FemModel (Artisynth API documentation)

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.femmodels.FemModel

All Implemented Interfaces:

Constrainer, ForceEffector, HasSlaveObjects, MechSystem, MechSystemModel, ComponentChangeListener, ComponentListView<ModelComponent>, CompositeComponent, HasMenuItems, HasState, IndexedComponentList, Model, ModelComponent, MutableCompositeComponent<ModelComponent>, PostScannable, PropertyChangeListener, 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>, ParameterizedClass, Scannable

Direct Known Subclasses:

FemModel3d
```
public abstract class FemModel
extends MechSystemBase
implements TransformableGeometry, ScalableUnits, Constrainer, ForceEffector, PropertyChangeListener, HasSlaveObjects
```

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static interface`	`FemModel.ElementFilter` Interface that determines if an element is valid
`static class`	`FemModel.IncompMethod`
`static class`	`FemModel.Ranging`
`static class`	`FemModel.StressStrainMeasure` Specifies a scalar stress/strain measure.
`static class`	`FemModel.SurfaceRender` Specifies how FEM surface meshes should be rendered.

Nested classes/interfaces inherited from class artisynth.core.mechmodels.MechSystemBase
MechSystemBase.ConstraintForceStateSaver

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

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

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
  DEFAULT_STABILIZATION, DEFAULT_USE_IMPLICIT_FRICTION, myParametricsInSystemMatrix, mySaveForcesAsState, useAllDynamicComps
- Fields inherited from class artisynth.core.modelbase.ModelBase
  DEFAULT_MAX_STEP_SIZE
- 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.modelbase.Model
  STATE_IS_VOLATILE
- Fields inherited from interface artisynth.core.mechmodels.MechSystem
  COMPUTE_CONTACTS, UPDATE_CONTACTS
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

Fields
Modifier and Type	Field and Description
`static PropertyList`	`myProps`

Constructor Summary

Constructors
Constructor and Description

FemModel(java.lang.String name)

