MechModel (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.ComponentList<ModelComponent>
  - - artisynth.core.modelbase.ModelBase
    - - artisynth.core.modelbase.RenderableModelBase
      - artisynth.core.mechmodels.MechSystemBase
        
        artisynth.core.mechmodels.MechModel

All Implemented Interfaces:

MechSystem, MechSystemModel, ComponentChangeListener, ComponentListView<ModelComponent>, CompositeComponent, HasMenuItems, HasState, IndexedComponentList, Model, ModelComponent, MutableCompositeComponent<ModelComponent>, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.awt.event.ActionListener, java.lang.Cloneable, java.lang.Iterable<ModelComponent>, java.util.Collection<ModelComponent>, java.util.EventListener, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Disposable, ListView<ModelComponent>, ParameterizedClass, Scannable

Direct Known Subclasses:

LaymanModel
```
public class MechModel
extends MechSystemBase
implements TransformableGeometry, ScalableUnits
```
Primary model component used for creating mechanical systems in ArtiSynth. Contains particles, rigid bodies, frames, markers, springs, muscles, constraints, visualization objects, attachments, constraints, FE models, and (possible) other MechModels. Collision behaviors are managed by the model's collision manager.
The MechSystemBase.advance(double, double, int) method of the top-level MechModel is used to advance the mechanical system forward in time using integrator specified by the integrator property.

Nested Class Summary
- Nested classes/interfaces inherited from class artisynth.core.mechmodels.MechSystemBase
  MechSystemBase.ConstraintForceStateSaver
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
  ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility
- Nested classes/interfaces inherited from interface artisynth.core.mechmodels.MechSystem
  MechSystem.ConstraintInfo
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent
  CompositeComponent.NavpanelDisplay

Field Summary

Fields
Modifier and Type Field and Description

static PropertyList myProps
- Fields inherited from class artisynth.core.mechmodels.MechSystemBase
  DEFAULT_STABILIZATION, DEFAULT_USE_IMPLICIT_FRICTION, myParametricsInSystemMatrix, myPrepareAdvanceInPreadvance, mySaveForcesAsState, useAllDynamicComps
- Fields inherited from class artisynth.core.modelbase.ModelBase
  DEFAULT_MAX_STEP_SIZE
- Fields inherited from class artisynth.core.modelbase.ComponentList
  DEFAULT_NAVPANEL_DISPLAY
- 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 artisynth.core.modelbase.Model
  STATE_IS_VOLATILE
- Fields inherited from interface artisynth.core.mechmodels.MechSystem
  COMPUTE_CONTACTS, UPDATE_CONTACTS
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

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

Constructor Summary

Constructors
Constructor and Description

MechModel()

MechModel(java.lang.String name)

