BodyConnector (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.BodyConnector

All Implemented Interfaces:

Constrainer, HasCoordinateFrame, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

JointBase, PlanarConnector, SegmentedPlanarConnector
```
public abstract class BodyConnector
extends RenderableComponentBase
implements ScalableUnits, TransformableGeometry, HasNumericState, Constrainer, HasCoordinateFrame
```
Base class for implementing constraints between two connectable bodies, or between a single connectable body and ground.

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 boolean debug

static PropertyList myProps

static boolean useOldDerivativeMethod
- 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 boolean`	`debug`
`static PropertyList`	`myProps`
`static boolean`	`useOldDerivativeMethod`

Method Summary

All Methods Static Methods Instance 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`	`addMasterBlocks(SparseBlockMatrix GT, int bj, Matrix GC, FrameAttachment attachment)`
`void`	`addTransformableDependencies(TransformGeometryContext context, int flags)` Adds to `context` any transformable components which should be transformed as the same time as this component.
`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`	`computeConstraintMatrixA(Matrix6x1 GC, Wrench wr, double scale)`
`void`	`computeConstraintMatrixB(Matrix6x1 GC, Wrench wr, double scale)`
`void`	`connectToHierarchy(CompositeComponent hcomp)` Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent).
`BodyConnector`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)`
`void`	`disconnectFromHierarchy(CompositeComponent hcomp)` Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent).
`static boolean`	`findAttachedBodies(ConnectableBody body, ConnectableBody exclude, java.util.List<ConnectableBody> bodies)` Finds all connectable bodies which are attached to a given body via connectors.
`double`	`getActivation(int idx)` Deprecated. Use `getConstraintForce(int)` instead.
`PropertyInfoList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`double`	`getAxisLength()`
`Wrench`	`getBilateralForceInA()` If body A is a Frame, computes and returns the wrench acting on body A in response to the most recent bilateral constraint forces.
`void`	`getBilateralForceInA(Wrench wr)` If body A is a Frame, computes the wrench acting on body A in response to the most recent bilateral constraint forces.
`Wrench`	`getBilateralForceInB()` If body B is a Frame, computes and returns the wrench acting on body B in response to the most recent bilateral constraint forces.
`void`	`getBilateralForceInB(Wrench wr)` If body B is a Frame, computes the wrench acting on body B in response to the most recent bilateral constraint forces.
`Wrench`	`getBilateralForceInC()` Returns the most recent bilateral constraint wrench acting on constraint frame C.
`void`	`getBilateralForceInC(Wrench wr)` Gets the most recent bilateral constraint wrench acting on constraint frame C.
`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.
`ConnectableBody`	`getBodyA()` Returns the first body associated with this constrainer.
`ConnectableBody`	`getBodyB()` Returns the second body associated with this constrainer, or null if there is no such body.
`VectorNd`	`getCompliance()` Returns the compliance settings for all the constraints in this connector.
`void`	`getConstrainedComponents(java.util.List<DynamicComponent> list)` Collected all the dynamic components constrained by this constrainer.
`RigidBodyConstraint`	`getConstraint(int idx)` For debugging.
`VectorNi`	`getConstraintFlags()` Returns flags for all this connector's constraints.
`double`	`getConstraintForce(int idx)` Returns the current force for the `idx`-th constraint in this connector.
`boolean`	`getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor)`
`RigidBodyCoupling`	`getCoupling()` Returns the coupling used by this connector.
`void`	`getCurrentTCD(RigidTransform3d TCD)` Queries the current transform from frame C to D.
`RigidTransform3d`	`getCurrentTCW()` Returns the current pose of the C frame, in world coordinates.
`void`	`getCurrentTCW(RigidTransform3d TCW)` Returns the current pose of the C frame, in world coordinates.
`RigidTransform3d`	`getCurrentTDW()` Returns the current pose of the D frame, in world coordinates.
`void`	`getCurrentTDW(RigidTransform3d TDW)` Returns the current pose of the D frame, in world coordinates.
`VectorNd`	`getDamping()` Returns the damping settings for all the constraints in this connector.
`Renderer.AxisDrawStyle`	`getDrawFrameC()`
`Renderer.AxisDrawStyle`	`getDrawFrameD()`
`FrameAttachment`	`getFrameAttachmentA()` Returns the `Frame` attachment which attaches connector frame C to the coordinate frame of body A.
`FrameAttachment`	`getFrameAttachmentB()` Returns the `Frame` attachment which attaches connector frame D to the coordinate frame of body B (or to world if body B is `null`).
`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)`
`void`	`getHardReferences(java.util.List<ModelComponent> refs)` Appends all hard references for this component to a list.
`double`	`getLinearCompliance()` Returns the uniform compliance value, if any, for the linear constraints of this connector.
`double`	`getPenetrationTol()` Queries the penetration tolerance for this connector.
`PropertyMode`	`getPenetrationTolMode()`
`void`	`getPose(RigidTransform3d TDW)` Returns the pose of this connector, which is defined by its D coordinate frame.
`RigidTransform3d`	`getRenderFrame()`
`double`	`getRotaryCompliance()` Returns the uniform compliance value, if any, for the rotary constraints of this connector.
`double`	`getRotaryLimitTol()` Queries the rotary limit tolerance for this connector.
`PropertyMode`	`getRotaryLimitTolMode()`
`void`	`getState(DataBuffer data)` Saves state information for this component by adding data to the supplied DataBuffer.
`int`	`getStateVersion()` Returns a version number for this component's state.
