FrameNode3d (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.DynamicComponentBase
    - - artisynth.core.femmodels.FrameNode3d

All Implemented Interfaces:

DynamicAgent, DynamicComponent, ForceEffector, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable
```
public class FrameNode3d
extends DynamicComponentBase
```

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.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 maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

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

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addEffectiveMass(double m)`
`int`	`addForce(double[] buf, int idx)`
`void`	`addForce(Vector3d f)`
`void`	`addPosImpulse(double[] xbuf, int xidx, double h, double[] vbuf, int vidx)`
`void`	`addPosJacobian(SparseNumberedBlockMatrix M, double s)` Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
`void`	`addSolveBlock(SparseNumberedBlockMatrix S)`
`void`	`addSolveBlocks(SparseNumberedBlockMatrix M)` Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector.
`void`	`addTransformableDependencies(TransformGeometryContext context, int flags)` Adds to `context` any transformable components which should be transformed as the same time as this component.
`void`	`addVelJacobian(SparseNumberedBlockMatrix M, double s)` Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
`void`	`applyExternalForces()`
`void`	`applyForces(double t)` Adds forces to the components affected by this force effector at a particular time.
`void`	`applyGravity(Vector3d gacc)` Shouldn't need this because gravity is applied to world nodes
`MatrixBlock`	`createMassBlock()` Create a matrix block for representing the mass of this component, initialized to the component's effective mass (instrinsic mass plus the mass due to all attachmented components).
`boolean`	`defaultRenderPropsAreNull()`
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`double`	`getEffectiveMass()` Gets the effective scalar mass of this component.
`void`	`getEffectiveMass(Matrix M, double t)` Gets the effective mass of this component at a particular time.
`int`	`getEffectiveMassForces(VectorNd f, double t, int idx)` Gets the mass forces for this component at a particular time.
`Vector3d`	`getForce()`
`int`	`getForce(double[] buf, int idx)`
`Frame`	`getFrame()`
`void`	`getInverseMass(Matrix Minv, Matrix M)` Inverts a mass for this component.
`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`	`getMass(double t)` Returns the scalar mass of this component at time t.
`void`	`getMass(Matrix M, double t)` Gets the mass of this component at a particular time.
`int`	`getPosDerivative(double[] buf, int idx)`
`Point3d`	`getPosition()`
`int`	`getPosState(double[] buf, int idx)`
`int`	`getPosStateSize()`
`void`	`getState(DataBuffer data)` Saves state information for this component by adding data to the supplied DataBuffer.
`Vector3d`	`getVelocity()`
`int`	`getVelState(double[] buf, int idx)`
`int`	`getVelStateSize()`
`boolean`	`hasForce()` Queries whether or not this component actually exerts its own state-dependent forces (typically associated with damping).
`boolean`	`isMassConstant()`
`int`	`mulInverseEffectiveMass(Matrix M, double[] a, double[] f, int idx)`
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`void`	`resetEffectiveMass()` Resets the effective mass of this component to the nominal mass.
`int`	`setForce(double[] buf, int idx)`
`void`	`setForce(Vector3d f)`
`void`	`setPosition(Point3d pos)`
`int`	`setPosState(double[] buf, int idx)`
`void`	`setRandomForce()` Sets the force of this component to a random value.
`void`	`setRandomPosState()` Sets the position state of this component to a random value.
`void`	`setRandomVelState()` Sets the velocity state of this component to a random value.
`void`	`setState(DataBuffer data)` Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
`void`	`setVelocity(Vector3d vel)`
`int`	`setVelState(double[] buf, int idx)`
`void`	`transformGeometry(AffineTransform3dBase X)` Applies an affine transformation to the geometry of this component.
`void`	`transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags)` Transforms the geometry of this component, using the geometry transformer `gtr` to transform its individual attributes.
`boolean`	`velocityLimitExceeded(double tlimit, double rlimit)` Checks if the current component velocity exceeds specified limits.
`void`	`zeroExternalForces()`
`void`	`zeroForces()`

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase
addAttachmentRequest, addConstrainer, addMasterAttachment, connectToHierarchy, copy, disconnectFromHierarchy, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, prerender, setRenderProps, setVisible, updateBounds, 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, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, 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.HasNumericState
advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.ModelComponent
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.TransformableGeometry
transformPriority

- Field Detail
  - myProps
```
public static PropertyList myProps
```
- 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 RenderableComponentBase
    
    Returns:
    
    static information for all exported properties
  - getFrame
```
public Frame getFrame()
```
  - getPosition
```
public Point3d getPosition()
```
  - setPosition
```
public void setPosition(Point3d pos)
```
  - getVelocity
```
public Vector3d getVelocity()
```
  - setVelocity
```
public void setVelocity(Vector3d vel)
```
  - getForce
```
public Vector3d getForce()
```
  - setForce
```
public void setForce(Vector3d f)
```
  - addForce
```
public void addForce(Vector3d f)
```
  - createMassBlock
```
public MatrixBlock createMassBlock()
```
    Create a matrix block for representing the mass of this component, initialized to the component's effective mass (instrinsic mass plus the mass due to all attachmented components).
  - isMassConstant
```
public boolean isMassConstant()
```
  - getMass
```
public double getMass(double t)
```
    Returns the scalar mass of this component at time t.
  - getMass
```
public void getMass(Matrix M,
                    double t)
```
    Gets the mass of this component at a particular time. Not currently used; getEffectiveMass() is used instead.
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - getEffectiveMassForces
```
public int getEffectiveMassForces(VectorNd f,
                                  double t,
                                  int idx)
```
    Gets the mass forces for this component at a particular time. The forces should be stored in f, starting at the location specified by idx. Upon return, this method should return the value of idx incremented by the dimension of the mass forces.
    
