artisynth.core.mechmodels

Class PointAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachmentBase

artisynth.core.mechmodels.PointAttachment

All Implemented Interfaces:

AttachingComponent, DynamicAttachment, DynamicAttachmentComp, CopyableComponent, ModelComponent, PostScannable, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

Direct Known Subclasses:

PointFem3dAttachment, PointFrameAttachment, PointParticleAttachment, PointSkinAttachment

public abstract class PointAttachment
extends DynamicAttachmentBase
implements CopyableComponent

Nested Class Summary

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

ModelComponent.NavpanelVisibility

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Method Summary

Modifier and Type	Method and Description
int	addTargetJacobian(SparseBlockMatrix j, int bi)
void	applyForces()
boolean	checkMasterBlocks(MatrixBlock[] blks, double eps) Checks a set of master blocks to see if they are consistent with those computed numerically.
PointAttachment	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
boolean	getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor) Collects external references which must also be copied in order to duplicate this component.
abstract void	getCurrentPos(Vector3d pos) Returns the current position of the attached point, in world coordinates.
DynamicComponent[]	getMasters()
Point	getPoint()
Point	getSlave() Returns the slave DynamicMechComponent associated with this attachment.
void	invalidateMasters()
boolean	isDuplicatable() Returns true if this component can be duplicated.
void	notifyMastersOfPositionChange() If necessary, notify this attachment's master components that the position state of one or more of them has changed.
int	numMasters()
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)

Methods inherited from class artisynth.core.mechmodels.DynamicAttachmentBase

addBackRefs, addBackRefs, addConnectedMasterRefs, addMassToMasters, clone, connectAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getDerivative, getGT, getHardReferences, mulSubGT, mulSubGTM, mulSubMG, oneMasterActive, oneMasterNotAttached, removeBackRefs, removeBackRefs, removeConnectedMasterRefs, setSlaveAffectsStiffness, slaveAffectsStiffness, updateAttachment, updatePosStates, updateVelStates

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

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

getAllPropertyInfo, 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

Method Detail

getSlave

public Point getSlave()

Description copied from class: DynamicAttachmentBase

Returns the slave DynamicMechComponent associated with this attachment. In some cases, the attachment may connect some other entity (such as a mesh vertex) to the master components, in which case this method should return null.

Specified by:

getSlave in interface DynamicAttachment

Specified by:

getSlave in class DynamicAttachmentBase

Returns:

slave DynamicMechComponent, if any

getPoint

public Point getPoint()

getMasters

public DynamicComponent[] getMasters()

Specified by:

getMasters in interface DynamicAttachment

Specified by:

getMasters in class DynamicAttachmentBase

numMasters

public int numMasters()

Specified by:

numMasters in interface DynamicAttachment

Overrides:

numMasters in class DynamicAttachmentBase

invalidateMasters

public void invalidateMasters()

Specified by:

invalidateMasters in interface DynamicAttachment

Specified by:

invalidateMasters in class DynamicAttachmentBase

getCurrentPos

public abstract void getCurrentPos(Vector3d pos)

Returns the current position of the attached point, in world coordinates.

Parameters:

pos - used to return current point position

writeItems

public void writeItems(java.io.PrintWriter pw,
                       NumberFormat fmt,
                       CompositeComponent ancestor)
                throws java.io.IOException

Throws:

java.io.IOException

copy

public PointAttachment 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 DynamicAttachmentComp

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class DynamicAttachmentBase

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component

applyForces

public void applyForces()

Specified by:

applyForces in interface DynamicAttachment

Specified by:

applyForces in class DynamicAttachmentBase

isDuplicatable

public boolean isDuplicatable()

Returns true if this component can be duplicated. Duplication means that we can expect to be able to make a complete copy of the component along with all it's external references. This method should return true if and only if CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) returns true.

This method is not currently used. It is intended to provide a faster way of determining if a component can be duplicated, without having to use CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) to build the list of copy references.

Specified by:

isDuplicatable in interface CopyableComponent

Returns:

true if this component can be duplicated.

getCopyReferences

public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)

Collects external references which must also be copied in order to duplicate this component. These references should exclude those which are contained within a specified component hierarchy. This method should return true if and only if CopyableComponent.isDuplicatable() returns true.

Specified by:

getCopyReferences in interface CopyableComponent

Parameters:

refs - list to which references are appended

ancestor - root node of the hierarchy from which references are to be excluded

Returns:

false if it is discovered that the component cannot be duplicated

addTargetJacobian

public int addTargetJacobian(SparseBlockMatrix j,
                             int bi)

notifyMastersOfPositionChange

public void notifyMastersOfPositionChange()

If necessary, notify this attachment's master components that the position state of one or more of them has changed. This is only used in situations where the position is changed outside of a normal simulation computation, such as in createNumericMasterBlocks(). Attachments only need to implement this method when setting the position state of one or more masters, in isolation, incurs the need for other updates before a subsequwent call to DynamicAttachmentBase.updatePosStates() will perform correctly.

checkMasterBlocks

public boolean checkMasterBlocks(MatrixBlock[] blks,
                                 double eps)

Checks a set of master blocks to see if they are consistent with those computed numerically. Use for debugging and testing only.