`boolean`	`getTransformDGeometryOnly()` Queries whether geometry transforms applied to this connector change only the D frame.
`boolean`	`getTransformPositionOnly()` Queries whether geometry transforms applied to this connector change only the origins of the transforms TDW and/or TDC.
`Wrench`	`getUnilateralForceInA()` If body A is a Frame, computes and returns the wrench acting on body A in response to the most recent unilateral constraint forces.
`void`	`getUnilateralForceInA(Wrench wr)` If body A is a Frame, computes the wrench acting on body A in response to the most recent unilateral constraint forces.
`Wrench`	`getUnilateralForceInB()` If body B is a Frame, computes and returns the wrench acting on body B in response to the most recent unilateral constraint forces.
`void`	`getUnilateralForceInB(Wrench wr)` If body B is a Frame, computes the wrench acting on body B in response to the most recent unilateral constraint forces.
`Wrench`	`getUnilateralForceInC()` Returns the most recent unilateral constraint wrench acting on constraint frame C.
`void`	`getUnilateralForceInC(Wrench wr)` Gets the most recent unilateral constraint wrench acting on constraint frame C.
`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)`
`boolean`	`hasState()` Queries if this component has state.
`boolean`	`isActive()` Returns true if this connector is enabled and at least one of it's underlying master components is active.
`boolean`	`isConnectedToBodies()` Queries whether or not this connector is connected to its bodies via a component hierarchy.
`boolean`	`isDuplicatable()`
`boolean`	`isEnabled()` Queries whether this connector is enabled.
`boolean`	`isNotAttached()` Returns true if this connector is enabled and at least one of it's underlying master components is not attached.
`int`	`maxFrictionConstraintSets()` Returns the maximum number of friction constraint sets that can be expected for this constraint.
`int`	`numBilateralConstraints()` Returns the number of bilateral constraints associated with this connector.
`int`	`numConstraints()` Returns the total number of constraints associated with this connector.
`int`	`numEngagedUnilateralConstraints()` Returns the number of unilateral constraints which are currently engaged.
`int`	`numUnilateralConstraints()` Returns the number of unilateral constraints associated with this connector (engaged or otherwise).
`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).
`static void`	`printConnectedBodies(ConnectableBody body)`
`void`	`printConstraintInfo()` Prints constraint information to the standard output.
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double m)` Nothing to do for scale mass.
`void`	`setAlwaysAdjustBodyA(boolean set)` Sets the connector to explicitly adjust body A's pose only when pose needs to be manually corrected to account for constraints.
`void`	`setAxisLength(double len)`
`int`	`setBilateralForces(VectorNd lam, double s, int idx)` Sets the bilateral forces that were computed to enforce this constraint.
`void`	`setBodies(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TDW)` Attaches two connectable bodies, `bodyA` and `bodyB`, to this connector.
`void`	`setBodies(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TCW, RigidTransform3d TDW)` Attaches two connectable bodies, `bodyA` and `bodyB`, to this connector.
`void`	`setBodies(ConnectableBody bodyA, FrameAttachment attachmentA, ConnectableBody bodyB, FrameAttachment attachmentB)` Attaches two connectable bodies, `bodyA` and `bodyB`, to this connector, using explicitly specified `Frame` attachments to attach the connector frames C and D to the coordinate frames A and B of the two bodies.
`void`	`setBodies(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d TDB)` Attaches two rigid bodies, `bodyA` and `bodyB`, to this connector.
`void`	`setCompliance(VectorNd compliance)` Sets the compliance settings for the constraints in this connector, including bilateral and unilateral constraints.
`void`	`setCurrentTCW(RigidTransform3d TCW)` Sets the current pose of the C frame, in world coordinates, and updates the attachment between C and body A accordingly.
`void`	`setCurrentTDW(RigidTransform3d TDW)` Sets the current pose of the D frame, in world coordinates, and updates the attachment between D and body B accordingly.
`void`	`setDamping(VectorNd damping)` Sets the damping settings for the constraints in this connector, including bilateral and unilateral constraints.
`void`	`setDrawFrameC(Renderer.AxisDrawStyle style)`
`void`	`setDrawFrameD(Renderer.AxisDrawStyle style)`
`void`	`setEnabled(boolean enabled)` Sets whether or not this connector is enabled.
`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`	`setLinearCompliance(double c)` Sets a uniform compliance for the linear constraints of this connector.
`void`	`setPenetrationTol(double tol)` Sets the penetration tolerance for this connector.
`void`	`setPenetrationTolMode(PropertyMode mode)`
`void`	`setRotaryCompliance(double c)` Sets a uniform compliance for the rotary constraints of this connector.
`void`	`setRotaryLimitTol(double tol)` Sets the rotary limit tolerance for this connector.
`void`	`setRotaryLimitTolMode(PropertyMode mode)`
`void`	`setState(DataBuffer data)` Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
`void`	`setTransformDGeometryOnly(boolean enable)` Sets whether geometry transforms applied to this connector change only the D frame.
`void`	`setTransformPositionOnly(boolean posOnly)` Sets whether geometry transforms applied to this connector change only the origins of the transforms TDW and/or TDC (and ignore changed in orientation).
`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`	`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.
`void`	`updateAttachments()` XXX Update attachments prior to calling getCurrentTDW(), etc.
`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.
`void`	`zeroForces()` Zeros all bilateral and unilateral constraint forces in this constraint.