Constructors
Constructor and Description
`FemModel(java.lang.String name)`

Method Summary

All Methods Static Methods Instance Methods Abstract Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`int`	`addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)` Appends the current bilateral force constraint matrix `Gc^T` to the matrix `GT`, by appending block columns to it.
`int`	`addFrictionConstraints(SparseBlockMatrix DT, java.util.ArrayList<FrictionInfo> finfo, boolean prune, int numf)` Appends the friction force constraint matrix `Dc^T` to the matrix `DT`, by appending block columns to it.
`void`	`addMarker(FemMarker mkr)`
`boolean`	`addMarker(FemMarker mkr, java.util.Collection<? extends FemNode> nodes)`
`void`	`addMarker(FemMarker mkr, java.util.Collection<? extends FemNode> nodes, VectorNd weights)`
`void`	`addMarker(FemMarker mkr, FemElement elem)`
`void`	`addMarker(FemMarker mkr, FemElement elem, int markerId)`
`boolean`	`addMarker(FemMarker mkr, FemNode[] nodes)`
`void`	`addMarker(FemMarker mkr, FemNode[] nodes, double[] weights)`
`abstract void`	`addSolveBlocks(SparseNumberedBlockMatrix M)` Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector.
`int`	`addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu)` Appends the current unilateral force constraint matrix `Nc^T` to the matrix `NT`, by appending block columns to it.
`void`	`applyForces(double t)` Adds forces to the components affected by this force effector at a particular time.
`ComponentList<DynamicAttachmentComp>`	`attachments()`
`void`	`attachPoint(Point p, FemNode[] nodes, double[] coords)`
`DynamicComponent`	`checkVelocityStability()` Checks the velocity stability of this system.
`void`	`clear()`
`void`	`clearComputeNodalStressStrain()` Cancels the computation of nodal stress, strain and energy density values for this model.
`void`	`componentChanged(ComponentChangeEvent e)` Notifies this composite component that a change has occured within one or more of its descendants.
`FemModel`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)`
`static FemMaterial`	`createDefaultMaterial()`
`void`	`detachAllNodes()`
`boolean`	`detachPoint(Point p)`
`boolean`	`forcesNeedUpdating()`
`abstract java.util.ArrayList<? extends FemElement>`	`getAllElements()`
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`void`	`getAttachments(java.util.List<DynamicAttachment> list, int level)`
`int`	`getBilateralForces(VectorNd lam, int idx)` Returns the bilateral forces that were most recently set for this constrainer using `Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int)`.
`int`	`getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)` Returns constraint information for each row of the bilateral constraint system
`void`	`getBilateralSizes(VectorNi sizes)` Returns the sizes of each block column in the bilateral force constraint matrix.
`double`	`getCharacteristicSize()`
`void`	`getCollidables(java.util.List<Collidable> list)`
`boolean`	`getComputeNodalEnergyDensity()` Queries whether nodal strain energy densities are computed for this model.
`boolean`	`getComputeNodalStrain()` Queries whether nodal strains are computed for this model.
`boolean`	`getComputeNodalStress()` Queries whether nodal stresses are computed for this model.
`boolean`	`getComputeStrainEnergy()` Queries whether strain energy is computed for this model.
`void`	`getConstrainedComponents(java.util.HashSet<DynamicComponent> comps)` Collected all the dynamic components constrained by this constrainer.
`void`	`getConstrainers(java.util.List<Constrainer> constrainers, int level)`
`double`	`getDensity()`
`PropertyMode`	`getDensityMode()`
`void`	`getDynamicComponents(java.util.List<DynamicComponent> comps)`
`void`	`getDynamicComponents(java.util.List<DynamicComponent> active, java.util.List<DynamicComponent> attached, java.util.List<DynamicComponent> parametric)`
`double`	`getEnergy()` Deprecated. Use `getKineticEnergy()` instead.
`void`	`getForceEffectors(java.util.List<ForceEffector> forceEffectors, int level)`
`int`	`getFrictionForces(VectorNd phi, int idx)` Returns the friction forces that were most recently set for this constrainer using `Constrainer.setFrictionForces(maspack.matrix.VectorNd, double, int)`.
`int`	`getFrictionState(VectorNi state, int idx)`
`Vector3d`	`getGravity()`
`PropertyMode`	`getGravityMode()`
`int`	`getImplicitIterations()`
`double`	`getImplicitPrecision()`
`int`	`getJacobianType()` Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix.
`double`	`getKineticEnergy()` Queries the current kinetic energy in this FEM model, assuming lumped nodal masses.
`double`	`getMass()`
`double`	`getMassDamping()` Gets the Rayleigh damping coefficient associated with the FEM's mass
`FemMaterial`	`getMaterial()`
`abstract FemNode`	`getNode(int idx)`
`abstract FemNode`	`getNodeByNumber(int num)`
`double`	`getNodeMass()`
`abstract PointList<? extends FemNode>`	`getNodes()`
`int`	`getNumInverted()`
`double`	`getParticleDamping()`
`double`	`getRestVolume()`
`void`	`getSlaveObjectComponents(java.util.List<HasSlaveObjects> comps, int level)` Should be overridden in subclasses to return all the HasSlaveObjects components within this model.
`void`	`getState(DataBuffer data)`
`double`	`getStiffnessDamping()` Gets the Rayleigh damping coefficient associated with the FEM's stiffness
`double`	`getStrainEnergy()` Returns the strain energy for this model.
`DoubleInterval`	`getStressPlotRange()`
`PropertyMode`	`getStressPlotRangeMode()`
`FemModel.Ranging`	`getStressPlotRanging()`
`PropertyMode`	`getStressPlotRangingMode()`
`FemModel.SurfaceRender`	`getSurfaceRendering()`
`PropertyMode`	`getSurfaceRenderingMode()`
`IterativeSolver.ToleranceType`	`getToleranceType()`
`int`	`getUnilateralForces(VectorNd the, int idx)` Returns the unilateral forces that were most recently set for this constrainer using `Constrainer.setUnilateralForces(maspack.matrix.VectorNd, double, int)`.
`int`	`getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)` Returns constraint information for each row of the unilateral constraint system
`void`	`getUnilateralSizes(VectorNi sizes)` Returns the sizes of each block column in the unilateral force constraint matrix.
`int`	`getUnilateralState(VectorNi state, int idx)`
`double`	`getVolume()`
`boolean`	`hasState()` Queries if this component has state.
`void`	`invalidateRestData()`
`void`	`invalidateStressAndStiffness()`
`RenderableComponentList<FemMarker>`	`markers()`
`int`	`maxFrictionConstraintSets()` Returns that maximum number of friction constraint set that may be added by the method `getFrictionConstraints()`.
`boolean`	`needsNodalStress()` Internal method indicating whether nodal stresses need to be computed because of either an explicit application request or for mesh rendering.
`abstract int`	`numAllElements()`
`int`	`numNodes()`
`void`	`printNodeMasses(int num)`
`void`	`propertyChanged(PropertyChangeEvent e)`
`void`	`recursivelyInitialize(double t, int level)`
`boolean`	`removeMarker(FemMarker mkr)`
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`void`	`resetAutoStressPlotRange()`
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`int`	`setBilateralForces(VectorNd lam, double s, int idx)` Sets the bilateral forces that were computed to enforce this constraint.
`void`	`setBounds(Point3d pmin, Point3d pmax)`
`void`	`setComputeNodalEnergyDensity(boolean enable)` Sets whether nodal strain energy densities are computed for this model.
`void`	`setComputeNodalStrain(boolean enable)` Sets whether nodal strains are computed for this model.
`void`	`setComputeNodalStress(boolean enable)` Sets whether nodal stresses are computed for this model.
`void`	`setComputeNodalStressStrain(FemModel.StressStrainMeasure m)` Explicitly enables the collection of nodal stress, strain or energy density values for this model, as required for the specified stress/strain measure.
`void`	`setComputeStrainEnergy(boolean enable)` Sets whether strain energy is computed for this model.
`void`	`setDensity(double p)`
`void`	`setDensityMode(PropertyMode mode)`
`int`	`setFrictionForces(VectorNd phi, double s, int idx)` Sets the friction forces that were computed to enforce this constraint.
`int`	`setFrictionState(VectorNi state, int idx)`
`void`	`setGravity(double gx, double gy, double gz)`
`void`	`setGravity(Vector3d g)`
`void`	`setGravityMode(PropertyMode mode)`
`void`	`setImplicitIterations(int max)`
`void`	`setImplicitPrecision(double prec)`
`void`	`setLinearMaterial(double E, double nu, boolean corotated)`
`void`	`setMassDamping(double d)` Sets the Rayleigh damping coefficient associated with the FEM's mass
`<T extends FemMaterial> void`	`setMaterial(T mat)`
`void`	`setMaxStepSize(double sec)` Sets the maximum step size by which this model should be advanced within a simulation loop.
`void`	`setParticleDamping(double d)`
`void`	`setState(DataBuffer data)`
`void`	`setStiffnessDamping(double d)` Sets the Rayleigh damping coefficient associated with the FEM's stiffness
`void`	`setStressPlotRange(DoubleInterval range)`
`void`	`setStressPlotRangeMode(PropertyMode mode)`
`void`	`setStressPlotRanging(FemModel.Ranging ranging)`
`void`	`setStressPlotRangingMode(PropertyMode mode)`
`void`	`setSurfaceRendering(FemModel.SurfaceRender rendering)`
`void`	`setSurfaceRenderingMode(PropertyMode mode)`
`void`	`setToleranceType(IterativeSolver.ToleranceType type)`
`int`	`setUnilateralForces(VectorNd the, double s, int idx)` Sets the unilateral forces that were computed to enforce this constraint.
`int`	`setUnilateralState(VectorNi state, int idx)`
`void`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.
`double`	`updateConstraints(double t, int flags)` Updates the current set of constraints, and returns the maximum penetration `>` 0 associated with all of them.
`double`	`updateRestVolume()`
`void`	`updateSlavePos()` Called when the system's dynamic position state changes, to update the position state of the slave objects.
`void`	`updateSlaveVel()` Called when the system's dynamic velocity state changes, to update the velocity state of the slave objects.
`double`	`updateVolume()`
`void`	`zeroExternalForces()`
`void`	`zeroForces()` Zeros all bilateral and unilateral constraint forces in this constraint.

