artisynth.core.femmodels

Class FemAttachedFrame

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Frame

artisynth.core.mechmodels.AttachedFrame

artisynth.core.femmodels.FemAttachedFrame

All Implemented Interfaces:

AttachingComponent, CollidableDynamicComponent, ContactMaster, DynamicAgent, DynamicComponent, ForceEffector, FrameAttachable, HasAttachments, IsMarkable, MotionTargetComponent, PointAttachable, ComponentChangeListener, CompositeComponent, CopyableComponent, HasCoordinateFrame, HasNumericState, HasPoseComponent, HasPosition, IndexedComponentList, ModelComponent, PostScannable, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class FemAttachedFrame
extends AttachedFrame

A Frame attached to a FemModel3d, analogous to how FemMarker is a Point attached to a FemModel3d.

Nested Class Summary

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

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.Frame

dynamicVelInWorldCoords, myRenderFrame

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

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
FemAttachedFrame() Creates a new FemAttachedFrame with default (identity) pose and no FEM attachment assigned.
FemAttachedFrame(FemElement3dBase elem, RigidTransform3d pose) Creates a new FemAttachedFrame with the specified world pose and attaches it to the given FEM element.
FemAttachedFrame(RigidTransform3d pose) Creates a new FemAttachedFrame with the specified world pose and no FEM attachment assigned.

Method Summary

Modifier and Type	Method and Description
FemAttachedFrame	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
FrameFem3dAttachment	getAttachment() Returns the slave attachment associated with this component, if any.
boolean	getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor) Collects external references which must also be copied in order to duplicate this component.
FemElement3dBase	getElement() Returns the FEM element to which this frame is currently attached, or null if the attachment is node-based rather than element-based.
boolean	isDuplicatable() Returns true if this component can be duplicated.
boolean	resetElement(FemModel3d model) Called when the frame is moved (or when we remesh underneath it) and we need to redetermine which element this frame is embedded in.
boolean	resetElement(FemModel3d model, boolean project) Called when the frame is moved (or when we remesh underneath it) and we need to redetermine which element this frame is embedded in.
void	scaleDistance(double s) Scales all distance coordinates.
void	setAttached(DynamicAttachment ax) Attach this component to another via a DynamicAttachment object.
void	setFromElement(FemElement3dBase elem) Attaches this frame to the specified FEM element.
void	setFromFem(FemModel3d fem) Attaches this frame to the nearest element in the specified FEM model, projecting the frame's origin onto the model surface if it lies outside.
boolean	setFromFem(FemModel3d fem, boolean project) Attaches this frame to the nearest element in the specified FEM model.
boolean	setFromNodes(java.util.Collection<FemNode3d> nodes) Attaches this frame to the specified nodes using inverse-distance weighting based on the frame's current pose.
boolean	setFromNodes(java.util.Collection<FemNode3d> nodes, VectorNd weights) Attaches this frame to a weighted combination of the specified nodes.
boolean	setFromNodes(FemNode3d[] nodes) Attaches this frame to the specified nodes using inverse-distance weighting based on the frame's current pose.
boolean	setFromNodes(FemNode3d[] nodes, double[] weights) Attaches this frame to a weighted combination of the specified nodes.
void	updateAttachment()
void	updateState() Updates the pose and velocity of this frame from the current state of its attached nodes.

Methods inherited from class artisynth.core.mechmodels.AttachedFrame

connectAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachments, getHardReferences

