RigidBody (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.DynamicComponentBase
    - - artisynth.core.mechmodels.Frame
      - artisynth.core.mechmodels.RigidBody

All Implemented Interfaces:

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

Direct Known Subclasses:

DeformableBody, RigidBodyOsim, RigidCompositeBody, RigidCylinder, RigidEllipsoid, RigidMesh, RigidSphere, RigidTorus, TargetFrame
```
public class RigidBody
extends Frame
implements CollidableBody, HasSurfaceMesh, ConnectableBody, CompositeComponent, Wrappable
```

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class 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

Nested Classes
Modifier and Type	Class and Description
`static class`	`RigidBody.InertiaMethod`

Field Summary

Fields
Modifier and Type Field and Description

static boolean DEFAULT_GROUNDED

static boolean DEFAULT_SUBMESHES_SELECTABLE

static PropertyList 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 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
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

Fields
Modifier and Type	Field and Description
`static boolean`	`DEFAULT_GROUNDED`
`static boolean`	`DEFAULT_SUBMESHES_SELECTABLE`
`static PropertyList`	`myProps`

Constructor Summary

Constructors
Constructor and Description
`RigidBody()`
`RigidBody(RigidTransform3d XBodyToWorld, SpatialInertia M, PolygonalMesh mesh, java.lang.String meshFileName)`
`RigidBody(java.lang.String name)`
`RigidBody(java.lang.String name, PolygonalMesh mesh, java.lang.String meshFilePath, double density, double scale)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`void`	`add(ModelComponent comp)`
`void`	`addConnector(BodyConnector c)`
`void`	`addEffectiveFrameMass(SpatialInertia M, RigidTransform3d TFL)` Adds a frame inertia to the effective spatial inertia for this Frame.
`void`	`addEffectivePointMass(double m, Vector3d loc)` Adds a point mass to the effective spatial inertia for this Frame.
`RigidMeshComp`	`addMesh(MeshBase mesh)` Adds a mesh to this object.
`RigidMeshComp`	`addMesh(MeshBase mesh, boolean hasMass, boolean collidable)` Adds a mesh to this object.
`RigidMeshComp`	`addMesh(MeshBase mesh, java.lang.String fileName, AffineTransform3dBase Xh, boolean hasMass, boolean collidable)` Adds a mesh to this object
`void`	`addMeshComp(RigidMeshComp mc)` Explicitly adds a mesh component.
`void`	`addTransformableDependencies(TransformGeometryContext context, int flags)` Adds to `context` any transformable components which should be transformed as the same time as this component.
`void`	`addVelJacobian(SparseNumberedBlockMatrix S, double s)` Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
`boolean`	`allowCollision(ContactPoint cpnt, Collidable other, java.util.Set<Vertex3d> attachedVertices)` Returns `true` if a collision between this Collidable and `other` should be allowed for the contact point `cpnt`.
`void`	`applyForces(double t)` Adds forces to the components affected by this force effector at a particular time.
`void`	`applyGravity(Vector3d gacc)` Applies a gravity force to this component, given a prescribed gravity acceleration vector.
`Point3d`	`centerPoseOnCenterOfMass()` Adjusts the pose so that it reflects the rigid body's center of mass.
`void`	`clearMeshComps()`
`void`	`collectVertexMasters(java.util.List<ContactMaster> mlist, Vertex3d vtx)` Collects the contact masters for a particular mesh vertex.
`void`	`componentChanged(ComponentChangeEvent e)` Notifies this composite component that a change has occured within one or more of its descendants.
`boolean`	`containsConnector(BodyConnector c)`
`boolean`	`containsContactMaster(CollidableDynamicComponent comp)` Returns true if this Collidable contains a specified contact master component.
`boolean`	`containsMeshComp(RigidMeshComp mc)` Checks if this object contains a particular geometry
`RigidBody`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)` Create a copy of this component.
`static RigidBody`	`createBox(java.lang.String bodyName, double wx, double wy, double wz, double density)` Creates a box-shaped RigidBody with a prescribed uniform density.
`static RigidBody`	`createBox(java.lang.String bodyName, double wx, double wy, double wz, double density, boolean addNormals)` Creates a box-shaped RigidBody with a prescribed uniform density.
`static RigidBody`	`createBox(java.lang.String bodyName, double wx, double wy, double wz, int nx, int ny, int nz, double density, boolean addNormals)` Creates a box-shaped RigidBody with a prescribed uniform density.
`static RigidBody`	`createCylinder(java.lang.String bodyName, double r, double h, double density, int nsides)` Creates a cylindrical RigidBody with a prescribed uniform density.
`static RigidBody`	`createEllipsoid(java.lang.String bodyName, double a, double b, double c, double density, int nslices)` Creates an ellipsoidal RigidBody with a prescribed uniform density.
`static RigidBody`	`createFromMesh(java.lang.String bodyName, java.lang.Object obj, java.lang.String relPath, double density, double scale)`
`static RigidBody`	`createFromMesh(java.lang.String bodyName, PolygonalMesh mesh, double density, double scale)`
`static RigidBody`	`createFromMesh(java.lang.String bodyName, PolygonalMesh mesh, java.lang.String meshFilePath, double density, double scale)`
`static RigidBody`	`createFromMesh(java.lang.String bodyName, java.lang.String meshPath, double density, double scale)`
`static RigidBody`	`createIcosahedralSphere(java.lang.String bodyName, double r, double density, int ndivisions)` Creates an icosahedrally spherical RigidBody with a prescribed uniform density.
`RenderProps`	`createRenderProps()` Factory method to create render properties appropriate to this object.
`static RigidBody`	`createSphere(java.lang.String bodyName, double r, double density, int nslices)` Creates an spherical RigidBody with a prescribed uniform density.
`void`	`extrapolatePose(Twist vel, double h)`
`ModelComponent`	`findComponent(java.lang.String path)` Recursively searches for a subcomponent of this ModelComponent, identified by a path of component names.
`ModelComponent`	`get(int idx)` Returns a specific subcomponent of this ModelComponent, identified by index.
`ModelComponent`	`get(java.lang.String nameOrNumber)` Returns a specific subcomponent of this ModelComponent, identified by name or string representation of the subcomponent's number
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`ModelComponent`	`getByNumber(int num)` Returns a specific subcomponent of this ModelComponent, identified by number.
`Point3d`	`getCenterOfMass()`
`void`	`getCenterOfMass(Point3d com)`
`double`	`getCharacteristicRadius()` Returns a typical "radius" that should be expected for this wrappable, defined as the distance for a surface point to the center.
`java.util.Iterator<? extends HierarchyNode>`	`getChildren()`
`Collidable.Collidability`	`getCollidable()` Returns the `Collidable.Collidability` of this Collidable.
`Collidable`	`getCollidableAncestor()` Returns the most immediate Collidable ancestor of this Collidable, if any.
`int`	`getCollidableIndex()`
`PolygonalMesh`	`getCollisionMesh()` Returns the mesh that should be used for computing collisions, or `null` if there is no such mesh.
`java.util.List<BodyConnector>`	`getConnectors()`
`boolean`	`getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor)` Collects external references which must also be copied in order to duplicate this component.
`double`	`getDensity()` Returns the density of this body.
`Range`	`getDensityRange()`
`DistanceGrid`	`getDistanceGrid()` Returns a signed distance grid that can be used with a SignedDistanceCollider, or `null` if a grid is not available.
`DistanceGridComp`	`getDistanceGridComp()` Returns a `DistanceGridComp` object that in turn contains a signed distance grid that can be used with a SignedDistanceCollider, or `null` if this Collidable does not support a signed distance grid (i.e., if `CollidableBody.hasDistanceGrid()` returns `false`).
`Vector3i`	`getDistanceGridRes()` Convenience method to call `DistanceGridComp.getResolution()` for this body's distance grid.
`SpatialInertia`	`getEffectiveInertia()`
