Uses of Class
msim.model.Link

Packages that use Link

Package	Description
msim	Mixed physical/virtual linkage Simulator.
msim.control	Mixed physical/virtual linkage Simulator control algorithms.
msim.model	Mixed physical/virtual linkage Simulator model representation and algorithms.
msim.serialization	Mixed physical/virtual linkage Simulator serialization.
msim.ui	Mixed physical/virtual linkage Simulator user interface.

Uses of Link in msim

Methods in msim that return Link

Modifier and Type	Method and Description
static Link	MSim.findLink(java.lang.String namePattern) aliases eponymous method in MSim.getUltimateGroundLink()
static Link	MSim.findLink(java.lang.String namePattern, int nth) aliases eponymous method in MSim.getUltimateGroundLink()
static Link	MSim.getUltimateGroundLink() aliases Linkage.getGroundLink() in MSim.linkage

Methods in msim that return types with arguments of type Link

Modifier and Type	Method and Description
static java.util.Collection<Link>	MSim.findLinks(java.lang.String namePattern) aliases eponymous method in MSim.getUltimateGroundLink()
static java.util.Collection<Link>	MSim.findLinks(java.lang.String namePattern, java.util.Collection<Link> links) aliases eponymous method in MSim.getUltimateGroundLink()
static java.util.Iterator<Link>	MSim.recursiveLinkIterator() aliases eponymous method in MSim.linkage

Methods in msim with parameters of type Link

Modifier and Type	Method and Description
static boolean	MSim.recursivelyContains(Link l) aliases eponymous method in MSim.linkage

Method parameters in msim with type arguments of type Link

Modifier and Type	Method and Description
static java.util.Collection<Link>	MSim.findLinks(java.lang.String namePattern, java.util.Collection<Link> links) aliases eponymous method in MSim.getUltimateGroundLink()

Uses of Link in msim.control

Methods in msim.control with parameters of type Link

Modifier and Type	Method and Description
protected void	Controller.analyzeStructure(Link link, int depth) Recursively DFS tree from link, tracing the kinematic cycles of chain closure joints as they are encountered.

Uses of Link in msim.model

Fields in msim.model declared as Link

Modifier and Type	Field and Description
Link	Joint.branchLink For a chain closure joint, Controller.analyze() sets this to the least common ancestor of the model tree branches containing Joint.parentLink and Joint.childLink.
protected Link	Joint.childLink The immediate descendant of this joint, or null if dangling.
protected Link	Linkage.groundLink the ground Link
protected Link	Joint.parentLink The Link leading to this joint, or null if dangling.

Fields in msim.model with type parameters of type Link

Modifier and Type	Field and Description
protected java.util.List<Link>	Joint.childLinks Contains Joint.childLink (for Joint.getChildren()), empty if dangling.
protected java.util.Set<Link>	Linkage.links the set of all Links in this Linkage in insertion order
protected java.util.List<Link>	Joint.unmodifiableChildLinks unmodifiable view of Joint.childLinks
protected java.util.Set<Link>	Linkage.unmodifiableLinks unmodifiable view of Linkage.links