Constructors
Constructor and Description
`MechModel()`
`MechModel(java.lang.String name)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addAttachment(DynamicAttachmentComp ax)`
`void`	`addAxialSpring(AxialSpring s)` Adds an axial spring to this model's axial spring container.
`void`	`addBodyConnector(BodyConnector c)` Adds a body connector to this model's body connector container.
`void`	`addConstrainer(ConstrainerBase c)` Adds a constrainer to this model's constrainer container.
`void`	`addField(FieldComponent fcomp)` Adds a field component to this model's field component container.
`void`	`addForceEffector(ForceComponent fe)` Adds a force effector to this model's force effector container.
`void`	`addFrame(Frame rb)` Adds a frame to this model's frame container.
`void`	`addFrameMarker(FrameMarker mkr)` Adds a frame marker to this model's frame marker container.
`void`	`addFrameMarker(FrameMarker mkr, Frame frame, Point3d loc)` Sets the frame and location of a frame marker and adds it to this model's frame marker container.
`FrameMarker`	`addFrameMarker(Frame frame, Point3d loc)` Creates and add a frame marker to a particular frame, with a location specified relative to the frame's coordinate frame
`FrameMarker`	`addFrameMarkerWorld(Frame frame, Point3d pos)` Creates and add a frame marker to a particular frame, with a location specified in world coordinates
`void`	`addFrameSpring(FrameSpring s)` Adds a frame spring to this model's frame spring container.
`void`	`addGeneralMassBlocks(SparseNumberedBlockMatrix M)`
`void`	`addMeshBody(MeshComponent mcomp)` Adds a mesh component to the `meshBodies` list of this model.
`void`	`addModel(MechSystemModel m)` Adds a sub-model to this model's sub-model container.
`void`	`addMultiPointSpring(MultiPointSpring s)` Adds a multi-point spring to this model's multi-point spring container.
`void`	`addMuscleExciter(MuscleExciter mex)` Adds a muscle exciter to this model's muscle exciter container.
`void`	`addParticle(Particle p)` Adds a particle to this model's particle container.
`void`	`addPoint(Point p)` Adds a point to this model's point container.
`void`	`addRenderable(RenderableComponent rb)` Adds a renderable component to this model's renderable container.
`void`	`addRigidBody(RigidBody rb)` Adds a rigid body to this model's rigid body container.
`void`	`addTransformableDependencies(TransformGeometryContext context, int flags)` Adds to `context` any transformable components which should be transformed as the same time as this component.
`void`	`attachAxialSpring(Point pnt0, Point pnt1, AxialSpring s)` Sets the end points of an axial spring and adds it to this model's axial spring container.
`void`	`attachFrame(Frame frame, FrameAttachable comp)` Attaches a frame to a FrameAttachable component, using each component's current position state.
`void`	`attachFrame(Frame frame, FrameAttachable comp, RigidTransform3d TFW)` Attaches a frame to a FrameAttachable component, with the initial pose of the frame described by `TFW`usin component's current position state.
`void`	`attachFrameSpring(Frame frameA, Frame frameB, FrameSpring s)` Sets the end frames of a frame spring and adds it to this model's frame spring container.
`ComponentList<DynamicAttachmentComp>`	`attachments()`
`void`	`attachPoint(Point p1, PointAttachable comp)` Attaches a particle to a PointAttachable component, using both component's current position state.
`void`	`attachPoint(Point p1, RigidBody body, Point3d loc)`
`RenderableComponentList<AxialSpring>`	`axialSprings()` Returns this model's default container for axial springs.
`RenderableComponentList<BodyConnector>`	`bodyConnectors()` Returns this model's default container for body connectors.
`void`	`checkAllForces(java.lang.String msg, VectorNd forcevec, boolean printDiffs)` Checks the forces of all the dynamic components in this model against a set of reference forces, and prints out the components which differ.
`void`	`checkAllPositions(java.lang.String msg, VectorNd posvec, boolean printDiffs)` Checks the positions of all the dynamic components in this model against a set of reference positions, and prints out the components which differ.
`void`	`checkAllVelocities(java.lang.String msg, VectorNd velvec, boolean printDiffs)` Checks the velocities of all the dynamic components in this model against a set of reference positions, and prints out the components which differ.
`DynamicComponent`	`checkVelocityStability()` Checks the velocity stability of this system.
`void`	`clear()`
`void`	`clearAxialSprings()` Removes all axial springs from this model's axial spring container.
`void`	`clearBodyConnectors()` Removes all body connectors from this model's body connector container.
`boolean`	`clearCollisionBehavior(Collidable c0, Collidable c1)` Clears the collision behavior that was previously set using one of the `setCollisionBehavior` methods.
`void`	`clearCollisionBehaviors()` Clears any collision behaviors that have been set using the `setCollisionBehavior` methods.
`boolean`	`clearCollisionResponse(Collidable c0, Collidable c1)` Clears the collision response that was previously set using one of the `setCollisionResponse` methods.
`void`	`clearCollisionResponses()` Clears any collision responses that have been set using the `setCollisionResponse()` methods.
`void`	`clearConstrainers()` Removes all constrainers from this model's constrainer container.
`void`	`clearFields()` Removes all field components from this model's field component container.
`void`	`clearForceEffectors()` Removes all force effectors from this model's force effector container.
`void`	`clearFrameMarkers()` Removes all frame markers from this model's frame marker container.
`void`	`clearFrames()` Removes all frames from this model's frame container.
`void`	`clearFrameSprings()` Removes all frame springs from this model's frame spring container.
`void`	`clearMeshBodies()` Removes all mesh components from the `meshBodies` list of this model.
`void`	`clearModels()` Removes all sub-models from this model's sub-model container.
`void`	`clearMultiPointSprings()` Removes all multi-point springs from this model's multi-point spring container.
`void`	`clearMuscleExciters()` Removes all muscle exciters from this model's muscle exciter container.
`void`	`clearParticles()` Removes all particles from this model's particle container.
`void`	`clearPoints()` Removes all points from this model's point container.
`void`	`clearRenderables()` Removes all renderable components from this model's renderable container.
`void`	`clearRigidBodies()` Removes all rigid bodies from this model's rigid body container.
`int`	`combineMatrixTypes(int type1, int type2)`
`void`	`componentChanged(ComponentChangeEvent e)` Notifies this composite component that a change has occured within one or more of its descendants.
`double`	`computeDefaultPenetrationTol()` Computes a default value for the penetration tolerance based on the radius of this MechModel.
`double`	`computeDefaultWrapKnotDensity()` Computes a default value for the wrap knot density, based on the radius of this MechModel.
`ComponentListView<ConstrainerBase>`	`constrainers()` Returns this model's default container for constrainers.
`boolean`	`detachFrame(Frame frame)`
`boolean`	`detachPoint(Point p1)`
`void`	`dispose()` Called when the model is discarded.
`ComponentListView<ForceComponent>`	`forceEffectors()` Returns this model's default container for force effectors.
`PointList<FrameMarker>`	`frameMarkers()` Returns this model's default container for frame markers.
`RenderableComponentList<Frame>`	`frames()` Returns this model's default container for frames.
`RenderableComponentList<FrameSpring>`	`frameSprings()` Returns this model's default container for frame springs.
`CollisionBehavior`	`getActingCollisionBehavior(Collidable c0, Collidable c1)` Returns the behavior that controls collisions for a pair of specific collidables `c0` and `c1`.
`SparseBlockMatrix`	`getActiveStiffnessMatrix()`
`boolean`	`getAddConstraintForces()`
`boolean`	`getAddFrameMarkerStiffness()` Queries whether frame marker rotational effects are added to the stiffness matrix.
`java.util.ArrayList<DynamicComponent>`	`getAllDynamicComponents()` Returns a list of all the dynamic components in this model.
`VectorNd`	`getAllForces()` Returns a vector of the forces of all the dynamic components in this model.
`VectorNd`	`getAllPositions()` Returns a vector of the positions of all the dynamic components in this model.
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`VectorNd`	`getAllVelocities()` Returns a vector of the velocities of all the dynamic components in this model.
`void`	`getAttachments(java.util.List<DynamicAttachment> list, int level)`
`void`	`getAuxStateComponents(java.util.List<HasNumericState> list, int level)`
`void`	`getCollidables(java.util.List<Collidable> list, int level)`
`CollisionBehavior`	`getCollisionBehavior(Collidable c0, Collidable c1)` Returns the collision behavior that was previously set using one of the `setCollisionBehavior` methods.
`CollisionManager`	`getCollisionManager()` Returns the collision manager for this MechModel.
`CollisionResponse`	`getCollisionResponse(Collidable c0, Collidable c1)` Returns the collision response that was previously set using one of the `setCollisionResponse` methods.
`void`	`getConstrainers(java.util.List<Constrainer> list, int level)`
`CoordinateSetter`	`getCoordinateSetter()` Returns the coordinate setter for this MechModel, allocating it on demand.
`CollisionBehavior`	`getDefaultCollisionBehavior(Collidable.Group group0, Collidable.Group group1)` Gets the default collision behavior for a specified pair of primary collidable groups.
`void`	`getDynamicComponents(java.util.List<DynamicComponent> comps)`
`void`	`getDynamicComponents(java.util.List<DynamicComponent> active, java.util.List<DynamicComponent> attached, java.util.List<DynamicComponent> parametric)`
`java.awt.Color`	`getExcitationColor()`
`PropertyMode`	`getExcitationColorMode()`
`ComponentList<FieldComponent>`	`getFields()` Returns this model's default container for field components.
`void`	`getForceEffectors(java.util.List<ForceEffector> list, int level)`
`double`	`getFrameDamping()`
`PropertyMode`	`getFrameDampingMode()`
`double`	`getFriction()` Returns the global friction coefficient in the collision manager for this MechModel.
`Vector3d`	`getGravity()`
`PropertyMode`	`getGravityMode()`
`double`	`getInertialDamping()`
`PropertyMode`	`getInertialDampingMode()`
`MechSystemSolver.Integrator`	`getIntegrator()`
`void`	`getMassMatrixValues(SparseNumberedBlockMatrix M, VectorNd f, double t)`
`double`	`getMaxColoredExcitation()`
`PropertyMode`	`getMaxColoredExcitationMode()`
`ComponentList<MuscleExciter>`	`getMuscleExciters()` Returns this model's default container for muscle exciters.
`double`	`getPenetrationTol()` Returns the default distance by which collidable bodies are allowed to interpenetrate each other in order to preserve contact stability.
`PropertyMode`	`getPenetrationTolMode()`
`double`	`getPointDamping()`
`PropertyMode`	`getPointDampingMode()`
`double`	`getRadius()` Returns an estimate of the radius of components of this MechModel.
`double`	`getRotaryDamping()`
`PropertyMode`	`getRotaryDampingMode()`
`double`	`getRotaryLimitTol()` Queries the rotary limit tolerance for this MechModel.
`PropertyMode`	`getRotaryLimitTolMode()`
`void`	`getSlaveObjectComponents(java.util.List<HasSlaveObjects> list, int level)` Should be overridden in subclasses to return all the HasSlaveObjects components within this model.
`int`	`getStaticIncrements()`
`double`	`getStaticTikhonovFactor()`
`SparseBlockMatrix`	`getStiffnessMatrix(java.util.List<SolveMatrixModifier> modifiers)` Returns the regular active stiffness matrix used by the ArtiSynth solver.
`SparseBlockMatrix`	`getTrueStiffnessMatrix()`
`double`	`getWrapKnotDensity()` Returns the default knot density for wrapping strands in `MultiPointSpring` and `MultiPointSpring`.
`PropertyMode`	`getWrapKnotDensityMode()`
`SparseBlockMatrix`	`getYPRStiffnessMatrix(java.util.List<SolveMatrixModifier> modifiers)` Returns the true active stiffness matrix with frame orientation expressed using yaw-pitch-roll coordinates.
`boolean`	`hasState()` Queries if this component has state.
`static boolean`	`isActive(DynamicComponent c)`
`boolean`	`isBilateralStructureConstant()` Queries whether or not the matrix structure of the bilateral constraints returned by this system is constant for a given structure version.
`static MechModel`	`lowestCommonModel(ModelComponent comp1, ModelComponent comp2)`
`RenderableComponentList<MeshComponent>`	`meshBodies()` Returns the list used to store mesh component in this model.
`ComponentListView<MechSystemModel>`	`models()` Returns this model's default container for sub-models (which includes FE models).
`void`	`mulInverseMass(SparseBlockMatrix M, VectorNd a, VectorNd f)`
`RenderableComponentList<MultiPointSpring>`	`multiPointSprings()` Returns this model's default container for multi-point springs.
`static MechModel`	`nearestMechModel(ModelComponent c)` Returns the nearest MechModel, if any, that is an ancestor of a specific component.
`void`	`notifyParentOfChange(ComponentChangeEvent e)` Notifies the parent of this component (if any) of changes within in its descendants.
`PointList<Particle>`	`particles()` Returns this model's default container for particles.
`PointList<Point>`	`points()` Returns this model's default container for points.
`StepAdjustment`	`preadvance(double t0, double t1, int flags)` Prepares this model for advance from time t0 to time t1.
`void`	`printPointSpringInfo(java.lang.String msg)` Prints the tensions in all the point-to-point muscles in this model.
`void`	`projectRigidBodyPositionConstraints()`
`void`	`readState(java.lang.String filename)` Reads the state of this MechModel from a file.
`void`	`recursivelyFinalizeAdvance(StepAdjustment stepAdjust, double t0, double t1, int flags, int level)`
`void`	`recursivelyInitialize(double t, int level)`
`void`	`recursivelyPrepareAdvance(double t0, double t1, int flags, int level)`
`boolean`	`removeAxialSpring(AxialSpring s)` Removes an axial spring from this model's axial spring container.
`boolean`	`removeBodyConnector(BodyConnector c)` Removes a body connector from this model's body connector container.
`boolean`	`removeConstrainer(ConstrainerBase c)` Removes a constrainer from this model's constrainer container.
`boolean`	`removeField(FieldComponent fcomp)` Removes a field component from this model's field component container.
`boolean`	`removeForceEffector(ForceEffector fe)` Removes a force effector from this model's force effector container.
`boolean`	`removeFrame(Frame rb)` Removes a frame from this model's frame container.
`boolean`	`removeFrameMarker(FrameMarker mkr)` Removes a frame marker from this model's frame marker container.
`boolean`	`removeFrameSpring(FrameSpring s)` Removes a frame spring from this model's frame spring container.
`boolean`	`removeMeshBody(MeshComponent mcomp)` Removes a mesh component from the `meshBodies` list of this model.
`boolean`	`removeModel(MechSystemModel m)` Removes a sub-model from this model's sub-model container.
`boolean`	`removeMultiPointSpring(MultiPointSpring s)` Removes a multi-point spring from this model's multi-point spring container.
`boolean`	`removeMuscleExciter(MuscleExciter mex)` Removes a muscle exciter from this model's muscle exciter container.
`boolean`	`removeParticle(Particle p)` Removes a particle from this model's particle container.
`boolean`	`removePoint(Point p)` Removes a point from this model's point container.
`boolean`	`removeRenderable(RenderableComponent rb)` Removes a renderable component from this model's renderable container.
`boolean`	`removeRigidBody(RigidBody rb)` Removes a rigid body from this model's rigid body container.
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`ComponentList<RenderableComponent>`	`renderables()` Returns this model's default container for renderable components.
`RenderableComponentList<RigidBody>`	`rigidBodies()` Returns this model's default container for rigid bodies.
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`void`	`scan(ReaderTokenizer rtok, java.lang.Object ref)` Scans this element from a ReaderTokenizer.
`void`	`setAddConstraintForces(boolean enable)`
`void`	`setAddFrameMarkerStiffness(boolean enable)` Sets whether frame marker rotational effects are added to the stiffness matrix.
`void`	`setBounds(double xmin, double ymin, double zmin, double xmax, double ymax, double zmax)`
`void`	`setBounds(Point3d pmin, Point3d pmax)`
`CollisionBehavior`	`setCollisionBehavior(Collidable c0, Collidable c1, boolean enabled)` Enables or disables collisions for a specified pair of collidables `c0` and `c1`, overriding the default behavior or any behavior specified for the pair with previous `setBehavior` calls.
`CollisionBehavior`	`setCollisionBehavior(Collidable c0, Collidable c1, boolean enabled, double mu)` Sets the collision behavior for a specified pair of collidables `c0` and `c1`, overriding the default behavior and any behavior specified for the pair with previous `setBehavior` calls.
`void`	`setCollisionBehavior(Collidable c0, Collidable c1, CollisionBehavior behavior)` Sets the collision behavior for a specified pair of collidables `c0` and `c1`, overriding the default behavior and any behavior specified for the pair with previous `setBehavior` calls.
`CollisionResponse`	`setCollisionResponse(Collidable c0, Collidable c1)` Sets and returns a collision response for a specified pair of collidables `c0` and `c1`, removing any response that has been previoulsy specified for the same pair.
`void`	`setCollisionResponse(Collidable c0, Collidable c1, CollisionResponse response)` Sets the collision response for a specified pair of collidables `c0` and `c1`, removing any response that has been previoulsy specified for the same pair.
`void`	`setCompliantContact()` Sets the default behavior for collisions to be compliant, using estimated values for the compliance, damping, and stiction creep.
`void`	`setCompliantContact(double c, double d, double sc)` Sets the default behavior for collisions to be compliant, with a specified compliance, damping, and stiction creep.
`void`	`setDefaultCollisionBehavior(boolean enabled, double mu)` Specifies the default collision behavior for all primary collidable group pairs (Rigid-Rigid, Rigid-Deformable, Deformable-Deformable, Deformable-Self) associated with this MechModel.
`void`	`setDefaultCollisionBehavior(Collidable.Group group0, Collidable.Group group1, boolean enabled, double mu)` Sets the default collision behavior, for this MechModel, for a specified pair of generic collidable groups.
`void`	`setDefaultCollisionBehavior(Collidable.Group group0, Collidable.Group group1, CollisionBehavior behavior)` Sets the default collision behavior, for this MechModel, for a specified pair of collidable groups.
`void`	`setDefaultCollisionBehavior(CollisionBehavior behavior)` Specifies a default collision behavior for all primary collidable group pairs (Rigid-Rigid, Rigid-Deformable, Deformable-Deformable, Deformable-Self) associated with this MechModel.
`void`	`setExcitationColor(java.awt.Color color)`
`void`	`setExcitationColorMode(PropertyMode mode)`
`void`	`setFrameDamping(double d)`
`void`	`setFrameDampingMode(PropertyMode mode)`
`void`	`setFriction(double mu)` Sets the global friction coefficient in the collision manager for this MechModel.
`void`	`setGravity(double gx, double gy, double gz)`
`void`	`setGravity(Vector3d g)`
`void`	`setGravityMode(PropertyMode mode)`
`void`	`setInertialDamping(double d)`
`void`	`setInertialDampingMode(PropertyMode mode)`
`void`	`setMaxColoredExcitation(double excitation)`
`void`	`setMaxColoredExcitationMode(PropertyMode mode)`
`void`	`setPenetrationTol(double tol)` Sets the default distance by which collidable bodies are allowed to interpenetrate each other in order to preserve contact stability.
`void`	`setPenetrationTolIfNecessary()`
`void`	`setPenetrationTolMode(PropertyMode mode)`
`void`	`setPointDamping(double d)`
`void`	`setPointDampingMode(PropertyMode mode)`
`void`	`setRotaryDamping(double d)`
`void`	`setRotaryDampingMode(PropertyMode mode)`
`void`	`setRotaryLimitTol(double tol)` Sets the rotary limit tolerance for this MechModel.
`void`	`setRotaryLimitTolMode(PropertyMode mode)`
`void`	`setStaticIncrements(int n)`
`void`	`setStaticTikhonovFactor(double eps)`
`void`	`setWrapKnotDensity(double p)` Sets the default knot density for wrapping strands in `MultiPointSpring` and `MultiPointSpring`.
`void`	`setWrapKnotDensityMode(PropertyMode mode)`
`static MechModel`	`topMechModel(ModelComponent comp)` Returns the topmost MechModel, if any, that is associated with a specific component.
`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`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.
`void`	`updateWrapSegments()` Updates the wrapping segments for all MultiPointSprings in this model.
`void`	`writeState(java.lang.String filename)` Writes the state of this MechModel to a file.