`double`	`getEffectiveMass()` Gets the effective scalar mass of this component.
`void`	`getEffectiveMass(Matrix M, double t)` Gets the effective mass of this component at a particular time.
`static int`	`getEffectiveMassForces(VectorNd f, double t, FrameState state, SpatialInertia effectiveInertia, int idx)`
`int`	`getEffectiveMassForces(VectorNd f, double t, int idx)` Gets the mass forces for this component at a particular time.
`boolean`	`getGridSurfaceRendering()` Queries if grid surface rendering is enabled.
`void`	`getInertia(SpatialInertia M)`
`double`	`getInertialDamping()`
`PropertyMode`	`getInertialDampingMode()`
`RigidBody.InertiaMethod`	`getInertiaMethod()`
`void`	`getInverseMass(Matrix Minv, Matrix M)` Inverts a mass for this component.
`double`	`getMass()` Returns the mass of this body.
`double`	`getMass(double t)` Returns the scalar mass of this component at time t.
`void`	`getMass(Matrix M, double t)` Gets the mass of this component at a particular time.
`Range`	`getMassRange()`
`PolygonalMesh`	`getMesh()` Deprecated. Use `getSurfaceMesh()` instead.
`RigidMeshComp`	`getMeshComp(int idx)`
`RigidMeshComp`	`getMeshComp(java.lang.String name)`
`MeshComponentList<RigidMeshComp>`	`getMeshComps()`
`CompositeComponent.NavpanelDisplay`	`getNavpanelDisplay()` Returns the DisplayMode for this component.
`int`	`getNumberLimit()` Returns the current upper limit for numbers among all subcomponents in this composite.
`SymmetricMatrix3d`	`getRotationalInertia()` Returns the rotational inertia of this body.
`void`	`getRotationalInertia(SymmetricMatrix3d J)`
`boolean`	`getSubmeshesSelectable()`
`PolygonalMesh`	`getSurfaceMesh()` Returns the surface mesh for this rigid body.
`RigidMeshComp`	`getSurfaceMeshComp()` Returns the mesh component, if any, associated with the surface mesh for this body.
`PolygonalMesh[]`	`getSurfaceMeshes()` Returns an array listing all the (non-null) surface meshes associated with this component, or a zero-length array if there are none.
`double`	`getVolume()`
`boolean`	`hasChildren()`
`boolean`	`hasDistanceGrid()` Returns `true` if this RigidBody supports a signed distance grid that can be used with a SignedDistanceCollider.
`boolean`	`hasForce()` Queries whether or not this component actually exerts its own state-dependent forces (typically associated with damping).
`boolean`	`hasInvariantMasters()` Queries whether or not the contact masters for a particular collision point are invariant across all contacts.
`boolean`	`hierarchyContainsReferences()` Returns true if the component hierarchy formed by this component and its descendents is closed with respect to references.
`int`	`indexOf(ModelComponent comp)` Returns the index of a specified subcomponent, or -1 if that the component is not present.
`boolean`	`isCompound()` Queries whether or not this collidable has sub-collidables.
`boolean`	`isDeformable()` Returns `true` if this collidable is deformable.
`boolean`	`isDuplicatable()` Returns true if this component can be duplicated.
`boolean`	`isFreeBody()`
`boolean`	`isGrounded()`
`boolean`	`isMassConstant()`
`int`	`mulInverseEffectiveMass(Matrix M, double[] a, double[] f, int idx)`
`static int`	`mulInverseEffectiveMass(SpatialInertia S, double[] a, double[] f, int idx)`
`int`	`numComponents()` Returns the number of components in this CompositeComponent.
`int`	`numMeshComps()` Number of meshes associated with this object
`int`	`numSurfaceMeshes()` Returns the number of surfaces meshes associated with this component, or 0 if no meshes exist.
`double`	`penetrationDistance(Vector3d nrm, Matrix3d Dnrm, Point3d p0)` Computes the penetration distance of a point `p0` into this Wrappable, along with the normal `nrm` that points from `p0` to its nearest point on the surface.
`void`	`postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor)` Performs any required post-scanning for this component.
`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).
`boolean`	`remove(ModelComponent comp)`
`void`	`removeConnector(BodyConnector c)`
`boolean`	`removeMeshComp(RigidMeshComp mc)`
`RigidMeshComp`	`removeMeshComp(java.lang.String name)`
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`void`	`resetEffectiveMass()` Resets the effective mass of this component to the nominal mass.
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`void`	`scaleSurfaceMesh(double sx, double sy, double sz)`
`void`	`scan(ReaderTokenizer rtok, java.lang.Object ref)` Scans this element from a ReaderTokenizer.
`void`	`setCenterOfMass(Point3d com)`
`void`	`setCollidable(Collidable.Collidability c)`
`void`	`setCollidableIndex(int idx)`
`void`	`setDensity(double density)` Sets the density for the mesh, which is defined at the mass divided by the mesh volume.
`void`	`setDisplayMode(CompositeComponent.NavpanelDisplay mode)` Sets the display mode for this component.
`void`	`setDistanceGridRes(Vector3i res)` Convenience method to call `DistanceGridComp.setResolution(maspack.matrix.Vector3i)` for this body's distance grid.
`void`	`setDynamic(boolean dynamic)`
`void`	`setGridSurfaceRendering(boolean enable)` Enables or disables grid surface rendering.
`void`	`setGrounded(boolean grounded)`
`void`	`setInertia(double m, double Jxx, double Jyy, double Jzz)` Explicitly sets the mass and rotational inertia of this body.
`void`	`setInertia(double m, SymmetricMatrix3d J)` Explicitly sets the mass and rotational inertia of this body.
`void`	`setInertia(double m, SymmetricMatrix3d J, Point3d com)` Explicitly sets the mass, rotational inertia, and center of mass of this body.
`void`	`setInertia(SpatialInertia M)` Explicitly sets the spatial inertia of this body.
`void`	`setInertiaFromDensity(double density)` Causes the inertia to be automatically computed from the mesh volume and a given density.
`void`	`setInertiaFromMass(double mass)` Causes the inertia to be automatically computed from the mesh volume and a given mass (with the density computed by dividing the mass by the mesh volume).
`void`	`setInertialDamping(double d)`
`void`	`setInertialDampingMode(PropertyMode mode)`
`void`	`setInertiaMethod(RigidBody.InertiaMethod method)` Sets the `InertiaMethod` method used to determine the inertia for this RigidBody.
`void`	`setMass(double mass)` Sets the mass for the mesh.
`void`	`setMesh(PolygonalMesh mesh)` Deprecated. Use `setSurfaceMesh(PolygonalMesh)` instead.
`void`	`setMesh(PolygonalMesh mesh, java.lang.String fileName)` Deprecated. Use `setSurfaceMesh(PolygonalMesh,String)` instead.
`void`	`setMesh(PolygonalMesh mesh, java.lang.String fileName, AffineTransform3dBase X)` Deprecated. Use `setSurfaceMesh(PolygonalMesh,String,AffineTransform3dBase)` instead.
`void`	`setPose(double x, double y, double z, double roll, double pitch, double yaw)`
`int`	`setPosState(double[] buf, int idx)` Replace updatePosState() with updateSlavePosStates() so we don't update attachments when doing general state uodates.
`void`	`setRotationalInertia(SymmetricMatrix3d J)` Explicitly sets the rotational inertia of this body.
`void`	`setSubmeshesSelectable(boolean value)`
`void`	`setSurfaceMesh(PolygonalMesh mesh)` Sets the surface mesh for this body.
`void`	`setSurfaceMesh(PolygonalMesh mesh, java.lang.String fileName)` Sets the surface mesh for this body.
`void`	`setSurfaceMesh(PolygonalMesh mesh, java.lang.String fileName, AffineTransform3dBase X)` Sets the surface mesh for this body.
`void`	`subEffectiveInertia(SpatialInertia M)`
`void`	`surfaceTangent(Point3d pr, Point3d pa, Point3d p1, double lam0, Vector3d sideNrm)` Computes the point `pt` on the surface of this Wrappable such that the line segment (pa,pt) is both tangent to the surface and as near as possible to the line defined by the two points pa and p1.
`void`	`transformCoordinateFrame(RigidTransform3d TNB)` Transform the body coordinate frame.
`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`	`translateCoordinateFrame(Vector3d off)` Shifts the coordinate frame by a specified offset.
`void`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.
`void`	`updateNameMap(java.lang.String newName, java.lang.String oldName, ModelComponent comp)`
`void`	`write(java.io.PrintWriter pw, NumberFormat fmt, java.lang.Object ref)` Writes a text description of this element to a PrintWriter.