Methods inherited from class artisynth.core.mechmodels.MechSystemBase
addActivePosImpulse, addAttachmentJacobian, addAttachmentSolveBlocks, addGeneralMassBlocks, addGeneralSolveBlocks, addPosJacobian, addVelJacobian, advance, advanceAuxState, applyAttachmentForces, buildMassMatrix, buildSolveMatrix, closePrintStateFile, collectInitialForces, createState, createVelocityJacobian, getActiveDampingMatrix, getActiveDynamicComponents, getActiveForces, getActiveMass, getActiveMassMatrix, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveStiffnessMatrix, getActiveVelState, getActiveVelState, getActiveVelStateSize, getAttachmentConstraints, getAttachmentDerivatives, getAuxAdvanceState, getAuxVarDerivative, getAuxVarState, getAuxVarStateSize, getBilateralConstraints, getBilateralConstraintSizes, getBilateralForces, getBilateralInfo, getDefaultMatrixSolver, getDefaultStabilization, getDefaultUseImplicitFriction, getDynamicComponents, getDynamicDOFs, getDynamicsEnabled, getForceEffectors, getForces, getFrictionConstraints, getFrictionForces, getFrictionState, getInitialState, getIntegrator, getInverseMassMatrix, getMassMatrix, getMatrixSolver, getMatrixSolverRange, getNumBilateralForces, getNumUnilateralForces, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getPenetrationLimit, getPrintState, getProfiling, getSolveMatrixType, getSolver, getStabilization, getState, getStructureVersion, getUnilateralConstraints, getUnilateralConstraintSizes, getUnilateralForces, getUnilateralInfo, getUnilateralState, getUpdateForcesAtStepEnd, getUpdateForcesAtStepEndMode, getUseImplicitFriction, initialize, isBilateralStructureConstant, numActiveComponents, numAttachedComponents, numParametricComponents, openPrintStateFile, placeDynamicComponent, preadvance, printActiveMass, printActiveMass, printActiveStiffness, printActiveStiffness, recursivelyFinalizeAdvance, recursivelyPrepareAdvance, reduceVelocityJacobian, reopenPrintStateFile, setActiveForces, setActivePosState, setActiveVelState, setAuxAdvanceState, setAuxVarState, setBilateralForces, setDefaultMatrixSolver, setDefaultStabilization, setDefaultUseImplicitFriction, setDynamicsEnabled, setForces, setFrictionForces, setFrictionState, setIntegrator, setMatrixSolver, setParametricForces, setParametricPosState, setParametricVelState, setPenetrationLimit, setPrintState, setPrintState, setProfiling, setStabilization, setState, setUnilateralForces, setUnilateralState, setUpdateForcesAtStepEnd, setUpdateForcesAtStepEndMode, setUseImplicitFriction, topMechSystem, updateAttachmentPos, updateAttachmentVel, updateConstraints, updateDynamicComponentLists, updateForceComponentList, updateForces, updatePosState, updateVelState, writeBilateralConstraintMatrix, writeBilateralConstraintMatrix, writeMassMatrix, writeMassMatrix, writePrintStateHeader, 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, dispose, getDefaultMaxStepSize, getMaxStepSize, getMenuItems, hasParameterizedType, hierarchyContainsReferences, setDefaultMaxStepSize

Methods inherited from class artisynth.core.modelbase.ComponentList
add, add, addAll, addComponents, addFixed, addNumbered, clone, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getByNumber, getChildren, getMinNumber, getNavpanelDisplay, getNumberLimit, getOneBasedNumbering, getParameterType, getShortName, hasChildren, incrementNumbering, indexOf, invalidateNumbers, isEditable, isEmpty, iterator, nextComponentNumber, numComponents, postscan, remove, remove, removeAll, removeAll, removeComponents, resetNumbersToIndices, retainAll, scan, set, setEditable, setNavpanelDisplay, setNumbered, setOneBasedNumbering, setShortName, size, toArray, toArray, updateNameMap

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry
addTransformableDependencies, transformGeometry, transformGeometry, transformPriority

Methods inherited from interface artisynth.core.mechmodels.ForceEffector
addPosJacobian, addVelJacobian

Methods inherited from interface artisynth.core.mechmodels.MechSystemModel
getAuxStateComponents, getCollidables, getMassMatrixValues, mulInverseMass

Methods inherited from interface artisynth.core.modelbase.Model
dispose, getMaxStepSize

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, 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.modelbase.ComponentListView
getName

Methods inherited from interface java.util.Collection
equals, hashCode, parallelStream, removeIf, spliterator, stream

Methods inherited from interface java.lang.Iterable
forEach

Methods inherited from interface artisynth.core.modelbase.CompositeComponent
recursivelyFind

- Field Detail
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - FemModel
```
public FemModel(java.lang.String name)
```
- 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 RenderableModelBase
    
