artisynth.core.opensim.components

Class RigidBodyOsim

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Frame

artisynth.core.mechmodels.RigidBody

artisynth.core.opensim.components.RigidBodyOsim

All Implemented Interfaces:

Collidable, CollidableBody, CollidableDynamicComponent, ConnectableBody, ContactMaster, DynamicAgent, DynamicComponent, ForceEffector, FrameAttachable, HasSurfaceMesh, IsMarkable, MotionTargetComponent, PointAttachable, Wrappable, ComponentChangeListener, CompositeComponent, CopyableComponent, HasCoordinateFrame, HasNumericState, HasPoseComponent, HasPosition, IndexedComponentList, ModelComponent, PostScannable, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class RigidBodyOsim
extends RigidBody

Extension to ArtiSynth RigidBody component that contains wrapping components, wrapping attachments and a "joint" list (for OpenSim 3)in order to implement OpenSim bodies.

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.mechmodels.RigidBody

RigidBody.InertiaMethod

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.Collidable

Collidable.Collidability, Collidable.Group

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

CompositeComponent.NavpanelDisplay

Field Summary

Fields inherited from class artisynth.core.mechmodels.RigidBody

DEFAULT_GROUNDED, DEFAULT_SUBMESHES_SELECTABLE, myProps

Fields inherited from class artisynth.core.mechmodels.Frame

dynamicVelInWorldCoords, myRenderFrame

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.mechmodels.Collidable

All, AllBodies, Deformable, Rigid, Self

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Fields inherited from interface artisynth.core.mechmodels.Wrappable

OUTSIDE

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

Constructor Summary

Constructors

Constructor and Description
RigidBodyOsim()
RigidBodyOsim(java.lang.String name)

Method Summary

Modifier and Type	Method and Description
void	addWrapComponent(WrapComponent wcomp)
FrameFrameAttachment	attachWrapComponent(WrapComponent wcomp)
FrameFrameAttachment	attachWrapComponent(WrapComponent wcomp, RigidTransform3d TWB)
static RigidBodyOsim	createFromMesh(java.lang.String bodyName, PolygonalMesh mesh, double density, double scale)
static RigidBodyOsim	createFromMesh(java.lang.String bodyName, PolygonalMesh mesh, java.lang.String meshFilePath, double density, double scale)
static RigidBodyOsim	createFromMesh(java.lang.String bodyName, java.lang.String meshPath, double density, double scale)
boolean	detachWrapComponent(WrapComponent wcomp)
JointBase	getJoint()
RenderableComponentList<WrapComponent>	getWrapComponents()
boolean	removeWrapComponent(WrapComponent wcomp)

Methods inherited from class artisynth.core.mechmodels.RigidBody

addConnector, addEffectiveFrameMass, addEffectivePointMass, addMesh, addMesh, addMesh, addMeshComp, addVelJacobian, allowCollision, applyForces, applyGravity, centerPoseOnCenterOfMass, clearMeshComps, collectVertexMasters, componentChanged, containsConnector, containsContactMaster, containsMeshComp, copy, createBox, createBox, createBox, createCylinder, createEllipsoid, createFromMesh, createIcosahedralSphere, createRenderProps, createSphere, extrapolatePose, getAllPropertyInfo, getCenterOfMass, getCenterOfMass, getCharacteristicRadius, getCollidable, getCollidableAncestor, getCollidableIndex, getCollisionMesh, getConnectors, getCopyReferences, getDensity, getDensityRange, getDistanceGrid, getDistanceGridComp, getDistanceGridRes, getEffectiveInertia, getEffectiveMass, getEffectiveMass, getEffectiveMassForces, getEffectiveMassForces, getGridSurfaceRendering, getInertia, getInertialDamping, getInertialDampingMode, getInertiaMethod, getInverseMass, getMass, getMass, getMass, getMassRange, getMesh, getMeshComp, getMeshComp, getMeshComps, getRotationalInertia, getRotationalInertia, getSubmeshesSelectable, getSurfaceMesh, getSurfaceMeshComp, getSurfaceMeshes, getVolume, hasDistanceGrid, hasForce, hasInvariantMasters, isCompound, isDeformable, isDuplicatable, isFreeBody, isGrounded, isMassConstant, mulInverseEffectiveMass, mulInverseEffectiveMass, numMeshComps, numSurfaceMeshes, penetrationDistance, postscan, prerender, removeConnector, removeMeshComp, removeMeshComp, render, resetEffectiveMass, scaleDistance, scaleMass, scaleSurfaceMesh, scan, setCenterOfMass, setCollidable, setCollidableIndex, setDensity, setDistanceGridRes, setDynamic, setGridSurfaceRendering, setGrounded, setInertia, setInertia, setInertia, setInertia, setInertiaFromDensity, setInertiaFromMass, setInertialDamping, setInertialDampingMode, setInertiaMethod, setMass, setMesh, setMesh, setMesh, setPose, setPosState, setRotationalInertia, setSubmeshesSelectable, setSurfaceMesh, setSurfaceMesh, setSurfaceMesh, subEffectiveInertia, surfaceTangent, transformCoordinateFrame, transformGeometry, translateCoordinateFrame, updateBounds