Methods inherited from class artisynth.core.mechmodels.Frame
add1DConstraintBlocks, add2DConstraintBlocks, addExternalForce, addForce, addForce, addFrameForce, addPointForce, addPointForce, addPosImpulse, addPosJacobian, addRelativeVelocity, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, applyExternalForces, collectMasterComponents, computeAppliedWrench, computeForceOnMasters, computeFrameLocation, computeFramePosition, computeFramePosVel, computeFrameVelocity, computePointCoriolis, computePointLocation, computePointPosition, computePointPosVel, computePointVelocity, createFrameAttachment, createMassBlock, createPointAttachment, getAxisDrawStyle, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getExternalForce, getForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getFrameMarkers, getJacobianType, getMoment, 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, resetTargets, setAxisDrawStyle, setAxisLength, setBodyVelocity, setContactConstraint, setExternalForce, setForce, setForce, setFrameDamping, setFrameDampingMode, setOrientation, setPose, setPosition, setRandomForce, setRandomPosState, setRandomVelState, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, transformPose, updateAttachmentPosStates, 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

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

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.modelbase.CompositeComponent
recursivelyFind

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

- Field Detail
  - myProps
```
public static PropertyList myProps
```
  - DEFAULT_SUBMESHES_SELECTABLE
```
public static boolean DEFAULT_SUBMESHES_SELECTABLE
```
  - DEFAULT_GROUNDED
```
public static boolean DEFAULT_GROUNDED
```
- Constructor Detail
  - RigidBody
```
public RigidBody()
```
  - RigidBody
```
public RigidBody(java.lang.String name)
```
  - RigidBody
```
public RigidBody(RigidTransform3d XBodyToWorld,
                 SpatialInertia M,
                 PolygonalMesh mesh,
                 java.lang.String meshFileName)
```
  - RigidBody
```
public RigidBody(java.lang.String name,
                 PolygonalMesh mesh,
                 java.lang.String meshFilePath,
                 double density,
                 double scale)
```
- 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 Frame
    
    Returns:
    
    static information for all exported properties
  - isMassConstant
```
public boolean isMassConstant()
```
    Specified by:
    
    isMassConstant in interface DynamicAgent
    
    Overrides:
    
    isMassConstant in class Frame
  - getMass
```
public double getMass(double t)
```
    Description copied from interface: DynamicAgent
    
    Returns the scalar mass of this component at time t.
    
    Specified by:
    
    getMass in interface DynamicAgent
    
    Overrides:
    
    getMass in class Frame
  - setSubmeshesSelectable
```
public void setSubmeshesSelectable(boolean value)
```
  - getSubmeshesSelectable
```
public boolean getSubmeshesSelectable()
```
  - getMass
```
public void getMass(Matrix M,
                    double t)
```
    Description copied from interface: DynamicAgent
    
    Gets the mass of this component at a particular time. Not currently used; getEffectiveMass() is used instead.
    
    Specified by:
    
    getMass in interface DynamicAgent
    
    Overrides:
    
    getMass in class Frame
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - getEffectiveInertia
```
public SpatialInertia getEffectiveInertia()
```
  - getEffectiveMass
```
public double getEffectiveMass()
```
    Description copied from interface: DynamicAgent
    
    Gets the effective scalar mass of this component. The effective mass is the nominal mass plus any additional mass incurred from attached components.
    
    Specified by:
    
    getEffectiveMass in interface DynamicAgent
    
    Overrides:
    
    getEffectiveMass in class Frame
    
    Returns:
    
    effective scalar mass
  - getEffectiveMass
```
public void getEffectiveMass(Matrix M,
                             double t)
```
    Description copied from interface: DynamicAgent
    
    Gets the effective mass of this component at a particular time. The effective mass is the nominal mass plus any additional mass incurred from attached components.
    
    Specified by:
    
    getEffectiveMass in interface DynamicAgent
    
    Overrides:
    
    getEffectiveMass in class Frame
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - mulInverseEffectiveMass
```
public int mulInverseEffectiveMass(Matrix M,
                                   double[] a,
                                   double[] f,
                                   int idx)
```
    Specified by:
    
    mulInverseEffectiveMass in interface DynamicAgent
    
    Overrides:
    
    mulInverseEffectiveMass in class Frame
  - mulInverseEffectiveMass
```
public static int mulInverseEffectiveMass(SpatialInertia S,
                                          double[] a,
                                          double[] f,
                                          int idx)
```
  - getEffectiveMassForces
```
public static int getEffectiveMassForces(VectorNd f,
                                         double t,
                                         FrameState state,
                                         SpatialInertia effectiveInertia,
                                         int idx)
```
  - getEffectiveMassForces
```
public int getEffectiveMassForces(VectorNd f,
                                  double t,
                                  int idx)
```
    Description copied from interface: DynamicAgent
    
    Gets the mass forces for this component at a particular time. The forces should be stored in f, starting at the location specified by idx. Upon return, this method should return the value of idx incremented by the dimension of the mass forces.
    
    Specified by:
    
    getEffectiveMassForces in interface DynamicAgent
    
    Overrides:
    
    getEffectiveMassForces in class Frame
    
    Parameters:
    
    f - vector to return the forces in
    
    t - current time
    
    idx - starting location within f where forces should be stored
    
    Returns:
    
    updated value for idx
  - resetEffectiveMass
```
public void resetEffectiveMass()
```
    Description copied from interface: DynamicAgent
    
    Resets the effective mass of this component to the nominal mass.
    
    Specified by:
    
    resetEffectiveMass in interface DynamicAgent
    
    Overrides:
    
    resetEffectiveMass in class Frame
  - addEffectivePointMass
```
public void addEffectivePointMass(double m,
                                  Vector3d loc)
```
    Adds a point mass to the effective spatial inertia for this Frame.
    
    Overrides:
    
    addEffectivePointMass in class Frame
    
    Parameters:
    
    m - mass of the point
    
    loc - location of the point (in local frame coordinates)
  - addEffectiveFrameMass
```
public void addEffectiveFrameMass(SpatialInertia M,
                                  RigidTransform3d TFL)
```
    Adds a frame inertia to the effective spatial inertia for this Frame.
    
    Overrides:
    
    addEffectiveFrameMass in class Frame
    
    Parameters:
    
    M - spatial inertia to be added
    
    TFL - location of the inertia (in local frame coordinates)
  - subEffectiveInertia
```
public void subEffectiveInertia(SpatialInertia M)
```
  - getInverseMass
```
public void getInverseMass(Matrix Minv,
                           Matrix M)
```
    Description copied from interface: DynamicAgent
    
    Inverts a mass for this component.
    
