artisynth.core.mechmodels

Class PointMeshForce

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.PointMeshForce

All Implemented Interfaces:

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

public class PointMeshForce
extends RenderableComponentBase
implements ForceComponent

An experimental component that generates forces between a set of points and collision with a mesh specified by a mesh contained within a MeshComponent.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	PointMeshForce.ForceType Determines force on the mesh-interacting points are computed in response to the point's distance from the mesh

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static double	DEFAULT_DAMPING
static boolean	DEFAULT_ENABLED
static PointMeshForce.ForceType	DEFAULT_FORCE_TYPE
static double	DEFAULT_STIFFNESS
static boolean	DEFAULT_UNILATERAL
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

Constructor Summary

Constructors

Constructor and Description
PointMeshForce() This constructor should not be called by applications, unless ModelComponentBase.scan(maspack.util.ReaderTokenizer, java.lang.Object) is called immediately after.
PointMeshForce(MeshComponent mcomp) Creates a new PointMeshForce for a mesh contained within a specified mesh component.
PointMeshForce(java.lang.String name, MeshComponent mcomp) Creates a new PointMeshForce for a mesh contained within a specified mesh component.
PointMeshForce(java.lang.String name, MeshComponent mcomp, double stiffness, double damping) Creates a new PointMeshForce for a mesh contained within a specified mesh component.

Method Summary

Modifier and Type	Method and Description
void	addPoint(Point point) Adds a mesh-interacting point to this PointMeshForce.
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	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.
void	clearAllPoints() Removes all mesh-interacting points from this PointMeshForce.
void	computePointForce(Vector3d f, int idx) Computes the force currently acting on a specific point.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
double	getDamping() Queries the damping force term for this PointMeshForce.
boolean	getDrawForces() Queries whether or not point force rendering is enabled.
boolean	getEnabled() Queries whether this PointMeshForce is enabled.
double	getForceLenScale() Returns the force length scale factor for this component.
PointMeshForce.ForceType	getForceType() Queries the force type for this PointMeshForce.
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.
MeshComponent	getMeshComp() Returns the mesh component containing the mesh.
Point	getPoint(int idx) Gets the idx-th mesh-interacting point in this PointMeshForce.
void	getSoftReferences(java.util.List<ModelComponent> refs) Appends all soft references for this component to a list.
double	getStiffness() Queries the stiffness force term for this PointMeshForce.
boolean	getUnilateral() Queries whether the point-mesh interactions are unilateral.
int	numPoints() Queries the number of mesh-interacting in this PointMeshForce.
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).
boolean	removePoint(Point point) Removes a mesh-interacting point from this PointMeshForce.
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
void	setDamping(double damping) Sets the damping force term for this PointMeshForce.
void	setDrawForces(boolean enable) Sets whether or not point force rendering is enabled.
void	setEnabled(boolean enabled) Sets whether this PointMeshForce is enabled.
void	setForceLenScale(double scale) Sets the force length scale factor for this component.
void	setForceType(PointMeshForce.ForceType type) Sets the force type for this PointMeshForce.
void	setStiffness(double stiffness) Sets the stiffness force term for this PointMeshForce.
void	setUnilateral(boolean enable) Sets whether the point-mesh interactions are unilateral.
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.
void	updateReferences(boolean undo, java.util.Deque<java.lang.Object> undoInfo) May be called by the system if any of the soft references for this component are removed from the the component hierarchy.

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

copy, createRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderProps

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, hasChildren, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, write

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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

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_UNILATERAL

public static boolean DEFAULT_UNILATERAL

DEFAULT_STIFFNESS

public static double DEFAULT_STIFFNESS

DEFAULT_DAMPING

public static double DEFAULT_DAMPING

DEFAULT_FORCE_TYPE

public static PointMeshForce.ForceType DEFAULT_FORCE_TYPE

DEFAULT_ENABLED

public static boolean DEFAULT_ENABLED

myProps

public static PropertyList myProps

Constructor Detail

PointMeshForce

public PointMeshForce()

This constructor should not be called by applications, unless ModelComponentBase.scan(maspack.util.ReaderTokenizer, java.lang.Object) is called immediately after.