    Returns:
    
    static information for all exported properties
  - createDefaultMaterial
```
public static FemMaterial createDefaultMaterial()
```
  - getMaterial
```
public FemMaterial getMaterial()
```
  - setMaterial
```
public <T extends FemMaterial> void setMaterial(T mat)
```
  - setLinearMaterial
```
public void setLinearMaterial(double E,
                              double nu,
                              boolean corotated)
```
  - setSurfaceRendering
```
public void setSurfaceRendering(FemModel.SurfaceRender rendering)
```
  - getSurfaceRendering
```
public FemModel.SurfaceRender getSurfaceRendering()
```
  - setSurfaceRenderingMode
```
public void setSurfaceRenderingMode(PropertyMode mode)
```
  - getSurfaceRenderingMode
```
public PropertyMode getSurfaceRenderingMode()
```
  - setStressPlotRanging
```
public void setStressPlotRanging(FemModel.Ranging ranging)
```
  - getStressPlotRanging
```
public FemModel.Ranging getStressPlotRanging()
```
  - setStressPlotRangingMode
```
public void setStressPlotRangingMode(PropertyMode mode)
```
  - getStressPlotRangingMode
```
public PropertyMode getStressPlotRangingMode()
```
  - setStressPlotRange
```
public void setStressPlotRange(DoubleInterval range)
```
  - resetAutoStressPlotRange
```
public void resetAutoStressPlotRange()
```
  - getStressPlotRange
```
public DoubleInterval getStressPlotRange()
```
  - setStressPlotRangeMode
```
public void setStressPlotRangeMode(PropertyMode mode)
```
  - getStressPlotRangeMode
```
public PropertyMode getStressPlotRangeMode()
```
  - invalidateStressAndStiffness
```
public void invalidateStressAndStiffness()
```
  - invalidateRestData
```
public void invalidateRestData()
```
  - getGravity
```
public Vector3d getGravity()
```
  - setGravity
```
public void setGravity(Vector3d g)
```
  - setGravity
```
public void setGravity(double gx,
                       double gy,
                       double gz)
```
  - getGravityMode
```
public PropertyMode getGravityMode()
```
  - setGravityMode
```
public void setGravityMode(PropertyMode mode)
```
  - setParticleDamping
```
public void setParticleDamping(double d)
```
  - getParticleDamping
```
public double getParticleDamping()
```
  - setMassDamping
```
public void setMassDamping(double d)
```
    Sets the Rayleigh damping coefficient associated with the FEM's mass
    
    Parameters:
    
    d - new mass damping
  - getMassDamping
```
public double getMassDamping()
```
    Gets the Rayleigh damping coefficient associated with the FEM's mass
    
    Returns:
    
    mass damping value
  - setStiffnessDamping
```
public void setStiffnessDamping(double d)
```
    Sets the Rayleigh damping coefficient associated with the FEM's stiffness
    
    Parameters:
    
    d - new stiffness damping
  - getStiffnessDamping
```
public double getStiffnessDamping()
```
    Gets the Rayleigh damping coefficient associated with the FEM's stiffness
    
    Returns:
    
    stiffness damping value
  - setDensity
```
public void setDensity(double p)
```
  - getDensity
```
public double getDensity()
```
  - setDensityMode
```
public void setDensityMode(PropertyMode mode)
```
  - getDensityMode
```
public PropertyMode getDensityMode()
```
  - numNodes
```
public int numNodes()
```
  - getNodes
```
public abstract PointList<? extends FemNode> getNodes()
```
  - getNode
```
public abstract FemNode getNode(int idx)
```
  - getNodeByNumber
```
public abstract FemNode getNodeByNumber(int num)
```
  - getAllElements
```
public abstract java.util.ArrayList<? extends FemElement> getAllElements()
```
  - numAllElements
```
public abstract int numAllElements()
```
  - addMarker
```
public void addMarker(FemMarker mkr)
```
  - addMarker
```
public void addMarker(FemMarker mkr,
                      FemElement elem)
```
  - addMarker
```
public void addMarker(FemMarker mkr,
                      FemElement elem,
                      int markerId)
```
  - addMarker
```
public void addMarker(FemMarker mkr,
                      java.util.Collection<? extends FemNode> nodes,
                      VectorNd weights)
```
  - addMarker
```
public void addMarker(FemMarker mkr,
                      FemNode[] nodes,
                      double[] weights)
```
  - addMarker
```
public boolean addMarker(FemMarker mkr,
                         java.util.Collection<? extends FemNode> nodes)
```
  - addMarker
```
public boolean addMarker(FemMarker mkr,
                         FemNode[] nodes)
```
  - removeMarker
```
public boolean removeMarker(FemMarker mkr)
```
  - markers
```
public RenderableComponentList<FemMarker> markers()
```
  - attachments
```
public ComponentList<DynamicAttachmentComp> attachments()
```
  - attachPoint
```
public void attachPoint(Point p,
                        FemNode[] nodes,
                        double[] coords)
```
  - detachPoint
```
public boolean detachPoint(Point p)
```
  - detachAllNodes
```
public void detachAllNodes()
```
  - clear
```
public void clear()
```
    Specified by:
    
    clear in interface java.util.Collection<ModelComponent>
    
    Overrides:
    
    clear in class ComponentList<ModelComponent>
  - componentChanged
```
public void componentChanged(ComponentChangeEvent e)
```
    Description copied from class: ComponentList
    
    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
    
    Overrides:
    
    componentChanged in class ComponentList<ModelComponent>
    
    Parameters:
    
    e - optional argument giving specific information about the change
  - getState
```
public void getState(DataBuffer data)
```
  - setState
```
public void setState(DataBuffer data)
```
  - setBounds
```
public void setBounds(Point3d pmin,
                      Point3d pmax)
```
  - zeroExternalForces
```
public void zeroExternalForces()
```
  - forcesNeedUpdating
```
public boolean forcesNeedUpdating()
```
  - applyForces
```
public void applyForces(double t)
```
    Description copied from interface: ForceEffector
    
    Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.
    