Methods inherited from class artisynth.core.mechmodels.Frame

add, add1DConstraintBlocks, add2DConstraintBlocks, addAttachedFrame, addAttachedFrame, addAttachedFrameWorld, addExternalForce, addForce, addForce, addFrameForce, addMarker, addMarker, addMarker, addMarkerWorld, addPointForce, addPointForce, addPosImpulse, addPosJacobian, addRelativeVelocity, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, addTransformableDependencies, applyExternalForces, canAddMarker, clearAttachedFrames, clearMarkers, collectMasterComponents, computeAppliedWrench, computeForceOnMasters, computeFrameLocation, computeFramePosition, computeFramePosVel, computeFrameVelocity, computePointCoriolis, computePointLocation, computePointPosition, computePointPosVel, computePointVelocity, createFrameAttachment, createMarker, createMarker, createMassBlock, createPointAttachment, findComponent, get, get, getAttachedFrames, getAxisDrawStyle, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getByNumber, getChildren, getExternalForce, getForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getFrameMarkers, getJacobianType, getMarkers, getMoment, getNavpanelDisplay, getNumberLimit, 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, hasChildren, hierarchyContainsReferences, indexOf, numComponents, remove, removeAttachedFrame, removeMarker, resetTargets, setAxisDrawStyle, setAxisLength, setBodyVelocity, setContactConstraint, setExternalForce, setForce, setForce, setFrameDamping, setFrameDampingMode, setNavpanelDisplay, setOrientation, setPose, setPosition, setRandomForce, setRandomPosState, setRandomVelState, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, transformPose, updateAttachmentPosStates, updateNameMap, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

addAttachmentRequest, addConstrainer, addMasterAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex, transformGeometry

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

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

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, 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, updateReferences, write

Methods inherited from class java.lang.Object

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

Methods inherited from interface artisynth.core.mechmodels.HasSurfaceMesh

computeRayIntersection

Methods inherited from interface maspack.render.IsSelectable

getSelection, isSelectable, numSelectionQueriesNeeded

Methods inherited from interface maspack.render.IsRenderable

getRenderHints

Methods inherited from interface maspack.render.HasRenderProps

getRenderProps, setRenderProps

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody

transformPose

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable

createFrameAttachment

Methods inherited from interface artisynth.core.mechmodels.PointAttachable

createPointAttachment

Methods inherited from interface artisynth.core.mechmodels.Wrappable

getPose

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

addAttachmentRequest, removeAttachmentRequest

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformGeometry, transformPriority

Methods inherited from interface artisynth.core.mechmodels.ContactMaster

isControllable

Methods inherited from interface artisynth.core.modelbase.CompositeComponent

recursivelyFind

Constructor Detail

RigidBodyOsim

public RigidBodyOsim()

RigidBodyOsim

public RigidBodyOsim(java.lang.String name)

Method Detail

addWrapComponent

public void addWrapComponent(WrapComponent wcomp)

removeWrapComponent

public boolean removeWrapComponent(WrapComponent wcomp)

attachWrapComponent

public FrameFrameAttachment attachWrapComponent(WrapComponent wcomp,
                                                RigidTransform3d TWB)

attachWrapComponent

public FrameFrameAttachment attachWrapComponent(WrapComponent wcomp)

detachWrapComponent

public boolean detachWrapComponent(WrapComponent wcomp)

getWrapComponents

public RenderableComponentList<WrapComponent> getWrapComponents()

getJoint

public JointBase getJoint()

createFromMesh

public static RigidBodyOsim createFromMesh(java.lang.String bodyName,
                                           PolygonalMesh mesh,
                                           double density,
                                           double scale)

createFromMesh

public static RigidBodyOsim createFromMesh(java.lang.String bodyName,
                                           PolygonalMesh mesh,
                                           java.lang.String meshFilePath,
                                           double density,
                                           double scale)

createFromMesh

public static RigidBodyOsim createFromMesh(java.lang.String bodyName,
                                           java.lang.String meshPath,
                                           double density,
                                           double scale)