    Specified by:
    
    getInverseMass in interface DynamicAgent
    
    Overrides:
    
    getInverseMass in class DynamicComponentBase
    
    Parameters:
    
    Minv - matrix to return the inverse mass in
    
    M - matrix containing the mass to be inverted
  - getInertiaMethod
```
public RigidBody.InertiaMethod getInertiaMethod()
```
  - setInertiaMethod
```
public void setInertiaMethod(RigidBody.InertiaMethod method)
```
    Sets the InertiaMethod method used to determine the inertia for this RigidBody.
    
    Parameters:
    
    method - inertia method for this RigidBody
    
    See Also:
    
    setInertia(maspack.spatialmotion.SpatialInertia), setInertiaFromDensity(double), setInertiaFromMass(double)
  - getInertia
```
public void getInertia(SpatialInertia M)
```
  - setCenterOfMass
```
public void setCenterOfMass(Point3d com)
```
  - getCenterOfMass
```
public void getCenterOfMass(Point3d com)
```
  - getCenterOfMass
```
public Point3d getCenterOfMass()
```
  - centerPoseOnCenterOfMass
```
public Point3d centerPoseOnCenterOfMass()
```
    Adjusts the pose so that it reflects the rigid body's center of mass. Returns the previous center of mass position, with respect to body coordinates. The negative of this gives the previous location of body frame's origin, also with respect to body coordinates.
    
    Returns:
    
    previous center of mass position
  - translateCoordinateFrame
```
public void translateCoordinateFrame(Vector3d off)
```
    Shifts the coordinate frame by a specified offset. The offset is given in world coordinates and is added to the pose, and subtracted from the mesh vertex positions and inertia.
  - transformCoordinateFrame
```
public void transformCoordinateFrame(RigidTransform3d TNB)
```
    Transform the body coordinate frame. The transformation from the current to the new coordinate frame is given by TNB, such the if the body's current pose is given by TBW, then the new pose TNW will be given by
```
  TNW = TBW TNB
 
```
    This method also updates the vertex positions of the body's meshes (using the inverse TNB), as well as the inertia tensor.
  - setInertiaFromDensity
```
public void setInertiaFromDensity(double density)
```
    Causes the inertia to be automatically computed from the mesh volume and a given density. If the mesh is currently null then the inertia remains unchanged. Subsequent (non-null) changes to the mesh will cause the inertia to be recomputed. The inertia method is set to DENSITY.
    
    Parameters:
    
    density - desired uniform density
  - setInertiaFromMass
```
public void setInertiaFromMass(double mass)
```
    Causes the inertia to be automatically computed from the mesh volume and a given mass (with the density computed by dividing the mass by the mesh volume). If the mesh is currently null the mass of the inertia is updated but the otherwise the inertia and density are left unchanged. Subsequent (non-null) changes to the mesh will cause the inertia to be recomputed. The inertia method is set to MASS.
    
    Parameters:
    
    mass - desired body mass
  - getVolume
```
public double getVolume()
```
  - setDensity
```
public void setDensity(double density)
```
    Sets the density for the mesh, which is defined at the mass divided by the mesh volume. If the mesh is currently non-null, the mass will be updated accordingly. If the current InertiaMethod is either DENSITY or MASS, the other components of the spatial inertia will also be updated.
    
    Parameters:
    
    density - new density value
  - getDensityRange
```
public Range getDensityRange()
```
  - getDensity
```
public double getDensity()
```
    Returns the density of this body. This is either the value set explictly by setInertiaFromDensity, or is the mass/volume ratio for the most recently defined mesh.
    
    Returns:
    
    density for this body.
  - setMass
```
public void setMass(double mass)
```
    Sets the mass for the mesh. If the mesh is currently non-null, then the density (defined as the mass divided by the mesh volume) will be updated accordingly. If the current InertiaMethod is either DENSITY or MASS, the other components of the spatial inertia will also be updated.
    
    Parameters:
    
    mass - new mass value
  - getMass
```
public double getMass()
```
    Returns the mass of this body.
    
    Specified by:
    
    getMass in interface CollidableBody
    
    Returns:
    
    mass of the body
  - getMassRange
```
public Range getMassRange()
```
  - setRotationalInertia
```
public void setRotationalInertia(SymmetricMatrix3d J)
```
    Explicitly sets the rotational inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - getRotationalInertia
```
public void getRotationalInertia(SymmetricMatrix3d J)
```
  - getRotationalInertia
```
public SymmetricMatrix3d getRotationalInertia()
```
    Returns the rotational inertia of this body.
    
    Returns:
    
    rotational inertia (should not be modified).
  - setInertia
```
public void setInertia(SpatialInertia M)
```
    Explicitly sets the spatial inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - setInertia
```
public void setInertia(double m,
                       SymmetricMatrix3d J)
```
    Explicitly sets the mass and rotational inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - setInertia
```
public void setInertia(double m,
                       SymmetricMatrix3d J,
                       Point3d com)
```
    Explicitly sets the mass, rotational inertia, and center of mass of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - setInertia
```
public void setInertia(double m,
                       double Jxx,
                       double Jyy,
                       double Jzz)
```
    Explicitly sets the mass and rotational inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - getInertialDamping
```
public double getInertialDamping()
```
  - setInertialDamping
```
public void setInertialDamping(double d)
```
  - getInertialDampingMode
```
public PropertyMode getInertialDampingMode()
```
  - setInertialDampingMode
```
public void setInertialDampingMode(PropertyMode mode)
```
  - hasForce
```
public boolean hasForce()
```
    Description copied from interface: DynamicAgent
    
    Queries whether or not this component actually exerts its own state-dependent forces (typically associated with damping). If it does not, then the component makes no contribution to its stiffness and damping matrices, a fact that can be exploited to improve the efficiency of the physics solve.
    Any action that alters the return value of this method should propagate a StructureChangeEvent. This can be a state-not-changed event if component's state structure is not altered (which it typically won't be).
    
    Specified by:
    
    hasForce in interface DynamicAgent
    
    Overrides:
    
    hasForce in class Frame
    
    Returns:
    
    true if this component exerts its own forces.
  - getSurfaceMeshComp
```
public RigidMeshComp getSurfaceMeshComp()
```
    Returns the mesh component, if any, associated with the surface mesh for this body. If there is no surface mesh, then null is returned.
    
    Returns:
    
    surface mesh component, or null.
  - getMesh
```
public PolygonalMesh getMesh()
```
    Deprecated. Use getSurfaceMesh() instead.
  - getSurfaceMesh
```
public PolygonalMesh getSurfaceMesh()
```
    Returns the surface mesh for this rigid body. By definition, this is the first mesh in the component mesh list which is a PolygonalMesh. If no such mesh exists, then null is returned.
    
    Specified by:
    
    getSurfaceMesh in interface HasSurfaceMesh
    
    Returns:
    
    surface mesh for this rigid body
  - numSurfaceMeshes
```
public int numSurfaceMeshes()
```
    Description copied from interface: HasSurfaceMesh
    
    Returns the number of surfaces meshes associated with this component, or 0 if no meshes exist. If HasSurfaceMesh.getSurfaceMesh() returns null, then this method should return 0.
    
    Specified by:
    
    numSurfaceMeshes in interface HasSurfaceMesh
    
    Returns:
    
    number of surface meshes associated with this component
  - getSurfaceMeshes
```
public PolygonalMesh[] getSurfaceMeshes()
```
    Description copied from interface: HasSurfaceMesh
    
    Returns an array listing all the (non-null) surface meshes associated with this component, or a zero-length array if there are none. If HasSurfaceMesh.getSurfaceMesh() returns null, then a zero-length array should be returned.
    