Methods inherited from class artisynth.core.mechmodels.MechSystemBase
addActivePosImpulse, addAttachmentJacobian, addAttachmentSolveBlocks, addGeneralSolveBlocks, addPosJacobian, addVelJacobian, advance, advanceAuxState, applyAttachmentForces, buildMassMatrix, buildSolveMatrix, closePrintStateFile, collectInitialForces, copy, createState, createVelocityJacobian, getActiveDampingMatrix, getActiveDynamicComponents, getActiveForces, getActiveMass, getActiveMassMatrix, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveVelState, getActiveVelState, getActiveVelStateSize, getAllConstrainers, getAttachmentConstraints, getAttachmentDerivatives, getAuxAdvanceState, getAuxVarDerivative, getAuxVarState, getAuxVarStateSize, getBilateralConstraints, getBilateralConstraintSizes, getBilateralForces, getBilateralForces, getBilateralInfo, getDefaultMatrixSolver, getDefaultStabilization, getDefaultUseImplicitFriction, getDynamicComponents, getDynamicDOFs, getDynamicsEnabled, getForceEffectors, getForces, getFrictionConstraints, getFrictionForces, getFrictionForces, getFrictionState, getFrictionState, getInitialState, getInverseMassMatrix, getMassMatrix, getMatrixSolver, getMatrixSolverRange, getNumBilateralForces, getNumUnilateralForces, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getPenetrationLimit, getPrintState, getProfiling, getSolveMatrixType, getSolver, getStabilization, getState, getStructureVersion, getUnilateralConstraints, getUnilateralConstraintSizes, getUnilateralForces, getUnilateralForces, getUnilateralInfo, getUnilateralState, getUnilateralState, getUpdateForcesAtStepEnd, getUpdateForcesAtStepEndMode, getUseImplicitFriction, initialize, maxFrictionConstraintSets, numActiveComponents, numAttachedComponents, numParametricComponents, openPrintStateFile, placeDynamicComponent, printActiveMass, printActiveMass, printActiveStiffness, printActiveStiffness, reduceVelocityJacobian, reopenPrintStateFile, setActiveForces, setActivePosState, setActiveVelState, setAuxAdvanceState, setAuxVarState, setBilateralForces, setBilateralForces, setDefaultMatrixSolver, setDefaultStabilization, setDefaultUseImplicitFriction, setDynamicsEnabled, setForces, setFrictionForces, setFrictionForces, setFrictionState, setFrictionState, setIntegrator, setMatrixSolver, setParametricForces, setParametricPosState, setParametricVelState, setPenetrationLimit, setPrintState, setPrintState, setProfiling, setStabilization, setState, setUnilateralForces, setUnilateralForces, setUnilateralState, setUnilateralState, setUpdateForcesAtStepEnd, setUpdateForcesAtStepEndMode, setUseImplicitFriction, topMechSystem, updateAttachmentPos, updateAttachmentVel, updateConstraints, updateDynamicComponentLists, updateForceComponentList, updateForces, updatePosState, updateVelState, writeBilateralConstraintMatrix, writeBilateralConstraintMatrix, writeMassMatrix, writeMassMatrix, writePrintStateHeader, writeStiffnessMatrix, writeStiffnessMatrix

Methods inherited from class artisynth.core.modelbase.RenderableModelBase
createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setRenderProps

Methods inherited from class artisynth.core.modelbase.ModelBase
actionPerformed, copy, getDefaultMaxStepSize, getMaxStepSize, getMenuItems, hasParameterizedType, hierarchyContainsReferences, setDefaultMaxStepSize, setMaxStepSize

Methods inherited from class artisynth.core.modelbase.ComponentList
add, add, addAll, addComponents, addFixed, addFixed, addNumbered, clone, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getByNumber, getChildren, getMinNumber, getNavpanelDisplay, getNumberLimit, getOneBasedNumbering, getParameterType, getShortName, hasChildren, incrementNumbering, indexOf, invalidateNumbers, isEditable, isEmpty, iterator, nextComponentNumber, numComponents, postscan, remove, remove, removeAll, removeAll, removeComponents, reorderComponents, resetNumbersToIndices, retainAll, set, setEditable, setNavpanelDisplay, setNumbered, setOneBasedNumbering, setShortName, size, toArray, toArray, updateNameMap

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.Model
getMaxStepSize

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties
getProperty

Methods inherited from interface maspack.properties.HierarchyNode
getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable
postscan

Methods inherited from interface maspack.util.Scannable
isWritable, write

Methods inherited from interface artisynth.core.modelbase.ComponentListView
getName

Methods inherited from interface java.util.Collection
equals, hashCode, parallelStream, removeIf, spliterator, stream

Methods inherited from interface java.lang.Iterable
forEach

Methods inherited from interface artisynth.core.modelbase.CompositeComponent
recursivelyFind

- Field Detail
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - MechModel
```
public MechModel()
```
  - MechModel
```
public MechModel(java.lang.String name)
```
- 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 RenderableModelBase
    
    Returns:
    
    static information for all exported properties
  - clear
```
public void clear()
```
    Specified by:
    
    clear in interface java.util.Collection<ModelComponent>
    
    Overrides:
    
    clear in class ComponentList<ModelComponent>
  - getAddFrameMarkerStiffness
```
public boolean getAddFrameMarkerStiffness()
```
    Queries whether frame marker rotational effects are added to the stiffness matrix.
    
    Returns:
    
    true if frame marker rotational are added to the stiffness matrix.
  - setAddFrameMarkerStiffness
```
public void setAddFrameMarkerStiffness(boolean enable)
```
    Sets whether frame marker rotational effects are added to the stiffness matrix. This is false by default. If enabled, it will cause the stiffness matrix to be asymmetric.
    
    Parameters:
    
    enable - if true, causes frame marker rotational to be added to the stiffness matrix.
  - getRadius
```
public double getRadius()
```
    Returns an estimate of the radius of components of this MechModel. Can be used to compute default tolerances.
    
