artisynth.core.mechmodels

Class GenericMarker

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.GenericMarker

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

public class GenericMarker
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
GenericMarker(Point3d pnt)
GenericMarker(PointAttachment attach)

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.
void	applyForces()
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).
GenericMarker	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
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).
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
PointAttachment	getAttachment() Returns the slave attachment associated with this component, if any.
void	getAttachments(java.util.List<DynamicAttachment> list) Returns the attachments contained by this component.
boolean	getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor) Collects external references which must also be copied in order to duplicate this component.
boolean	isDuplicatable() Returns true if this component can be duplicated.
void	setAttached(DynamicAttachment attachment) Attach this component to another via a DynamicAttachment object.
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	updateAttachment()
void	updatePosState()
void	updateState()
void	updateVelState()

Methods inherited from class artisynth.core.mechmodels.Marker

connectAttachment, 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, scaleDistance, 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, updateBounds, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

addAttachmentRequest, addConstrainer, addMasterAttachment, 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.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, 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

GenericMarker

public GenericMarker(Point3d pnt)

GenericMarker

public GenericMarker(PointAttachment attach)

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 attachment)

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:

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

getAttachment

public PointAttachment getAttachment()

Description copied from interface: DynamicAgent

Returns the slave attachment associated with this component, if any.

Specified by:

getAttachment in interface AttachingComponent

Specified by:

getAttachment in interface DynamicAgent

Overrides:

getAttachment in class DynamicComponentBase

Returns:

slave attachment, or null if the component is unattached

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

getAttachments

public void getAttachments(java.util.List<DynamicAttachment> list)

Description copied from class: Marker

Returns the attachments contained by this component. This will be called by MechModelBase when creating a complete list of all the attachments in the model.

Specified by:

getAttachments in interface HasAttachments

Overrides:

getAttachments in class Marker

updateState

public void updateState()

Specified by:

updateState in class Marker

updatePosState

public void updatePosState()

Overrides:

updatePosState in class Point

updateVelState

public void updateVelState()

Overrides:

updateVelState in class Point

applyForces

public void applyForces()

updateAttachment

public void updateAttachment()

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 Point

Parameters:

gtr - transformer implementing the transform

context - context information, including what other components are being transformed

flags - specifies conditions associated with the transformation

connectToHierarchy

public void connectToHierarchy(CompositeComponent hcomp)

Description copied from class: ModelComponentBase

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 Marker

Parameters:

hcomp - hierarchy component to which this component, or its ancestor, was attached

disconnectFromHierarchy

public void disconnectFromHierarchy(CompositeComponent hcomp)

Description copied from class: ModelComponentBase

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 Marker

Parameters:

hcomp - hierarchy component from which this component, or its ancestor, was detached

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 GenericMarker 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