public class RigidSphere extends RigidBody implements Wrappable
RigidBody.InertiaMethodModelComponent.NavpanelVisibilityCollidable.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 |
|---|
RigidSphere() |
RigidSphere(java.lang.String name,
double r,
double density) |
RigidSphere(java.lang.String name,
double r,
double density,
int nslices) |
| Modifier and Type | Method and Description |
|---|---|
double |
getCharacteristicRadius()
Returns a typical "radius" that should be expected for this wrappable,
defined as the distance for a surface point to the center.
|
double |
getRadius() |
double |
penetrationDistance(Vector3d nrm,
Matrix3d dnrm,
Point3d p0)
Computes the penetration distance of a point
p0 into this
Wrappable, along with the normal nrm that points from
p0 to its nearest point on the surface. |
void |
setRadius(double r) |
void |
surfaceTangent(Point3d pr,
Point3d p0,
Point3d p1,
double lam,
Vector3d sideNrm)
Computes the point
pt on the surface of this Wrappable such
that the line segment (pa,pt) is both tangent to the surface and as near
as possible to the line defined by the two points pa and p1. |
void |
transformGeometry(GeometryTransformer gtr,
TransformGeometryContext context,
int flags)
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, 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, 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, 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, waitcreatePointAttachmentconnectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferencesgetAllPropertyInfo, getPropertygetChildren, hasChildrenpostscanisWritable, writetransformPosecreateFrameAttachmentaddAttachmentRequest, removeAttachmentRequestaddConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndexadvanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarStatetransformGeometry, transformPriorityisControllablepublic RigidSphere()
public RigidSphere(java.lang.String name,
double r,
double density)
public RigidSphere(java.lang.String name,
double r,
double density,
int nslices)
public double getRadius()
public void setRadius(double r)
public void surfaceTangent(Point3d pr, Point3d p0, Point3d p1, double lam, Vector3d sideNrm)
RigidBodypt on the surface of this Wrappable such
that the line segment (pa,pt) is both tangent to the surface and as near
as possible to the line defined by the two points pa and p1.
To assist with the computation, pKcheck[kmax]t can be assumed to lie
fairly close to p1, and its projection onto the line can be
assumed to lie between p1 and another point p0 defined by
p0 = (1-lam0) pa + lam0 p1where
lam0 is a parameter between 0 and 1.surfaceTangent in interface WrappablesurfaceTangent in class RigidBodypr - returns the tangent pointp0 - first point of the linep1 - second point of the linelam - parameter defining point p0 as defined abovesideNrm - a normalized vector perpendicular to the plane defined by
pa, p1 and pt. Can be used
to help compute ptpublic double penetrationDistance(Vector3d nrm, Matrix3d dnrm, Point3d p0)
RigidBodyp0 into this
Wrappable, along with the normal nrm that points from
p0 to its nearest point on the surface. The distance should
be negative if the point is inside the wrappable, and positive otherwise.
If the point is outside and further than some minimum distance,
then the method should return the constant Wrappable.OUTSIDE.
If possible, the method should also compute the derivative of the
normal with respect to changes in p0, and return this in
dnrm. If this is not possible, dnrm should be
set to 0.
penetrationDistance in interface WrappablepenetrationDistance in class RigidBodynrm - returns the normal (should be normalized)dnrm - returns the derivative of the normal with respect to
changes in p0, or zero if this cannot be determined.p0 - point to determine penetration forWrappable.OUTSIDE if the
point is further than some minimum distance from the wrappable.public double getCharacteristicRadius()
getCharacteristicRadius in interface WrappablegetCharacteristicRadius in class RigidBodypublic 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