Methods inherited from class artisynth.core.mechmodels.Frame

add, add1DConstraintBlocks, add2DConstraintBlocks, addAttachedFrame, addAttachedFrame, addAttachedFrameWorld, addEffectiveFrameMass, addEffectivePointMass, addExternalForce, addForce, addForce, addFrameForce, addMarker, addMarker, addMarker, addMarkerWorld, addPointForce, addPointForce, addPosImpulse, addPosJacobian, addRelativeVelocity, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, addTransformableDependencies, addVelJacobian, applyExternalForces, applyForces, applyGravity, canAddMarker, clearAttachedFrames, clearMarkers, collectMasterComponents, componentChanged, computeAppliedWrench, computeForceOnMasters, computeFrameLocation, computeFramePosition, computeFramePosVel, computeFrameVelocity, computePointCoriolis, computePointLocation, computePointPosition, computePointPosVel, computePointVelocity, createFrameAttachment, createMarker, createMarker, createMassBlock, createPointAttachment, createRenderProps, findComponent, get, get, getAttachedFrames, getAxisDrawStyle, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getByNumber, getChildren, getEffectiveMass, getEffectiveMass, getEffectiveMassForces, getExternalForce, getForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getFrameMarkers, getJacobianType, getMarkers, getMass, getMass, getMoment, getNavpanelDisplay, getNumberLimit, getOrientation, getOrientation, getPosDerivative, getPose, getPose, getPosition, getPosState, getPosStateSize, getRenderFrame, getRotaryDamping, getRotaryDampingMode, getRotation, getSelection, getState, getTargetActivity, getTargetOrientation, getTargetPos, getTargetPose, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getTransForce, getVelocity, getVelocity, getVelState, getVelStateSize, getWorldVelState, hasChildren, hasForce, hierarchyContainsReferences, indexOf, isMassConstant, mulInverseEffectiveMass, numComponents, postscan, prerender, remove, removeAttachedFrame, removeMarker, render, resetEffectiveMass, resetTargets, scaleMass, scan, setAxisDrawStyle, setAxisLength, setBodyVelocity, setContactConstraint, setExternalForce, setForce, setForce, setFrameDamping, setFrameDampingMode, setNavpanelDisplay, setOrientation, setPose, setPosition, setPosState, setRandomForce, setRandomPosState, setRandomVelState, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, transformGeometry, transformPose, updateAttachmentPosStates, updateBounds, updateNameMap, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

addAttachmentRequest, addConstrainer, addMasterAttachment, getConstrainers, getInverseMass, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, setSolveIndex, transformGeometry

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

defaultRenderPropsAreNull, getRenderHints, getRenderProps, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, 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

getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

addAttachmentRequest, removeAttachmentRequest

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

addConstrainer, addMasterAttachment, getConstrainers, getInverseMass, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setSolveIndex

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformGeometry, transformPriority

Methods inherited from interface artisynth.core.mechmodels.ContactMaster

isControllable

Methods inherited from interface artisynth.core.modelbase.CompositeComponent

recursivelyFind

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

FemAttachedFrame

public FemAttachedFrame()

Creates a new FemAttachedFrame with default (identity) pose and no FEM attachment assigned.

FemAttachedFrame

public FemAttachedFrame(RigidTransform3d pose)

Creates a new FemAttachedFrame with the specified world pose and no FEM attachment assigned.

Parameters:

pose - transform from this frame to world coordinates

FemAttachedFrame

public FemAttachedFrame(FemElement3dBase elem,
                        RigidTransform3d pose)

Creates a new FemAttachedFrame with the specified world pose and attaches it to the given FEM element. The attachment weights are computed from the frame's world pose using natural coordinates within the element.

Parameters:

elem - FEM element to attach to

pose - transform from this frame to world coordinates

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 Frame

Returns:

static information for all exported properties

setAttached

public void setAttached(DynamicAttachment ax)

Description copied from class: DynamicComponentBase

Attach this component to another via a DynamicAttachment object. This method is intended for internal use by attachment components.

Specified by:

setAttached in interface DynamicAgent

Overrides:

setAttached in class DynamicComponentBase

Parameters:

ax - Specifies the attachment relationship between this component and its master(s)

getAttachment

public FrameFem3dAttachment getAttachment()

Returns the slave attachment associated with this component, if any.

