artisynth.core.mechmodels

Class SegmentedPlanarConnector

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.BodyConnector

artisynth.core.mechmodels.SegmentedPlanarConnector

All Implemented Interfaces:

Constrainer, CopyableComponent, HasCoordinateFrame, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class SegmentedPlanarConnector
extends BodyConnector
implements CopyableComponent

Implements a 5 DOF connector in which the origin of C is constrained to lie on a piecewise linear surface defined by a piecewise linear curve in the x-z plane of D.

The planar segments are defined by a sequence of x-z coordinate pairs in the D coordinate frame. The number of segments equals the number of pairs minus one, so there must be at least two pairs (which would define a single plane). Segments are assumed to be contiguous, and the normal for each is defined by u X y, where u is a vector in the direction of the segment (from first to last coordinate pair) and y is the direction of the y axis. The first and last plane segments are assumed to extend to infinity.

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 PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.BodyConnector

debug, useOldDerivativeMethod

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
SegmentedPlanarConnector() Creates a SegmentedPlanarConnector which is not attached to any bodies.
SegmentedPlanarConnector(ConnectableBody bodyA, ConnectableBody bodyB, RigidTransform3d TDW, double[] segs) Creates a SegmentedPlanarConnector connecting two connectable bodies, bodyA and bodyB.
SegmentedPlanarConnector(RigidBody bodyA, Vector3d pCA, RigidBody bodyB, RigidTransform3d TDB, double[] segs) Creates a SegmentedPlanarConnector connecting two rigid bodies, bodyA and bodyB.
SegmentedPlanarConnector(RigidBody bodyA, Vector3d pCA, RigidTransform3d TDW, double[] segs) Creates a SegmentedPlanarConnector connecting a single rigid body, bodyA, to ground.

Method Summary

Modifier and Type	Method and Description
SegmentedPlanarConnector	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.
int	getEngaged()
double	getPlanarActivation()
double	getPlaneSize()
boolean	isRenderNormalReversed()
boolean	isUnilateral()
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	set(RigidBody bodyA, Vector3d pCA, RigidBody bodyB, RigidTransform3d TDB, double[] segs) Sets this SegmentedPlanarConnector to connect two rigid bodies.
void	set(RigidBody bodyA, Vector3d pCA, RigidTransform3d TDW, double[] segs) Sets this SegmentedPlanarConnector to connect a rigid body with the world frame.
void	setPlaneSize(double len)
void	setRenderNormalReversed(boolean reversed)
void	setUnilateral(boolean unilateral)
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.

Methods inherited from class artisynth.core.mechmodels.BodyConnector

addBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, computeConstraintMatrixA, computeConstraintMatrixB, connectToHierarchy, disconnectFromHierarchy, findAttachedBodies, getActivation, getAxisLength, getBilateralForceInA, getBilateralForceInA, getBilateralForceInB, getBilateralForceInB, getBilateralForceInC, getBilateralForceInC, getBilateralForces, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getCompliance, getConstrainedComponents, getConstraint, getConstraintFlags, getConstraintForce, getCopyReferences, getCoupling, getCurrentTCD, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getDamping, getDrawFrameC, getDrawFrameD, getFrameAttachmentA, getFrameAttachmentB, getFrictionForces, getFrictionState, getHardReferences, getLinearCompliance, getPenetrationTol, getPenetrationTolMode, getPose, getRenderFrame, getRotaryCompliance, getRotaryLimitTol, getRotaryLimitTolMode, getState, getStateVersion, getTransformDGeometryOnly, getTransformPositionOnly, getUnilateralForceInA, getUnilateralForceInA, getUnilateralForceInB, getUnilateralForceInB, getUnilateralForceInC, getUnilateralForceInC, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, getUnilateralState, hasState, isActive, isConnectedToBodies, isDuplicatable, isEnabled, isNotAttached, maxFrictionConstraintSets, numBilateralConstraints, numConstraints, numEngagedUnilateralConstraints, numUnilateralConstraints, printConnectedBodies, printConstraintInfo, scaleMass, setAlwaysAdjustBodyA, setAxisLength, setBilateralForces, setBodies, setBodies, setBodies, setBodies, setCompliance, setCurrentTCW, setCurrentTDW, setDamping, setDrawFrameC, setDrawFrameD, setEnabled, setFrictionForces, setFrictionState, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setRotaryLimitTol, setRotaryLimitTolMode, setState, setTransformDGeometryOnly, setTransformPositionOnly, setUnilateralForces, setUnilateralState, transformGeometry, transformGeometry, updateAttachments, updateConstraints, zeroForces

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

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

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, 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, 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.CopyableComponent

getCopyReferences, isDuplicatable

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, 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.TransformableGeometry

transformPriority

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, numAuxVars, requiresAdvance, setAuxVarState

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

SegmentedPlanarConnector

public SegmentedPlanarConnector()

Creates a SegmentedPlanarConnector which is not attached to any bodies. It can subsequently be connected using one of the set methods.