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
createRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, 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.TransformableGeometry
transformPriority

Methods inherited from interface artisynth.core.modelbase.HasNumericState
advanceState, getAuxVarDerivative, getAuxVarState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.ModelComponent
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

- Field Detail
  - debug
```
public static boolean debug
```
  - useOldDerivativeMethod
```
public static boolean useOldDerivativeMethod
```
  - myProps
```
public static PropertyList myProps
```
- Method Detail
  - setPenetrationTol
```
public void setPenetrationTol(double tol)
```
    Sets the penetration tolerance for this connector. This is the default amount of penetration allowed for linear unilateral constraints. (Small amounts of penetration help prevent bouncing and chatter.) Setting a value of -1 will cause a default value to be computed based on the radius of the topmost MechModel.
    
    Parameters:
    
    tol - new penetration tolerance
  - getPenetrationTol
```
public double getPenetrationTol()
```
    Queries the penetration tolerance for this connector. See getPenetrationTol().
    
    Returns:
    
    penetration tolerance
  - getPenetrationTolMode
```
public PropertyMode getPenetrationTolMode()
```
  - setPenetrationTolMode
```
public void setPenetrationTolMode(PropertyMode mode)
```
  - setRotaryLimitTol
```
public void setRotaryLimitTol(double tol)
```
    Sets the rotary limit tolerance for this connector. This is the default amount of penetration allowed for rotary unilateral constraints. (Small amounts of penetration help prevent bouncing and chatter.)
    
    Parameters:
    
    tol - new rotary limit tolerance
  - getRotaryLimitTol
```
public double getRotaryLimitTol()
```
    Queries the rotary limit tolerance for this connector. See getRotaryLimitTol().
    
    Returns:
    
    rotary limit tolerance
  - getRotaryLimitTolMode
```
public PropertyMode getRotaryLimitTolMode()
```
  - setRotaryLimitTolMode
```
public void setRotaryLimitTolMode(PropertyMode mode)
```
  - getDrawFrameD
```
public Renderer.AxisDrawStyle getDrawFrameD()
```
  - setDrawFrameD
```
public void setDrawFrameD(Renderer.AxisDrawStyle style)
```
  - getDrawFrameC
```
public Renderer.AxisDrawStyle getDrawFrameC()
```
  - setDrawFrameC
```
public void setDrawFrameC(Renderer.AxisDrawStyle style)
```
  - getAxisLength
```
public double getAxisLength()
```
  - setAxisLength
```
public void setAxisLength(double len)
```
  - getBilateralForceInA
```
public void getBilateralForceInA(Wrench wr)
```
    If body A is a Frame, computes the wrench acting on body A in response to the most recent bilateral constraint forces. If body A is not a Frame, the wrench is set to zero. The wrench is in world coordinates.
    
    Parameters:
    
    wr - returns the bilateral constraint wrench acting on A
  - getBilateralForceInA
```
public Wrench getBilateralForceInA()
```
    If body A is a Frame, computes and returns the wrench acting on body A in response to the most recent bilateral constraint forces. If body A is not a Frame, the wrench is set to zero. The wrench is in world coordinates.
    
    Returns:
    
    the bilateral constraint wrench acting on A
  - getBilateralForceInB
```
public void getBilateralForceInB(Wrench wr)
```
    If body B is a Frame, computes the wrench acting on body B in response to the most recent bilateral constraint forces. If body B is null, this method computes the wrench acting on world coordinates. Otherwise, if body B is not a Frame, the wrench is set to zero. The wrench is in world coordinates.
    
    Parameters:
    
    wr - returns the bilateral constraint wrench acting on B (or world)
  - getBilateralForceInB
```
public Wrench getBilateralForceInB()
```
    If body B is a Frame, computes and returns the wrench acting on body B in response to the most recent bilateral constraint forces. If body B is null, this method computes the wrench acting on world coordinates. Otherwise, if body B is not a Frame, the wrench is set to zero. The wrench is in world coordinates.
    
    Returns:
    
    the bilateral constraint wrench acting on B (or world)
  - getBilateralForceInC
```
public void getBilateralForceInC(Wrench wr)
```
    Gets the most recent bilateral constraint wrench acting on constraint frame C. The wrench is given in the coordinates of C.
    