PointMeshForce

public PointMeshForce(MeshComponent mcomp)

Creates a new PointMeshForce for a mesh contained within a specified mesh component.

Parameters:

mcomp - contains the mesh

PointMeshForce

public PointMeshForce(java.lang.String name,
                      MeshComponent mcomp)

Creates a new PointMeshForce for a mesh contained within a specified mesh component.

Parameters:

name - name of the PointMeshForce component

mcomp - contains the mesh

PointMeshForce

public PointMeshForce(java.lang.String name,
                      MeshComponent mcomp,
                      double stiffness,
                      double damping)

Creates a new PointMeshForce for a mesh contained within a specified mesh component.

Parameters:

name - name of the PointMeshForce component

mcomp - contains the mesh

stiffness - contact stiffness term

damping - contact damping term

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 RenderableComponentBase

Returns:

static information for all exported properties

getMeshComp

public MeshComponent getMeshComp()

Returns the mesh component containing the mesh.

Returns:

the mesh component

addPoint

public void addPoint(Point point)

Adds a mesh-interacting point to this PointMeshForce.

Parameters:

point - point to add

removePoint

public boolean removePoint(Point point)

Removes a mesh-interacting point from this PointMeshForce.

Parameters:

point - point to remove

numPoints

public int numPoints()

Queries the number of mesh-interacting in this PointMeshForce.

Returns:

number of mesh-interacting points

getPoint

public Point getPoint(int idx)

Gets the idx-th mesh-interacting point in this PointMeshForce.

Parameters:

idx - index of the requested point

Returns:

requested mesh-interacting point

clearAllPoints

public void clearAllPoints()

Removes all mesh-interacting points from this PointMeshForce.

getUnilateral

public boolean getUnilateral()

Queries whether the point-mesh interactions are unilateral. See setUnilateral(boolean).

Returns:

true if the point-mesh interactions are unilateral

setUnilateral

public void setUnilateral(boolean enable)

Sets whether the point-mesh interactions are unilateral. Unilateral interactions are contact-like: points are prevented from penetrating the inside of the mesh, but are allowed to move freely outside it. Non-unilateral interactions constrain the points to the mesh surface.

Parameters:

enable - if true, enables unilateral point-mesh interactions.

getForceType

public PointMeshForce.ForceType getForceType()

Queries the force type for this PointMeshForce. See setForceType(artisynth.core.mechmodels.PointMeshForce.ForceType).

Returns:

current force type

setForceType

public void setForceType(PointMeshForce.ForceType type)

Sets the force type for this PointMeshForce. The force type is described by PointMeshForce.ForceType and determines how the point forces are computed in response to their distance from the mesh.

Parameters:

type - new force type

getStiffness

public double getStiffness()

Queries the stiffness force term for this PointMeshForce.

Returns:

stiffness force term

setStiffness

public void setStiffness(double stiffness)

Sets the stiffness force term for this PointMeshForce.

Parameters:

stiffness - new stiffness term value

getDamping

public double getDamping()

Queries the damping force term for this PointMeshForce.

Returns:

damping force term

setDamping

public void setDamping(double damping)

Sets the damping force term for this PointMeshForce.

Parameters:

damping - new damping term value

getEnabled

public boolean getEnabled()

Queries whether this PointMeshForce is enabled. If it is not enabled, it generates no forces on its points.

Returns:

true if this PointMeshForce is enabled

setEnabled

public void setEnabled(boolean enabled)

Sets whether this PointMeshForce is enabled. If it is not enabled, it generates no forces on its points.

Parameters:

enabled - if true, enables this PointMeshForce

getDrawForces

public boolean getDrawForces()

Queries whether or not point force rendering is enabled. See setDrawForces(boolean).

