artisynth.core.mechmodels

Class PlanarPoint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Point

artisynth.core.mechmodels.PlanarPoint

All Implemented Interfaces:

CollidableDynamicComponent, DynamicAgent, DynamicComponent, ForceEffector, MotionTargetComponent, PlanarComponent, CopyableComponent, HasNumericState, ModelComponent, PostScannable, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class PlanarPoint
extends Point
implements PlanarComponent

A 3-dimensional point that is confined to a plane.

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 PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.Point

myRenderCoords

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
PlanarPoint()
PlanarPoint(double x, double y)
PlanarPoint(Point2d p)

Method Summary

Modifier and Type	Method and Description
void	addPosition(double dx, double dy, double dz)
void	addSolveBlock(SparseNumberedBlockMatrix S)
void	addToSolveBlock(Matrix2d M)
void	addToSolveBlockDiagonal(double d)
void	addVelocity(double dx, double dy, double dz)
PlanarPoint	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
MatrixBlock	createSolveBlock()
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
PlanarComponent	getPlanarComponent()
RigidTransform3d	getPlaneToWorld() Returns the transform from plane coordinates to world coordinates.
Point3d	getPosition() Returns the current position of this point, in world coordinates.
Point2d	getPosition2d()
void	getPosition2d(Vector2d p)
int	getPosState(double[] x, int idx)
MatrixBlock	getSolveBlock()
Vector3d	getVelocity()
Vector2d	getVelocity2d()
void	getVelocity2d(Vector2d v)
int	getVelState(double[] v, int idx)
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	scaleDistance(double s) Scales all distance coordinates.
void	scan(ReaderTokenizer rtok, java.lang.Object ref) Scans this element from a ReaderTokenizer.
void	setPlanarComponent(PlanarComponent pcomp)
void	setPosition(double x, double y, double z)
void	setPosition(Point3d p)
void	setPosition2d(double x, double y)
void	setPosition2d(Point2d p)
int	setPosState(double[] p, int idx)
void	setVelocity(Vector3d v)
void	setVelocity2d(Vector2d v)
int	setVelState(double[] v, int idx)
void	transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes.
void	transformToPlane(Point3d pp, Point3d pw)
void	transformToPlane(Vector3d vp, Vector3d vw)
void	transformToWorld(Point3d pw, Point3d pp)
void	transformToWorld(Vector3d vw, Vector3d vp)
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.

Methods inherited from class artisynth.core.mechmodels.Point

addEffectiveMass, addExternalForce, addForce, addForce, addPosImpulse, addPosJacobian, addScaledExternalForce, addScaledForce, addSolveBlocks, addTargetJacobian, addToPointVelocity, addToSolveBlockDiagonal, addTransformableDependencies, addVelJacobian, applyExternalForces, applyForces, applyGravity, createMassBlock, createRenderProps, defaultRenderPropsAreNull, distance, distance, getCopyReferences, getEffectiveMass, getEffectiveMass, getEffectiveMassForces, getExternalForce, getForce, getForce, getJacobianType, getMass, getMass, getPointDamping, getPointDampingMode, getPosDerivative, getPosition, getPosStateSize, getRenderCoords, getRenderProps, getSelection, getState, getTargetActivity, getTargetPos, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getVelocity, getVelStateSize, hasForce, isDuplicatable, isMassConstant, isSelectable, mulInverseEffectiveMass, render, resetEffectiveMass, resetTargets, scaleMass, setContactConstraint, setExternalForce, setForce, setForce, setPointDamping, setPointDampingMode, setRandomForce, setRandomPosState, setRandomVelState, setRenderProps, setScaledExternalForce, setState, setState, setTargetActivity, setTargetPos, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, subForce, updatePosState, updateVelState, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

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

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

getRenderHints, isVisible, numSelectionQueriesNeeded, setVisible, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, 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.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, 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.mechmodels.DynamicComponent

addAttachmentRequest, removeAttachmentRequest

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getInverseMass, 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

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

PlanarPoint

public PlanarPoint()

PlanarPoint

public PlanarPoint(Point2d p)

PlanarPoint

public PlanarPoint(double x,
                   double y)

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 Point

Returns:

static information for all exported properties

transformToWorld

public void transformToWorld(Point3d pw,
                             Point3d pp)

transformToWorld

public void transformToWorld(Vector3d vw,
                             Vector3d vp)

transformToPlane

public void transformToPlane(Point3d pp,
                             Point3d pw)

transformToPlane

public void transformToPlane(Vector3d vp,
                             Vector3d vw)

setPlanarComponent

public void setPlanarComponent(PlanarComponent pcomp)

getPlanarComponent

public PlanarComponent getPlanarComponent()

getPlaneToWorld

public RigidTransform3d getPlaneToWorld()

Description copied from interface: PlanarComponent

Returns the transform from plane coordinates to world coordinates. The plane is assumed to lie in the x-y plane of the planar coordinate system.

