artisynth.core.mechmodels

Class PointForce

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.PointForce

All Implemented Interfaces:

ForceComponent, ForceEffector, CopyableComponent, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class PointForce
extends ModelComponentBase
implements RenderableComponent, ScalableUnits, ForceComponent, TransformableGeometry, CopyableComponent

Nested Class Summary

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

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static double	DEFAULT_AXIS_RADIUS_RATIO
static double	DEFAULT_FORCE_SCALING
static double	DEFAULT_LENGTH_FORCE_RATIO
static boolean	DEFAULT_RENDER_OUTWARD
static PropertyList	myProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors

Constructor and Description
PointForce()
PointForce(Point p)
PointForce(java.lang.String name)
PointForce(Vector3d f, Point p)

Method Summary

Modifier and Type	Method and Description
void	addPosJacobian(SparseNumberedBlockMatrix M, double s) Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
void	addSolveBlocks(SparseNumberedBlockMatrix M) Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector.
void	addTransformableDependencies(TransformGeometryContext context, int flags) Adds to context any transformable components which should be transformed as the same time as this component.
void	addVelJacobian(SparseNumberedBlockMatrix M, double s) Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
void	applyForces(double t) Adds forces to the components affected by this force effector at a particular time.
ModelComponent	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
RenderProps	createRenderProps() Factory method to create render properties appropriate to this object.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
double	getAxisLength()
double	getAxisRadiusRatio()
boolean	getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor) Collects external references which must also be copied in order to duplicate this component.
Vector3d	getDirection()
Vector3d	getForce()
double	getForceLengthRatio()
double	getForceScaling()
void	getHardReferences(java.util.List<ModelComponent> refs) Appends all hard references for this component to a list.
int	getJacobianType() Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix.
double	getMagnitude()
Point	getPoint()
int	getRenderHints() Returns a bit code giving rendering hints about this renderable.
boolean	getRenderOutward()
RenderProps	getRenderProps() Returns the render properities for this object.
void	getSelection(java.util.LinkedList<java.lang.Object> list, int qid) Append to list the component (or components) associated with the qid-th selection query issued by this component's render method.
boolean	isDuplicatable() Returns true if this component can be duplicated.
boolean	isSelectable() Returns true if this object is in fact selectable.
int	numSelectionQueriesNeeded() If this selectable manages its own selection (by issuing selection queries within its render method), then this method should return the maximum number of selection queries that will be required.
void	prerender(RenderList list) Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates).
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
void	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	setAxisLength(double len)
void	setAxisRadiusRatio(double r)
void	setDirection(Vector3d dir)
void	setForce(Vector3d f)
void	setForceLengthRatio(double r)
void	setForceScaling(double forceScaling)
void	setMagnitude(double mag)
void	setPoint(Point pnt)
void	setRenderOutward(boolean enable)
void	setRenderProps(RenderProps props) Assigns a new set of render properties to this object.
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.

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformPriority

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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

Methods inherited from interface maspack.properties.HasProperties

getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Field Detail

DEFAULT_RENDER_OUTWARD

public static boolean DEFAULT_RENDER_OUTWARD

DEFAULT_LENGTH_FORCE_RATIO

public static double DEFAULT_LENGTH_FORCE_RATIO

DEFAULT_AXIS_RADIUS_RATIO

public static double DEFAULT_AXIS_RADIUS_RATIO

DEFAULT_FORCE_SCALING

public static double DEFAULT_FORCE_SCALING

myProps

public static PropertyList myProps

Constructor Detail

PointForce

public PointForce()

PointForce

public PointForce(java.lang.String name)

PointForce

public PointForce(Point p)

PointForce

public PointForce(Vector3d f,
                  Point p)

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 ModelComponentBase

Returns:

static information for all exported properties

getPoint

public Point getPoint()

setPoint

public void setPoint(Point pnt)

applyForces

public void applyForces(double t)

Description copied from interface: ForceEffector

Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.

Specified by:

applyForces in interface ForceEffector

Parameters:

t - time (seconds)

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 ModelComponentBase

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

getRenderProps

public RenderProps getRenderProps()

Description copied from interface: HasRenderProps

Returns the render properities for this object. If no render properties are assigned, this routines returns null.

Specified by:

getRenderProps in interface HasRenderProps

Returns:

current render properties for this object

setRenderProps

public void setRenderProps(RenderProps props)

Description copied from interface: HasRenderProps

Assigns a new set of render properties to this object. An argument of null will remove render properties from this object.

Specified by:

setRenderProps in interface HasRenderProps

Parameters:

props - new render properties for this object

createRenderProps

public RenderProps createRenderProps()

Description copied from interface: HasRenderProps

Factory method to create render properties appropriate to this object.

Specified by:

createRenderProps in interface HasRenderProps

Returns:

new render properties for this object

prerender

public void prerender(RenderList list)

Description copied from interface: IsRenderable

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

list.addIfVisible (obj);

for each of the objects in question.

Specified by:

prerender in interface IsRenderable

Parameters:

list - list of objects to be rendered

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

Parameters:

pmin - minimum point

pmax - maximum point

getRenderHints

public int getRenderHints()

Description copied from interface: IsRenderable

Returns a bit code giving rendering hints about this renderable. Current bit codes include TRANSPARENT and TWO_DIMENSIONAL.

Specified by:

getRenderHints in interface IsRenderable

Returns:

bit code of rendering hints.

isSelectable

public boolean isSelectable()

Description copied from interface: IsSelectable

Returns true if this object is in fact selectable.

