artisynth.core.mechmodels

Class FrameMarker

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Point

artisynth.core.mechmodels.Marker

artisynth.core.mechmodels.FrameMarker

All Implemented Interfaces:

AttachingComponent, CollidableDynamicComponent, DynamicAgent, DynamicComponent, ForceEffector, HasAttachments, MotionTargetComponent, CopyableComponent, HasNumericState, ModelComponent, PostScannable, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

JointBasedMovingMarker, JointConditionalMarker

public class FrameMarker
extends Marker

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.mechmodels.Point

myRenderCoords

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
FrameMarker()
FrameMarker(double x, double y, double z)
FrameMarker(Frame frame, double x, double y, double z)
FrameMarker(Frame frame, Point3d loc)
FrameMarker(Point3d loc)
FrameMarker(java.lang.String name)

Method Summary

Modifier and Type	Method and Description
int	addTargetJacobian(SparseBlockMatrix J, int bi) Add a row to the motion target Jacobian for this motion target.
FrameMarker	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
boolean	getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor) Collects external references which must also be copied in order to duplicate this component.
Point3d	getDisplacement()
double	getDisplacementNorm()
Frame	getFrame()
Point3d	getLocation()
void	getLocation(Point3d loc)
Point3d	getRefPos()
boolean	isDuplicatable() Returns true if this component can be duplicated.
void	scaleDistance(double s) Scales all distance coordinates.
void	setAttached(DynamicAttachment ax) Attach this component to another via a DynamicAttachment object.
void	setDisplacement(Point3d disp)
void	setFrame(Frame frame)
void	setLocation(Point3d loc)
void	setRefPos(Point3d referencePosition)
void	setWorldLocation(Point3d loc)
void	transformLocation(AffineTransform3dBase X)
void	updateAttachment()
void	updatePosState()
void	updateState()
void	updateVelState()

Methods inherited from class artisynth.core.mechmodels.Marker

connectAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachments, getHardReferences

Methods inherited from class artisynth.core.mechmodels.Point

addEffectiveMass, addExternalForce, addForce, addForce, addPosImpulse, addPosJacobian, addScaledExternalForce, addScaledForce, addSolveBlock, addSolveBlocks, addToPointVelocity, addToSolveBlockDiagonal, addTransformableDependencies, addVelJacobian, applyExternalForces, applyForces, applyGravity, createMassBlock, createRenderProps, createSolveBlock, defaultRenderPropsAreNull, distance, distance, getEffectiveMass, getEffectiveMass, getEffectiveMassForces, getExternalForce, getForce, getForce, getJacobianType, getMass, getMass, getPointDamping, getPointDampingMode, getPosDerivative, getPosition, getPosition, getPosState, getPosStateSize, getRenderCoords, getRenderProps, getSelection, getState, getTargetActivity, getTargetPos, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getVelocity, getVelocity, getVelState, getVelStateSize, hasForce, isMassConstant, isSelectable, mulInverseEffectiveMass, prerender, render, resetEffectiveMass, resetTargets, scaleMass, setContactConstraint, setExternalForce, setForce, setForce, setPointDamping, setPointDampingMode, setPosition, setPosition, setPosState, setRandomForce, setRandomPosState, setRandomVelState, setRenderProps, setScaledExternalForce, setState, setState, setTargetActivity, setTargetPos, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, subForce, transformGeometry, updateBounds, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

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

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

getRenderHints, isVisible, numSelectionQueriesNeeded, 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.mechmodels.AttachingComponent

getAttachment

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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

Methods inherited from interface maspack.properties.HasProperties

getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

addAttachmentRequest, removeAttachmentRequest

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

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

Methods inherited from interface artisynth.core.modelbase.HasNumericState

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

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformGeometry, transformPriority

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

FrameMarker

public FrameMarker()

FrameMarker

public FrameMarker(java.lang.String name)

FrameMarker

public FrameMarker(Frame frame,
                   Point3d loc)

FrameMarker

public FrameMarker(Point3d loc)

FrameMarker

public FrameMarker(double x,
                   double y,
                   double z)

FrameMarker

public FrameMarker(Frame frame,
                   double x,
                   double y,
                   double z)

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 Point

Returns:

static information for all exported properties

setAttached

public void setAttached(DynamicAttachment ax)

Description copied from interface: DynamicAgent

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

Specified by:

setAttached in interface DynamicAgent

Overrides:

setAttached in class DynamicComponentBase

Parameters:

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

getLocation

public void getLocation(Point3d loc)

getLocation

public Point3d getLocation()

setLocation

public void setLocation(Point3d loc)

transformLocation

public void transformLocation(AffineTransform3dBase X)

setWorldLocation

public void setWorldLocation(Point3d loc)

getFrame

public Frame getFrame()

setFrame

public void setFrame(Frame frame)

addTargetJacobian

public int addTargetJacobian(SparseBlockMatrix J,
                             int bi)

Add a row to the motion target Jacobian for this motion target. The Jacobian maps state velocities u into motion target velocities vt according to

 vt = J u
 

Specified by:

addTargetJacobian in interface MotionTargetComponent

Overrides:

addTargetJacobian in class Point

Parameters:

J - motion target Jacobian

bi - block row index for the row to be added

Returns:

bi + 1

updateState

public void updateState()

Specified by:

updateState in class Marker

getDisplacementNorm

public double getDisplacementNorm()

setDisplacement

public void setDisplacement(Point3d disp)

getDisplacement

public Point3d getDisplacement()

getRefPos

public Point3d getRefPos()

setRefPos

public void setRefPos(Point3d referencePosition)

updateAttachment

public void updateAttachment()

scaleDistance

public void scaleDistance(double s)

Description copied from interface: ScalableUnits

Scales all distance coordinates.

Specified by:

scaleDistance in interface ScalableUnits

Overrides:

scaleDistance in class Point

Parameters:

s - scaling factor

updatePosState

public void updatePosState()

Overrides:

updatePosState in class Point

updateVelState

public void updateVelState()

Overrides:

updateVelState in class Point

isDuplicatable

public boolean isDuplicatable()

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

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

Specified by:

isDuplicatable in interface CopyableComponent

Overrides:

isDuplicatable in class Point

Returns:

true if this component can be duplicated.

getCopyReferences

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

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

Specified by:

getCopyReferences in interface CopyableComponent

Overrides:

getCopyReferences in class Point

Parameters:

refs - list to which references are appended

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

Returns:

false if it is discovered that the component cannot be duplicated

copy

public FrameMarker copy(int flags,
                        java.util.Map<ModelComponent,ModelComponent> copyMap)

Description copied from interface: CopyableComponent

Create a copy of this component. If COPY_REFERENCES is set in flags, then any component referenced by this component should itself be set to a copy. This should be done first checking copyMap for an existing copy of the referenced component. If there is no existing copy, then a copy should be created by calling copy recursively and adding the new copy to copyMap.

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class Point

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component