    Specified by:
    
    getSurfaceMeshes in interface HasSurfaceMesh
    
    Returns:
    
    surface meshes associated with this component
  - setMesh
```
public void setMesh(PolygonalMesh mesh)
```
    Deprecated. Use setSurfaceMesh(PolygonalMesh) instead.
  - setMesh
```
public void setMesh(PolygonalMesh mesh,
                    java.lang.String fileName)
```
    Deprecated. Use setSurfaceMesh(PolygonalMesh,String) instead.
  - setMesh
```
public void setMesh(PolygonalMesh mesh,
                    java.lang.String fileName,
                    AffineTransform3dBase X)
```
    Deprecated. Use setSurfaceMesh(PolygonalMesh,String,AffineTransform3dBase) instead.
  - setSurfaceMesh
```
public void setSurfaceMesh(PolygonalMesh mesh)
```
    Sets the surface mesh for this body. This method is equivalent to setSurfaceMesh(mesh,fileName,X) with fileName and X set to null.
    
    Parameters:
    
    mesh - new surface mesh
  - setSurfaceMesh
```
public void setSurfaceMesh(PolygonalMesh mesh,
                           java.lang.String fileName)
```
    Sets the surface mesh for this body. This method is equivalent to #setSurfaceMesh(mesh,fileName,X) with X set to null.
    
    Parameters:
    
    mesh - new surface mesh
    
    fileName - optional file name to be associated with the mesh
  - setSurfaceMesh
```
public void setSurfaceMesh(PolygonalMesh mesh,
                           java.lang.String fileName,
                           AffineTransform3dBase X)
```
    Sets the surface mesh for this body. If a surface mesh already exists (i.e., getSurfaceMesh() returns non-null), then this mesh replaces the existing one, at the same location within the {\tt meshes} sublist. Otherwise, a new surface mesh component is created and placed at the top of the {\tt meshes} sublist.
    If mesh is null, then the any existing surface mesh is removed.
    The arguments fileName and X specify an optional file name and rigid or affine transform for the mesh. If specified, these are used by scan(maspack.util.ReaderTokenizer, java.lang.Object) and write(java.io.PrintWriter, maspack.util.NumberFormat, java.lang.Object) for saving and restoring mesh information. For details, see MeshComponent.getFileName() and MeshComponent.getFileTransform().
    If the body's inertia method is RigidBody.InertiaMethod.MASS or RigidBody.InertiaMethod.DENSITY, then its inertia will be updated to reflect the new mesh geometry.
    
    Parameters:
    
    mesh - new surface mesh
    
    fileName - optional file name to be associated with the mesh
    
    X - optional affine transform to be associated with the mesh
  - scaleSurfaceMesh
```
public void scaleSurfaceMesh(double sx,
                             double sy,
                             double sz)
```
  - getMeshComps
```
public MeshComponentList<RigidMeshComp> getMeshComps()
```
  - getMeshComp
```
public RigidMeshComp getMeshComp(int idx)
```
  - getMeshComp
```
public RigidMeshComp getMeshComp(java.lang.String name)
```
  - addMesh
```
public RigidMeshComp addMesh(MeshBase mesh)
```
    Adds a mesh to this object. Can be of any type.
    
    Parameters:
    
    mesh - Instance of MeshBase
    
    Returns:
    
    a special "mesh component" object that is created internally
  - addMesh
```
public RigidMeshComp addMesh(MeshBase mesh,
                             boolean hasMass,
                             boolean collidable)
```
    Adds a mesh to this object. Can be of any type.
    
    Parameters:
    
    mesh - Instance of MeshBase
    
    hasMass - true if to be used for mass/inertia calculations
    
    collidable - true if to be used for collisions
    
    Returns:
    
    a special "mesh component" object that is created internally
  - addMesh
```
public RigidMeshComp addMesh(MeshBase mesh,
                             java.lang.String fileName,
                             AffineTransform3dBase Xh,
                             boolean hasMass,
                             boolean collidable)
```
    Adds a mesh to this object
    
    Parameters:
    
    mesh - Instance of MeshBase
    
    fileName - name of file (can be null)
    
    Xh - transform associated with mesh
    
    hasMass - if true, this mesh is used for computing mass and inertia
    
    Returns:
    
    a special "mesh component" object that is created internally
  - addMeshComp
```
public void addMeshComp(RigidMeshComp mc)
```
    Explicitly adds a mesh component. If the flag mc.hasMass() is true, then this mesh is used for mass/inertia computations
  - numMeshComps
```
public int numMeshComps()
```
    Number of meshes associated with this object
  - containsMeshComp
```
public boolean containsMeshComp(RigidMeshComp mc)
```
    Checks if this object contains a particular geometry
  - removeMeshComp
```
public boolean removeMeshComp(RigidMeshComp mc)
```
  - removeMeshComp
```
public RigidMeshComp removeMeshComp(java.lang.String name)
```
  - clearMeshComps
```
public void clearMeshComps()
```
  - setPosState
```
public int setPosState(double[] buf,
                       int idx)
```
    Replace updatePosState() with updateSlavePosStates() so we don't update attachments when doing general state uodates. (Attachment updates should be done by the general state update itself).
    
    Specified by:
    
    setPosState in interface DynamicAgent
    
    Overrides:
    
    setPosState in class Frame
  - setPose
```
public void setPose(double x,
                    double y,
                    double z,
                    double roll,
                    double pitch,
                    double yaw)
```
  - extrapolatePose
```
public void extrapolatePose(Twist vel,
                            double h)
```
  - getDistanceGridComp
```
public DistanceGridComp getDistanceGridComp()
```
    Returns a DistanceGridComp object that in turn contains a signed distance grid that can be used with a SignedDistanceCollider, or null if this Collidable does not support a signed distance grid (i.e., if CollidableBody.hasDistanceGrid() returns false).
    
    Specified by:
    
    getDistanceGridComp in interface CollidableBody
  - applyGravity
```
public void applyGravity(Vector3d gacc)
```
    Description copied from class: Frame
    
    Applies a gravity force to this component, given a prescribed gravity acceleration vector.
    
    Specified by:
    
    applyGravity in interface DynamicAgent
    
    Overrides:
    
    applyGravity in class Frame
  - 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
  - postscan
```
public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException
```
    Description copied from interface: PostScannable
    
    Performs any required post-scanning for this component. This involves handling any information whose processing was deferred during the scan() method and stored in the token queue. The most common use of this method is to resolve the paths of component references, which may not have been created at the time of the initial scan() call.
    
    Specified by:
    
    postscan in interface PostScannable
    
    Overrides:
    
    postscan in class ModelComponentBase
    
    Parameters:
    
    tokens - token information that was stored during scan().
    
    ancestor - ancestor component with respect to which reference component paths are defined.
    
    Throws:
    
    java.io.IOException - if an error is encountered (such as a reference to a non-existent component)
  - write
```
public void write(java.io.PrintWriter pw,
                  NumberFormat fmt,
                  java.lang.Object ref)
           throws java.io.IOException
```
    Description copied from class: ModelComponentBase
    
    Writes a text description of this element to a PrintWriter. The text description should be compatable with scan and complete enough to allow full reconstruction of the element.
    
    Specified by:
    
    write in interface Scannable
    
    Overrides:
    
    write in class ModelComponentBase
    
    Parameters:
    
    pw - stream for writing the element
    
    fmt - numeric formating information
    
    ref - optional reference object which can be used for producing references to other objects
    
    Throws:
    
    java.io.IOException - if an I/O error occured
  - createRenderProps
```
public RenderProps createRenderProps()
```
    Description copied from interface: HasRenderProps
    
    Factory method to create render properties appropriate to this object.
    