    Parameters:
    
    wr - returns the bilateral constraint wrench acting on C
  - getBilateralForceInC
```
public Wrench getBilateralForceInC()
```
    Returns the most recent bilateral constraint wrench acting on constraint frame C. The wrench is given in the coordinates of C.
    
    Returns:
    
    the bilateral constraint wrench acting on C
  - printConstraintInfo
```
public void printConstraintInfo()
```
    Prints constraint information to the standard output. For debugging only.
  - getUnilateralForceInA
```
public void getUnilateralForceInA(Wrench wr)
```
    If body A is a Frame, computes the wrench acting on body A in response to the most recent unilateral constraint forces. If body A is not a Frame, the computed wrench is set to zero. The wrench is in world coordinates.
    
    Parameters:
    
    wr - returns the unilateral constraint wrench acting on A
  - getUnilateralForceInA
```
public Wrench getUnilateralForceInA()
```
    If body A is a Frame, computes and returns the wrench acting on body A in response to the most recent unilateral constraint forces. If body A is not a Frame, the wrench is set to zero. The wrench is in world coordinates.
    
    Returns:
    
    the unilateral constraint wrench acting on A
  - getUnilateralForceInB
```
public void getUnilateralForceInB(Wrench wr)
```
    If body B is a Frame, computes the wrench acting on body B in response to the most recent unilateral constraint forces. If body B is null, this method computes the wrench acting on world coordinates. Otherwise, if body B is not a Frame, the wrench is set to zero. The wrench is in world coordinates.
    
    Parameters:
    
    wr - returns the unilateral constraint wrench acting on B (or world)
  - getUnilateralForceInB
```
public Wrench getUnilateralForceInB()
```
    If body B is a Frame, computes and returns the wrench acting on body B in response to the most recent unilateral constraint forces. If body B is null, this method computes the wrench acting on world coordinates. Otherwise, if body B is not a Frame, the wrench is set to zero. The wrench is in world coordinates.
    
    Returns:
    
    the unilateral constraint wrench acting on B (or world)
  - getUnilateralForceInC
```
public void getUnilateralForceInC(Wrench wr)
```
    Gets the most recent unilateral constraint wrench acting on constraint frame C. The wrench is given in the coordinates of C.
    
    Parameters:
    
    wr - returns the unilateral constraint wrench acting on C
  - getUnilateralForceInC
```
public Wrench getUnilateralForceInC()
```
    Returns the most recent unilateral constraint wrench acting on constraint frame C. The wrench is given in the coordinates of C.
    
    Returns:
    
    the unilateral constraint wrench acting on C
  - getConstraintFlags
```
public VectorNi getConstraintFlags()
```
    Returns flags for all this connector's constraints. Flags are or-ed combinations of RigidBodyConstraint.BILATERAL, RigidBodyConstraint.LINEAR, RigidBodyConstraint.ROTARY, and RigidBodyConstraint.CONSTANT.
    
    Returns:
    
    flags for this connector's constraints.
  - getLinearCompliance
```
public double getLinearCompliance()
```
    Returns the uniform compliance value, if any, for the linear constraints of this connector. Unilateral constraints associated with coordinate limits are ignored. A uniform compliance value is also associated with a corresponding critical damping value. A value of -1 indicate that not uniform value exists.
    
    Returns:
    
    linear compliance value, or -1 if no uniform value exists.
  - setLinearCompliance
```
public void setLinearCompliance(double c)
```
    Sets a uniform compliance for the linear constraints of this connector. Unilateral constraints associated with coordinate limits are ignored. If the specified value c is > 0, then an appropriate critical damping value is also set for each linear constraint. A value of c < 0 is ignored and leaves all compliance and damping values unchanged.
    
    Parameters:
    
    c - uniform linear compliance value
  - getRotaryCompliance
```
public double getRotaryCompliance()
```
    Returns the uniform compliance value, if any, for the rotary constraints of this connector. Unilateral constraints associated with coordinate limits are ignored. A uniform compliance value is also associated with a corresponding critical damping value. A value of -1 indicate that not uniform value exists.
    
    Returns:
    
    rotary compliance value, or -1 if no uniform value exists.
  - setRotaryCompliance
```
public void setRotaryCompliance(double c)
```
    Sets a uniform compliance for the rotary constraints of this connector. Unilateral constraints associated with coordinate limits are ignored. If the specified value c is > 0, then an appropriate critical damping value is also set for each rotary constraint. A value of c < 0 is ignored and leaves all compliance and damping values unchanged.
    
