artisynth.core.opensim.components

Class Body

java.lang.Object

artisynth.core.opensim.components.OpenSimObject

artisynth.core.opensim.components.VisibleBase

artisynth.core.opensim.components.HasVisibleObject

artisynth.core.opensim.components.HasVisibleObjectOrAppearance

artisynth.core.opensim.components.Frame

artisynth.core.opensim.components.PhysicalFrame

artisynth.core.opensim.components.Body

All Implemented Interfaces:

ModelComponentGenerator<RigidBody>, java.lang.Cloneable, Clonable

public class Body
extends PhysicalFrame
implements ModelComponentGenerator<RigidBody>

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.opensim.components.VisibleBase

VisibleBase.DisplayPreference

Constructor Summary

Constructors

Constructor and Description
Body()

Method Summary

Modifier and Type	Method and Description
Body	clone()
RigidBody	createComponent(java.io.File geometryPath, ModelComponentMap componentMap) Creates and returns a model component, using the provided component map to look up other dependent objects.
SymmetricMatrix3d	getInertia()
Joint	getJoint()
double	getMass()
Point3d	getMassCenter()
void	setInertia(double[] vals)
void	setInertia(SymmetricMatrix3d sym)
void	setInertiaXX(double xx)
void	setInertiaXY(double xy)
void	setInertiaXZ(double xz)
void	setInertiaYY(double yy)
void	setInertiaYZ(double yz)
void	setInertiaZZ(double zz)
void	setJoint(Joint joint)
void	setMass(double mass)
void	setMassCenter(Point3d point)

Methods inherited from class artisynth.core.opensim.components.PhysicalFrame

getWrapObjectSet, setWrapObjectSet

Methods inherited from class artisynth.core.opensim.components.Frame

getAttachedGeometry, setAttachedGeometry, setFrameGeometry

Methods inherited from class artisynth.core.opensim.components.HasVisibleObjectOrAppearance

createRenderProps, getAppearance, setAppearance

Methods inherited from class artisynth.core.opensim.components.HasVisibleObject

getVisibleObject, setVisibleObject

Methods inherited from class artisynth.core.opensim.components.VisibleBase

getColor, getDisplayPreference, getOpacity, setColor, setDisplayPreference, setOpacity

Methods inherited from class artisynth.core.opensim.components.OpenSimObject

getName, getParent, getPath, setName, setParent

Methods inherited from class java.lang.Object

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

Constructor Detail

Body

public Body()

Method Detail

setMass

public void setMass(double mass)

getMass

public double getMass()

setMassCenter

public void setMassCenter(Point3d point)

getMassCenter

public Point3d getMassCenter()

setInertia

public void setInertia(SymmetricMatrix3d sym)

setInertiaXX

public void setInertiaXX(double xx)

setInertiaYY

public void setInertiaYY(double yy)

setInertiaZZ

public void setInertiaZZ(double zz)

setInertiaXY

public void setInertiaXY(double xy)

setInertiaXZ

public void setInertiaXZ(double xz)

setInertiaYZ

public void setInertiaYZ(double yz)

setInertia

public void setInertia(double[] vals)

getInertia

public SymmetricMatrix3d getInertia()

getJoint

public Joint getJoint()

setJoint

public void setJoint(Joint joint)

clone

public Body clone()

Specified by:

clone in interface Clonable

Overrides:

clone in class PhysicalFrame

createComponent

public RigidBody createComponent(java.io.File geometryPath,
                                 ModelComponentMap componentMap)

Description copied from interface: ModelComponentGenerator

Creates and returns a model component, using the provided component map to look up other dependent objects. The newly created component should also be added to the componentMap.

Specified by:

createComponent in interface ModelComponentGenerator<RigidBody>

Overrides:

createComponent in class PhysicalFrame

Parameters:

geometryPath - path to search for geometry files

componentMap - map for looking up other objects

Returns:

created component