    Specified by:
    
    applyForces in interface ForceEffector
    
    Parameters:
    
    t - time (seconds)
  - 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 RenderableModelBase
    
    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
    
    Specified by:
    
    render in class RenderableModelBase
    
    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.
  - getAttachments
```
public void getAttachments(java.util.List<DynamicAttachment> list,
                           int level)
```
    Specified by:
    
    getAttachments in interface MechSystemModel
  - hasState
```
public boolean hasState()
```
    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 ModelComponentBase
    
    Returns:
    
    true if this component has state
  - getImplicitIterations
```
public int getImplicitIterations()
```
  - setImplicitIterations
```
public void setImplicitIterations(int max)
```
  - getToleranceType
```
public IterativeSolver.ToleranceType getToleranceType()
```
  - setToleranceType
```
public void setToleranceType(IterativeSolver.ToleranceType type)
```
  - scaleDistance
```
public void scaleDistance(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all distance coordinates.
    
    Specified by:
    
    scaleDistance in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - getMass
```
public double getMass()
```
  - getNodeMass
```
public double getNodeMass()
```
  - printNodeMasses
```
public void printNodeMasses(int num)
```
  - getEnergy
```
public double getEnergy()
```
    Deprecated. Use getKineticEnergy() instead.
  - getKineticEnergy
```
public double getKineticEnergy()
```
    Queries the current kinetic energy in this FEM model, assuming lumped nodal masses.
  - getStrainEnergy
```
public double getStrainEnergy()
```
    Returns the strain energy for this model. Strain energy is computed only if getComputeStrainEnergy() returns true; otherwise, zero is returned.
    
    Returns:
    
    strain energy for this model
  - getComputeNodalStress
```
public boolean getComputeNodalStress()
```
    Queries whether nodal stresses are computed for this model.
    
    Returns:
    
    true if nodal stresses are computed
  - setComputeNodalStress
```
public void setComputeNodalStress(boolean enable)
```
    Sets whether nodal stresses are computed for this model. The default value is false to avoid unnecessary computation.
    
    Parameters:
    
    enable - if true, enables nodal stress computation
  - getComputeNodalStrain
```
public boolean getComputeNodalStrain()
```
    Queries whether nodal strains are computed for this model.
    
    Returns:
    
    true if nodal strains are computed
  - setComputeNodalStrain
```
public void setComputeNodalStrain(boolean enable)
```
    Sets whether nodal strains are computed for this model. The default value is false to avoid unnecessary computation.
    
    Parameters:
    
    enable - if true, enables nodal strain computation
  - getComputeNodalEnergyDensity
```
public boolean getComputeNodalEnergyDensity()
```
    Queries whether nodal strain energy densities are computed for this model.
    
    Returns:
    
    true if nodal energy densities are computed
  - setComputeNodalEnergyDensity
```
public void setComputeNodalEnergyDensity(boolean enable)
```
    Sets whether nodal strain energy densities are computed for this model. The default value is false to avoid unnecessary computation.
    
    Parameters:
    
    enable - if true, enables nodal energy density computation
  - needsNodalStress
```
public boolean needsNodalStress()
```
    Internal method indicating whether nodal stresses need to be computed because of either an explicit application request or for mesh rendering.
  - setComputeNodalStressStrain
```
public void setComputeNodalStressStrain(FemModel.StressStrainMeasure m)
```
    Explicitly enables the collection of nodal stress, strain or energy density values for this model, as required for the specified stress/strain measure.
    
    Parameters:
    
    m - measure indicating whether stress, strain or energy density values are needed
  - clearComputeNodalStressStrain
```
public void clearComputeNodalStressStrain()
```
    Cancels the computation of nodal stress, strain and energy density values for this model. Values may still be computed on a per-node basis if required for colormap rendering.
  - getComputeStrainEnergy
```
public boolean getComputeStrainEnergy()
```
    Queries whether strain energy is computed for this model.
    
    Returns:
    
    true if strain energy is computed
  - setComputeStrainEnergy
```
public void setComputeStrainEnergy(boolean enable)
```
    Sets whether strain energy is computed for this model. The default value is false to avoid unnecessary computation.
    
    Parameters:
    
    enable - if true, enables strain energy computation
  - scaleMass
```
public void scaleMass(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all mass units.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - getCollidables
```
public void getCollidables(java.util.List<Collidable> list)
```
  - getDynamicComponents
```
public void getDynamicComponents(java.util.List<DynamicComponent> active,
                                 java.util.List<DynamicComponent> attached,
                                 java.util.List<DynamicComponent> parametric)
```
    Specified by:
    
    getDynamicComponents in interface MechSystemModel
  - getDynamicComponents
```
public void getDynamicComponents(java.util.List<DynamicComponent> comps)
```
    Specified by:
    
    getDynamicComponents in interface MechSystemModel
  - getConstrainers
```
public void getConstrainers(java.util.List<Constrainer> constrainers,
                            int level)
```
    Specified by:
    
    getConstrainers in interface MechSystemModel
  - getForceEffectors
```
public void getForceEffectors(java.util.List<ForceEffector> forceEffectors,
                              int level)
```
    Specified by:
    
    getForceEffectors in interface MechSystemModel
  - getSlaveObjectComponents
```
public void getSlaveObjectComponents(java.util.List<HasSlaveObjects> comps,
                                     int level)
```
    Should be overridden in subclasses to return all the HasSlaveObjects components within this model.
    