    Specified by:
    
    createRenderProps in interface HasRenderProps
    
    Overrides:
    
    createRenderProps in class Frame
    
    Returns:
    
    new render properties for this object
  - 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 Frame
    
    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 Frame
    
    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 Frame
    
    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.
  - addTransformableDependencies
```
public void addTransformableDependencies(TransformGeometryContext context,
                                         int flags)
```
    Description copied from interface: TransformableGeometry
    
    Adds to context any transformable components which should be transformed as the same time as this component. This will generally include descendant components, and may also include other components to which this component is connected in some way.
    This method is generally called from with the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of a TransformGeometryContext.
    
    Specified by:
    
    addTransformableDependencies in interface TransformableGeometry
    
    Overrides:
    
    addTransformableDependencies in class Frame
    
    Parameters:
    
    context - context information, to which the dependent components are added.
    
    flags - specifies conditions associated with the transformation
  - 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 Frame
    
    Parameters:
    
    gtr - transformer implementing the transform
    
    context - context information, including what other components are being transformed
    
    flags - specifies conditions associated with the transformation
  - 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 Frame
    
    Parameters:
    
    s - scaling factor
  - scaleMass
```
public void scaleMass(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all mass units.
    
    Specified by:
    
    scaleMass in interface ScalableUnits
    
    Overrides:
    
    scaleMass in class Frame
    
    Parameters:
    
    s - scaling factor
  - setDynamic
```
public void setDynamic(boolean dynamic)
```
  - applyForces
```
public void applyForces(double t)
```
    Description copied from interface: ForceEffector
    
    Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.
    
    Specified by:
    
    applyForces in interface ForceEffector
    
    Overrides:
    
    applyForces in class Frame
    
    Parameters:
    
    t - time (seconds)
  - addVelJacobian
```
public void addVelJacobian(SparseNumberedBlockMatrix S,
                           double s)
```
    Description copied from interface: ForceEffector
    
    Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
    M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.
    
    Specified by:
    
    addVelJacobian in interface ForceEffector
    
    Overrides:
    
    addVelJacobian in class Frame
    
    Parameters:
    
    S - solve matrix to which scaled velocity Jacobian is to be added
    
    s - scaling factor for velocity Jacobian
  - 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
    
    Overrides:
    
    isDuplicatable in class Frame
    
    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
    
    Overrides:
    
    getCopyReferences in class Frame
    
    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
  - copy
```
public RigidBody 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 Frame
    
    Parameters:
    
    flags - flags to control the copying
    
    copyMap - map to possible existing instances of referenced components
    
    Returns:
    
    copy of this component
  - addConnector
```
public void addConnector(BodyConnector c)
```
    Specified by:
    
    addConnector in interface ConnectableBody
  - removeConnector
```
public void removeConnector(BodyConnector c)
```
    Specified by:
    
    removeConnector in interface ConnectableBody
  - containsConnector
```
public boolean containsConnector(BodyConnector c)
```
    Specified by:
    
    containsConnector in interface ConnectableBody
  - getConnectors
```
public java.util.List<BodyConnector> getConnectors()
```
    Specified by:
    
    getConnectors in interface ConnectableBody
  - isFreeBody
```
public boolean isFreeBody()
```
    Specified by:
    
    isFreeBody in interface ConnectableBody
  - isGrounded
```
public boolean isGrounded()
```
    Specified by:
    
    isGrounded in interface ConnectableBody
  - setGrounded
```
public void setGrounded(boolean grounded)
```
  - createSphere
```
public static RigidBody createSphere(java.lang.String bodyName,
                                     double r,
                                     double density,
                                     int nslices)
```
    Creates an spherical RigidBody with a prescribed uniform density. The sphere is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    r - radius of the sphere
    
    density - density of the body
    
    nslices - number of slices used in creating the mesh
    
    Returns:
    
    spherical rigid body
  - createIcosahedralSphere
```
public static RigidBody createIcosahedralSphere(java.lang.String bodyName,
                                                double r,
                                                double density,
                                                int ndivisions)
```
    Creates an icosahedrally spherical RigidBody with a prescribed uniform density. The sphere is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    r - radius of the sphere
    
    density - density of the body
    
    ndivisions - number of divisions used in creating the mesh
    
    Returns:
    
    spherical rigid body
  - createEllipsoid
```
public static RigidBody createEllipsoid(java.lang.String bodyName,
                                        double a,
                                        double b,
                                        double c,
                                        double density,
                                        int nslices)
```
    Creates an ellipsoidal RigidBody with a prescribed uniform density. The ellipsoid is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    a - semi-axis length in the x direction
    
    b - semi-axis length in the y direction
    
    c - semi-axis length in the z direction
    
    density - density of the body
    
    nslices - number of slices used in creating the mesh
    
    Returns:
    
    ellipsoidal rigid body
  - createBox
```
public static RigidBody createBox(java.lang.String bodyName,
                                  double wx,
                                  double wy,
                                  double wz,
                                  double density)
```
    Creates a box-shaped RigidBody with a prescribed uniform density. The box is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    wx - width of the box in the x direction
    
    wy - width of the box in the y direction
    
    wz - width of the box in the z direction
    
    density - density of the body
    
    Returns:
    
    box-shaped rigid body
  - createBox
```
public static RigidBody createBox(java.lang.String bodyName,
                                  double wx,
                                  double wy,
                                  double wz,
                                  double density,
                                  boolean addNormals)
```
    Creates a box-shaped RigidBody with a prescribed uniform density. The box is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    wx - width of the box in the x direction
    
    wy - width of the box in the y direction
    
    wz - width of the box in the z direction
    
    density - density of the body
    
    Returns:
    
    box-shaped rigid body
  - createBox
```
public static RigidBody createBox(java.lang.String bodyName,
                                  double wx,
                                  double wy,
                                  double wz,
                                  int nx,
                                  int ny,
                                  int nz,
                                  double density,
                                  boolean addNormals)
```
    Creates a box-shaped RigidBody with a prescribed uniform density. The box is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    wx - width of the box in the x direction
    
    wy - width of the box in the y direction
    
    wz - width of the box in the z direction
    
    nx - number of mesh divisions in the x direction
    
    ny - number of mesh divisions in the y direction
    
    nz - number of mesh divisions in the z direction
    
    density - density of the body
    
    Returns:
    
    box-shaped rigid body
  - createCylinder
```
public static RigidBody createCylinder(java.lang.String bodyName,
                                       double r,
                                       double h,
                                       double density,
                                       int nsides)
```
    Creates a cylindrical RigidBody with a prescribed uniform density. The cylinder is centered on the origin and is parallel to the z axis.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    r - cylinder radius
    
    h - cylinder height
    
    density - density of the body
    
    nsides - number of sides used in creating the cylinder mesh
    
    Returns:
    
    cylindrical rigid body
  - createFromMesh
```
public static RigidBody createFromMesh(java.lang.String bodyName,
                                       PolygonalMesh mesh,
                                       double density,
                                       double scale)
```
  - createFromMesh
```
public static RigidBody createFromMesh(java.lang.String bodyName,
                                       PolygonalMesh mesh,
                                       java.lang.String meshFilePath,
                                       double density,
                                       double scale)
```
  - createFromMesh
```
public static RigidBody createFromMesh(java.lang.String bodyName,
                                       java.lang.String meshPath,
                                       double density,
                                       double scale)
```
  - createFromMesh
```
public static RigidBody createFromMesh(java.lang.String bodyName,
                                       java.lang.Object obj,
                                       java.lang.String relPath,
                                       double density,
                                       double scale)
```
  - getCollisionMesh
```
public PolygonalMesh getCollisionMesh()
```
    Description copied from interface: CollidableBody
    
    Returns the mesh that should be used for computing collisions, or null if there is no such mesh. If this method returns null, then no collisions will be performed for this collidable, regardless any default or explicit collision behaviors that have been arranged by the system.
    
