artisynth.demos.mech

Class LaymanModel

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.ComponentList<ModelComponent>

artisynth.core.modelbase.ModelBase

artisynth.core.modelbase.RenderableModelBase

artisynth.core.mechmodels.MechSystemBase

artisynth.core.mechmodels.MechModel

artisynth.demos.mech.LaymanModel

All Implemented Interfaces:

MechSystem, MechSystemModel, ComponentChangeListener, ComponentListView<ModelComponent>, CompositeComponent, HasMenuItems, HasState, IndexedComponentList, Model, ModelComponent, MutableCompositeComponent<ModelComponent>, ParameterizedClass, RenderableComponent, TransformableGeometry, ScalableUnits, java.awt.event.ActionListener, java.lang.Cloneable, java.lang.Iterable<ModelComponent>, java.util.Collection<ModelComponent>, java.util.EventListener, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Disposable, ListView<ModelComponent>, Scannable

public class LaymanModel
extends MechModel

Nested Class Summary

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

ModelComponent.NavpanelVisibility

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

MechSystem.ConstraintInfo, MechSystem.FrictionInfo

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

CompositeComponent.NavpanelDisplay

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.MechSystemBase

myParametricsInSystemMatrix

Fields inherited from class artisynth.core.modelbase.ComponentList

DEFAULT_NAVPANEL_DISPLAY

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface artisynth.core.mechmodels.MechSystem

COMPUTE_CONTACTS, UPDATE_CONTACTS

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
RigidBody	addBody(java.lang.String bodyName, java.lang.String meshName)
void	addFrameSpring(RigidBody bodyA, RigidBody bodyB, double x, double y, double z, double kRot)
RevoluteJoint	addRevoluteJoint(RigidBody bodyA, RigidBody bodyB, double x, double y, double z)
RevoluteJoint	addRevoluteJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d TDW)
SphericalJoint	addSphericalJoint(RigidBody bodyA, RigidBody bodyB, double x, double y, double z, double maxAng)
SphericalJoint	addSphericalJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d TDW, double maxAng)
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
double	getFriction()
void	setFriction(double mu)

Methods inherited from class artisynth.core.mechmodels.MechModel

addAttachment, addAxialSpring, addBodyConnector, addConstrainer, addForceEffector, addFrame, addFrameMarker, addFrameMarker, addFrameMarker, addFrameSpring, addGeneralMassBlocks, addMeshBody, addModel, addMultiPointSpring, addMuscleExciter, addParticle, addPoint, addRenderable, addRigidBody, addTransformableDependencies, attachAxialSpring, attachFrame, attachFrame, attachFrameSpring, attachments, attachPoint, attachPoint, axialSprings, bodyConnectors, checkVelocityStability, clear, clearAxialSprings, clearBodyConnectors, clearCollisionBehavior, clearCollisionBehaviors, clearCollisionResponse, clearCollisionResponses, clearConstrainers, clearForceEffectors, clearFrameMarkers, clearFrames, clearFrameSprings, clearMeshBodies, clearModels, clearMultiPointSprings, clearParticles, clearPoints, clearRenderables, clearRigidBodies, combineMatrixTypes, componentChanged, computeDefaultPenetrationTol, constrainers, detachFrame, detachPoint, dispose, forceEffectors, frameMarkers, frames, frameSprings, getActingCollisionBehavior, getAddConstraintForces, getAttachments, getAuxStateComponents, getCollidables, getCollisionBehavior, getCollisionManager, getCollisionResponse, getConstrainers, getDefaultCollisionBehavior, getDynamicComponents, getExcitationColor, getExcitationColorMode, getForceEffectors, getFrameDamping, getFrameDampingMode, getGravity, getGravityMode, getIntegrator, getMassMatrixValues, getMatrixSolver, getMaxColoredExcitation, getMaxColoredExcitationMode, getMuscleExciters, getPenetrationTol, getPenetrationTolMode, getPointDamping, getPointDampingMode, getRadius, getRotaryDamping, getRotaryDampingMode, getSlaveObjectComponents, getStaticIncrements, getStaticTikhonovFactor, hasState, isActive, lowestCommonModel, meshBodies, models, mulInverseMass, multiPointSprings, nearestMechModel, particles, points, preadvance, projectRigidBodyPositionConstraints, recursivelyFinalizeAdvance, recursivelyInitialize, removeAxialSpring, removeBodyConnector, removeConstrainer, removeForceEffector, removeFrame, removeFrameMarker, removeFrameSpring, removeMeshBody, removeModel, removeMultiPointSpring, removeMuscleExciter, removeParticle, removePoint, removeRenderable, removeRigidBody, render, renderables, rigidBodies, scaleDistance, scaleMass, scan, setAddConstraintForces, setBounds, setBounds, setCollisionBehavior, setCollisionBehavior, setCollisionBehavior, setCollisionResponse, setCollisionResponse, setDefaultCollisionBehavior, setDefaultCollisionBehavior, setDefaultCollisionBehavior, setDefaultCollisionBehavior, setExcitationColor, setExcitationColorMode, setFrameDamping, setFrameDampingMode, setGravity, setGravity, setGravityMode, setIntegrator, setMatrixSolver, setMaxColoredExcitation, setMaxColoredExcitationMode, setPenetrationTol, setPenetrationTolIfNecessary, setPenetrationTolMode, setPointDamping, setPointDampingMode, setRotaryDamping, setRotaryDampingMode, setStaticIncrements, setStaticTikhonovFactor, topMechModel, transformGeometry, transformGeometry, updateBounds, validateMatrixSolver