    Parameters:
    
    c - uniform rotary compliance value
  - getAllPropertyInfo
```
public PropertyInfoList 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
  - getCompliance
```
public VectorNd getCompliance()
```
    Returns the compliance settings for all the constraints in this connector. See setCompliance(maspack.matrix.VectorNd) for more information.
    
    Returns:
    
    compliance settings for all constraints
  - setCompliance
```
public void setCompliance(VectorNd compliance)
```
    Sets the compliance settings for the constraints in this connector, including bilateral and unilateral constraints. The default values are 0. Setting a compliance value > 0 for a particular constraint causes that constraint to be enforced softly, with a stiffness equal to the inverse of the compliance.
    If the size n of compliance is less than numConstraints(), then compliance will only be set for the first n constraints.
    
    Parameters:
    
    compliance - vector containing new compliance settings
  - getDamping
```
public VectorNd getDamping()
```
    Returns the damping settings for all the constraints in this connector. See setDamping(maspack.matrix.VectorNd) for more information.
    
    Returns:
    
    damping settings for all constraints
  - setDamping
```
public void setDamping(VectorNd damping)
```
    Sets the damping settings for the constraints in this connector, including bilateral and unilateral constraints. The default values are 0. Damping values only have effect for constraints with a compliance value > 0, in which case they specify a damping factor for motion in the constraint direction.
    If the size n of damping is less than numConstraints(), then damping will only be set for the first n constraints.
    
    Parameters:
    
    damping - vector containing new damping settings
  - setEnabled
```
public void setEnabled(boolean enabled)
```
    Sets whether or not this connector is enabled. Connectors are enabled by default. Disabled connectors exert no constraints on their associated bodies.
    
    Parameters:
    
    enabled - if true, enables this connector
  - isEnabled
```
public boolean isEnabled()
```
    Queries whether this connector is enabled.
    
    Returns:
    
    true if this connector is enabled
  - getTransformPositionOnly
```
public boolean getTransformPositionOnly()
```
    Queries whether geometry transforms applied to this connector change only the origins of the transforms TDW and/or TDC.
    
    Returns:
    
    true if geometry transforms are applied only to the origins of TDW and/or TCD.
  - setTransformPositionOnly
```
public void setTransformPositionOnly(boolean posOnly)
```
    Sets whether geometry transforms applied to this connector change only the origins of the transforms TDW and/or TDC (and ignore changed in orientation). The default value is false.
    
    Parameters:
    
    posOnly - if true, geometry transforms are applied only to the origins of TDW and/or TCD.
  - getTransformDGeometryOnly
```
public boolean getTransformDGeometryOnly()
```
    Queries whether geometry transforms applied to this connector change only the D frame.
    
    Returns:
    
    true if geometry transforms are applied only to the D frame.
  - setTransformDGeometryOnly
```
public void setTransformDGeometryOnly(boolean enable)
```
    Sets whether geometry transforms applied to this connector change only the D frame.
    
    Parameters:
    
    enable - if true, geometry transforms are applied only to the D frame
  - getCoupling
```
public RigidBodyCoupling getCoupling()
```
    Returns the coupling used by this connector.
    
    Returns:
    
    coupling used by this connector
  - getBodyA
```
public ConnectableBody getBodyA()
```
    Returns the first body associated with this constrainer.
    
    Returns:
    
    first body associated with this constrainer
  - getBodyB
```
public ConnectableBody getBodyB()
```
    Returns the second body associated with this constrainer, or null if there is no such body.
    
    Returns:
    
    second body associated with this constrainer
  - isConnectedToBodies
```
public boolean isConnectedToBodies()
```
    Queries whether or not this connector is connected to its bodies via a component hierarchy.
    
    Returns:
    
    true if this connector is connected to its bodies
  - getCurrentTCD
```
public void getCurrentTCD(RigidTransform3d TCD)
```
    Queries the current transform from frame C to D. If the connector is attached to its bodies, this is computed from getCurrentTCW() and getCurrentTDW(). Otherwise, it is determined from the underling coupling and its joint coordinate settings (if any).
    
    Parameters:
    
    TCD - returns the transform from C to D
  - numConstraints
```
public int numConstraints()
```
    Returns the total number of constraints associated with this connector. This is the sum of numBilateralConstraints() and numUnilateralConstraints().
    
    Returns:
    
    total number of constraints
  - numBilateralConstraints
```
public int numBilateralConstraints()
```
    Returns the number of bilateral constraints associated with this connector.
    
    Returns:
    
    number of bilateral constraints
  - numUnilateralConstraints
```
public int numUnilateralConstraints()
```
    Returns the number of unilateral constraints associated with this connector (engaged or otherwise).
    
    Returns:
    
    number of unilateral constraints
  - numEngagedUnilateralConstraints
```
public int numEngagedUnilateralConstraints()
```
    Returns the number of unilateral constraints which are currently engaged.
    
    Returns:
    
    number of currently engaged unilateral constraints
  - getBilateralSizes
```
public void getBilateralSizes(VectorNi sizes)
```
    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)
```
    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)
```
    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
  - setBilateralForces
```
public int setBilateralForces(VectorNd lam,
                              double s,
                              int idx)
```
    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
    
    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
  - getBilateralForces
```
public 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). 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
    
    Parameters:
    
    lam - returns the forces
    
    idx - starting index for forces in lam
    
    Returns:
    
    updated value of idx
  - zeroForces
```
public void zeroForces()
```
    Zeros all bilateral and unilateral constraint forces in this constraint.
    