    Parameters:
    
    f - vector to return the forces in
    
    t - current time
    
    idx - starting location within f where forces should be stored
    
    Returns:
    
    updated value for idx
  - getInverseMass
```
public void getInverseMass(Matrix Minv,
                           Matrix M)
```
    Inverts a mass for this component.
    
    Specified by:
    
    getInverseMass in interface DynamicAgent
    
    Overrides:
    
    getInverseMass in class DynamicComponentBase
    
    Parameters:
    
    Minv - matrix to return the inverse mass in
    
    M - matrix containing the mass to be inverted
  - resetEffectiveMass
```
public void resetEffectiveMass()
```
    Resets the effective mass of this component to the nominal mass.
  - addEffectiveMass
```
public void addEffectiveMass(double m)
```
  - getEffectiveMass
```
public void getEffectiveMass(Matrix M,
                             double t)
```
    Gets the effective mass of this component at a particular time. The effective mass is the nominal mass plus any additional mass incurred from attached components.
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - getEffectiveMass
```
public double getEffectiveMass()
```
    Gets the effective scalar mass of this component. The effective mass is the nominal mass plus any additional mass incurred from attached components.
    
    Returns:
    
    effective scalar mass
  - mulInverseEffectiveMass
```
public int mulInverseEffectiveMass(Matrix M,
                                   double[] a,
                                   double[] f,
                                   int idx)
```
  - addSolveBlock
```
public void addSolveBlock(SparseNumberedBlockMatrix S)
```
    Specified by:
    
    addSolveBlock in interface DynamicAgent
    
    Specified by:
    
    addSolveBlock in class DynamicComponentBase
  - addPosImpulse
```
public void addPosImpulse(double[] xbuf,
                          int xidx,
                          double h,
                          double[] vbuf,
                          int vidx)
```
  - getPosDerivative
```
public int getPosDerivative(double[] buf,
                            int idx)
```
  - getPosState
```
public int getPosState(double[] buf,
                       int idx)
```
  - setPosState
```
public int setPosState(double[] buf,
                       int idx)
```
  - getVelState
```
public int getVelState(double[] buf,
                       int idx)
```
  - setVelState
```
public int setVelState(double[] buf,
                       int idx)
```
  - setForce
```
public int setForce(double[] buf,
                    int idx)
```
  - addForce
```
public int addForce(double[] buf,
                    int idx)
```
  - getForce
```
public int getForce(double[] buf,
                    int idx)
```
  - getPosStateSize
```
public int getPosStateSize()
```
  - getVelStateSize
```
public int getVelStateSize()
```
  - zeroForces
```
public void zeroForces()
```
  - zeroExternalForces
```
public void zeroExternalForces()
```
  - applyExternalForces
```
public void applyExternalForces()
```
  - velocityLimitExceeded
```
public boolean velocityLimitExceeded(double tlimit,
                                     double rlimit)
```
    Description copied from interface: DynamicAgent
    
    Checks if the current component velocity exceeds specified limits. Used to check solution stability.
    
    Parameters:
    
    tlimit - translational velocity limit
    
    rlimit - rotational velocity limit
    
    Returns:
    
    true if velocity exceeds specified limits
  - applyGravity
```
public void applyGravity(Vector3d gacc)
```
    Shouldn't need this because gravity is applied to world nodes
  - hasForce
```
public boolean hasForce()
```
    Description copied from interface: DynamicAgent
    
    Queries whether or not this component actually exerts its own state-dependent forces (typically associated with damping). If it does not, then the component makes no contribution to its stiffness and damping matrices, a fact that can be exploited to improve the efficiency of the physics solve.
    Any action that alters the return value of this method should propagate a StructureChangeEvent. This can be a state-not-changed event if component's state structure is not altered (which it typically won't be).
    
    Returns:
    
    true if this component exerts its own forces.
  - getState
```
public void getState(DataBuffer data)
```
    Description copied from interface: HasNumericState
    
    Saves state information for this component by adding data to the supplied DataBuffer. Existing data in the buffer should not be disturbed.
    
    Parameters:
    
    data - buffer for storing the state values.
  - setState
```
public void setState(DataBuffer data)
```
    Description copied from interface: HasNumericState
    
    Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
    
    Parameters:
    
    data - buffer containing the state information
  - setRandomPosState
```
public void setRandomPosState()
```
    Description copied from interface: DynamicAgent
    
    Sets the position state of this component to a random value. Used for testing.
  - setRandomVelState
```
public void setRandomVelState()
```
    Description copied from interface: DynamicAgent
    
    Sets the velocity state of this component to a random value. Used for testing.
  - setRandomForce
```
public void setRandomForce()
```
    Description copied from interface: DynamicAgent
    
    Sets the force of this component to a random value. Used for testing.
  - 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.
    