    Returns:
    
    estimated model radius
  - setPenetrationTol
```
public void setPenetrationTol(double tol)
```
    Sets the default distance by which collidable bodies are allowed to interpenetrate each other in order to preserve contact stability. If specified as a negative number, the value will be set to a default value based on the overall size of this MechModel.
    
    Parameters:
    
    tol - desired penetration tolerance
  - getPenetrationTol
```
public double getPenetrationTol()
```
    Returns the default distance by which collidable bodies are allowed to interpenetrate each other in order to preserve contact stability.
    
    Returns:
    
    penetration tolerance
  - getPenetrationTolMode
```
public PropertyMode getPenetrationTolMode()
```
  - setPenetrationTolMode
```
public void setPenetrationTolMode(PropertyMode mode)
```
  - setPenetrationTolIfNecessary
```
public void setPenetrationTolIfNecessary()
```
  - computeDefaultPenetrationTol
```
public double computeDefaultPenetrationTol()
```
    Computes a default value for the penetration tolerance based on the radius of this MechModel.
    
    Returns:
    
    default penetration tolerance
  - setWrapKnotDensity
```
public void setWrapKnotDensity(double p)
```
    Sets the default knot density for wrapping strands in MultiPointSpring and MultiPointSpring. This is the number of knots used per unit distance. When a wrapping strand is initialized, and the number of knots is not explicitly specified, this number is multiplied by the strand's initial length to determine the number of knots.
    If specified as a negative number, the knot density will be set to a default value based on the overall size of this MechModel.
    
    Parameters:
    
    p - desired knot density
  - getWrapKnotDensity
```
public double getWrapKnotDensity()
```
    Returns the default knot density for wrapping strands in MultiPointSpring and MultiPointSpring. See setWrapKnotDensity(double) for details.
    
    Returns:
    
    current knot density
  - getWrapKnotDensityMode
```
public PropertyMode getWrapKnotDensityMode()
```
  - setWrapKnotDensityMode
```
public void setWrapKnotDensityMode(PropertyMode mode)
```
  - computeDefaultWrapKnotDensity
```
public double computeDefaultWrapKnotDensity()
```
    Computes a default value for the wrap knot density, based on the radius of this MechModel.
    
    Returns:
    
    default wrap knot density.
  - setRotaryLimitTol
```
public void setRotaryLimitTol(double tol)
```
    Sets the rotary limit tolerance for this MechModel.
    
    Parameters:
    
    tol - new rotary limit tolerance
  - getRotaryLimitTol
```
public double getRotaryLimitTol()
```
    Queries the rotary limit tolerance for this MechModel.
    
    Returns:
    
    rotary limit tolerance
  - getRotaryLimitTolMode
```
public PropertyMode getRotaryLimitTolMode()
```
  - setRotaryLimitTolMode
```
public void setRotaryLimitTolMode(PropertyMode mode)
```
  - getExcitationColor
```
public java.awt.Color getExcitationColor()
```
  - setExcitationColor
```
public void setExcitationColor(java.awt.Color color)
```
  - getExcitationColorMode
```
public PropertyMode getExcitationColorMode()
```
  - setExcitationColorMode
```
public void setExcitationColorMode(PropertyMode mode)
```
  - getMaxColoredExcitation
```
public double getMaxColoredExcitation()
```
  - setMaxColoredExcitation
```
public void setMaxColoredExcitation(double excitation)
```
  - getMaxColoredExcitationMode
```
public PropertyMode getMaxColoredExcitationMode()
```
  - setMaxColoredExcitationMode
```
public void setMaxColoredExcitationMode(PropertyMode mode)
```
  - setFriction
```
public void setFriction(double mu)
```
    Sets the global friction coefficient in the collision manager for this MechModel. Collision behaviors will inherit this value if their initial friction coefficent was undefined (i.e., was specified with a value less than 0).
    
    Parameters:
    
    mu - global friction coefficient
  - getFriction
```
public double getFriction()
```
    Returns the global friction coefficient in the collision manager for this MechModel.
    
    Returns:
    
    global friction coefficient
  - setDefaultCollisionBehavior
```
public void setDefaultCollisionBehavior(boolean enabled,
                                        double mu)
```
    Specifies the default collision behavior for all primary collidable group pairs (Rigid-Rigid, Rigid-Deformable, Deformable-Deformable, Deformable-Self) associated with this MechModel. This is a convenience wrapper for setDefaultCollisionBehavior(behavior).
    
    Parameters:
    
    enabled - if true, enables collisions
    
    mu - friction coefficient (ignored if enabled is false). If less than zero, the value is undefined and will be inherited from the global setting in this MechModel's collision manager.
    
    See Also:
    
    setFriction(double), getFriction()
  - setDefaultCollisionBehavior
```
public void setDefaultCollisionBehavior(CollisionBehavior behavior)
```
    Specifies a default collision behavior for all primary collidable group pairs (Rigid-Rigid, Rigid-Deformable, Deformable-Deformable, Deformable-Self) associated with this MechModel. The specified behavior is copied into the internal behavior settings for these pairs.
    This method is equivalent to calling
```
 setDefaultCollisionBehavior (Collidable.All, Collidable.All, behavior)
 
```
    Parameters:
    
    behavior - desired collision behavior
  - getDefaultCollisionBehavior
```
public CollisionBehavior getDefaultCollisionBehavior(Collidable.Group group0,
                                                     Collidable.Group group1)
```
    Gets the default collision behavior for a specified pair of primary collidable groups. Allowed collision groups are Collidable.Rigid and Collidable.Deformable. In addition, the group Collidable.Self can be paired with Collidable.Deformable to obtain the default behavior for deformable self collisions; Collidable.Self cannot be paired with other groups.
    
    Parameters:
    
    group0 - first generic collidable group
    
    group1 - second generic collidable group
    
    Returns:
    
    default collision behavior for the indicted collidable groups.
  - setDefaultCollisionBehavior
```
public void setDefaultCollisionBehavior(Collidable.Group group0,
                                        Collidable.Group group1,
                                        CollisionBehavior behavior)
```
    Sets the default collision behavior, for this MechModel, for a specified pair of collidable groups. Allowed collidable groups include the primary groups Collidable.Rigid and Collidable.Deformable, as well as the composite groups Collidable.AllBodies (rigid and deformable) and Collidable.All (all bodies plus self collision). In addition, the group Collidable.Self can be paired with Collidable.Deformable, Collidable.AllBodies or Collidable.All to set the default self-collision behavior for deformable compound bodies. Collidable.Self cannot be paired with Collidable.Self or Collidable.Rigid.
    This method works by setting the behaviors for the appropriate primary collidable group pairs (Rigid-Rigid, Rigid-Deformable, Deformable-Deformable, Deformable-Self) implied by the specified groups.
    
    Parameters:
    
    group0 - first generic collidable group
    
    group1 - second generic collidable group
    
    behavior - desired collision behavior
  - setDefaultCollisionBehavior
```
public void setDefaultCollisionBehavior(Collidable.Group group0,
                                        Collidable.Group group1,
                                        boolean enabled,
                                        double mu)
```
    Sets the default collision behavior, for this MechModel, for a specified pair of generic collidable groups. This is a convenience wrapper for setDefaultCollisionBehavior(group0,group1,behavior), where a default CollisionBehavior object is created and set to reflect the specified enabled and friction settings.
    
    Parameters:
    
    group0 - first generic collidable group
    
    group1 - second generic collidable group
    
    enabled - if true, enables collisions
    
    mu - friction coefficient (ignored if enabled is false). If less than zero, the value is undefined and will be inherited from the global setting in this MechModel's collision manager.
    
    See Also:
    
    setFriction(double), getFriction()
  - setCollisionBehavior
```
public CollisionBehavior setCollisionBehavior(Collidable c0,
                                              Collidable c1,
                                              boolean enabled)
```
    Enables or disables collisions for a specified pair of collidables c0 and c1, overriding the default behavior or any behavior specified for the pair with previous setBehavior calls. This is a convenience wrapper for setCollisionBehavior(c0,c1,behavior), where a default CollisionBehavior object is created with the specified enabled setting and a friction coefficient of 0.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    enabled - if true, enables collisions
    
    Returns:
    
    collision behavior object that was created and set
  - setCollisionBehavior
```
public CollisionBehavior setCollisionBehavior(Collidable c0,
                                              Collidable c1,
                                              boolean enabled,
                                              double mu)
```
    Sets the collision behavior for a specified pair of collidables c0 and c1, overriding the default behavior and any behavior specified for the pair with previous setBehavior calls. This is a convenience wrapper for setCollisionBehavior(c0,c1,behavior), where a default CollisionBehavior object is created and set to reflect the specified enabled and friction settings.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    enabled - if true, enables collisions
    
    mu - friction coefficient (ignored if enabled is false). If less than zero, the value is undefined and will be inherited from the global setting in this MechModel's collision manager. setting for this MechModel.
    