    Specified by:
    
    zeroForces in interface Constrainer
  - getUnilateralSizes
```
public void getUnilateralSizes(VectorNi sizes)
```
    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)
```
    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)
```
    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
  - setUnilateralForces
```
public int setUnilateralForces(VectorNd the,
                               double s,
                               int idx)
```
    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
    
    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)
```
    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
    
    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
  - getUnilateralState
```
public int getUnilateralState(VectorNi state,
                              int idx)
```
    Specified by:
    
    getUnilateralState in interface Constrainer
  - maxFrictionConstraintSets
```
public int maxFrictionConstraintSets()
```
    Returns the maximum number of friction constraint sets that can be expected for this constraint. There should be one constraint set for each bilateral or unilateral constraint that may be associated with friction. This method is used for presizing the finfo argument that is passed to Constrainer.addFrictionConstraints(maspack.matrix.SparseBlockMatrix, java.util.ArrayList<maspack.spatialmotion.FrictionInfo>, boolean, int).
    
    Specified by:
    
    maxFrictionConstraintSets in interface Constrainer
    
    Returns:
    
    maximum number of friction constraint sets
  - addFrictionConstraints
```
public 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. 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
  - 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
    
    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
    
    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
  - getFrictionState
```
public int getFrictionState(VectorNi state,
                            int idx)
```
    Specified by:
    
    getFrictionState in interface Constrainer
  - updateConstraints
```
public double updateConstraints(double t,
                                int flags)
```
    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.List<DynamicComponent> list)
```
    Collected all the dynamic components constrained by this constrainer. Not currently used.
    
    Specified by:
    
    getConstrainedComponents in interface Constrainer
    
    Parameters:
    
    list - list to which constrained components should be appended
  - addMasterBlocks
```
public void addMasterBlocks(SparseBlockMatrix GT,
                            int bj,
                            Matrix GC,
                            FrameAttachment attachment)
```
  - computeConstraintMatrixA
```
public void computeConstraintMatrixA(Matrix6x1 GC,
                                     Wrench wr,
                                     double scale)
```
  - computeConstraintMatrixB
```
public void computeConstraintMatrixB(Matrix6x1 GC,
                                     Wrench wr,
                                     double scale)
```
  - setBodies
```
public void setBodies(RigidBody bodyA,
                      RigidTransform3d TCA,
                      RigidBody bodyB,
                      RigidTransform3d TDB)
```
    Attaches two rigid bodies, bodyA and bodyB, to this connector. If A and B describe the coordinate frames of bodyA and bodyB, then TCA and TDB give the (fixed) transforms from the joint's C and D frames to A and B, respectively. Since C and D are specified independently, the joint transform TCD may not necessarily be initialized to the identity.
    bodyB may be specified as null, in which case this connector will attach bodyA to ground and TDB gives the transform from D to world.
    
    Parameters:
    
    bodyA - first rigid body to attach
    
    TCA - transform from connector frame C to body frame A
    
    bodyB - second rigid body to attach (or null)
    
    TDB - transform from connector frame D to body frame B (or world)
  - setBodies
```
public void setBodies(ConnectableBody bodyA,
                      FrameAttachment attachmentA,
                      ConnectableBody bodyB,
                      FrameAttachment attachmentB)
```
    Attaches two connectable bodies, bodyA and bodyB, to this connector, using explicitly specified Frame attachments to attach the connector frames C and D to the coordinate frames A and B of the two bodies. This method is intended for situations in which applications wish to implement a body connector using custom Frame attachments. The poses of C and D after this method is called depend entirely on the configuration of the supplied attachments.
    bodyB may be specified as null, in which case this connector will attach bodyA to ground and attachmentB should attach D to world.
    
    Parameters:
    
    bodyA - first body to attach
    
    attachmentA - Frame attachment connecting connector frame C to body frame A
    
    bodyB - second body to attach (or null)
    
    attachmentB - Frame attachment connecting connector frame D to body frame B (or world)
  - setBodies
```
public void setBodies(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      RigidTransform3d TDW)
```
    Attaches two connectable bodies, bodyA and bodyB, to this connector. The location of joint frame D is given by TDW, which gives the transform from D to world coordinates. The location of joint frame C is then determined from the transform TCD returned by get getCurrentTCD. If bodies have not get been attached to this connector, TCD will then be determined by its joint coordinates, if any. Typically, if the joint coordinates have 0 values, TCD will be the identity and C and D will be coincident, but this is not necessarily the case.
    bodyB may be specified as null, in which case this connector will attach bodyA to ground.
    
    Parameters:
    
    bodyA - first body to attach
    
    bodyB - second body to attach (or null)
    
    TDW - initial transform from connector frame D to world
  - setBodies
```
public void setBodies(ConnectableBody bodyA,
                      ConnectableBody bodyB,
                      RigidTransform3d TCW,
                      RigidTransform3d TDW)
```
    Attaches two connectable bodies, bodyA and bodyB, to this connector. The locations of joint frames D and C are given by TCW and TDW, which give the transforms from C and D to world coordinates.
    bodyB may be specified as null, in which case this connector will attach bodyA to ground.
    
    Parameters:
    
    bodyA - first body to attach
    
    TCW - initial transform from connector frames C to world
    
    bodyB - second body to attach (or null)
    
    TDW - initial transform from connector frames D to world
  - getCurrentTDW
```
public RigidTransform3d getCurrentTDW()
```
    Returns the current pose of the D frame, in world coordinates.
    
    Returns:
    
    current pose of D
  - getCurrentTDW
```
public void getCurrentTDW(RigidTransform3d TDW)
```
    Returns the current pose of the D frame, in world coordinates.
    
    Parameters:
    
    TDW - returns the current pose of D
  - setCurrentTDW
```
public void setCurrentTDW(RigidTransform3d TDW)
```
    Sets the current pose of the D frame, in world coordinates, and updates the attachment between D and body B accordingly.
    
    Parameters:
    
    TDW - new pose for the D frame
  - getPose
```
public void getPose(RigidTransform3d TDW)
```
    Returns the pose of this connector, which is defined by its D coordinate frame. This method is therefore equivalent to getCurrentTDW(RigidTransform3d).
    
    Specified by:
    
    getPose in interface HasCoordinateFrame
    
    Parameters:
    
    TDW - returns the connector pose
  - getCurrentTCW
```
public RigidTransform3d getCurrentTCW()
```
    Returns the current pose of the C frame, in world coordinates.
    
    Returns:
    
    current pose of C
  - getCurrentTCW
```
public void getCurrentTCW(RigidTransform3d TCW)
```
    Returns the current pose of the C frame, in world coordinates.
    
    Parameters:
    
    TCW - returns the current pose of C
  - setCurrentTCW
```
public void setCurrentTCW(RigidTransform3d TCW)
```
    Sets the current pose of the C frame, in world coordinates, and updates the attachment between C and body A accordingly.
    
    Parameters:
    
    TCW - new pose for the C frame
  - getConstraintForce
```
public double getConstraintForce(int idx)
```
    Returns the current force for the idx-th constraint in this connector. This is the Lagrange multiplier used to enforce the constraint.
    
    Parameters:
    
    idx - index of the constraint
    
    Returns:
    
    idx-th constraint force
  - getActivation
```
public double getActivation(int idx)
```
    Deprecated. Use getConstraintForce(int) instead.
  - scaleMass
```
public void scaleMass(double m)
```
    Nothing to do for scale mass.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Parameters:
    
    m - scaling factor
  - scaleDistance
```
public void scaleDistance(double s)
```
    Scales all distance coordinates.
    
    Specified by:
    
    scaleDistance in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - isActive
```
public boolean isActive()
```
    Returns true if this connector is enabled and at least one of it's underlying master components is active.
  - isNotAttached
```
public boolean isNotAttached()
```
    Returns true if this connector is enabled and at least one of it's underlying master components is not attached.
  - transformGeometry
```
public void transformGeometry(AffineTransform3dBase X)
```
    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
    
    Parameters:
    
    X - affine transformation to apply to the component
  - transformGeometry
```
public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)
```
    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
    
    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)
```
    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
    