Returns:

true if point force rendering is enabled.

setDrawForces

public void setDrawForces(boolean enable)

Sets whether or not point force rendering is enabled. If enabled, the force on each point is rendered using a line segment drawn from the point in direction of the force. The length of each line segment is given by the force magnitude times the value returned by getForceLenScale(), and other render properties are controlled by the generic line render properties associated with this component.

Parameters:

enable - if true, enables point force rendering.

getForceLenScale

public double getForceLenScale()

Returns the force length scale factor for this component. See setForceLenScale(double).

Returns:

force length scale

setForceLenScale

public void setForceLenScale(double scale)

Sets the force length scale factor for this component. If point force rendering is enabled, the length of the line segement representing each point force is given by the force magnitude times the force length scale.

Parameters:

scale - force length scale

applyForces

public void applyForces(double t)

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)

computePointForce

public void computePointForce(Vector3d f,
                              int idx)

Computes the force currently acting on a specific point.

Parameters:

f - returns the computed force acting on the point

idx - index of the point

addSolveBlocks

public void addSolveBlocks(SparseNumberedBlockMatrix M)

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)

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)

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()

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

updateBounds

public void updateBounds(Vector3d pmin,
                         Vector3d pmax)

Update the minimum and maximum points for this object. In an x-y-z coordinate system with x directed to the right and y directed upwards, the minimum and maximum points can be thought of as defining the left-lower-far and right-upper-near corners of a bounding cube. This method should only reduce the elements of the minimum point and increase the elements of the maximum point, since it may be used as part of an iteration to determine the bounding cube for several different objects.

Specified by:

updateBounds in interface IsRenderable

Overrides:

updateBounds in class RenderableComponentBase

Parameters:

pmin - minimum point

pmax - maximum point

prerender

public void prerender(RenderList list)

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

list.addIfVisible (obj);

for each of the objects in question.

Specified by:

prerender in interface IsRenderable

Overrides:

prerender in class RenderableComponentBase

Parameters:

list - list of objects to be rendered

render

public void render(Renderer renderer,
                   int flags)

Render this object using the functionality of the supplied Renderer.

Specified by:

render in interface IsRenderable

Specified by:

render in class RenderableComponentBase

Parameters:

renderer - provides the functionality used to perform the rendering.

flags - flags that may be used to control different aspects of the rendering. Flags are defined in Renderer and currently include Renderer.HIGHLIGHT and Renderer.SORT_FACES.

getHardReferences

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

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

Specified by:

getHardReferences in interface ModelComponent

Overrides:

getHardReferences in class ModelComponentBase

Parameters:

refs - list to which hard references are appended

getSoftReferences

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

Appends all soft 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 ExcitationComponent may refer to one or more other ExcitationComponents to act as excitation sources. A soft reference is one which can be removed from the referring component. In particular, if any soft references for a component are deleted, then that component's updateReferences() method will be called to update its internal reference information.

Specified by:

getSoftReferences in interface ModelComponent

Overrides:

getSoftReferences in class ModelComponentBase

Parameters:

refs - list to which soft references are appended

updateReferences

public void updateReferences(boolean undo,
                             java.util.Deque<java.lang.Object> undoInfo)

May be called by the system if any of the soft references for this component are removed from the the component hierarchy. If called with undo equal to false, this component should then examine its soft references and use ComponentUtils.areConnected() to determine which of them have been disconnected from the hierarchy. Disconnected references should be removed, and sufficient information should be appended to undoInfo to allow this update to be undone if this method is called later with undo equal to true. When undoing an update, the undo information should be removed from the front of undoInfo.

Specified by:

updateReferences in interface ModelComponent

Overrides:

updateReferences in class ModelComponentBase

Parameters:

undo - if true, indicates that the most recent reference update should be undone, using the supplied undo information.

undoInfo - if undo is false, should be used to store information allowing the reference update to be undone. Otherwise, if undo is true, then this supplied information to undo the most recent update.