Specified by:

isSelectable in interface IsSelectable

Returns:

true if this object is selectable

numSelectionQueriesNeeded

public int numSelectionQueriesNeeded()

Description copied from interface: IsSelectable

If this selectable manages its own selection (by issuing selection queries within its render method), then this method should return the maximum number of selection queries that will be required. Otherwise, this method should return -1.

Specified by:

numSelectionQueriesNeeded in interface IsSelectable

Returns:

maximum number of selection queries needed by this component, or -1 if this component does not manage its own selection.

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

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.

getSelection

public void getSelection(java.util.LinkedList<java.lang.Object> list,
                         int qid)

Description copied from interface: IsSelectable

Append to list the component (or components) associated with the qid-th selection query issued by this component's render method. This will only be called if this component manages its own selection (i.e., the number nums returned by IsSelectable.numSelectionQueriesNeeded() is positive), and qid will in turn be a number between 0 and nums-1.

Specified by:

getSelection in interface IsSelectable

Parameters:

list - selected objects are appended to the end of this list

qid - index of the selection query

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

getDirection

public Vector3d getDirection()

setDirection

public void setDirection(Vector3d dir)

getForce

public Vector3d getForce()

setForce

public void setForce(Vector3d f)

getMagnitude

public double getMagnitude()

setMagnitude

public void setMagnitude(double mag)

getRenderOutward

public boolean getRenderOutward()

setRenderOutward

public void setRenderOutward(boolean enable)

getAxisLength

public double getAxisLength()

setAxisLength

public void setAxisLength(double len)

getForceLengthRatio

public double getForceLengthRatio()

setForceLengthRatio

public void setForceLengthRatio(double r)

getAxisRadiusRatio

public double getAxisRadiusRatio()

setAxisRadiusRatio

public void setAxisRadiusRatio(double r)

getForceScaling

public double getForceScaling()

setForceScaling

public void setForceScaling(double forceScaling)

transformGeometry

public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)

Description copied from interface: TransformableGeometry

Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes. The context argument supplies information about what other components are currently being transformed, and also allows the requesting of update actions to be performed after all transform called have completed. The context is also the usual entity that calls this method, from within its TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method. The argument flags provides flags to specify various conditions associated with the the transformation. At present, the available flags are TransformableGeometry.TG_SIMULATING and TransformableGeometry.TG_ARTICULATED.

This method is not usually called directly by applications. Instead, it is typically called from within the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of the context, which takes care of the various operations needed for a complete transform operation, including calling TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int) to collect other components that should be transformed, calling TransformableGeometry.transformGeometry(maspack.matrix.AffineTransform3dBase) for each component, notifying component parents that the geometry has changed, and calling any requested TransformGeometryActions. More details are given in the documentation for TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int).

TransformGeometryContext provides a number of static convenience transform methods which take care of building the context and calling apply() for a specified set of components.

This method should not generally call transformGeometry() for its descendant components. Instead, descendants needing transformation should be specified by adding them to the context in the method TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int).

Specified by:

transformGeometry in interface TransformableGeometry

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)

Description copied from interface: TransformableGeometry

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

transformGeometry

public void transformGeometry(AffineTransform3dBase X)

Description copied from interface: TransformableGeometry

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

addSolveBlocks

public void addSolveBlocks(SparseNumberedBlockMatrix M)

Description copied from interface: ForceEffector

Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector. In general, blocks will be need to be added at locations given by the block indices (bi, bj), where bi and bj correspond to the solve indices (as returned by getSolveIndex) for all dynamic or attached components affected by this force effector.

Specified by:

addSolveBlocks in interface ForceEffector

Parameters:

M - solve matrix to which blocks should be added

addPosJacobian

public void addPosJacobian(SparseNumberedBlockMatrix M,
                           double s)

Description copied from interface: ForceEffector

Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.

M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.

Specified by:

addPosJacobian in interface ForceEffector

Parameters:

M - solve matrix to which scaled position Jacobian is to be added

s - scaling factor for position Jacobian

addVelJacobian

public void addVelJacobian(SparseNumberedBlockMatrix M,
                           double s)

Description copied from interface: ForceEffector

Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.

M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.

Specified by:

addVelJacobian in interface ForceEffector

Parameters:

M - solve matrix to which scaled velocity Jacobian is to be added

s - scaling factor for velocity Jacobian

getJacobianType

public int getJacobianType()

Description copied from interface: ForceEffector

Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. This should be a logical or-ing of either Matrix.SYMMETRIC or Matrix.POSITIVE_DEFINITE. The former should be set if adding the Jacobian terms preserves symmetry, and the latter should be set if positive definiteness if preserved. Both should be set if there is no Jacobian for this effector (i.e., the Jacobian methods are not implemented). Matrix types from all the force effectors are logically and-ed together to determine the type for the entire solve matrix.

Specified by:

getJacobianType in interface ForceEffector

Returns:

solve matrix type resulting from adding Jacobian terms

isDuplicatable

public boolean isDuplicatable()

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

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

Specified by:

isDuplicatable in interface CopyableComponent

Returns:

true if this component can be duplicated.

getCopyReferences

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

Description copied from interface: CopyableComponent

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

Specified by:

getCopyReferences in interface CopyableComponent

Parameters:

refs - list to which references are appended

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

Returns:

false if it is discovered that the component cannot be duplicated

copy

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

Description copied from interface: CopyableComponent

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

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class ModelComponentBase

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component

getHardReferences

public void getHardReferences(java.util.List<ModelComponent> refs)

Description copied from class: ModelComponentBase

Appends all hard references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an AxialSpring refers to two Point components as for it's end points. A hard reference is one which the referring component must have, and which if deleted, implies that the referring component should be deleted too.

Specified by:

getHardReferences in interface ModelComponent

Overrides:

getHardReferences in class ModelComponentBase

Parameters:

refs - list to which hard references are appended