artisynth.core.inverse

Class ConstraintForceTarget

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.inverse.ConstraintForceTarget

All Implemented Interfaces:

TrackingTarget, ModelComponent, PostScannable, RenderableComponent, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

ForceTarget

public class ConstraintForceTarget
extends RenderableComponentBase
implements TrackingTarget

Contains information about a single body connector whose constraint forces are to be controlled using the ForceTargetTerm.

Author:

Ian Stavness, Benedikt Sagl

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 double	DEFAULT_ARROW_SIZE
static double	DEFAULT_WEIGHT
static PropertyList	myProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
ConstraintForceTarget()
ConstraintForceTarget(BodyConnector con, VectorNd targetLambda)

Method Summary

Modifier and Type	Method and Description
int	addForceJacobian(SparseBlockMatrix J, int bi, int solve_index)
RenderProps	createRenderProps() Factory method to create render properties appropriate to this object.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
double	getArrowSize()
BodyConnector	getConnector()
BodyConnector	getSourceComp() Returns the source component associated with this target.
VectorNd	getSubWeights() Queries the subweights of this target.
VectorNd	getTargetLambda()
int	getTargetSize() Queries the number of DOFs in the target.
double	getWeight() Queries the weight of this target.
int	numBilateralConstraints()
void	prerender(RenderList list) Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates).
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
void	setArrowSize(double size)
void	setConnector(BodyConnector connector)
void	setSubWeights(VectorNd weights) Sets the subweights for this target.
void	setTargetLambda(VectorNd lam)
void	setWeight(double w) Sets the weight for this target.

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

copy, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateBounds, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, hasState, 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.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, 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

Field Detail

DEFAULT_WEIGHT

public static final double DEFAULT_WEIGHT

See Also:

Constant Field Values

DEFAULT_ARROW_SIZE

public static final double DEFAULT_ARROW_SIZE

See Also:

Constant Field Values

myProps

public static PropertyList myProps

Constructor Detail

ConstraintForceTarget

public ConstraintForceTarget()

ConstraintForceTarget

public ConstraintForceTarget(BodyConnector con,
                             VectorNd targetLambda)

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

getWeight

public double getWeight()

Description copied from interface: TrackingTarget

Queries the weight of this target.

Specified by:

getWeight in interface TrackingTarget

Returns:

target weight

See Also:

TrackingTarget.setWeight(double)

setWeight

public void setWeight(double w)

Description copied from interface: TrackingTarget

Sets the weight for this target. Target weights have a default value of 1, and are used to prioritize this target in the tracking computation. Targets with higher weights will be tracked more accurately; targets with a weight of 0 will not be tracked at all.

Specified by:

setWeight in interface TrackingTarget

Parameters:

w - new target weight

See Also:

TrackingTarget.getWeight()

getSubWeights

public VectorNd getSubWeights()

Description copied from interface: TrackingTarget

Queries the subweights of this target.

Specified by:

getSubWeights in interface TrackingTarget

Returns:

target subweights

See Also:

TrackingTarget.setSubWeights(maspack.matrix.VectorNd)

setSubWeights

public void setSubWeights(VectorNd weights)

Description copied from interface: TrackingTarget

Sets the subweights for this target. The number of subweights is equal to TrackingTarget.getTargetSize(), and each has a default value of 1. Subweights are multiplied by the target weight (returned by TrackingTarget.getWeight()) to yield a net weight used to prioritize each degree of freedom in the tracking computation, with higher weights resulting in more accurate tracking and a weight of 0 resulting in no tracking at all.

Specified by:

setSubWeights in interface TrackingTarget

Parameters:

weights - new target subweights

See Also:

TrackingTarget.getSubWeights()

getTargetLambda

public VectorNd getTargetLambda()

setTargetLambda

public void setTargetLambda(VectorNd lam)

getTargetSize

public int getTargetSize()

Description copied from interface: TrackingTarget

Queries the number of DOFs in the target.

Specified by:

getTargetSize in interface TrackingTarget

Returns:

number of target DOFs

setConnector

public void setConnector(BodyConnector connector)

numBilateralConstraints

public int numBilateralConstraints()

getSourceComp

public BodyConnector getSourceComp()

Description copied from interface: TrackingTarget

Returns the source component associated with this target. This is the component whose positions or forces are intended to track the desired target.

Specified by:

getSourceComp in interface TrackingTarget

Returns:

target source component

getConnector

public BodyConnector getConnector()

addForceJacobian

public int addForceJacobian(SparseBlockMatrix J,
                            int bi,
                            int solve_index)

createRenderProps

public RenderProps createRenderProps()

Description copied from interface: HasRenderProps

Factory method to create render properties appropriate to this object.

Specified by:

createRenderProps in interface HasRenderProps

Overrides:

createRenderProps in class RenderableComponentBase

Returns:

new render properties for this object

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.

prerender

public void prerender(RenderList list)

Description copied from interface: IsRenderable

Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates). The object may add internal objects to the list of objects being rendered, by calling

list.addIfVisible (obj);

for each of the objects in question.

Specified by:

prerender in interface IsRenderable

Overrides:

prerender in class RenderableComponentBase

Parameters:

list - list of objects to be rendered

setArrowSize

public void setArrowSize(double size)

getArrowSize

public double getArrowSize()