SegmentedPlanarConnector

public SegmentedPlanarConnector(RigidBody bodyA,
                                Vector3d pCA,
                                RigidBody bodyB,
                                RigidTransform3d TDB,
                                double[] segs)

Creates a SegmentedPlanarConnector connecting two rigid bodies, bodyA and bodyB. If A and B describe the coordinate frames of bodyA and bodyB, and then pCA gives the origin of C with respect to A and TDB gives the pose of D with respect to B. The planar segments are defined by segs, as described in the header documentation for this class.

Parameters:

bodyA - rigid body A

pCA - origin of C with respect to A, as seen in A

bodyB - rigid body B (or null)

TDB - transform from frame D to body frame B

segs - segment boundaries, given as pairs of coordinates in the x-z plane

SegmentedPlanarConnector

public SegmentedPlanarConnector(RigidBody bodyA,
                                Vector3d pCA,
                                RigidTransform3d TDW,
                                double[] segs)

Creates a SegmentedPlanarConnector connecting a single rigid body, bodyA, to ground. If A describes the coordinate frame of bodyA, then pCA gives the origin of C with respect to A and TDW gives the pose of D with respect to world. The planar segments are defined by segs, as described in the header documentation for this class.

Parameters:

bodyA - rigid body A

pCA - origin of C with respect to A, as seen in A

TDW - transform from frame D to world coordinates

segs - segment boundaries, given as pairs of coordinates in the x-z plane

SegmentedPlanarConnector

public SegmentedPlanarConnector(ConnectableBody bodyA,
                                ConnectableBody bodyB,
                                RigidTransform3d TDW,
                                double[] segs)

Creates a SegmentedPlanarConnector connecting two connectable bodies, bodyA and bodyB. The joint frames D and C are assumed to be initially coincident. The planar segments are defined by segs, as described in the header documentation for this class.

Specifying bodyB as null will cause bodyA to be connected to ground.

Parameters:

bodyA - body A

bodyB - body B

TDW - initial transform from connector frames D and C to world

segs - segment boundaries, given as pairs of coordinates in the x-z plane

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 BodyConnector

Returns:

static information for all exported properties

getPlaneSize

public double getPlaneSize()

setPlaneSize

public void setPlaneSize(double len)

getPlanarActivation

public double getPlanarActivation()

getEngaged

public int getEngaged()

set

public void set(RigidBody bodyA,
                Vector3d pCA,
                RigidBody bodyB,
                RigidTransform3d TDB,
                double[] segs)

Sets this SegmentedPlanarConnector to connect two rigid bodies. The first body (A) is the one in which the contact point is fixed, while the second body (B) is the one in which the planes are fixed. The planar segments are specfified by segs, as described in the header documentation for this class.

Parameters:

bodyA - first rigid body

pCA - location of contact point relative to body A

bodyB - second rigid body

TDB - transformation from frame D to body B

segs - segment boundaries, given as pairs of coordinates in the x-z plane.

set

public void set(RigidBody bodyA,
                Vector3d pCA,
                RigidTransform3d TDW,
                double[] segs)

Sets this SegmentedPlanarConnector to connect a rigid body with the world frame. The contact point is fixed in the body frame, while the planes are fixed in the world frame. The planar segments are specfified by segs, as described in the header documentation for this class.

Parameters:

bodyA - rigid body

pCA - location of contact point relative to body

TDW - transformation from frame D to world coordinates

segs - segment boundaries, given as pairs of coordinates in the x-z plane.

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 BodyConnector

Parameters:

pmin - minimum point

pmax - maximum point

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

Overrides:

createRenderProps in class RenderableComponentBase

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

Overrides:

prerender in class BodyConnector

Parameters:

list - list of objects to be rendered

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

Overrides:

render in class BodyConnector

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.

scaleDistance

public void scaleDistance(double s)

Description copied from class: BodyConnector

Scales all distance coordinates.

Specified by:

scaleDistance in interface ScalableUnits

Overrides:

scaleDistance in class BodyConnector

Parameters:

s - scaling factor

isRenderNormalReversed

public boolean isRenderNormalReversed()

setRenderNormalReversed

public void setRenderNormalReversed(boolean reversed)

isUnilateral

public boolean isUnilateral()

setUnilateral

public void setUnilateral(boolean unilateral)

copy

public SegmentedPlanarConnector 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 BodyConnector

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component