public class LaymanModel extends MechModel
MechSystemBase.ConstraintForceStateSaverModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibilityMechSystem.ConstraintInfoCompositeComponent.NavpanelDisplay| Modifier and Type | Field and Description |
|---|---|
static PropertyList |
myProps |
DEFAULT_STABILIZATION, DEFAULT_USE_IMPLICIT_FRICTION, myParametricsInSystemMatrix, mySaveForcesAsState, useAllDynamicCompsDEFAULT_MAX_STEP_SIZEDEFAULT_NAVPANEL_DISPLAYenforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNamesTG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATINGSTATE_IS_VOLATILECOMPUTE_CONTACTS, UPDATE_CONTACTSTRANSPARENT, TWO_DIMENSIONAL| Constructor and Description |
|---|
LaymanModel() |
LaymanModel(java.lang.String name) |
| Modifier and Type | Method and Description |
|---|---|
RigidBody |
addBody(java.lang.String bodyName,
java.lang.String meshName) |
void |
addFrameSpring(RigidBody bodyA,
RigidBody bodyB,
double x,
double y,
double z,
double kRot) |
HingeJoint |
addHingeJoint(RigidBody bodyA,
RigidBody bodyB,
double x,
double y,
double z) |
HingeJoint |
addHingeJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d TDW) |
SphericalJoint |
addSphericalJoint(RigidBody bodyA,
RigidBody bodyB,
double x,
double y,
double z,
double maxAng) |
SphericalJoint |
addSphericalJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d TDW,
double maxAng) |
PropertyList |
getAllPropertyInfo()
Returns a list giving static information about all properties exported by
this object.
|
double |
getFriction()
Returns the global friction coefficient in the collision manager for this
MechModel.
|
void |
setFriction(double mu)
Sets the global friction coefficient in the collision manager for this
MechModel.
|
addAttachment, addAxialSpring, addBodyConnector, addConstrainer, addField, addForceEffector, addFrame, addFrameMarker, addFrameMarker, addFrameMarker, addFrameMarkerWorld, addFrameSpring, addGeneralMassBlocks, addMeshBody, addModel, addMultiPointSpring, addMuscleExciter, addParticle, addPoint, addRenderable, addRigidBody, addTransformableDependencies, attachAxialSpring, attachFrame, attachFrame, attachFrameSpring, attachments, attachPoint, attachPoint, axialSprings, bodyConnectors, checkVelocityStability, clear, clearAxialSprings, clearBodyConnectors, clearCollisionBehavior, clearCollisionBehaviors, clearCollisionResponse, clearCollisionResponses, clearConstrainers, clearFields, clearForceEffectors, clearFrameMarkers, clearFrames, clearFrameSprings, clearMeshBodies, clearModels, clearMultiPointSprings, clearMuscleExciters, clearParticles, clearPoints, clearRenderables, clearRigidBodies, combineMatrixTypes, componentChanged, computeDefaultPenetrationTol, computeDefaultWrapKnotDensity, constrainers, detachFrame, detachPoint, dispose, forceEffectors, frameMarkers, frames, frameSprings, getActingCollisionBehavior, getActiveStiffnessMatrix, getAddConstraintForces, getAddFrameMarkerStiffness, getAttachments, getAuxStateComponents, getCollidables, getCollisionBehavior, getCollisionManager, getCollisionResponse, getConstrainers, getDefaultCollisionBehavior, getDynamicComponents, getDynamicComponents, getExcitationColor, getExcitationColorMode, getFields, getForceEffectors, getFrameDamping, getFrameDampingMode, getGravity, getGravityMode, getInertialDamping, getInertialDampingMode, getIntegrator, getMassMatrixValues, getMaxColoredExcitation, getMaxColoredExcitationMode, getMuscleExciters, getPenetrationTol, getPenetrationTolMode, getPointDamping, getPointDampingMode, getRadius, getRotaryDamping, getRotaryDampingMode, getRotaryLimitTol, getRotaryLimitTolMode, getSlaveObjectComponents, getStaticIncrements, getStaticTikhonovFactor, getStiffnessMatrix, getTrueStiffnessMatrix, getWrapKnotDensity, getWrapKnotDensityMode, getYPRStiffnessMatrix, hasState, isActive, isBilateralStructureConstant, lowestCommonModel, meshBodies, models, mulInverseMass, multiPointSprings, nearestMechModel, notifyParentOfChange, particles, points, preadvance, projectRigidBodyPositionConstraints, recursivelyFinalizeAdvance, recursivelyInitialize, recursivelyPrepareAdvance, removeAxialSpring, removeBodyConnector, removeConstrainer, removeField, removeForceEffector, removeFrame, removeFrameMarker, removeFrameSpring, removeMeshBody, removeModel, removeMultiPointSpring, removeMuscleExciter, removeParticle, removePoint, removeRenderable, removeRigidBody, render, renderables, rigidBodies, scaleDistance, scaleMass, scan, setAddConstraintForces, setAddFrameMarkerStiffness, setBounds, setBounds, setCollisionBehavior, setCollisionBehavior, setCollisionBehavior, setCollisionResponse, setCollisionResponse, setCompliantContact, setCompliantContact, setDefaultCollisionBehavior, setDefaultCollisionBehavior, setDefaultCollisionBehavior, setDefaultCollisionBehavior, setExcitationColor, setExcitationColorMode, setFrameDamping, setFrameDampingMode, setGravity, setGravity, setGravityMode, setInertialDamping, setInertialDampingMode, setMaxColoredExcitation, setMaxColoredExcitationMode, setPenetrationTol, setPenetrationTolIfNecessary, setPenetrationTolMode, setPointDamping, setPointDampingMode, setRotaryDamping, setRotaryDampingMode, setRotaryLimitTol, setRotaryLimitTolMode, setStaticIncrements, setStaticTikhonovFactor, setWrapKnotDensity, setWrapKnotDensityMode