Methods in msim.model that return Link

Modifier and Type	Method and Description
Link	Joint.detachChildLink() Joint.setChildLink(Link) null
Link	Joint.detachParentLink() Joint.setParentLink(Link) null
Link	LinkageNode.findLink(java.lang.String namePattern) LinkageNode.findLink(String, int), returning the first Link with the given namePattern.
Link	LinkageNode.findLink(java.lang.String namePattern, int nth) Similar to LinkageNode.findNode(String, int).
Link	Joint.getBranchLink() get the Joint.branchLink of this Joint, if any
Link	Joint.getChildLink() get the current Joint.childLink, null if none
Link	Linkage.getGroundLink() get a reference to the Linkage.groundLink
Link	Joint.getParentLink() get the current Joint.parentLink, null if none
Link	Link.makeGroundLink() Ensure this is the LinkageNode.linkage Linkage.groundLink.
Link	Link.makeRootLink() Ensure that this Link is a root, i.e., that it's parentJoint is its rootJoint.
Link	Joint.merge() Covers Joint.merge(boolean, boolean), reparents both Joint and Link user widgets.
Link	Joint.merge(boolean reparentWidgets) Covers Joint.merge(boolean, boolean), reparents both Joint and Link user widgets or not.
Link	RootJoint.merge(boolean reparentUserJointWidgets, boolean reparentUserLinkWidgets) RootJoints cannot be merged.
Link	Joint.merge(boolean reparentUserJointWidgets, boolean reparentUserLinkWidgets) Joint.remove() this Joint and its child Link from the model, re-attaching joints that were attached to the child Link to our parent Link.
Link	RootJoint.setChildLink(Link link) RootJoint.setChildLink(Link, boolean), holds absolute pose.
Link	Joint.setChildLink(Link childLink) Joint.setChildLink(Link, boolean), does not request holding absolute pose.
Link	Joint.setChildLink(LinkageNode.SubFrame child) Covers Joint.setChildLink(Link, String).
Link	Joint.setChildLink(LinkageNode.SubFrame child, boolean holdAbsolutePose) Covers Joint.setChildLink(Link, String, boolean).
Link	RootJoint.setChildLink(Link link, boolean holdAbsolutePose) RootJoints are automatically attached to their associated Link.
Link	Joint.setChildLink(Link childLink, boolean holdAbsolutePose) Joint.setChildLink(Link, String, boolean), does not attach to subframe.
Link	Joint.setChildLink(Link childLink, java.lang.String childSubFrame) Joint.setChildLink(Link, String, boolean), does not request holding absolute pose.
Link	Joint.setChildLink(Link childLink, java.lang.String childSubFrame, boolean holdAbsolutePose) Mutate the Joint.childLink.
Link	RootJoint.setParentLink(Link link) RootJoint.setParentLink(Link, boolean), holds absolute pose.
Link	Joint.setParentLink(Link parentLink) Joint.setParentLink(Link, boolean), does not request holding absolute pose.
Link	Joint.setParentLink(LinkageNode.SubFrame parent) Covers Joint.setParentLink(Link, String).
Link	Joint.setParentLink(LinkageNode.SubFrame parent, boolean holdAbsolutePose) Covers Joint.setParentLink(Link, String, boolean).
Link	RootJoint.setParentLink(Link link, boolean holdAbsolutePose) RootJoints are always connected to the Linkage.groundLink.
Link	Joint.setParentLink(Link parentLink, boolean holdAbsolutePose) Joint.setParentLink(Link, String, boolean), does not attach to subframe.
Link	Joint.setParentLink(Link parentLink, java.lang.String parentSubFrame) Joint.setParentLink(Link, String, boolean), does not request holding absolute pose.
Link	Joint.setParentLink(Link parentLink, java.lang.String parentSubFrame, boolean holdAbsolutePose) Mutate the Joint.parentLink.
Link	Link.setPose(Joint joint) Set the pose of this link as if it were the child of joint.
Link	Link.setPose(Link link) Set the pose of this Link to be the same as that of link.
Link	Link.setPose(vona.math.RX rx) Set the pose of this Link relative to the Linkage.groundLink.
Link	Link.setTargetPose(vona.math.RX rx) Set the target pose of this Link relative to the Linkage.groundLink.
Link	Link.unsetTargetPose() setTargetPose(vona.math.RX) to null

Methods in msim.model that return types with arguments of type Link

Modifier and Type	Method and Description
java.util.ArrayList<Link>	LinkageNode.findLinks(java.lang.String namePattern) LinkageNode.findLinks(String, Collection), consing a new ArrayList.
java.util.Collection<Link>	LinkageNode.findLinks(java.lang.String namePattern, java.util.Collection<Link> links) Get all Links with a name matching namePattern in recursive tree DFS pre-order from this node.
java.util.Set<Link>	Linkage.getLinkSet() get a reference to an immutable view of the set of Links
java.util.Iterator<Link>	Linkage.linkIterator() get an iterator on an immutable view of the set of Links
java.util.Iterator<Link>	Linkage.recursiveLinkIterator() Return an iterator over all the Links in all the linkages in the linkage tree.