    Returns:
    
    CollisionBehavior object describing the collision behavior
    
    See Also:
    
    setFriction(double), getFriction()
  - setCollisionBehavior
```
public void setCollisionBehavior(Collidable c0,
                                 Collidable c1,
                                 CollisionBehavior behavior)
```
    Sets the collision behavior for a specified pair of collidables c0 and c1, overriding the default behavior and any behavior specified for the pair with previous setBehavior calls. The behavior specified by this method will be applied only among collidables for which this MechModel is the lowest common model.
    Since behaviors are added to the collision manager as subcomponents, the specified behavior cannot be currently set and in particular can not be reused in other setCollisionBehavior calls. If reuse is desired, the behavior should be copied:
```
    CollisionBehavior behav = new CollisionBehavior();
    behav.setDrawIntersectionContours (true); 
    mesh.setCollisionBehavior (col0, col1, behav);
    behav = new CollisionBehavior(behav);
    mesh.setCollisionBehavior (col2, col3, behav); // OK
 
```
    There are restrictions on what pair of collidables can be specified. The first collidable must be a specific collidable object. The second may be a collidable group, such as Collidable.Rigid Collidable.All, or Collidable.Self. Self-collision is specified either using the group Collidable.Self or by specifying c0 == c1. If self-collision is specified, then c0 must be deformable and must also be a compound collidable (since self-intersection is currently only supported among the sub-collidables of a compound collidable).
    If c0 and/or c1 are specific collidables, then they must both be contained within the component hierarchy of this MechModel. In addition, if both c0 and c1 are specific collidables, then one cannot be a sub-collidable of the other, and this MechModel must be the lowest common model containing both of them.
    If c0 or c1 are compound collidables, then the behavior is applied to all appropriate pairs of their sub-collidables. If self-collision is specified, then the behavior is applied among all sub-collidables whose getCollidable() method returns Colidability.ALL or Colidability.INTERNAL.
    This method works by adding the indicated behavior to the collision manager as a subcomponent. If a behavior has been previously set for the specified pair, the previous behavior is removed. The behavior can be queried later using getCollisionBehavior(c0,c1) and removed using clearCollisionBehavior(c0,c1).
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    behavior - desired collision behavior
  - getCollisionBehavior
```
public CollisionBehavior getCollisionBehavior(Collidable c0,
                                              Collidable c1)
```
    Returns the collision behavior that was previously set using one of the setCollisionBehavior methods. If no behavior for the indicated pair was set, null is returned.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    specific behavior for this pair of collidables
  - clearCollisionBehavior
```
public boolean clearCollisionBehavior(Collidable c0,
                                      Collidable c1)
```
    Clears the collision behavior that was previously set using one of the setCollisionBehavior methods. If no behavior for the indicated pair was set, the method returns false.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    true if the specific behavior had been set and was removed
  - clearCollisionBehaviors
```
public void clearCollisionBehaviors()
```
    Clears any collision behaviors that have been set using the setCollisionBehavior methods.
  - setCollisionResponse
```
public CollisionResponse setCollisionResponse(Collidable c0,
                                              Collidable c1)
```
    Sets and returns a collision response for a specified pair of collidables c0 and c1, removing any response that has been previoulsy specified for the same pair. This is a convenience wrapper for setCollisionResponse(c0,c1,response), which creates and returns the required CollisionResponse object.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    collision response object that was created and set
  - setCollisionResponse
```
public void setCollisionResponse(Collidable c0,
                                 Collidable c1,
                                 CollisionResponse response)
```
    Sets the collision response for a specified pair of collidables c0 and c1, removing any response that has been previoulsy specified for the same pair. At every subsequent integration step, the response object will be updated to contain the current collision information for the collidable pair. Since responses are added to the collision manager as subcomponents, the specified response cannot be currently set.
    There are restrictions on what pair of collidables can be specified. The first collidable must be a specific collidable object. The second may be a collidable group, such as Collidable.Rigid Collidable.All, or Collidable.Self. Self-collision is specified either using the group Collidable.Self or by specifying c0 == c1. If self-collision is specified, then c0 must be deformable and must also be a compound collidable (since self-intersection is currently only supported among the sub-collidables of a compound collidable).
    If c0 and/or c1 are specific collidables, then they must both be contained within the component hierarchy of this MechModel.
    If c0 or c1 are compound collidables, then the response is collected for all appropriate pairs of their sub-collidables. If self-collision is specified, then the response is collected for all sub-collidables whose getCollidable() method returns Colidability.ALL or Colidability.INTERNAL.
    This method works by adding the indicated response to the collision manager as a subcomponent. If a response has been previously set for the specified pair, the previous response is removed. The response can be queried later using getCollisionResponse(c0,c1) and removed using clearCollisionResponse(c0,c1).
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    response - desired collision response
  - getCollisionResponse
```
public CollisionResponse getCollisionResponse(Collidable c0,
                                              Collidable c1)
```
    Returns the collision response that was previously set using one of the setCollisionResponse methods. If no response for the indicated pair was set, null is returned.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    specific response for this pair of collidables
  - clearCollisionResponse
```
public boolean clearCollisionResponse(Collidable c0,
                                      Collidable c1)
```
    Clears the collision response that was previously set using one of the setCollisionResponse methods. If no response for the indicated pair was set, the method returns false.
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    true if the specific response had been set and was removed
  - clearCollisionResponses
```
public void clearCollisionResponses()
```
    Clears any collision responses that have been set using the setCollisionResponse() methods.
  - getActingCollisionBehavior
```
public CollisionBehavior getActingCollisionBehavior(Collidable c0,
                                                    Collidable c1)
```
    Returns the behavior that controls collisions for a pair of specific collidables c0 and c1. This will be determined by the lowest MechModel which contains both c0 and c1, and be either a default behavior, or an override behavior specified will a setBehavior call. In some cases, if c0 and/or c1 are not collidable, or if one or both are compound collidables with different behaviors for their sub-collidables (see below), no unique controlling behavior will exist and this method will return null.
    Both c0 and c1 must be specific collidables; collidable groups (such as Collidable.Rigid or Collidable.Group) are not allowed.
    If c0 or c1 are compound collidables, then if the same acting behavior is found among all pairs of sub-collidables for which collisions are permitted, that behavior is returned; otherwise, null is returned. In particular, if c0 equals c1, then this method searches for the same collision behavior among all sub-collidables of c0 for which self-intersection is permitted (i.e., those whose getCollidable() method returns Colidability.ALL or Colidability.INTERNAL).
    
    Parameters:
    
    c0 - first collidable
    
    c1 - second collidable
    
    Returns:
    
    acting behavior for this pair of collidables, or null if such behavior exists.
  - getCollidables
```
public void getCollidables(java.util.List<Collidable> list,
                           int level)
```
    Specified by:
    
    getCollidables in interface MechSystemModel
  - setCompliantContact
```
public void setCompliantContact()
```
    Sets the default behavior for collisions to be compliant, using estimated values for the compliance, damping, and stiction creep. This also ensures that contact computations are regularized. Values are estimated using the radius r of the model's current bounding sphere, the average mass m of the model's collidables, and the current magnitude g for the acceleration of gravity. In order for the estimated values to make sense, it is important to call this method after the model has been assembled. If gravity is set to 0, 9.8 is used instead. If there are no collidable bodies, m is set to 1.
    - Compliance is set to (0.001 r)/(m g), which allows contact penetrations of 0.001 r under a force of m g.
    - Damping is set to 2 sqrt(m/c), where c is the compliance. This enables critical damping.
    - Stiction creep is set to 1e-5 r, so that stiction contacts can be expected to move by about 0.001 r in 100 seconds. This allows the creep to be small while still providing a large enough value to regularize the static friction constraints.
    This method works by setting the compliance, damping, and stiction creep properties for the collision manager of this model and all other MechModels contained within it.
  - setCompliantContact
```
public void setCompliantContact(double c,
                                double d,
                                double sc)
```
    Sets the default behavior for collisions to be compliant, with a specified compliance, damping, and stiction creep. If the compliance and creep are both > 0, then the contact computations will be regularized.
    This method works by setting the compliance, damping, and stiction creep properties for the collision manager of this model and all other MechModels contained within it.
    
    Parameters:
    
    c - compliance
    
    d - damping
    
    sc - stiction creep
  - getCollisionManager
```
public CollisionManager getCollisionManager()
```
    Returns the collision manager for this MechModel.
    
    Returns:
    
    model collision manager
  - getCoordinateSetter
```
public CoordinateSetter getCoordinateSetter()
```
    Returns the coordinate setter for this MechModel, allocating it on demand.
    
    Returns:
    
    model coordinate setter
  - getIntegrator
```
public MechSystemSolver.Integrator getIntegrator()
```
    Overrides:
    
    getIntegrator in class MechSystemBase
  - setStaticTikhonovFactor
```
public void setStaticTikhonovFactor(double eps)
```
  - getStaticTikhonovFactor
```
public double getStaticTikhonovFactor()
```
  - setStaticIncrements
```
public void setStaticIncrements(int n)
```
  - getStaticIncrements
```
public int getStaticIncrements()
```
  - particles
```
public PointList<Particle> particles()
```
    Returns this model's default container for particles.
    
    Returns:
    
    default particle container
  - addParticle
```
public void addParticle(Particle p)
```
    Adds a particle to this model's particle container.
    
    Parameters:
    
    p - particle to add
  - removeParticle
```
public boolean removeParticle(Particle p)
```
    Removes a particle from this model's particle container.
    
    Parameters:
    
    p - particle to remove true if the component was present and actually removed
  - clearParticles
```
public void clearParticles()
```
    Removes all particles from this model's particle container.
  - points
```
public PointList<Point> points()
```
    Returns this model's default container for points.
    
    Returns:
    
    default point container
  - addPoint
```
public void addPoint(Point p)
```
    Adds a point to this model's point container.
    
    Parameters:
    
    p - point to add
  - removePoint
```
public boolean removePoint(Point p)
```
    Removes a point from this model's point container.
    
