artisynth.core.opensim.customjoint

Class OpenSimCustomJoint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.ConstrainerBase

artisynth.core.mechmodels.RenderableConstrainerBase

artisynth.core.mechmodels.BodyConnector

artisynth.core.mechmodels.JointBase

artisynth.core.opensim.customjoint.OpenSimCustomJoint

All Implemented Interfaces:

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

public class OpenSimCustomJoint
extends JointBase

Implements an OpenSim custom joint.

Nested Class Summary

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static Renderer.AxisDrawStyle	DEFAULT_DRAW_ROT_AXES
static Renderer.AxisDrawStyle	DEFAULT_DRAW_TRANS_AXES
static PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.JointBase

DEFAULT_SHAFT_LENGTH, DEFAULT_SHAFT_RADIUS

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.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
OpenSimCustomJoint()
OpenSimCustomJoint(CustomJoint cj)
OpenSimCustomJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d XJointWorld, TransformAxis[] axes, Coordinate[] coords)
OpenSimCustomJoint(RigidBody bodyA, RigidTransform3d XFA, RigidBody bodyB, RigidTransform3d XDB, TransformAxis[] axes, Coordinate[] coords)
OpenSimCustomJoint(RigidBody bodyA, RigidTransform3d XFA, RigidTransform3d XDW, TransformAxis[] axes, Coordinate[] coords)
OpenSimCustomJoint(SpatialTransform trans, java.util.ArrayList<Coordinate> coords)
OpenSimCustomJoint(SpatialTransform trans, CoordinateSet coords)
OpenSimCustomJoint(TransformAxis[] axes, Coordinate[] coords)

Method Summary

Modifier and Type	Method and Description
PropertyInfoList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
Wrench	getCoordinateWrenchG(int idx)
OpenSimCustomCoupling	getCoupling() Returns the coupling used by this connector.
Renderer.AxisDrawStyle	getDrawRotAxes()
Renderer.AxisDrawStyle	getDrawTransAxes()
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	setDrawRotAxes(Renderer.AxisDrawStyle style)
void	setDrawTransAxes(Renderer.AxisDrawStyle style)
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.
double	updateConstraints(double t, int flags) Updates the current set of constraints, and returns the maximum penetration > 0 associated with all of them.

Methods inherited from class artisynth.core.mechmodels.JointBase

addCoordinateMobilities, addCoordinateSolveBlocks, addCoordinateVelJacobian, applyCoordinateForce, coordinatesToTCD, getCoordinate, getCoordinateDeg, getCoordinateIndex, getCoordinateMotionType, getCoordinateName, getCoordinateRange, getCoordinateRangeDeg, getCoordinates, getCoordinateSpeed, getCoordinateValue, getCoordinateValueDeg, getMaxCoordinate, getMaxCoordinateDeg, getMinCoordinate, getMinCoordinateDeg, getPosition, getRangeLimitCompliance, getRangeLimitDamping, getRangeLimitForce, getShaftLength, getShaftRadius, getStoredCoordinates, getStoredTCD, getStoredTCD, isCoordinateLocked, numCoordinates, setCoordinate, setCoordinateDeg, setCoordinateLocked, setCoordinateName, setCoordinateRange, setCoordinateRangeDeg, setCoordinates, setRangeLimitCompliance, setShaftLength, setShaftRadius