    Parameters:
    
    context - context information, to which the dependent components are added.
    
    flags - specifies conditions associated with the transformation
  - getHardReferences
```
public void getHardReferences(java.util.List<ModelComponent> refs)
```
    Appends all hard references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an AxialSpring refers to two Point components as for it's end points. A hard reference is one which the referring component must have, and which if deleted, implies that the referring component should be deleted too.
    
    Specified by:
    
    getHardReferences in interface ModelComponent
    
    Overrides:
    
    getHardReferences in class ModelComponentBase
    
    Parameters:
    
    refs - list to which hard references are appended
  - connectToHierarchy
```
public void connectToHierarchy(CompositeComponent hcomp)
```
    Called by the system after this component, or an ancestor of this component, is added to the component hierarchy (i.e., added as a child of another CompositeComponent). This method is responsible for doing any required hierarchy-dependent initialization, including any updating of referenced components.
    When this method is called, ModelComponent.getParent() will return the new parent component; the system will have set this beforehand.
    
    Specified by:
    
    connectToHierarchy in interface ModelComponent
    
    Overrides:
    
    connectToHierarchy in class ModelComponentBase
    
    Parameters:
    
    hcomp - hierarchy component to which this component, or its ancestor, was attached
  - disconnectFromHierarchy
```
public void disconnectFromHierarchy(CompositeComponent hcomp)
```
    Called by the system after this component, or an ancestor of this component, is removed from the component hierarchy (i.e., removed as a child of its parent). This method is responsible for any required hierarchy-dependent deinitialization, including any updating of referenced components.
    When this method is called, ModelComponent.getParent() will still return this original parent component; the system will set this to null after.
    