    Parameters:
    
    p - point to remove
    
    Returns:
    
    true if the point was present and actually removed
  - clearPoints
```
public void clearPoints()
```
    Removes all points from this model's point container.
  - getPointDamping
```
public double getPointDamping()
```
  - setPointDamping
```
public void setPointDamping(double d)
```
  - getPointDampingMode
```
public PropertyMode getPointDampingMode()
```
  - setPointDampingMode
```
public void setPointDampingMode(PropertyMode mode)
```
  - getFrameDamping
```
public double getFrameDamping()
```
  - setFrameDamping
```
public void setFrameDamping(double d)
```
  - getFrameDampingMode
```
public PropertyMode getFrameDampingMode()
```
  - setFrameDampingMode
```
public void setFrameDampingMode(PropertyMode mode)
```
  - getRotaryDamping
```
public double getRotaryDamping()
```
  - setRotaryDamping
```
public void setRotaryDamping(double d)
```
  - getRotaryDampingMode
```
public PropertyMode getRotaryDampingMode()
```
  - setRotaryDampingMode
```
public void setRotaryDampingMode(PropertyMode mode)
```
  - getInertialDamping
```
public double getInertialDamping()
```
  - setInertialDamping
```
public void setInertialDamping(double d)
```
  - getInertialDampingMode
```
public PropertyMode getInertialDampingMode()
```
  - setInertialDampingMode
```
public void setInertialDampingMode(PropertyMode mode)
```
  - getGravity
```
public Vector3d getGravity()
```
  - setGravity
```
public void setGravity(Vector3d g)
```
  - setGravity
```
public void setGravity(double gx,
                       double gy,
                       double gz)
```
  - getGravityMode
```
public PropertyMode getGravityMode()
```
  - setGravityMode
```
public void setGravityMode(PropertyMode mode)
```
  - axialSprings
```
public RenderableComponentList<AxialSpring> axialSprings()
```
    Returns this model's default container for axial springs.
    
    Returns:
    
    default axial spring container
  - addAxialSpring
```
public void addAxialSpring(AxialSpring s)
```
    Adds an axial spring to this model's axial spring container.
    
    Parameters:
    
    s - axial spring to add
  - removeAxialSpring
```
public boolean removeAxialSpring(AxialSpring s)
```
    Removes an axial spring from this model's axial spring container.
    
    Parameters:
    
    s - axial spring to remove
    
    Returns:
    
    true if the spring was present and actually removed
  - clearAxialSprings
```
public void clearAxialSprings()
```
    Removes all axial springs from this model's axial spring container.
  - attachAxialSpring
```
public void attachAxialSpring(Point pnt0,
                              Point pnt1,
                              AxialSpring s)
```
    Sets the end points of an axial spring and adds it to this model's axial spring container.
    
    Parameters:
    
    pnt0 - first end point of the spring
    
    pnt1 - second end point of the spring
    
    s - axial spring to attach and add
  - multiPointSprings
```
public RenderableComponentList<MultiPointSpring> multiPointSprings()
```
    Returns this model's default container for multi-point springs.
    
    Returns:
    
    default multi-point spring container
  - addMultiPointSpring
```
public void addMultiPointSpring(MultiPointSpring s)
```
    Adds a multi-point spring to this model's multi-point spring container.
    
    Parameters:
    
    s - multi-point spring to add
  - removeMultiPointSpring
```
public boolean removeMultiPointSpring(MultiPointSpring s)
```
    Removes a multi-point spring from this model's multi-point spring container.
    
    Parameters:
    
    s - multi-point spring to remove
    
    Returns:
    
    true if the spring was present and actually removed
  - clearMultiPointSprings
```
public void clearMultiPointSprings()
```
    Removes all multi-point springs from this model's multi-point spring container.
  - updateWrapSegments
```
public void updateWrapSegments()
```
    Updates the wrapping segments for all MultiPointSprings in this model.
  - frameSprings
```
public RenderableComponentList<FrameSpring> frameSprings()
```
    Returns this model's default container for frame springs.
    
    Returns:
    
    default frame spring container
  - addFrameSpring
```
public void addFrameSpring(FrameSpring s)
```
    Adds a frame spring to this model's frame spring container.
    
    Parameters:
    
    s - frame spring to add
  - removeFrameSpring
```
public boolean removeFrameSpring(FrameSpring s)
```
    Removes a frame spring from this model's frame spring container.
    
    Parameters:
    
    s - frame spring to remove
    
    Returns:
    
    true if the spring was present and actually removed
  - clearFrameSprings
```
public void clearFrameSprings()
```
    Removes all frame springs from this model's frame spring container.
  - attachFrameSpring
```
public void attachFrameSpring(Frame frameA,
                              Frame frameB,
                              FrameSpring s)
```
    Sets the end frames of a frame spring and adds it to this model's frame spring container.
    
    Parameters:
    
    frameA - first end frame of the spring
    
    frameB - second end frame of the spring
    
    s - frame spring to attach and add
  - forceEffectors
```
public ComponentListView<ForceComponent> forceEffectors()
```
    Returns this model's default container for force effectors.
    
    Returns:
    
    default force effector container
  - addForceEffector
```
public void addForceEffector(ForceComponent fe)
```
    Adds a force effector to this model's force effector container.
    
    Parameters:
    
    fe - force effector to add
  - removeForceEffector
```
public boolean removeForceEffector(ForceEffector fe)
```
    Removes a force effector from this model's force effector container.
    
    Parameters:
    
    fe - force effector to remove
    
    Returns:
    
    true if the effector was present and actually removed
  - clearForceEffectors
```
public void clearForceEffectors()
```
    Removes all force effectors from this model's force effector container.
  - getMuscleExciters
```
public ComponentList<MuscleExciter> getMuscleExciters()
```
    Returns this model's default container for muscle exciters.
    
    Returns:
    
    default muscle exciter container
  - addMuscleExciter
```
public void addMuscleExciter(MuscleExciter mex)
```
    Adds a muscle exciter to this model's muscle exciter container.
    
    Parameters:
    
    mex - muscle exciter to add
  - removeMuscleExciter
```
public boolean removeMuscleExciter(MuscleExciter mex)
```
    Removes a muscle exciter from this model's muscle exciter container.
    
    Parameters:
    
    mex - muscle exciter to remove
    
    Returns:
    
    true if the exciter was present and actually removed
  - clearMuscleExciters
```
public void clearMuscleExciters()
```
    Removes all muscle exciters from this model's muscle exciter container.
  - getFields
```
public ComponentList<FieldComponent> getFields()
```
    Returns this model's default container for field components.
    
    Returns:
    
    default field component container
  - addField
```
public void addField(FieldComponent fcomp)
```
    Adds a field component to this model's field component container.
    
    Parameters:
    
    fcomp - field component to add
  - removeField
```
public boolean removeField(FieldComponent fcomp)
```
    Removes a field component from this model's field component container.
    
    Parameters:
    
    fcomp - field component to remove
    
    Returns:
    
    true if the component was present and actually removed
  - clearFields
```
public void clearFields()
```
    Removes all field components from this model's field component container.
  - rigidBodies
```
public RenderableComponentList<RigidBody> rigidBodies()
```
    Returns this model's default container for rigid bodies.
    
    Returns:
    
    default rigid body container
  - addRigidBody
```
public void addRigidBody(RigidBody rb)
```
    Adds a rigid body to this model's rigid body container.
    
    Parameters:
    
    rb - rigid body to add
  - removeRigidBody
```
public boolean removeRigidBody(RigidBody rb)
```
    Removes a rigid body from this model's rigid body container.
    
    Parameters:
    
    rb - rigid body to remove
    
    Returns:
    
    true if the body was present and actually removed
  - clearRigidBodies
```
public void clearRigidBodies()
```
    Removes all rigid bodies from this model's rigid body container.
  - frames
```
public RenderableComponentList<Frame> frames()
```
    Returns this model's default container for frames.
    
    Returns:
    
    default frame container
  - addFrame
```
public void addFrame(Frame rb)
```
    Adds a frame to this model's frame container.
    
    Parameters:
    
    rb - frame to add
  - removeFrame
```
public boolean removeFrame(Frame rb)
```
    Removes a frame from this model's frame container.
    
    Parameters:
    
    rb - frame to remove
    
    Returns:
    
    true if the frame was present and actually removed
  - clearFrames
```
public void clearFrames()
```
    Removes all frames from this model's frame container.
  - meshBodies
```
public RenderableComponentList<MeshComponent> meshBodies()
```
    Returns the list used to store mesh component in this model.
    
    Returns:
    
    mesh component list
  - addMeshBody
```
public void addMeshBody(MeshComponent mcomp)
```
    Adds a mesh component to the meshBodies list of this model.
    
    Parameters:
    
    mcomp - mesh component to be added
  - removeMeshBody
```
public boolean removeMeshBody(MeshComponent mcomp)
```
    Removes a mesh component from the meshBodies list of this model.
    
    Parameters:
    
    mcomp - mesh component to be removed
    
    Returns:
    
    true if the component was present and actually removed
  - clearMeshBodies
```
public void clearMeshBodies()
```
    Removes all mesh components from the meshBodies list of this model.
  - frameMarkers
```
public PointList<FrameMarker> frameMarkers()
```
    Returns this model's default container for frame markers.
    
    Returns:
    
    default frame marker container
  - addFrameMarker
```
public void addFrameMarker(FrameMarker mkr)
```
    Adds a frame marker to this model's frame marker container.
    
    Parameters:
    
    mkr - frame marker to add
  - removeFrameMarker
```
public boolean removeFrameMarker(FrameMarker mkr)
```
    Removes a frame marker from this model's frame marker container.
    
    Parameters:
    
    mkr - frame marker to remove
    
    Returns:
    
    true if the marker was present and actually removed
  - clearFrameMarkers
```
public void clearFrameMarkers()
```
    Removes all frame markers from this model's frame marker container.
  - addFrameMarker
```
public void addFrameMarker(FrameMarker mkr,
                           Frame frame,
                           Point3d loc)
```
    Sets the frame and location of a frame marker and adds it to this model's frame marker container.
    