    Specified by:
    
    getSlaveObjectComponents in interface MechSystemModel
    
    Overrides:
    
    getSlaveObjectComponents in class MechSystemBase
    
    Parameters:
    
    comps - HasSlaveObjects components should be added to this list
  - updateSlavePos
```
public void updateSlavePos()
```
    Description copied from interface: HasSlaveObjects
    
    Called when the system's dynamic position state changes, to update the position state of the slave objects.
    
    Specified by:
    
    updateSlavePos in interface HasSlaveObjects
  - updateSlaveVel
```
public void updateSlaveVel()
```
    Description copied from interface: HasSlaveObjects
    
    Called when the system's dynamic velocity state changes, to update the velocity state of the slave objects.
    
    Specified by:
    
    updateSlaveVel in interface HasSlaveObjects
  - setMaxStepSize
```
public void setMaxStepSize(double sec)
```
    Sets the maximum step size by which this model should be advanced within a simulation loop.
    
    Overrides:
    
    setMaxStepSize in class ModelBase
    
    Parameters:
    
    sec - maximum step size (seconds)
  - updateVolume
```
public double updateVolume()
```
  - getRestVolume
```
public double getRestVolume()
```
  - updateRestVolume
```
public double updateRestVolume()
```
  - getVolume
```
public double getVolume()
```
  - getNumInverted
```
public int getNumInverted()
```
  - getImplicitPrecision
```
public double getImplicitPrecision()
```
  - setImplicitPrecision
```
public void setImplicitPrecision(double prec)
```
  - getBilateralSizes
```
public void getBilateralSizes(VectorNi sizes)
```
    Description copied from interface: Constrainer
    
    Returns the sizes of each block column in the bilateral force constraint matrix. The size for each block should be appended to the vector sizes.
    
    Specified by:
    
    getBilateralSizes in interface Constrainer
    
    Parameters:
    
    sizes - vector to which the block column sizes are appended
  - addBilateralConstraints
```
public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb)
```
    Description copied from interface: Constrainer
    Appends the current bilateral force constraint matrix Gc^T to the matrix GT, by appending block columns to it. If the argument dg is non-null, it should be used to return the velocity constraint time derivative, defined by
```
 \dot Gc vel
 
```
    starting at the location numb. In all cases, the method must return an updated value of numb, incremented by the total row size of Gc.
    Specified by:
    
    addBilateralConstraints in interface Constrainer
    
    Parameters:
    
    GT - matrix to which the bilateral force contraint matrix is appended.
    
    dg - if non-null, returns the velocity constraint time derivative
    
    numb - starting index for time derivative in dg
    
    Returns:
    
    updated value of numb
  - getBilateralInfo
```
public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)
```
    Description copied from interface: Constrainer
    Returns constraint information for each row of the bilateral constraint system
```
 Gc vel = 0.
 
```
    This information is placed in pre-allocated MechSystem.ConstraintInfo structures in ginfo, starting at idx. The method must return an updated value of idx, incremented by the number of rows of Gc.
    The constraint information to be set in ConstraintInfo includes:
```
   dist        // distance to the constraint surface.
   compliance  // if > 0, gives constraint compliance value
   damping     // damping; only used if compliance > 0
   force       // used for computing non-linear compliance
 
```
    Specified by:
    
    getBilateralInfo in interface Constrainer
    
    Parameters:
    
    ginfo - returns the constraint information
    
    idx - starting location in ginfo for returning constraint info
    
    Returns:
    
    updated value of idx
  - getUnilateralSizes
```
public void getUnilateralSizes(VectorNi sizes)
```
    Description copied from interface: Constrainer
    
    Returns the sizes of each block column in the unilateral force constraint matrix. The size for each block should be appended to the vector sizes.
    
    Specified by:
    
    getUnilateralSizes in interface Constrainer
    
    Parameters:
    
    sizes - vector to which the block column sizes are appended
  - addUnilateralConstraints
```
public int addUnilateralConstraints(SparseBlockMatrix NT,
                                    VectorNd dn,
                                    int numu)
```
    Description copied from interface: Constrainer
    Appends the current unilateral force constraint matrix Nc^T to the matrix NT, by appending block columns to it. If the argument dn is non-null, it should be used to return the velocity constraint time derivative, defined by
```
 \dot Nc vel
 
```
    starting at the location numu. In all cases, the method must return an updated value of numu, incremented by the total row size of Nc.
    Specified by:
    
    addUnilateralConstraints in interface Constrainer
    
    Parameters:
    
    NT - matrix to which the unilateral force contraint matrix is appended.
    
    dn - if non-null, returns the velocity constraint time derivative
    
    numu - starting index for time derivative in dn
    
    Returns:
    
    updated value of numu
  - getUnilateralInfo
```
public int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                             int idx)
```
    Description copied from interface: Constrainer
    Returns constraint information for each row of the unilateral constraint system
```
 Nc vel > 0.
 
```
    This information is placed in pre-allocated MechSystem.ConstraintInfo structures in ninfo, starting at idx. The method must return an updated value of idx, incremented by the number of rows of Nc.
    The constraint information to be set in ConstraintInfo includes:
```
   dist        // distance to the constraint surface.
   compliance  // if > 0, gives constraint compliance value
   damping     // damping; only used if compliance > 0
   force       // used for computing non-linear compliance
 
```
    Specified by:
    
    getUnilateralInfo in interface Constrainer
    
    Parameters:
    
    ninfo - returns the constraint information
    
    idx - starting location in ninfo for returning constraint info
    
    Returns:
    
    updated value of idx
  - maxFrictionConstraintSets
```
public int maxFrictionConstraintSets()
```
    Description copied from interface: MechSystem
    
    Returns that maximum number of friction constraint set that may be added by the method getFrictionConstraints(). This is used to size the finfo array supplied to that method.
    