, topMechModel, transformGeometry, transformGeometry, updateBounds, updateWrapSegmentsaddActivePosImpulse, addAttachmentJacobian, addAttachmentSolveBlocks, addGeneralSolveBlocks, addPosJacobian, addVelJacobian, advance, advanceAuxState, applyAttachmentForces, buildMassMatrix, buildSolveMatrix, closePrintStateFile, collectInitialForces, copy, createState, createVelocityJacobian, getActiveDampingMatrix, getActiveDynamicComponents, getActiveForces, getActiveMass, getActiveMassMatrix, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveVelState, getActiveVelState, getActiveVelStateSize, getAttachmentConstraints, getAttachmentDerivatives, getAuxAdvanceState, getAuxVarDerivative, getAuxVarState, getAuxVarStateSize, getBilateralConstraints, getBilateralConstraintSizes, getBilateralForces, getBilateralForces, getBilateralInfo, getDefaultMatrixSolver, getDefaultStabilization, getDefaultUseImplicitFriction, getDynamicComponents, getDynamicDOFs, getDynamicsEnabled, getForceEffectors, getForces, getFrictionConstraints, getFrictionForces, getFrictionForces, getFrictionState, getFrictionState, getInitialState, getInverseMassMatrix, getMassMatrix, getMatrixSolver, getMatrixSolverRange, getNumBilateralForces, getNumUnilateralForces, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getPenetrationLimit, getPrintState, getProfiling, getSolveMatrixType, getSolver, getStabilization, getState, getStructureVersion, getUnilateralConstraints, getUnilateralConstraintSizes, getUnilateralForces, getUnilateralForces, getUnilateralInfo, getUnilateralState, getUnilateralState, getUpdateForcesAtStepEnd, getUpdateForcesAtStepEndMode, getUseImplicitFriction, initialize, maxFrictionConstraintSets, numActiveComponents, numAttachedComponents, numParametricComponents, openPrintStateFile, placeDynamicComponent, printActiveMass, printActiveMass, printActiveStiffness, printActiveStiffness, reduceVelocityJacobian, reopenPrintStateFile, setActiveForces, setActivePosState, setActiveVelState, setAuxAdvanceState, setAuxVarState, setBilateralForces, setBilateralForces, setDefaultMatrixSolver, setDefaultStabilization, setDefaultUseImplicitFriction, setDynamicsEnabled, setForces, setFrictionForces, setFrictionForces, setFrictionState, setFrictionState, setIntegrator, setMatrixSolver, setParametricForces, setParametricPosState, setParametricVelState, setPenetrationLimit, setPrintState, setPrintState, setProfiling, setStabilization, setState, setUnilateralForces, setUnilateralForces, setUnilateralState, setUnilateralState, setUpdateForcesAtStepEnd, setUpdateForcesAtStepEndMode, setUseImplicitFriction, topMechSystem, updateAttachmentPos, updateAttachmentVel, updateConstraints, updateDynamicComponentLists, updateForceComponentList, updateForces, updatePosState, updateVelState, writeBilateralConstraintMatrix, writeBilateralConstraintMatrix, writeMassMatrix, writeMassMatrix, writePrintStateHeader, writeStiffnessMatrix, writeStiffnessMatrixcreateRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setRenderPropsactionPerformed, copy, getDefaultMaxStepSize, getMaxStepSize, getMenuItems, hasParameterizedType, hierarchyContainsReferences, setDefaultMaxStepSize, setMaxStepSizeadd, add, addAll, addComponents, addFixed, addNumbered, clone, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getByNumber, getChildren, getMinNumber, getNavpanelDisplay, getNumberLimit, getOneBasedNumbering, getParameterType, getShortName, hasChildren, incrementNumbering, indexOf, invalidateNumbers, isEditable, isEmpty, iterator, nextComponentNumber, numComponents, postscan, remove, remove, removeAll, removeAll, removeComponents, resetNumbersToIndices, retainAll, set, setEditable, setNavpanelDisplay, setNumbered, setOneBasedNumbering, setShortName, size, toArray, toArray, updateNameMapcheckFlag, checkName, checkNameUniqueness, clearFlag, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, writeequals, getClass, hashCode, notify, notifyAll, toString, wait, wait, waittransformPrioritygetMaxStepSizeconnectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferencesgetPropertygetChildren, hasChildrenpostscanisWritable, writegetNameequals, hashCode, parallelStream, removeIf, spliterator, streamrecursivelyFindpublic static PropertyList myProps
public LaymanModel()
public LaymanModel(java.lang.String name)
throws java.io.IOException
java.io.IOExceptionpublic PropertyList getAllPropertyInfo()
HasPropertiesgetAllPropertyInfo in interface HasPropertiesgetAllPropertyInfo in class MechModelpublic double getFriction()
MechModelgetFriction in class MechModelpublic void setFriction(double mu)
MechModelsetFriction in class MechModelmu - global friction coefficientpublic void addFrameSpring(RigidBody bodyA, RigidBody bodyB, double x, double y, double z, double kRot)
public RigidBody addBody(java.lang.String bodyName, java.lang.String meshName) throws java.io.IOException
java.io.IOExceptionpublic SphericalJoint addSphericalJoint(RigidBody bodyA, RigidBody bodyB, double x, double y, double z, double maxAng)
public SphericalJoint addSphericalJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d TDW, double maxAng)
public HingeJoint addHingeJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d TDW)
public HingeJoint addHingeJoint(RigidBody bodyA, RigidBody bodyB, double x, double y, double z)