    Specified by:
    
    disconnectFromHierarchy in interface ModelComponent
    
    Overrides:
    
    disconnectFromHierarchy in class ModelComponentBase
    
    Parameters:
    
    hcomp - hierarchy component from which this component, or its ancestor, was detached
  - isDuplicatable
```
public boolean isDuplicatable()
```
  - getCopyReferences
```
public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)
```
  - copy
```
public BodyConnector copy(int flags,
                          java.util.Map<ModelComponent,ModelComponent> copyMap)
```
    Overrides:
    
    copy in class RenderableComponentBase
  - setAlwaysAdjustBodyA
```
public void setAlwaysAdjustBodyA(boolean set)
```
    Sets the connector to explicitly adjust body A's pose only when pose needs to be manually corrected to account for constraints. By default, any adjustments to pose are performed on the body that is "free" (i.e. dynamic and only attached to other free bodies). If both bodyA and bodyB are free, then the one with fewer attached bodies is moved. This behavior can be overridden by setting bodyA to be moved explicitly.
    
    Parameters:
    
    set - if true, only adjusts body A
  - getState
```
public void getState(DataBuffer data)
```
    Saves state information for this component by adding data to the supplied DataBuffer. Existing data in the buffer should not be disturbed.
    
    Specified by:
    
    getState in interface HasNumericState
    
    Parameters:
    
    data - buffer for storing the state values.
  - setState
```
public void setState(DataBuffer data)
```
    Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
    
    Specified by:
    
    setState in interface HasNumericState
    
    Parameters:
    
    data - buffer containing the state information
  - getStateVersion
```
public int getStateVersion()
```
    Returns a version number for this component's state. When the version number changes, any previously saved state should be considered no longer compatible. The default implementation of this method always returns 0, indicating that state compatibility never changes.
    
    Specified by:
    
    getStateVersion in interface HasNumericState
  - 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 HasNumericState
    
    Specified by:
    
    hasState in interface ModelComponent
    
    Overrides:
    
    hasState in class ModelComponentBase
    
    Returns:
    
    true if this component has state
  - printConnectedBodies
```
public static void printConnectedBodies(ConnectableBody body)
```
  - findAttachedBodies
```
public static boolean findAttachedBodies(ConnectableBody body,
                                         ConnectableBody exclude,
                                         java.util.List<ConnectableBody> bodies)
```
    Finds all connectable bodies which are attached to a given body via connectors. The search starts at body and expands outward by recursively examining all bodies attached to all its connectors, excluding the body specified by exclude if exclude is non-null. body itself will be included in the search results (unless exclude is also set to body, in which no bodies will be found). The results of the search are appended to list.
    
    Parameters:
    
    body - starting body for the search
    
    exclude - if non-null, body to be excluded from the search
    
    bodies - collects the search results.
    
    Returns:
    
    true if the found bodies are not attached to ground.
  - getFrameAttachmentA
```
public FrameAttachment getFrameAttachmentA()
```
    Returns the Frame attachment which attaches connector frame C to the coordinate frame of body A.
    
    Returns:
    
    attachment between frame C and body A
  - getFrameAttachmentB
```
public FrameAttachment getFrameAttachmentB()
```
    Returns the Frame attachment which attaches connector frame D to the coordinate frame of body B (or to world if body B is null).
    
    Returns:
    
    attachment between frame D and body B
  - getConstraint
```
public RigidBodyConstraint getConstraint(int idx)
```
    For debugging. Return the idx-th constraint of this connector's coupling.
  - 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 RenderableComponentBase
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - 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
  - 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.
  - getRenderFrame
```
public RigidTransform3d getRenderFrame()
```
  - updateAttachments
```
public void updateAttachments()
```
    XXX Update attachments prior to calling getCurrentTDW(), etc. Normally this is done in sync with the simulation.

Class BodyConnector

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.modelbase.RenderableComponentBase

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.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

Field Detail

debug

useOldDerivativeMethod

myProps

Method Detail

setPenetrationTol

getPenetrationTol

getPenetrationTolMode

setPenetrationTolMode

setRotaryLimitTol

getRotaryLimitTol

getRotaryLimitTolMode

setRotaryLimitTolMode

getDrawFrameD

setDrawFrameD

getDrawFrameC

setDrawFrameC

getAxisLength

setAxisLength

getBilateralForceInA

getBilateralForceInA

getBilateralForceInB

getBilateralForceInB

getBilateralForceInC

getBilateralForceInC

printConstraintInfo

getUnilateralForceInA

getUnilateralForceInA

getUnilateralForceInB

getUnilateralForceInB

getUnilateralForceInC

getUnilateralForceInC

getConstraintFlags

getLinearCompliance

setLinearCompliance

getRotaryCompliance

setRotaryCompliance

getAllPropertyInfo

getCompliance

setCompliance

getDamping

setDamping

setEnabled

isEnabled

getTransformPositionOnly

setTransformPositionOnly

getTransformDGeometryOnly

setTransformDGeometryOnly

getCoupling

getBodyA

getBodyB

isConnectedToBodies

getCurrentTCD

numConstraints

numBilateralConstraints

numUnilateralConstraints

numEngagedUnilateralConstraints

getBilateralSizes

addBilateralConstraints

getBilateralInfo

setBilateralForces

getBilateralForces