RigidBody.public class RigidCompositeBody extends RigidBody
RigidBody.InertiaMethodCollidable.Collidability, Collidable.GroupCompositeComponent.NavpanelDisplayDEFAULT_SUBMESHES_SELECTABLE, myPropsdynamicVelInWorldCoords, myRenderFrameenforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNamesAll, AllBodies, Deformable, Rigid, SelfCOPY_REFERENCES, REST_POSITIONTG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATINGTRANSPARENT, TWO_DIMENSIONAL| Constructor and Description |
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RigidCompositeBody()
Deprecated.
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RigidCompositeBody(java.lang.String name)
Deprecated.
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| Modifier and Type | Method and Description |
|---|---|
void |
transformGeometry(GeometryTransformer gtr,
TransformGeometryContext context,
int flags)
Deprecated.
Transforms the geometry of this component, using the geometry transformer
gtr to transform its individual attributes. |
add, addConnector, addEffectiveFrameMass, addEffectivePointMass, addMesh, addMesh, addMesh, addMeshComp, addTransformableDependencies, addVelJacobian, allowCollision, applyForces, applyGravity, centerPoseOnCenterOfMass, clearMeshComps, collectVertexMasters, componentChanged, containsConnector, containsContactMaster, containsMeshComp, copy, createBox, createBox, createBox, createCylinder, createEllipsoid, createFromMesh, createFromMesh, createFromMesh, createFromMesh, createIcosahedralSphere, createRenderProps, createSphere, extrapolatePose, findComponent, get, get, getAllPropertyInfo, getByNumber, getCenterOfMass, getCenterOfMass, getCharacteristicRadius, getChildren, getCollidable, getCollidableAncestor, getCollidableIndex, getCollisionMesh, getConnectors, getCopyReferences, getDensity, getDensityRange, getDistanceGrid, getDistanceGridComp, getDistanceGridRes, getEffectiveInertia, getEffectiveMass, getEffectiveMass, getEffectiveMassForces, getEffectiveMassForces, getFrameMarkers, getGridSurfaceRendering, getInertia, getInertialDamping, getInertialDampingMode, getInertiaMethod, getInverseMass, getMass, getMass, getMass, getMassRange, getMesh, getMeshComp, getMeshComp, getMeshComps, getNavpanelDisplay, getNumberLimit, getRotationalInertia, getRotationalInertia, getSubmeshesSelectable, getSurfaceMesh, getSurfaceMeshComp, getSurfaceMeshes, getVolume, hasChildren, hasDistanceGrid, hasForce, hasInvariantMasters, hierarchyContainsReferences, indexOf, isCompound, isDeformable, isDuplicatable, isFreeBody, isMassConstant, mulInverseEffectiveMass, mulInverseEffectiveMass, numComponents, numMeshComps, numSurfaceMeshes, penetrationDistance, postscan, prerender, remove, removeConnector, removeMeshComp, removeMeshComp, render, resetEffectiveMass, scaleDistance, scaleMass, scaleSurfaceMesh, scan, setCenterOfMass, setCollidable, setCollidableIndex, setDensity, setDisplayMode, setDistanceGridRes, setDynamic, setGridSurfaceRendering, setInertia, setInertia, setInertia, setInertia, setInertiaFromDensity, setInertiaFromMass, setInertialDamping, setInertialDampingMode, setInertiaMethod, setMass, setMesh, setMesh, setMesh, setPose, setPosState, setRotationalInertia, setSubmeshesSelectable, setSurfaceMesh, setSurfaceMesh, setSurfaceMesh, subEffectiveInertia, surfaceTangent, transformCoordinateFrame, translateCoordinateFrame, updateBounds, updateNameMap, writeadd1DConstraintBlocks, add2DConstraintBlocks, addExternalForce, addForce, addForce, addFrameForce, addPointForce, addPointForce, addPosImpulse, addPosJacobian, addRelativeVelocity, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, applyExternalForces, collectMasterComponents, computeAppliedWrench, computeForceOnMasters, computeFrameLocation, computeFramePosition, computeFramePosVel, computeFrameVelocity, computePointCoriolis, computePointLocation, computePointPosition, computePointPosVel, computePointVelocity, createFrameAttachment, createMassBlock, createPointAttachment, getAxisDrawStyle, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getExternalForce, getForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getJacobianType, getMoment, getOrientation, getOrientation, getPosDerivative, getPose, getPose, getPosition, getPosState, getPosStateSize, getRenderFrame, getRotaryDamping, getRotaryDampingMode, getRotation, getSelection, getState, getTargetActivity, getTargetOrientation, getTargetPos, getTargetPose, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getTransForce, getVelocity, getVelocity, getVelState, getVelStateSize, getWorldVelState, resetTargets, setAxisDrawStyle, setAxisLength, setBodyVelocity, setContactConstraint, setExternalForce, setForce, setForce, setFrameDamping, setFrameDampingMode, setOrientation, setPose, setPosition, setRandomForce, setRandomPosState, setRandomVelState, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, transformPose, updateAttachmentPosStates, velocityLimitExceeded, zeroExternalForces, zeroForcesaddAttachmentRequest, addConstrainer, addMasterAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex, transformGeometrydefaultRenderPropsAreNull, getRenderHints, getRenderProps, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderPropscheckFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferencesequals, getClass, hashCode, notify, notifyAll, toString, wait, wait, waittransformPosecreateFrameAttachmentcreatePointAttachmentaddAttachmentRequest, removeAttachmentRequestaddConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndexadvanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarStatetransformGeometry, transformPriorityisControllablepublic RigidCompositeBody()
public RigidCompositeBody(java.lang.String name)
public void transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags)
TransformableGeometrygtr 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).
transformGeometry in interface TransformableGeometrytransformGeometry in class RigidBodygtr - transformer implementing the transformcontext - context information, including what other components
are being transformedflags - specifies conditions associated with the transformation