    Specified by:
    
    maxFrictionConstraintSets in interface Constrainer
    
    Specified by:
    
    maxFrictionConstraintSets in interface MechSystem
    
    Overrides:
    
    maxFrictionConstraintSets in class MechSystemBase
    
    Returns:
    
    maximum friction constraint sets
  - addFrictionConstraints
```
public int addFrictionConstraints(SparseBlockMatrix DT,
                                  java.util.ArrayList<FrictionInfo> finfo,
                                  boolean prune,
                                  int numf)
```
    Description copied from interface: Constrainer
    
    Appends the friction force constraint matrix Dc^T to the matrix DT, by appending block columns to it. Each block column in Dc^T corresponds to a friction constraint set, for which information should be supplied in the pre-allocated FrictionInfo structures in finfo, starting at idx. The method must return an updated value of idx, incremented by the number of friction constraint sets.
    
    Specified by:
    
    addFrictionConstraints in interface Constrainer
    
    Parameters:
    
    DT - matrix to which the friction force contraint matrix is appended.
    
    finfo - returns friction constraint information for each block column in Dc^T
    
    prune - restrict entries of DT to friction constraints for which the contact force is > 0.
    
    numf - starting index for friction information in finfo
    
    Returns:
    
    updated value of idx
  - setBilateralForces
```
public int setBilateralForces(VectorNd lam,
                              double s,
                              int idx)
```
    Description copied from interface: Constrainer
    
    Sets the bilateral forces that were computed to enforce this constraint. These are the Lagrange multipliers for the columns of the transposed bilateral constraint matrix. The forces are supplied in lam, starting at the index idx, and should be scaled by s. (In practice, s is used to convert from impulses to forces.) The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    setBilateralForces in interface Constrainer
    
    Overrides:
    
    setBilateralForces in class MechSystemBase
    
    Parameters:
    
    lam - supplies the force impulses, which should be scaled by s
    
    s - scaling factor for the force values
    
    idx - starting index of forces in lam
    
    Returns:
    
    updated value of idx
  - zeroForces
```
public void zeroForces()
```
    Description copied from interface: Constrainer
    
    Zeros all bilateral and unilateral constraint forces in this constraint.
    
    Specified by:
    
    zeroForces in interface Constrainer
  - getBilateralForces
```
public int getBilateralForces(VectorNd lam,
                              int idx)
```
    Description copied from interface: Constrainer
    
    Returns the bilateral forces that were most recently set for this constrainer using Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int). The forces are returned in lam, starting at the index idx. The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    getBilateralForces in interface Constrainer
    
    Overrides:
    
    getBilateralForces in class MechSystemBase
    
    Parameters:
    
    lam - returns the forces
    
    idx - starting index for forces in lam
    
    Returns:
    
    updated value of idx
  - setUnilateralForces
```
public int setUnilateralForces(VectorNd the,
                               double s,
                               int idx)
```
    Description copied from interface: Constrainer
    
    Sets the unilateral forces that were computed to enforce this constraint. These are the Lagrange multipliers for the columns of the transposed unilateral constraint matrix. The forces are supplied in the, starting at the index idx, and should be scaled by s. (In practice, s is used to convert from impulses to forces.) The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    setUnilateralForces in interface Constrainer
    
    Overrides:
    
    setUnilateralForces in class MechSystemBase
    
    Parameters:
    
    the - supplies the force impulses, which should be scaled by s
    
    s - scaling factor for the force values
    
    idx - starting index of forces in the
    
    Returns:
    
    updated value of idx
  - getUnilateralForces
```
public int getUnilateralForces(VectorNd the,
                               int idx)
```
    Description copied from interface: Constrainer
    
    Returns the unilateral forces that were most recently set for this constrainer using Constrainer.setUnilateralForces(maspack.matrix.VectorNd, double, int). The forces are returned in the, starting at the index idx. The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    getUnilateralForces in interface Constrainer
    
    Overrides:
    
    getUnilateralForces in class MechSystemBase
    
    Parameters:
    
    the - returns the forces
    
    idx - starting index for forces in the
    
    Returns:
    
    updated value of idx
  - setUnilateralState
```
public int setUnilateralState(VectorNi state,
                              int idx)
```
    Specified by:
    
    setUnilateralState in interface Constrainer
    
    Specified by:
    
    setUnilateralState in interface MechSystem
    
    Overrides:
    
    setUnilateralState in class MechSystemBase
  - getUnilateralState
```
public int getUnilateralState(VectorNi state,
                              int idx)
```
    Specified by:
    
    getUnilateralState in interface Constrainer
    
    Specified by:
    
    getUnilateralState in interface MechSystem
    
    Overrides:
    
    getUnilateralState in class MechSystemBase
  - setFrictionForces
```
public int setFrictionForces(VectorNd phi,
                             double s,
                             int idx)
```
    Sets the friction forces that were computed to enforce this constraint. These are the Lagrange multipliers for the columns of the transposed friction constraint matrix. The forces are supplied in phi, starting at the index idx, and should be scaled by s. (In practice, s is used to convert from impulses to forces.) The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    setFrictionForces in interface Constrainer
    
    Overrides:
    
    setFrictionForces in class MechSystemBase
    
    Parameters:
    
    phi - supplies the force impulses, which should be scaled by s
    
    s - scaling factor for the force values
    
    idx - starting index of forces in phi
    
    Returns:
    
    updated value of idx
  - getFrictionForces
```
public int getFrictionForces(VectorNd phi,
                             int idx)
```
    Returns the friction forces that were most recently set for this constrainer using Constrainer.setFrictionForces(maspack.matrix.VectorNd, double, int). The forces are returned in phi, starting at the index idx. The method must return an updated value of idx, incremented by the number of forces associated with this constraint.
    