    Specified by:
    
    getCollisionMesh in interface CollidableBody
    
    Returns:
    
    collision mesh for this collidable.
  - hasDistanceGrid
```
public boolean hasDistanceGrid()
```
    Returns true if this RigidBody supports a signed distance grid that can be used with a SignedDistanceCollider. The grid itself can be obtained with getDistanceGrid().
    
    Specified by:
    
    hasDistanceGrid in interface CollidableBody
    
    Returns:
    
    true if a signed distance grid is available for this RigidBody
  - getDistanceGrid
```
public DistanceGrid getDistanceGrid()
```
    Returns a signed distance grid that can be used with a SignedDistanceCollider, or null if a grid is not available. Aspects of the grid, including its visibility, resolution, and mesh fit, can be controlled using properties of its encapsulating DistanceGridComp, returned by getDistanceGridComp().
    
    Returns:
    
    signed distance grid, or null if a grid is not available this RigidBody
  - getCollidable
```
public Collidable.Collidability getCollidable()
```
    Description copied from interface: Collidable
    
    Returns the Collidable.Collidability of this Collidable. This provides control over whether external and/or internal collisions are enabled for this Collidable. This setting takes precedence over default and explicitly requested collision behaviors.
    Note that for collisions to actually occur, they still need to be enabled through either a default or explicit collision behavior in the MechModel.
    
    Specified by:
    
    getCollidable in interface Collidable
    
    Returns:
    
    Collidability of this collidable.
  - getCollidableAncestor
```
public Collidable getCollidableAncestor()
```
    Description copied from interface: Collidable
    
    Returns the most immediate Collidable ancestor of this Collidable, if any. Otherwise, return null.
    
    Specified by:
    
    getCollidableAncestor in interface Collidable
    
    Returns:
    
    immediate Collidable ancestor, or null.
  - isCompound
```
public boolean isCompound()
```
    Description copied from interface: Collidable
    
    Queries whether or not this collidable has sub-collidables.
    
    Specified by:
    
    isCompound in interface Collidable
    
    Returns:
    
    true if this collidable has sub-collidables
  - setCollidable
```
public void setCollidable(Collidable.Collidability c)
```
  - isDeformable
```
public boolean isDeformable()
```
    Description copied from interface: Collidable
    
    Returns true if this collidable is deformable. Whether or not a collidable is deformable determines how it responds to default collision behaviors involving deformable and rigid collidables. Also, self-collisions among sub-collidables of a collidable A are permitted only if A is deformable.
    
    Specified by:
    
    isDeformable in interface Collidable
    
    Specified by:
    
    isDeformable in interface ConnectableBody
    
    Returns:
    
    true if this collidable is deformable
  - collectVertexMasters
```
public void collectVertexMasters(java.util.List<ContactMaster> mlist,
                                 Vertex3d vtx)
```
    Collects the contact masters for a particular mesh vertex. The masters should be appended to mlist. The vertex should be a vertex of the mesh returned by CollidableBody.getCollisionMesh().
    If CollidableBody.hasInvariantMasters() returns true, then the contact masters will not depend on vtx.
    
    Specified by:
    
    collectVertexMasters in interface CollidableBody
    
    Parameters:
    
    mlist - collected master components
    
    vtx - vertex for which the master components are requested
  - hasInvariantMasters
```
public boolean hasInvariantMasters()
```
    Queries whether or not the contact masters for a particular collision point are invariant across all contacts. An example where they are is a rigid body, where the body is the (single) master regardless of the contacts. An example where they are not is a finite element model, where the nodes associated with each contacting vertex form the masters for that contact.
    A collidable that has invariant contact masters typically has fewer dynamic degrees of freedom compared to one that does not.
    
    Specified by:
    
    hasInvariantMasters in interface CollidableBody
    
    Returns:
    
    true if contact masters are constant
  - containsContactMaster
```
public boolean containsContactMaster(CollidableDynamicComponent comp)
```
    Description copied from interface: CollidableBody
    
    Returns true if this Collidable contains a specified contact master component.
    
    Specified by:
    
    containsContactMaster in interface CollidableBody
    
    Parameters:
    
    comp - component to test for
    
    Returns:
    
    true if comp is contained in this Collidable
  - allowCollision
```
public boolean allowCollision(ContactPoint cpnt,
                              Collidable other,
                              java.util.Set<Vertex3d> attachedVertices)
```
    Description copied from interface: CollidableBody
    
    Returns true if a collision between this Collidable and other should be allowed for the contact point cpnt. In making this decision, this method may refer to attachedVertices, which supplies a list of vertices on this Collidable which are attached in some way to the other Collidable.
    
    Specified by:
    
    allowCollision in interface CollidableBody
    
    Parameters:
    
    cpnt - contact point being tested
    
    other - opposing collidable
    
    attachedVertices - list of vertices attached to other.
    
    Returns:
    
    true if the collision should be allowed
  - getCollidableIndex
```
public int getCollidableIndex()
```
    Specified by:
    
    getCollidableIndex in interface CollidableBody
  - setCollidableIndex
```
public void setCollidableIndex(int idx)
```
    Specified by:
    
    setCollidableIndex in interface CollidableBody
  - surfaceTangent
```
public void surfaceTangent(Point3d pr,
                           Point3d pa,
                           Point3d p1,
                           double lam0,
                           Vector3d sideNrm)
```
    Computes the point pt on the surface of this Wrappable such that the line segment (pa,pt) is both tangent to the surface and as near as possible to the line defined by the two points pa and p1.
    To assist with the computation, pKcheck[kmax]t can be assumed to lie fairly close to p1, and its projection onto the line can be assumed to lie between p1 and another point p0 defined by
```
 p0 = (1-lam0) pa + lam0 p1
 
```
    where lam0 is a parameter between 0 and 1.
    Specified by:
    
    surfaceTangent in interface Wrappable
    
    Parameters:
    
    pr - returns the tangent point
    
    pa - first point of the line
    
    p1 - second point of the line
    
    lam0 - parameter defining point p0 as defined above
    
    sideNrm - a normalized vector perpendicular to the plane defined by pa, p1 and pt. Can be used to help compute pt
  - penetrationDistance
```
public double penetrationDistance(Vector3d nrm,
                                  Matrix3d Dnrm,
                                  Point3d p0)
```
    Computes the penetration distance of a point p0 into this Wrappable, along with the normal nrm that points from p0 to its nearest point on the surface. The distance should be negative if the point is inside the wrappable, and positive otherwise. If the point is outside and further than some minimum distance, then the method should return the constant Wrappable.OUTSIDE.
    If possible, the method should also compute the derivative of the normal with respect to changes in p0, and return this in dnrm. If this is not possible, dnrm should be set to 0.
    
    Specified by:
    
    penetrationDistance in interface Wrappable
    
    Parameters:
    
    nrm - returns the normal (should be normalized)
    
    Dnrm - returns the derivative of the normal with respect to changes in p0, or zero if this cannot be determined.
    
    p0 - point to determine penetration for
    
    Returns:
    
    returns the penetration distance, or Wrappable.OUTSIDE if the point is further than some minimum distance from the wrappable.
  - getCharacteristicRadius
```
public double getCharacteristicRadius()
```
    Returns a typical "radius" that should be expected for this wrappable, defined as the distance for a surface point to the center.
    
    Specified by:
    
    getCharacteristicRadius in interface Wrappable
  - setDistanceGridRes
```
public void setDistanceGridRes(Vector3i res)
```
    Convenience method to call DistanceGridComp.setResolution(maspack.matrix.Vector3i) for this body's distance grid.
    