Methods inherited from class artisynth.core.mechmodels.BodyConnector

addBilateralConstraints, addBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, addUnilateralConstraints, computeConstraintMatrixA, computeConstraintMatrixB, connectToHierarchy, copy, disconnectFromHierarchy, findAttachedBodies, findConnectedBodies, getActivation, getAxisLength, getBilateralForceInA, getBilateralForceInA, getBilateralForceInB, getBilateralForceInB, getBilateralForceInC, getBilateralForceInC, getBilateralForces, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getCompliance, getConstrainedComponents, getConstraint, getConstraintFlags, getConstraintForce, getCopyReferences, getCurrentTCD, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getDamping, getDrawFrameC, getDrawFrameD, getFrameAttachmentA, getFrameAttachmentB, getFrictionForces, getFrictionState, getHardReferences, getLinearCompliance, getOtherBody, 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, scaleDistance, scaleMass, setAlwaysAdjustBodyA, setAxisLength, setBilateralForces, setBodies, setBodies, setBodies, setBodies, setBodyA, setBodyA, setBodyB, setBodyB, setCompliance, setCurrentTCW, setCurrentTDW, setDamping, setDrawFrameC, setDrawFrameD, setEnabled, setFrictionForces, setFrictionState, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setRotaryLimitTol, setRotaryLimitTolMode, setState, setTransformDGeometryOnly, setTransformPositionOnly, setUnilateralForces, setUnilateralState, transformGeometry, transformGeometry, updateAttachments, withinLoop, zeroForces

Methods inherited from class artisynth.core.mechmodels.RenderableConstrainerBase

createRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps

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.TransformableGeometry

transformPriority

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.ModelComponent

getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, 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

Field Detail

DEFAULT_DRAW_ROT_AXES

public static Renderer.AxisDrawStyle DEFAULT_DRAW_ROT_AXES

DEFAULT_DRAW_TRANS_AXES

public static Renderer.AxisDrawStyle DEFAULT_DRAW_TRANS_AXES

myProps

public static PropertyList myProps

Constructor Detail

OpenSimCustomJoint

public OpenSimCustomJoint()

OpenSimCustomJoint

public OpenSimCustomJoint(CustomJoint cj)

OpenSimCustomJoint

public OpenSimCustomJoint(SpatialTransform trans,
                          CoordinateSet coords)

OpenSimCustomJoint

public OpenSimCustomJoint(SpatialTransform trans,
                          java.util.ArrayList<Coordinate> coords)

OpenSimCustomJoint

public OpenSimCustomJoint(TransformAxis[] axes,
                          Coordinate[] coords)

OpenSimCustomJoint

public OpenSimCustomJoint(RigidBody bodyA,
                          RigidTransform3d XFA,
                          RigidTransform3d XDW,
                          TransformAxis[] axes,
                          Coordinate[] coords)

OpenSimCustomJoint

public OpenSimCustomJoint(RigidBody bodyA,
                          RigidTransform3d XFA,
                          RigidBody bodyB,
                          RigidTransform3d XDB,
                          TransformAxis[] axes,
                          Coordinate[] coords)

OpenSimCustomJoint

public OpenSimCustomJoint(RigidBody bodyA,
                          RigidBody bodyB,
                          RigidTransform3d XJointWorld,
                          TransformAxis[] axes,
                          Coordinate[] coords)

Method Detail

getAllPropertyInfo

public PropertyInfoList 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 JointBase

Returns:

static information for all exported properties

getDrawRotAxes

public Renderer.AxisDrawStyle getDrawRotAxes()

setDrawRotAxes

public void setDrawRotAxes(Renderer.AxisDrawStyle style)

getDrawTransAxes

public Renderer.AxisDrawStyle getDrawTransAxes()

setDrawTransAxes

public void setDrawTransAxes(Renderer.AxisDrawStyle style)

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

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.

getCoupling

public OpenSimCustomCoupling getCoupling()

Description copied from class: BodyConnector

Returns the coupling used by this connector.

Overrides:

getCoupling in class BodyConnector

Returns:

coupling used by this connector

getCoordinateWrenchG

public Wrench getCoordinateWrenchG(int idx)

updateConstraints

public double updateConstraints(double t,
                                int flags)

Description copied from class: BodyConnector

Updates the current set of constraints, and returns the maximum penetration > 0 associated with all of them. If no constraints are presently active, returns -1.

Specified by:

updateConstraints in interface Constrainer

Overrides:

updateConstraints in class BodyConnector