    Specified by:
    
    getFrictionForces in interface Constrainer
    
    Overrides:
    
    getFrictionForces in class MechSystemBase
    
    Parameters:
    
    phi - returns the forces
    
    idx - starting index for forces in phi
    
    Returns:
    
    updated value of idx
  - setFrictionState
```
public int setFrictionState(VectorNi state,
                            int idx)
```
    Specified by:
    
    setFrictionState in interface Constrainer
    
    Specified by:
    
    setFrictionState in interface MechSystem
    
    Overrides:
    
    setFrictionState in class MechSystemBase
  - getFrictionState
```
public int getFrictionState(VectorNi state,
                            int idx)
```
    Specified by:
    
    getFrictionState in interface Constrainer
    
    Specified by:
    
    getFrictionState in interface MechSystem
    
    Overrides:
    
    getFrictionState in class MechSystemBase
  - recursivelyInitialize
```
public void recursivelyInitialize(double t,
                                  int level)
```
    Specified by:
    
    recursivelyInitialize in interface MechSystemModel
    
    Overrides:
    
    recursivelyInitialize in class MechSystemBase
  - getCharacteristicSize
```
public double getCharacteristicSize()
```
  - checkVelocityStability
```
public DynamicComponent checkVelocityStability()
```
    Checks the velocity stability of this system. If the velocity of any component appears to be unstable, return that component. Otherwise, return null.
    
    Specified by:
    
    checkVelocityStability in interface MechSystemModel
    
    Returns:
    
    first component containing an unstable velocity, or null if there is no instability
  - copy
```
public FemModel copy(int flags,
                     java.util.Map<ModelComponent,ModelComponent> copyMap)
```
    Overrides:
    
    copy in class MechSystemBase
  - propertyChanged
```
public void propertyChanged(PropertyChangeEvent e)
```
    Specified by:
    
    propertyChanged in interface PropertyChangeListener
  - updateConstraints
```
public double updateConstraints(double t,
                                int flags)
```
    Description copied from interface: Constrainer
    
    Updates the current set of constraints, and returns the maximum penetration > 0 associated with all of them. If no constraints are presently active, returns -1.
    
    Specified by:
    
    updateConstraints in interface Constrainer
  - getConstrainedComponents
```
public void getConstrainedComponents(java.util.HashSet<DynamicComponent> comps)
```
    Description copied from interface: Constrainer
    
    Collected all the dynamic components constrained by this constrainer.
    
    Specified by:
    
    getConstrainedComponents in interface Constrainer
    
    Parameters:
    
    comps - set to which constrained components should be added
  - getJacobianType
```
public int getJacobianType()
```
    Description copied from interface: ForceEffector
    
    Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. This should be a logical or-ing of either Matrix.SYMMETRIC or Matrix.POSITIVE_DEFINITE. The former should be set if adding the Jacobian terms preserves symmetry, and the latter should be set if positive definiteness if preserved. Both should be set if there is no Jacobian for this effector (i.e., the Jacobian methods are not implemented). Matrix types from all the force effectors are logically and-ed together to determine the type for the entire solve matrix.
    
    Specified by:
    
    getJacobianType in interface ForceEffector
    
    Returns:
    
    solve matrix type resulting from adding Jacobian terms
  - addSolveBlocks
```
public abstract void addSolveBlocks(SparseNumberedBlockMatrix M)
```
    Description copied from interface: ForceEffector
    
    Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector. In general, blocks will be need to be added at locations given by the block indices (bi, bj), where bi and bj correspond to the solve indices (as returned by getSolveIndex) for all dynamic or attached components affected by this force effector.
    
    Specified by:
    
    addSolveBlocks in interface ForceEffector
    
    Parameters:
    
    M - solve matrix to which blocks should be added

Class FemModel

Nested Class Summary

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

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

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

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

Field Summary

Fields inherited from class artisynth.core.mechmodels.MechSystemBase

Fields inherited from class artisynth.core.modelbase.ModelBase

Fields inherited from class artisynth.core.modelbase.ComponentList

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface artisynth.core.modelbase.Model

Fields inherited from interface artisynth.core.mechmodels.MechSystem

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.mechmodels.MechSystemBase

Methods inherited from class artisynth.core.modelbase.RenderableModelBase

Methods inherited from class artisynth.core.modelbase.ModelBase

Methods inherited from class artisynth.core.modelbase.ComponentList

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

Methods inherited from interface artisynth.core.mechmodels.ForceEffector

Methods inherited from interface artisynth.core.mechmodels.MechSystemModel

Methods inherited from interface artisynth.core.modelbase.Model

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface artisynth.core.modelbase.PostScannable

Methods inherited from interface maspack.util.Scannable

Methods inherited from interface artisynth.core.modelbase.ComponentListView

Methods inherited from interface java.util.Collection

Methods inherited from interface java.lang.Iterable

Methods inherited from interface artisynth.core.modelbase.CompositeComponent

Field Detail

myProps

Constructor Detail

FemModel

Method Detail

getAllPropertyInfo

createDefaultMaterial

getMaterial

setMaterial

setLinearMaterial

setSurfaceRendering

getSurfaceRendering

setSurfaceRenderingMode

getSurfaceRenderingMode

setStressPlotRanging

getStressPlotRanging

setStressPlotRangingMode

getStressPlotRangingMode

setStressPlotRange

resetAutoStressPlotRange

getStressPlotRange

setStressPlotRangeMode

getStressPlotRangeMode

invalidateStressAndStiffness

invalidateRestData

getGravity

setGravity

setGravity

getGravityMode

setGravityMode

setParticleDamping

getParticleDamping

setMassDamping

getMassDamping

setStiffnessDamping

getStiffnessDamping

setDensity

getDensity

setDensityMode

getDensityMode

numNodes

getNodes

getNode

getNodeByNumber