    Parameters:
    
    mkr - frame marker to attach and add
    
    frame - frame to attach the marker to
    
    loc - marker location in frame coordinates, or null to leave the location unchanged
  - addFrameMarker
```
public FrameMarker addFrameMarker(Frame frame,
                                  Point3d loc)
```
    Creates and add a frame marker to a particular frame, with a location specified relative to the frame's coordinate frame
    
    Parameters:
    
    frame - frame object to add a marker to
    
    loc - marker location in frame coordinates
    
    Returns:
    
    the created marker
  - addFrameMarkerWorld
```
public FrameMarker addFrameMarkerWorld(Frame frame,
                                       Point3d pos)
```
    Creates and add a frame marker to a particular frame, with a location specified in world coordinates
    
    Parameters:
    
    frame - frame object to add a marker to
    
    pos - marker position in world coordinates
    
    Returns:
    
    the created marker
  - bodyConnectors
```
public RenderableComponentList<BodyConnector> bodyConnectors()
```
    Returns this model's default container for body connectors.
    
    Returns:
    
    default body connector container
  - addBodyConnector
```
public void addBodyConnector(BodyConnector c)
```
    Adds a body connector to this model's body connector container.
    
    Parameters:
    
    c - body connector to add
  - removeBodyConnector
```
public boolean removeBodyConnector(BodyConnector c)
```
    Removes a body connector from this model's body connector container.
    
    Parameters:
    
    c - body connector to remove
    
    Returns:
    
    true if the connector was present and actually removed
  - clearBodyConnectors
```
public void clearBodyConnectors()
```
    Removes all body connectors from this model's body connector container.
  - constrainers
```
public ComponentListView<ConstrainerBase> constrainers()
```
    Returns this model's default container for constrainers.
    
    Returns:
    
    default constrainer container
  - addConstrainer
```
public void addConstrainer(ConstrainerBase c)
```
    Adds a constrainer to this model's constrainer container.
    
    Parameters:
    
    c - constrainer to add
  - removeConstrainer
```
public boolean removeConstrainer(ConstrainerBase c)
```
    Removes a constrainer from this model's constrainer container.
    
    Parameters:
    
    c - constrainer to remove
    
    Returns:
    
    true if the constrainer was present and actually removed
  - clearConstrainers
```
public void clearConstrainers()
```
    Removes all constrainers from this model's constrainer container.
  - renderables
```
public ComponentList<RenderableComponent> renderables()
```
    Returns this model's default container for renderable components.
    
    Returns:
    
    default renderable container
  - addRenderable
```
public void addRenderable(RenderableComponent rb)
```
    Adds a renderable component to this model's renderable container.
    
    Parameters:
    
    rb - renderable component to add
  - removeRenderable
```
public boolean removeRenderable(RenderableComponent rb)
```
    Removes a renderable component from this model's renderable container.
    
    Parameters:
    
    rb - renderable component to remove
    
    Returns:
    
    true if the component was present and actually removed
  - clearRenderables
```
public void clearRenderables()
```
    Removes all renderable components from this model's renderable container.
  - models
```
public ComponentListView<MechSystemModel> models()
```
    Returns this model's default container for sub-models (which includes FE models).
    
    Returns:
    
    default sub-model container
  - addModel
```
public void addModel(MechSystemModel m)
```
    Adds a sub-model to this model's sub-model container.
    
    Parameters:
    
    m - sub-model to add
  - removeModel
```
public boolean removeModel(MechSystemModel m)
```
    Removes a sub-model from this model's sub-model container.
    
    Parameters:
    
    m - sub-model to remove
    
    Returns:
    
    true if the model was present and actually removed
  - clearModels
```
public void clearModels()
```
    Removes all sub-models from this model's sub-model container.
  - attachPoint
```
public void attachPoint(Point p1,
                        PointAttachable comp)
```
    Attaches a particle to a PointAttachable component, using both component's current position state. The point may be relocated if this is necessary to create an attachment.
    
    Parameters:
    
    p1 - Point to connect. Must currently be a particle.
    
    comp - Component to attach the particle to.
  - attachPoint
```
public void attachPoint(Point p1,
                        RigidBody body,
                        Point3d loc)
```
  - detachPoint
```
public boolean detachPoint(Point p1)
```
  - attachFrame
```
public void attachFrame(Frame frame,
                        FrameAttachable comp,
                        RigidTransform3d TFW)
```
    Attaches a frame to a FrameAttachable component, with the initial pose of the frame described by TFWusin component's current position state. The frame may be relocated if this is necessary to create an attachment.
    
    Parameters:
    
    frame - Frame to connect.
    
    comp - component to attach the frame to.
    
    TFW - initial desired pose of the frame, in world coordinates
  - attachFrame
```
public void attachFrame(Frame frame,
                        FrameAttachable comp)
```
    Attaches a frame to a FrameAttachable component, using each component's current position state. The frame may be relocated if this is necessary to create an attachment.
    
    Parameters:
    
    frame - Frame to connect.
    
    comp - component to attach the frame to.
  - detachFrame
```
public boolean detachFrame(Frame frame)
```
  - attachments
```
public ComponentList<DynamicAttachmentComp> attachments()
```
  - addAttachment
```
public void addAttachment(DynamicAttachmentComp ax)
```
  - getAttachments
```
public void getAttachments(java.util.List<DynamicAttachment> list,
                           int level)
```
    Specified by:
    
    getAttachments in interface MechSystemModel
  - getAddConstraintForces
```
public boolean getAddConstraintForces()
```
  - setAddConstraintForces
```
public void setAddConstraintForces(boolean enable)
```
  - isActive
```
public static boolean isActive(DynamicComponent c)
```
  - getDynamicComponents
```
public void getDynamicComponents(java.util.List<DynamicComponent> active,
                                 java.util.List<DynamicComponent> attached,
                                 java.util.List<DynamicComponent> parametric)
```
    Specified by:
    
    getDynamicComponents in interface MechSystemModel
  - getDynamicComponents
```
public void getDynamicComponents(java.util.List<DynamicComponent> comps)
```
    Specified by:
    
    getDynamicComponents in interface MechSystemModel
  - isBilateralStructureConstant
```
public boolean isBilateralStructureConstant()
```
    Queries whether or not the matrix structure of the bilateral constraints returned by this system is constant for a given structure version.
    
    Specified by:
    
    isBilateralStructureConstant in interface MechSystem
    
    Overrides:
    
    isBilateralStructureConstant in class MechSystemBase
    
    Returns:
    
    true if bilateral constraints have a constant structure
  - getConstrainers
```
public void getConstrainers(java.util.List<Constrainer> list,
                            int level)
```
    Specified by:
    
    getConstrainers in interface MechSystemModel
  - getForceEffectors
```
public void getForceEffectors(java.util.List<ForceEffector> list,
                              int level)
```
    Specified by:
    
    getForceEffectors in interface MechSystemModel
  - addGeneralMassBlocks
```
public void addGeneralMassBlocks(SparseNumberedBlockMatrix M)
```
    Specified by:
    
    addGeneralMassBlocks in interface MechSystemModel
    
    Overrides:
    
    addGeneralMassBlocks in class MechSystemBase
  - getMassMatrixValues
```
public void getMassMatrixValues(SparseNumberedBlockMatrix M,
                                VectorNd f,
                                double t)
```
    Specified by:
    
    getMassMatrixValues in interface MechSystemModel
  - mulInverseMass
```
public void mulInverseMass(SparseBlockMatrix M,
                           VectorNd a,
                           VectorNd f)
```
    Specified by:
    
    mulInverseMass in interface MechSystem
    
    Specified by:
    
    mulInverseMass in interface MechSystemModel
  - getAuxStateComponents
```
public void getAuxStateComponents(java.util.List<HasNumericState> list,
                                  int level)
```
    Specified by:
    
    getAuxStateComponents in interface MechSystemModel
  - getSlaveObjectComponents
```
public void getSlaveObjectComponents(java.util.List<HasSlaveObjects> list,
                                     int level)
```
    Should be overridden in subclasses to return all the HasSlaveObjects components within this model.
    
    Specified by:
    
    getSlaveObjectComponents in interface MechSystemModel
    
    Overrides:
    
    getSlaveObjectComponents in class MechSystemBase
    
    Parameters:
    
    list - HasSlaveObjects components should be added to this list
  - projectRigidBodyPositionConstraints
```
public void projectRigidBodyPositionConstraints()
```
  - combineMatrixTypes
```
public int combineMatrixTypes(int type1,
                              int type2)
```
  - preadvance
```
public StepAdjustment preadvance(double t0,
                                 double t1,
                                 int flags)
```
    Prepares this model for advance from time t0 to time t1. Often this method does nothing; it is provided in case a model needs to update internal state at the very beginning a step before input probes and controllers are applied.
    If the method determines that the step size should be reduced, it can return a StepAdjustment object indicating the recommended reduction. Otherwise, the method may return null
    The flags argument gives additional information that may be relevant when advancing the model. Currently implemented flags include Model.STATE_IS_VOLATILE.
    
    Specified by:
    
    preadvance in interface Model
    
    Overrides:
    
    preadvance in class MechSystemBase
    
    Parameters:
    
    t0 - current time (seconds)
    
    t1 - new time to advance to (seconds)
    
    flags - additional information relevant to the advance
    
    Returns:
    
    null, or a step adjustment recommendation
  - recursivelyPrepareAdvance
```
public void recursivelyPrepareAdvance(double t0,
                                      double t1,
                                      int flags,
                                      int level)
```
    Specified by:
    
    recursivelyPrepareAdvance in interface MechSystemModel
    
    Overrides:
    
    recursivelyPrepareAdvance in class MechSystemBase
  - recursivelyFinalizeAdvance
```
public void recursivelyFinalizeAdvance(StepAdjustment stepAdjust,
                                       double t0,
                                       double t1,
                                       int flags,
                                       int level)
```
    Specified by:
    
    recursivelyFinalizeAdvance in interface MechSystemModel
    
    Overrides:
    
    recursivelyFinalizeAdvance in class MechSystemBase
  - recursivelyInitialize
```
public void recursivelyInitialize(double t,
                                  int level)
```
    Specified by:
    
    recursivelyInitialize in interface MechSystemModel
    
    Overrides:
    
    recursivelyInitialize in class MechSystemBase
  - setBounds
```
public void setBounds(Point3d pmin,
                      Point3d pmax)
```
  - setBounds
```
public void setBounds(double xmin,
                      double ymin,
                      double zmin,
                      double xmax,
                      double ymax,
                      double zmax)
```
  - scan
```
public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException
```
    Description copied from class: ModelComponentBase
    
    Scans this element from a ReaderTokenizer. The expected text format is assumed to be compatible with that produced by write.
    