Specified by:

getAttachment in interface AttachingComponent

Specified by:

getAttachment in interface DynamicAgent

Overrides:

getAttachment in class DynamicComponentBase

Returns:

slave attachment, or null if the component is unattached

getElement

public FemElement3dBase getElement()

Returns the FEM element to which this frame is currently attached, or null if the attachment is node-based rather than element-based.

Returns:

element this frame is attached to, or null

setFromElement

public void setFromElement(FemElement3dBase elem)

Attaches this frame to the specified FEM element. The attachment weights are computed from the frame's current pose using natural coordinates within the element.

Parameters:

elem - element to attach the frame to

setFromFem

public void setFromFem(FemModel3d fem)

Attaches this frame to the nearest element in the specified FEM model, projecting the frame's origin onto the model surface if it lies outside.

Parameters:

fem - FEM model to attach to

setFromFem

public boolean setFromFem(FemModel3d fem,
                          boolean project)

Attaches this frame to the nearest element in the specified FEM model. If the frame's origin lies outside the model and project is true, it is projected onto the model surface; otherwise, returns false without attaching.

Parameters:

fem - FEM model to attach to

project - if true, project the origin onto the surface when it lies outside the model

Returns:

false if the origin is outside the model and project is false

setFromNodes

public boolean setFromNodes(java.util.Collection<FemNode3d> nodes,
                            VectorNd weights)

Attaches this frame to a weighted combination of the specified nodes.

Parameters:

nodes - nodes to attach the frame to

weights - weight for each node

Returns:

false if the weighting computation did not fully converge

setFromNodes

public boolean setFromNodes(FemNode3d[] nodes,
                            double[] weights)

Attaches this frame to a weighted combination of the specified nodes.

Parameters:

nodes - nodes to attach the frame to

weights - weight for each node

Returns:

false if the weighting computation did not fully converge

setFromNodes

public boolean setFromNodes(java.util.Collection<FemNode3d> nodes)

Attaches this frame to the specified nodes using inverse-distance weighting based on the frame's current pose.

Parameters:

nodes - nodes to attach the frame to

Returns:

false if the weighting computation did not fully converge

setFromNodes

public boolean setFromNodes(FemNode3d[] nodes)

Attaches this frame to the specified nodes using inverse-distance weighting based on the frame's current pose.

Parameters:

nodes - nodes to attach the frame to

Returns:

false if the weighting computation did not fully converge

updateState

public void updateState()

Updates the pose and velocity of this frame from the current state of its attached nodes.

Specified by:

updateState in class AttachedFrame

updateAttachment

public void updateAttachment()

resetElement

public boolean resetElement(FemModel3d model)

Called when the frame is moved (or when we remesh underneath it) and we need to redetermine which element this frame is embedded in.

resetElement

public boolean resetElement(FemModel3d model,
                            boolean project)

Called when the frame is moved (or when we remesh underneath it) and we need to redetermine which element this frame is embedded in.

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 Frame

Parameters:

s - scaling factor

isDuplicatable

public boolean isDuplicatable()

Returns true if this component can be duplicated. Duplication means that we can expect to be able to make a complete copy of the component along with all it's external references. This method should return true if and only if CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) returns true.

This method is not currently used. It is intended to provide a faster way of determining if a component can be duplicated, without having to use CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) to build the list of copy references.

Specified by:

isDuplicatable in interface CopyableComponent

Overrides:

isDuplicatable in class Frame

Returns:

true if this component can be duplicated.

getCopyReferences

public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)

Collects external references which must also be copied in order to duplicate this component. These references should exclude those which are contained within a specified component hierarchy. This method should return true if and only if CopyableComponent.isDuplicatable() returns true.

Specified by:

getCopyReferences in interface CopyableComponent

Overrides:

getCopyReferences in class Frame

Parameters:

refs - list to which references are appended

ancestor - root node of the hierarchy from which references are to be excluded

Returns:

false if it is discovered that the component cannot be duplicated

copy

public FemAttachedFrame 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 Frame

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component