    Parameters:
    
    t - time (seconds)
  - addSolveBlocks
```
public 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.
    
    Parameters:
    
    M - solve matrix to which blocks should be added
  - addPosJacobian
```
public void addPosJacobian(SparseNumberedBlockMatrix M,
                           double s)
```
    Description copied from interface: ForceEffector
    
    Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
    M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.
    
    Parameters:
    
    M - solve matrix to which scaled position Jacobian is to be added
    
    s - scaling factor for position Jacobian
  - addVelJacobian
```
public void addVelJacobian(SparseNumberedBlockMatrix M,
                           double s)
```
    Description copied from interface: ForceEffector
    
    Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
    M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.
    
    Parameters:
    
    M - solve matrix to which scaled velocity Jacobian is to be added
    
    s - scaling factor for velocity Jacobian
  - 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.
    
    Returns:
    
    solve matrix type resulting from adding Jacobian terms
  - transformGeometry
```
public void transformGeometry(AffineTransform3dBase X)
```
    Description copied from interface: TransformableGeometry
    Applies an affine transformation to the geometry of this component. This method should be equivalent to
```
 TransformGeometryContext.transform (this, X, 0);
 
```
    Specified by:
    
    transformGeometry in interface TransformableGeometry
    
    Overrides:
    
    transformGeometry in class DynamicComponentBase
    
    Parameters:
    
    X - affine transformation to apply to the component
  - transformGeometry
```
public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)
```
    Description copied from interface: TransformableGeometry
    
    Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes. The context argument supplies information about what other components are currently being transformed, and also allows the requesting of update actions to be performed after all transform called have completed. The context is also the usual entity that calls this method, from within its TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method. The argument flags provides flags to specify various conditions associated with the the transformation. At present, the available flags are TransformableGeometry.TG_SIMULATING and TransformableGeometry.TG_ARTICULATED.
    This method is not usually called directly by applications. Instead, it is typically called from within the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of the context, which takes care of the various operations needed for a complete transform operation, including calling TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int) to collect other components that should be transformed, calling TransformableGeometry.transformGeometry(maspack.matrix.AffineTransform3dBase) for each component, notifying component parents that the geometry has changed, and calling any requested TransformGeometryActions. More details are given in the documentation for TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int).
    TransformGeometryContext provides a number of static convenience transform methods which take care of building the context and calling apply() for a specified set of components.
    This method should not generally call transformGeometry() for its descendant components. Instead, descendants needing transformation should be specified by adding them to the context in the method TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int).
    
    Specified by:
    
    transformGeometry in interface TransformableGeometry
    
    Overrides:
    
    transformGeometry in class DynamicComponentBase
    
    Parameters:
    
    gtr - transformer implementing the transform
    
    context - context information, including what other components are being transformed
    
    flags - specifies conditions associated with the transformation
  - addTransformableDependencies
```
public void addTransformableDependencies(TransformGeometryContext context,
                                         int flags)
```
    Description copied from interface: TransformableGeometry
    
    Adds to context any transformable components which should be transformed as the same time as this component. This will generally include descendant components, and may also include other components to which this component is connected in some way.
    This method is generally called from with the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of a TransformGeometryContext.
    
    Specified by:
    
    addTransformableDependencies in interface TransformableGeometry
    
    Overrides:
    
    addTransformableDependencies in class DynamicComponentBase
    
    Parameters:
    
    context - context information, to which the dependent components are added.
    
    flags - specifies conditions associated with the transformation
  - defaultRenderPropsAreNull
```
public boolean defaultRenderPropsAreNull()
```
    Overrides:
    
    defaultRenderPropsAreNull in class RenderableComponentBase
  - 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 RenderableComponentBase
    
    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.

Class FrameNode3d

Nested Class Summary

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

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface maspack.render.IsRenderable

Method Summary

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.HasNumericState

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.TransformableGeometry

Field Detail

myProps

Method Detail

getAllPropertyInfo

getFrame

getPosition

setPosition

getVelocity

setVelocity

getForce

setForce

addForce

createMassBlock

isMassConstant

getMass

getMass

getEffectiveMassForces

getInverseMass

resetEffectiveMass

addEffectiveMass

getEffectiveMass

getEffectiveMass

mulInverseEffectiveMass

addSolveBlock

addPosImpulse

getPosDerivative

getPosState

setPosState

getVelState

setVelState

setForce

addForce

getForce

getPosStateSize

getVelStateSize

zeroForces

zeroExternalForces

applyExternalForces

velocityLimitExceeded

applyGravity

hasForce

getState

setState

setRandomPosState

setRandomVelState

setRandomForce

applyForces

addSolveBlocks

addPosJacobian

addVelJacobian

getJacobianType

transformGeometry

transformGeometry

addTransformableDependencies

defaultRenderPropsAreNull

render