    Parameters:
    
    res - x, y, and z cell divisions to be used in constructing the grid
  - getDistanceGridRes
```
public Vector3i getDistanceGridRes()
```
    Convenience method to call DistanceGridComp.getResolution() for this body's distance grid.
    
    Returns:
    
    x, y, and z cell divisions to be used in constructing the grid
  - getGridSurfaceRendering
```
public boolean getGridSurfaceRendering()
```
    Queries if grid surface rendering is enabled.
    
    Returns:
    
    true if grid surface rendering is enabled
    
    See Also:
    
    setGridSurfaceRendering(boolean)
  - setGridSurfaceRendering
```
public void setGridSurfaceRendering(boolean enable)
```
    Enables or disables grid surface rendering. If enabled, this means that the iso surface of this rigid body's distance grid will be rendered instead of its surface mesh(es). This rendering will occur independently of the visibility settings for the meshes or the body's distance grid component. Characteristics of the grid surface (such its distance value, or whether it is created using linear of quadratic interpolation) can be controlled by setting properties of this body's DistanceGridComp, returned by getDistanceGridComp().
    
    Parameters:
    
    enable - if true, enables grid surface rendering.
    
    See Also:
    
    getGridSurfaceRendering()
  - updateNameMap
```
public void updateNameMap(java.lang.String newName,
                          java.lang.String oldName,
                          ModelComponent comp)
```
    Specified by:
    
    updateNameMap in interface CompositeComponent
  - findComponent
```
public ModelComponent findComponent(java.lang.String path)
```
    Recursively searches for a subcomponent of this ModelComponent, identified by a path of component names.
    
    Specified by:
    
    findComponent in interface CompositeComponent
    
    Parameters:
    
    path - path leading to the subcomponent
    
    Returns:
    
    named subcomponent, or null if the component does not exist.
  - add
```
public void add(ModelComponent comp)
```
  - remove
```
public boolean remove(ModelComponent comp)
```
  - get
```
public ModelComponent get(java.lang.String nameOrNumber)
```
    Returns a specific subcomponent of this ModelComponent, identified by name or string representation of the subcomponent's number
    
    Specified by:
    
    get in interface CompositeComponent
    
    Parameters:
    
    nameOrNumber - name or number of the subcomponent
    
    Returns:
    
    named subcomponent, or null if the component does not exist.
  - get
```
public ModelComponent get(int idx)
```
    Returns a specific subcomponent of this ModelComponent, identified by index.
    
    Specified by:
    
    get in interface CompositeComponent
    
    Specified by:
    
    get in interface IndexedComponentList
    
    Parameters:
    
    idx - index of the subcomponent
    
    Returns:
    
    indexed subcomponent, or null if the component does not exist.
  - getByNumber
```
public ModelComponent getByNumber(int num)
```
    Returns a specific subcomponent of this ModelComponent, identified by number.
    
    Specified by:
    
    getByNumber in interface CompositeComponent
    
    Parameters:
    
    num - number of the subcomponent
    
    Returns:
    
    specified subcomponent, or null if the component does not exist.
  - getNumberLimit
```
public int getNumberLimit()
```
    Returns the current upper limit for numbers among all subcomponents in this composite. This is one greater than the maximum subcomponent number currently assigned. A value of 0 means that there are no subcomponents. This method is useful for creating and sizing arrays whose contents are indexed by component numbers.
    
    Specified by:
    
    getNumberLimit in interface CompositeComponent
    
    Returns:
    
    upper limit for numbers among all subcomponents
  - indexOf
```
public int indexOf(ModelComponent comp)
```
    Returns the index of a specified subcomponent, or -1 if that the component is not present.
    
    Specified by:
    
    indexOf in interface CompositeComponent
    
    Parameters:
    
    comp - component whose index is requested
    
    Returns:
    
    indexed subcomponent
  - numComponents
```
public int numComponents()
```
    Returns the number of components in this CompositeComponent.
    
    Specified by:
    
    numComponents in interface CompositeComponent
    
    Specified by:
    
    numComponents in interface IndexedComponentList
    
    Returns:
    
    number of subcomponents
  - componentChanged
```
public void componentChanged(ComponentChangeEvent e)
```
    Notifies this composite component that a change has occured within one or more of its descendants. When this occurs, the composite may need to invalidate cached information that depends on the descendants.
    This method should propagate the notification up the component hierarchy by calling notifyParentOfChange.
    
    Specified by:
    
    componentChanged in interface ComponentChangeListener
    
    Specified by:
    
    componentChanged in interface CompositeComponent
    
    Parameters:
    
    e - optional argument giving specific information about the change
  - getNavpanelDisplay
```
public CompositeComponent.NavpanelDisplay getNavpanelDisplay()
```
    Returns the DisplayMode for this component. This specifies how the component should be displayed in a navigation panel.
    
    Specified by:
    
    getNavpanelDisplay in interface CompositeComponent
    
    Returns:
    
    display mode for this component
  - setDisplayMode
```
public void setDisplayMode(CompositeComponent.NavpanelDisplay mode)
```
    Sets the display mode for this component. This controls how the component is displayed in a navigation panel. The default setting is NORMAL.
    
    Parameters:
    
    mode - new display mode
  - hierarchyContainsReferences
```
public boolean hierarchyContainsReferences()
```
    Returns true if the component hierarchy formed by this component and its descendents is closed with respect to references. In other words, all components referenced by components within the hierarchy are themselves components within the hierarchy.
    In particular, this means that one does not need to search outside the hierarchy when looking for dependencies.
    
    Specified by:
    
    hierarchyContainsReferences in interface CompositeComponent
    
    Returns:
    
    true if this component's hierarchy is closed with respect to references.
  - getChildren
```
public java.util.Iterator<? extends HierarchyNode> getChildren()
```
    Specified by:
    
    getChildren in interface HierarchyNode
    
    Overrides:
    
    getChildren in class ModelComponentBase
  - hasChildren
```
public boolean hasChildren()
```
    Specified by:
    
    hasChildren in interface HierarchyNode
    
    Overrides:
    
    hasChildren in class ModelComponentBase

Class RigidBody

Nested Class Summary

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

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

Field Summary

Fields inherited from class artisynth.core.mechmodels.Frame

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.mechmodels.Collidable

Fields inherited from interface artisynth.core.mechmodels.Wrappable

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.mechmodels.Frame

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable

Methods inherited from interface artisynth.core.mechmodels.PointAttachable

Methods inherited from interface artisynth.core.modelbase.CompositeComponent

Methods inherited from interface artisynth.core.mechmodels.Wrappable

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

Methods inherited from interface artisynth.core.modelbase.HasNumericState

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

Methods inherited from interface artisynth.core.mechmodels.ContactMaster

Field Detail

myProps

DEFAULT_SUBMESHES_SELECTABLE

DEFAULT_GROUNDED

Constructor Detail

RigidBody

RigidBody

RigidBody

RigidBody

Method Detail

getAllPropertyInfo

isMassConstant

getMass

setSubmeshesSelectable

getSubmeshesSelectable

getMass

getEffectiveInertia

getEffectiveMass

getEffectiveMass

mulInverseEffectiveMass

mulInverseEffectiveMass

getEffectiveMassForces

getEffectiveMassForces

resetEffectiveMass

addEffectivePointMass

addEffectiveFrameMass

subEffectiveInertia

getInverseMass

getInertiaMethod

setInertiaMethod

getInertia

setCenterOfMass

getCenterOfMass

getCenterOfMass

centerPoseOnCenterOfMass

translateCoordinateFrame

transformCoordinateFrame

setInertiaFromDensity

setInertiaFromMass

getVolume

setDensity

getDensityRange

getDensity

setMass

getMass

getMassRange

setRotationalInertia

getRotationalInertia

getRotationalInertia

setInertia

setInertia