artisynth.demos.mech

Class LaymanModel

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.ComponentList<ModelComponent>

artisynth.core.modelbase.ModelBase

artisynth.core.modelbase.RenderableModelBase

artisynth.core.mechmodels.MechSystemBase

artisynth.core.mechmodels.MechModel

artisynth.demos.mech.LaymanModel

All Implemented Interfaces:

MechSystem, MechSystemModel, ComponentChangeListener, ComponentListView<ModelComponent>, CompositeComponent, HasMenuItems, HasState, IndexedComponentList, Model, ModelComponent, MutableCompositeComponent<ModelComponent>, PostScannable, RenderableComponent, TransformableGeometry, ScalableUnits, java.awt.event.ActionListener, java.lang.Cloneable, java.lang.Iterable<ModelComponent>, java.util.Collection<ModelComponent>, java.util.EventListener, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Disposable, ListView<ModelComponent>, ParameterizedClass, Scannable

public class LaymanModel
extends MechModel

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.mechmodels.MechSystemBase

MechSystemBase.ConstraintForceStateSaver

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

ModelComponent.NavpanelVisibility

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

MechSystem.ConstraintInfo

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

CompositeComponent.NavpanelDisplay

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.MechSystemBase

DEFAULT_STABILIZATION, DEFAULT_USE_IMPLICIT_FRICTION, myParametricsInSystemMatrix, mySaveForcesAsState, useAllDynamicComps

Fields inherited from class artisynth.core.modelbase.ModelBase

DEFAULT_MAX_STEP_SIZE

Fields inherited from class artisynth.core.modelbase.ComponentList

DEFAULT_NAVPANEL_DISPLAY

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface artisynth.core.modelbase.Model

STATE_IS_VOLATILE

Fields inherited from interface artisynth.core.mechmodels.MechSystem

COMPUTE_CONTACTS, UPDATE_CONTACTS

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
LaymanModel()
LaymanModel(java.lang.String name)

Method Summary

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.

Methods inherited from class artisynth.core.mechmodels.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, 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, updateWrapSegments

Methods inherited from class artisynth.core.mechmodels.MechSystemBase

addActivePosImpulse, 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, 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, updateForces, updatePosState, updateVelState, writeBilateralConstraintMatrix, writeBilateralConstraintMatrix, writeMassMatrix, writeMassMatrix, writePrintStateHeader, writeStiffnessMatrix, writeStiffnessMatrix

Methods inherited from class artisynth.core.modelbase.RenderableModelBase

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

Methods inherited from class artisynth.core.modelbase.ModelBase

actionPerformed, copy, getDefaultMaxStepSize, getMaxStepSize, getMenuItems, hasParameterizedType, hierarchyContainsReferences, setDefaultMaxStepSize, setMaxStepSize

Methods inherited from class artisynth.core.modelbase.ComponentList

add, add, addAll, addComponents, addFixed, addNumbered, clone, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNumberLimit, getOneBasedNumbering, getParameterType, getShortName, hasChildren, indexOf, invalidateNumbers, isEditable, isEmpty, iterator, nextComponentNumber, numComponents, postscan, remove, remove, removeAll, removeAll, removeComponents, resetNumbersToIndices, retainAll, set, setEditable, setNavpanelDisplay, setNumbered, setOneBasedNumbering, setShortName, size, toArray, toArray, updateNameMap

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, connectToHierarchy, createTempFlag, disconnectFromHierarchy, 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, write

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformPriority

Methods inherited from interface artisynth.core.modelbase.Model

getMaxStepSize

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

Methods inherited from interface maspack.util.Scannable

isWritable, write

Methods inherited from interface artisynth.core.modelbase.ComponentListView

getName

Methods inherited from interface java.util.Collection

equals, hashCode, parallelStream, removeIf, spliterator, stream

Methods inherited from interface java.lang.Iterable

forEach

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

LaymanModel

public LaymanModel()

LaymanModel

public LaymanModel(java.lang.String name)
            throws java.io.IOException

Throws:

java.io.IOException

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 MechModel

Returns:

static information for all exported properties

getFriction

public double getFriction()

Description copied from class: MechModel

Returns the global friction coefficient in the collision manager for this MechModel.

Overrides:

getFriction in class MechModel

Returns:

global friction coefficient

setFriction

public void setFriction(double mu)

Description copied from class: MechModel

Sets the global friction coefficient in the collision manager for this MechModel. Collision behaviors will inherit this value if their initial friction coefficent was undefined (i.e., was specified with a value less than 0).

Overrides:

setFriction in class MechModel

Parameters:

mu - global friction coefficient

addFrameSpring

public void addFrameSpring(RigidBody bodyA,
                           RigidBody bodyB,
                           double x,
                           double y,
                           double z,
                           double kRot)

addBody

public RigidBody addBody(java.lang.String bodyName,
                         java.lang.String meshName)
                  throws java.io.IOException

Throws:

java.io.IOException

addSphericalJoint

public SphericalJoint addSphericalJoint(RigidBody bodyA,
                                        RigidBody bodyB,
                                        double x,
                                        double y,
                                        double z,
                                        double maxAng)

addSphericalJoint

public SphericalJoint addSphericalJoint(RigidBody bodyA,
                                        RigidBody bodyB,
                                        RigidTransform3d TDW,
                                        double maxAng)

addHingeJoint

public HingeJoint addHingeJoint(RigidBody bodyA,
                                RigidBody bodyB,
                                RigidTransform3d TDW)

addHingeJoint

public HingeJoint addHingeJoint(RigidBody bodyA,
                                RigidBody bodyB,
                                double x,
                                double y,
                                double z)