Methods inherited from class artisynth.core.mechmodels.MechSystemBase

addActivePosImpulse, addAttachmentJacobian, addAttachmentSolveBlocks, addGeneralSolveBlocks, addPosJacobian, addVelJacobian, advance, applyAttachmentForces, buildMassMatrix, buildSolveMatrix, closePrintStateFile, collectInitialForces, copy, createState, createVelocityJacobian, getActiveForces, getActiveMass, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveStiffness, getActiveVelState, getActiveVelState, getActiveVelStateSize, getAttachmentConstraints, getAttachmentDerivatives, getAuxState, getBilateralConstraints, getBilateralConstraintSizes, getBilateralForces, getBilateralImpulses, getBilateralImpulses, getBilateralInfo, getDefaultStabilization, getDynamicDOFs, getDynamicsEnabled, getForces, getFrictionConstraints, getInitialState, getInverseMassMatrix, getMassMatrix, getNumBilateralImpulses, getNumUnilateralImpulses, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getPenetrationLimit, getPrintState, getProfiling, getSolveMatrixType, getSolver, getStabilization, getState, getStructureVersion, getUnilateralConstraints, getUnilateralConstraintSizes, getUnilateralForces, getUnilateralImpulses, getUnilateralImpulses, getUnilateralInfo, getUpdateForcesAtStepEnd, getUpdateForcesAtStepEndMode, hasParameterizedType, initialize, maxFrictionConstraintSets, numActiveComponents, numAttachedComponents, numParametricComponents, openPrintStateFile, printActiveStiffness, reduceVelocityJacobian, reopenPrintStateFile, setActiveForces, setActivePosState, setActiveVelState, setAuxState, setBilateralImpulses, setBilateralImpulses, setDefaultStabilization, setDynamicsEnabled, setForces, setParametricForces, setParametricPosState, setParametricVelState, setPenetrationLimit, setPrintState, setPrintState, setProfiling, setStabilization, setState, setUnilateralImpulses, setUnilateralImpulses, setUpdateForcesAtStepEnd, setUpdateForcesAtStepEndMode, topMechSystem, updateAttachmentPos, updateAttachmentVel, updateConstraints, updateForces, updatePosState, updateVelState, writeBilateralConstraintMatrix, writeBilateralConstraintMatrix, writeMassMatrix, writeMassMatrix, writeStiffnessMatrix, writeStiffnessMatrix

Methods inherited from class artisynth.core.modelbase.RenderableModelBase

createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setRenderProps

Methods inherited from class artisynth.core.modelbase.ModelBase

actionPerformed, copy, getInitialState, getMaxStepSize, getMenuItems, hierarchyContainsReferences, setInitialState, setMaxStepSize

Methods inherited from class artisynth.core.modelbase.ComponentList

add, add, addAll, addComponents, addFixed, addNumbered, clone, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNumberLimit, getShortName, getTypeParameter, hasChildren, indexOf, invalidateNumbers, isEmpty, iterator, nextComponentNumber, numComponents, postscan, remove, remove, removeAll, removeAll, removeComponents, retainAll, set, setNavpanelDisplay, setNumbered, setNumberingStartAtOne, setShortName, size, toArray, toArray, updateNameMap

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, 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, 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.Model

advance, getMaxStepSize, initialize

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, 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.modelbase.HasState

createState, getInitialState, getState, setState

Methods inherited from interface artisynth.core.mechmodels.MechSystem

addActivePosImpulse, addPosJacobian, addVelJacobian, buildMassMatrix, buildSolveMatrix, getActiveForces, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveVelState, getActiveVelStateSize, getBilateralConstraints, getBilateralImpulses, getBilateralInfo, getFrictionConstraints, getInverseMassMatrix, getMassMatrix, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getSolveMatrixType, getStructureVersion, getUnilateralConstraints, getUnilateralImpulses, getUnilateralInfo, maxFrictionConstraintSets, numActiveComponents, numParametricComponents, setActiveForces, setActivePosState, setActiveVelState, setBilateralImpulses, setParametricForces, setParametricPosState, setParametricVelState, setUnilateralImpulses, updateConstraints, updateForces

Methods inherited from interface artisynth.core.modelbase.ComponentListView

getName

Methods inherited from interface java.lang.Iterable

forEach, spliterator

Methods inherited from interface java.util.Collection

equals, hashCode, parallelStream, removeIf, spliterator, stream

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

LaymanModel

public LaymanModel()

LaymanModel

public LaymanModel(java.lang.String name)
            throws java.io.IOException

Throws:

java.io.IOException

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 MechModel

Returns:

static information for all exported properties

getFriction

public double getFriction()

setFriction

public void setFriction(double mu)

Overrides:

setFriction in class MechModel

addFrameSpring

public void addFrameSpring(RigidBody bodyA,
                           RigidBody bodyB,
                           double x,
                           double y,
                           double z,
                           double kRot)

addBody

public RigidBody addBody(java.lang.String bodyName,
                         java.lang.String meshName)
                  throws java.io.IOException

Throws:

java.io.IOException

addSphericalJoint

public SphericalJoint addSphericalJoint(RigidBody bodyA,
                                        RigidBody bodyB,
                                        double x,
                                        double y,
                                        double z,
                                        double maxAng)

addSphericalJoint

public SphericalJoint addSphericalJoint(RigidBody bodyA,
                                        RigidBody bodyB,
                                        RigidTransform3d TDW,
                                        double maxAng)

addRevoluteJoint

public RevoluteJoint addRevoluteJoint(RigidBody bodyA,
                                      RigidBody bodyB,
                                      RigidTransform3d TDW)

addRevoluteJoint

public RevoluteJoint addRevoluteJoint(RigidBody bodyA,
                                      RigidBody bodyB,
                                      double x,
                                      double y,
                                      double z)