

public Point3d getTruePosition()

getTrueVelocity

public Vector3d getTrueVelocity()

isRadial

public boolean isRadial()

getInfluenceRadius

public double getInfluenceRadius()

getPosition

public Point3d getPosition()

Description copied from class: Point

Returns the current position of this point, in world coordinates. The returned value should be treated as read-only and not modified.

Specified by:

getPosition in interface MFreePoint3d

Overrides:

getPosition in class Point

Returns:

current world position (read-only)

getVelocity

public Vector3d getVelocity()

Overrides:

getVelocity in class Point

distance

public double distance(Point pnt)

Overrides:

distance in class Point

distance

public double distance(Point3d pos)

Overrides:

distance in class Point

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 Point

Parameters:

list - list of objects to be rendered

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 Point

Returns:

new render properties for this object

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 FemNode3d

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 FemNode3d

computeCentroid

public void computeCentroid(Vector3d centroid)

Description copied from interface: Boundable

Computed the centroid of this element.

Specified by:

computeCentroid in interface Boundable

Parameters:

centroid - returns the computed centroid value.

computeCovariance

public double computeCovariance(Matrix3d C)

Description copied from interface: Boundable

Computes the covariance of the element, assuming a uniform density of one. The covariance is defined as

 int_V \rho x x^T dV,
 

where \rho is the density, x is any spatial point within the element, and the integral is evaluated over the element's spatial extent. The method returns the element's spatial size, which for elements of dimension 3, 2, 1, or 0 will be a volume, area, length, or discrete value.

Implementation of this method is optional, with non-implementation indicated by having the method return -1. Non-implementation may prevent the element from being enclosed within certain types of oriented bounding box (OBB) constructions.

Specified by:

computeCovariance in interface Boundable

Parameters:

C - returns the covariance

Returns:

spatial size of the element, or -1 if this method is not implemented.

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 Boundable

Specified by:

updateBounds in interface IsRenderable

Overrides:

updateBounds in class Point

Parameters:

pmin - minimum point

pmax - maximum point

numPoints

public int numPoints()

Description copied from interface: Boundable

Returns the number of points associated with this element, if any, or zero otherwise. If the element has points, then it's spatial extent is assumed to be enclosed within their convex hull. At present, elements that do not have points cannot be enclosed within oriented bounding box (OBB) trees.

Specified by:

numPoints in interface Boundable

Returns:

number of points associated with this element

getPoint

public Point3d getPoint(int idx)

Description copied from interface: Boundable

Returns the idx-th point associated with this element.

Specified by:

getPoint in interface Boundable

Parameters:

idx - index of the point (must be on the range 0 to Boundable.numPoints()).

Returns:

idx-th point associated with this element. Must not be modified.

transformGeometry

public void transformGeometry(GeometryTransformer gt,
                              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 FemNode3d

Parameters:

gt - transformer implementing the transform

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

flags - specifies conditions associated with the transformation

computeMassFromDensity

public double computeMassFromDensity()

Overrides:

computeMassFromDensity in class FemNode3d