    Specified by:
    
    scan in interface ModelComponent
    
    Specified by:
    
    scan in interface Scannable
    
    Overrides:
    
    scan in class ComponentList<ModelComponent>
    
    Parameters:
    
    rtok - Tokenizer from which to scan the element
    
    ref - optional reference object which can be used for resolving references to other objects
    
    Throws:
    
    java.io.IOException - if an I/O or formatting error occured
  - 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 RenderableModelBase
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - 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 RenderableModelBase
    
    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.
  - 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
  - scaleDistance
```
public void scaleDistance(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all distance coordinates.
    
    Specified by:
    
    scaleDistance in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - scaleMass
```
public void scaleMass(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all mass units.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Parameters:
    
    s - scaling factor
  - 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 ModelComponent
    
    Overrides:
    
    hasState in class ModelComponentBase
    
    Returns:
    
    true if this component has state
  - lowestCommonModel
```
public static MechModel lowestCommonModel(ModelComponent comp1,
                                          ModelComponent comp2)
```
  - topMechModel
```
public static MechModel topMechModel(ModelComponent comp)
```
    Returns the topmost MechModel, if any, that is associated with a specific component.
    
    Parameters:
    
    comp - component to start with
    
    Returns:
    
    topmost MechModel on or above comp, or null if there is none.
  - nearestMechModel
```
public static MechModel nearestMechModel(ModelComponent c)
```
    Returns the nearest MechModel, if any, that is an ancestor of a specific component. If the component is itself a MechModel, the component itself returned.
    
    Parameters:
    
    c - component to start with
    
    Returns:
    
    nearest MechModel on or above comp, or null if there is none.
  - componentChanged
```
public void componentChanged(ComponentChangeEvent e)
```
    Description copied from class: ComponentList
    
    Notifies this composite component that a change has occured within one or more of its descendants. When this occurs, the composite may need to invalidate cached information that depends on the descendants.
    This method should propagate the notification up the component hierarchy by calling notifyParentOfChange.
    
    Specified by:
    
    componentChanged in interface ComponentChangeListener
    
    Specified by:
    
    componentChanged in interface CompositeComponent
    
    Overrides:
    
    componentChanged in class ComponentList<ModelComponent>
    
    Parameters:
    
    e - optional argument giving specific information about the change
  - notifyParentOfChange
```
public void notifyParentOfChange(ComponentChangeEvent e)
```
    Notifies the parent of this component (if any) of changes within in its descendants. This is done by calling the parent's componentChanged method.
    
    Specified by:
    
    notifyParentOfChange in interface ModelComponent
    
    Overrides:
    
    notifyParentOfChange in class ModelComponentBase
    
    Parameters:
    
    e - optional argument giving specific information about the change
  - checkVelocityStability
```
public DynamicComponent checkVelocityStability()
```
    Checks the velocity stability of this system. If the velocity of any component appears to be unstable, return that component. Otherwise, return null.
    
    Specified by:
    
    checkVelocityStability in interface MechSystemModel
    
    Returns:
    
    first component containing an unstable velocity, or null if there is no instability
  - dispose
```
public void dispose()
```
    Description copied from class: ModelBase
    
    Called when the model is discarded. Disposes of any resources used.
    
    Specified by:
    
    dispose in interface Model
    
    Specified by:
    
    dispose in interface Disposable
    
    Overrides:
    
    dispose in class ModelBase
  - getActiveStiffnessMatrix
```
public SparseBlockMatrix getActiveStiffnessMatrix()
```
    Overrides:
    
    getActiveStiffnessMatrix in class MechSystemBase
  - getTrueStiffnessMatrix
```
public SparseBlockMatrix getTrueStiffnessMatrix()
```
  - getYPRStiffnessMatrix
```
public SparseBlockMatrix getYPRStiffnessMatrix(java.util.List<SolveMatrixModifier> modifiers)
```
    Returns the true active stiffness matrix with frame orientation expressed using yaw-pitch-roll coordinates. This increases the likelyhood that the matrix is symmetric.
    
    Parameters:
    
    modifiers - if not null, specifies a list of modifiers to apply to the true stiffness matrix before converting it to yaw-pitch-roll coordinates.
    
    Returns:
    
    true active yaw-pitch-roll stiffness matrix
  - getStiffnessMatrix
```
public SparseBlockMatrix getStiffnessMatrix(java.util.List<SolveMatrixModifier> modifiers)
```
    Returns the regular active stiffness matrix used by the ArtiSynth solver.
    
    Parameters:
    
    modifiers - if not null, specifies a list of modifiers to apply to the stiffness matrix.
    
    Returns:
    
    regular active stiffness matrix
  - writeState
```
public void writeState(java.lang.String filename)
                throws java.io.IOException
```
    Writes the state of this MechModel to a file. Used for debugging.
    
    Throws:
    
    java.io.IOException
  - readState
```
public void readState(java.lang.String filename)
               throws java.io.IOException
```
    Reads the state of this MechModel from a file. Used for debugging.
    
    Throws:
    
    java.io.IOException
  - getAllDynamicComponents
```
public java.util.ArrayList<DynamicComponent> getAllDynamicComponents()
```
    Returns a list of all the dynamic components in this model. Used for testing and debugging.
  - getAllPositions
```
public VectorNd getAllPositions()
```
    Returns a vector of the positions of all the dynamic components in this model. Used for testing and debugging.
  - getAllVelocities
```
public VectorNd getAllVelocities()
```
    Returns a vector of the velocities of all the dynamic components in this model. Used for testing and debugging.
  - getAllForces
```
public VectorNd getAllForces()
```
    Returns a vector of the forces of all the dynamic components in this model. Used for testing and debugging.
  - checkAllPositions
```
public void checkAllPositions(java.lang.String msg,
                              VectorNd posvec,
                              boolean printDiffs)
```
    Checks the positions of all the dynamic components in this model against a set of reference positions, and prints out the components which differ. Used for testing and debugging.
  - checkAllVelocities
```
public void checkAllVelocities(java.lang.String msg,
                               VectorNd velvec,
                               boolean printDiffs)
```
    Checks the velocities of all the dynamic components in this model against a set of reference positions, and prints out the components which differ. Used for testing and debugging.
  - checkAllForces
```
public void checkAllForces(java.lang.String msg,
                           VectorNd forcevec,
                           boolean printDiffs)
```
    Checks the forces of all the dynamic components in this model against a set of reference forces, and prints out the components which differ. Used for testing and debugging. An example that compares forces with at time 0 inside MechSystemSolver.constrainedBackwardEuler() looks like this:
```
 
 VectorNd myF0;

 constrainedBackwardEuler (
    double t0, double t1, StepAdjustment stepAdjust) {

    ...

    if (t0 == 0) {
       if (myF0 == null) {
          myF0 = ((MechModel)mySys).getAllForces();
       }
       else {
          ((MechModel)mySys).checkAllForces ("force check", myF0, true);
       }
    }
 }
 
```
  - printPointSpringInfo
```
public void printPointSpringInfo(java.lang.String msg)
```
    Prints the tensions in all the point-to-point muscles in this model. Used for testing and debugging.

Class MechModel

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.mechmodels.MechSystemBase

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

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.MechSystem

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

Field Summary

Fields inherited from class artisynth.core.mechmodels.MechSystemBase

Fields inherited from class artisynth.core.modelbase.ModelBase

Fields inherited from class artisynth.core.modelbase.ComponentList

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface artisynth.core.modelbase.Model

Fields inherited from interface artisynth.core.mechmodels.MechSystem

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.mechmodels.MechSystemBase

Methods inherited from class artisynth.core.modelbase.RenderableModelBase

Methods inherited from class artisynth.core.modelbase.ModelBase

Methods inherited from class artisynth.core.modelbase.ComponentList

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.Model

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface artisynth.core.modelbase.PostScannable

Methods inherited from interface maspack.util.Scannable

Methods inherited from interface artisynth.core.modelbase.ComponentListView

Methods inherited from interface java.util.Collection

Methods inherited from interface java.lang.Iterable

Methods inherited from interface artisynth.core.modelbase.CompositeComponent

Field Detail

myProps

Constructor Detail

MechModel

MechModel

Method Detail

getAllPropertyInfo

clear

getAddFrameMarkerStiffness

setAddFrameMarkerStiffness

getRadius

setPenetrationTol

getPenetrationTol

getPenetrationTolMode

setPenetrationTolMode

setPenetrationTolIfNecessary

computeDefaultPenetrationTol

setWrapKnotDensity

getWrapKnotDensity

getWrapKnotDensityMode

setWrapKnotDensityMode

computeDefaultWrapKnotDensity

setRotaryLimitTol

getRotaryLimitTol

getRotaryLimitTolMode

setRotaryLimitTolMode

getExcitationColor

setExcitationColor

getExcitationColorMode

setExcitationColorMode

getMaxColoredExcitation

setMaxColoredExcitation

getMaxColoredExcitationMode

setMaxColoredExcitationMode

setFriction

getFriction

setDefaultCollisionBehavior

setDefaultCollisionBehavior

getDefaultCollisionBehavior

setDefaultCollisionBehavior

setDefaultCollisionBehavior

setCollisionBehavior

setCollisionBehavior

setCollisionBehavior

getCollisionBehavior

clearCollisionBehavior