Specified by:

getPlaneToWorld in interface PlanarComponent

Returns:

plane to world transform

getPosition2d

public Point2d getPosition2d()

setPosition2d

public void setPosition2d(Point2d p)

setPosition2d

public void setPosition2d(double x,
                          double y)

setVelocity2d

public void setVelocity2d(Vector2d v)

getVelocity2d

public Vector2d getVelocity2d()

getPosition

public Point3d getPosition()

Description copied from class: Point

Returns the current position of this point, in world coordinates. The returned value should be treated as read-only and not modified.

Overrides:

getPosition in class Point

Returns:

current world position (read-only)

getPosState

public int getPosState(double[] x,
                       int idx)

Specified by:

getPosState in interface DynamicAgent

Overrides:

getPosState in class Point

getPosition2d

public void getPosition2d(Vector2d p)

setPosition

public void setPosition(Point3d p)

Overrides:

setPosition in class Point

setPosition

public void setPosition(double x,
                        double y,
                        double z)

Overrides:

setPosition in class Point

addPosition

public void addPosition(double dx,
                        double dy,
                        double dz)

setPosState

public int setPosState(double[] p,
                       int idx)

Specified by:

setPosState in interface DynamicAgent

Overrides:

setPosState in class Point

getVelocity

public Vector3d getVelocity()

Overrides:

getVelocity in class Point

getVelState

public int getVelState(double[] v,
                       int idx)

Specified by:

getVelState in interface DynamicAgent

Overrides:

getVelState in class Point

getVelocity2d

public void getVelocity2d(Vector2d v)

setVelocity

public void setVelocity(Vector3d v)

Overrides:

setVelocity in class Point

addVelocity

public void addVelocity(double dx,
                        double dy,
                        double dz)

setVelState

public int setVelState(double[] v,
                       int idx)

Specified by:

setVelState in interface DynamicAgent

Overrides:

setVelState in class Point

scan

public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException

Description copied from class: ModelComponentBase

Scans this element from a ReaderTokenizer. The expected text format is assumed to be compatible with that produced by write.

Specified by:

scan in interface ModelComponent

Specified by:

scan in interface Scannable

Overrides:

scan in class ModelComponentBase

Parameters:

rtok - Tokenizer from which to scan the element

ref - optional reference object which can be used for resolving references to other objects

Throws:

java.io.IOException - if an I/O or formatting error occured

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 Point

Parameters:

list - list of objects to be rendered

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 Point

Parameters:

pmin - minimum point

pmax - maximum point

scaleDistance

public void scaleDistance(double s)

Description copied from interface: ScalableUnits

Scales all distance coordinates.

Specified by:

scaleDistance in interface ScalableUnits

Overrides:

scaleDistance in class Point

Parameters:

s - scaling factor

transformGeometry

public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)

Description copied from interface: TransformableGeometry

Transforms the geometry of this component, using the geometry transformer gtr 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).

Specified by:

transformGeometry in interface TransformableGeometry

Overrides:

transformGeometry in class Point

Parameters:

gtr - transformer implementing the transform

context - context information, including what other components are being transformed

flags - specifies conditions associated with the transformation

addSolveBlock

public void addSolveBlock(SparseNumberedBlockMatrix S)

Specified by:

addSolveBlock in interface DynamicAgent

Overrides:

addSolveBlock in class Point

createSolveBlock

public MatrixBlock createSolveBlock()

Overrides:

createSolveBlock in class Point

getSolveBlock

public MatrixBlock getSolveBlock()

addToSolveBlock

public void addToSolveBlock(Matrix2d M)

addToSolveBlockDiagonal

public void addToSolveBlockDiagonal(double d)

copy

public PlanarPoint 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 Point

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component