Methods in msim.model with parameters of type Link

Modifier and Type	Method and Description
boolean	Linkage.contains(Link l) check if this Linkage contains Link l
static java.lang.String	Joint.getAttachmentName(Link link, java.lang.String subFrame) common impl of Joint.getParentName() and Joint.getChildName()
java.lang.String	Link.isConnectableToJoint(java.lang.String name, Joint joint, Link replacing) Check if the user subframe name on this Link is connectable to the given joint.
boolean	Linkage.recursivelyContains(Link l) Check Linkage.contains(Link) on every linkage in the linkage tree.
Link	RootJoint.setChildLink(Link link) RootJoint.setChildLink(Link, boolean), holds absolute pose.
Link	Joint.setChildLink(Link childLink) Joint.setChildLink(Link, boolean), does not request holding absolute pose.
Link	RootJoint.setChildLink(Link link, boolean holdAbsolutePose) RootJoints are automatically attached to their associated Link.
Link	Joint.setChildLink(Link childLink, boolean holdAbsolutePose) Joint.setChildLink(Link, String, boolean), does not attach to subframe.
Link	Joint.setChildLink(Link childLink, java.lang.String childSubFrame) Joint.setChildLink(Link, String, boolean), does not request holding absolute pose.
Link	Joint.setChildLink(Link childLink, java.lang.String childSubFrame, boolean holdAbsolutePose) Mutate the Joint.childLink.
void	Joint.setChildToMobility(Link child) Joint.recomputeInverse(int) as if our child was child and put the slack in Joint.RX_CHILD_TO_MOBILITY.
void	RootJoint.setChildToMobilityRX(Link child) see RootJoint.setChildToMobilityRX(RX)
void	Joint.setMobilityToParent(Link parent) Joint.recomputeInverse(int) as if our parent was parent and put the slack in Joint.RX_MOBILITY_TO_PARENT.
void	RootJoint.setMobilityToParentRX(Link parent) see RootJoint.setMobilityToParentRX(RX)
Link	RootJoint.setParentLink(Link link) RootJoint.setParentLink(Link, boolean), holds absolute pose.
Link	Joint.setParentLink(Link parentLink) Joint.setParentLink(Link, boolean), does not request holding absolute pose.
Link	RootJoint.setParentLink(Link link, boolean holdAbsolutePose) RootJoints are always connected to the Linkage.groundLink.
Link	Joint.setParentLink(Link parentLink, boolean holdAbsolutePose) Joint.setParentLink(Link, String, boolean), does not attach to subframe.
Link	Joint.setParentLink(Link parentLink, java.lang.String parentSubFrame) Joint.setParentLink(Link, String, boolean), does not request holding absolute pose.
Link	Joint.setParentLink(Link parentLink, java.lang.String parentSubFrame, boolean holdAbsolutePose) Mutate the Joint.parentLink.
Link	Link.setPose(Link link) Set the pose of this Link to be the same as that of link.

Method parameters in msim.model with type arguments of type Link

Modifier and Type	Method and Description
java.util.Collection<Link>	LinkageNode.findLinks(java.lang.String namePattern, java.util.Collection<Link> links) Get all Links with a name matching namePattern in recursive tree DFS pre-order from this node.

Constructors in msim.model with parameters of type Link

Constructor and Description
Joint(Linkage linkage, Joint.Type type, Link parentLink, Link childLink) Covers Joint.Joint(Linkage, String, Type, Link, Link), auto-named.
Joint(Linkage linkage, Joint.Type type, Link parentLink, java.lang.String parentSubFrame, Link childLink, java.lang.String childSubFrame) Covers Joint.Joint(Linkage, String, Type, Link, String, Link, String), auto-named.
Joint(Linkage linkage, Link parentLink, Link childLink) Covers Joint.Joint(Linkage, String, Type, Link, Link), initially Joint.Type.GENERAL and auto named.
Joint(Linkage linkage, Link parentLink, java.lang.String parentSubFrame, Link childLink, java.lang.String childSubFrame) Covers Joint.Joint(Linkage, String, Type, Link, String, Link, String), initially Joint.Type.GENERAL and auto named.
Joint(Linkage linkage, java.lang.String name, Joint.Type type, Link parentLink, Link childLink) Covers Joint.Joint(Linkage, String, Type, Link, String, Link, String), does not attach to subframes.
Joint(Linkage linkage, java.lang.String name, Joint.Type type, Link parentLink, java.lang.String parentSubFrame, Link childLink, java.lang.String childSubFrame) Makes a new chain closure joint and adds it to linkage.
Joint(Linkage linkage, java.lang.String name, Link parentLink, Link childLink) Covers Joint.Joint(Linkage, String, Type, Link, Link), initially Joint.Type.GENERAL.
Joint(Linkage linkage, java.lang.String name, Link parentLink, java.lang.String parentSubFrame, Link childLink, java.lang.String childSubFrame) Covers Joint.Joint(Linkage, String, Type, Link, String, Link, String), initially Joint.Type.GENERAL.
RootJoint(Linkage linkage, Link link) Makes a new RootJoint attaching link to the Linkage.groundLink of linkage.

Uses of Link in msim.serialization

Fields in msim.serialization declared as Link

Modifier and Type	Field and Description
(package private) Link	DAELoader.LatentClosure.parent the parent link

Methods in msim.serialization that return Link

Modifier and Type	Method and Description
static Link	DAELoader.loadFromDAE(vona.dae.jaxb.dae.COLLADA dae) DAELoader.loadFromDAE(Link, COLLADA, String, boolean), loading geometries, consing a new linkage root, and inferring the DAE root.
static Link	DAELoader.loadFromDAE(vona.dae.jaxb.dae.COLLADA dae, java.lang.String daeRoot) DAELoader.loadFromDAE(Link, COLLADA, String, boolean), loading geometries and consing a new linkage root.
static Link	DAELoader.loadFromDAE(Link linkageRoot, vona.dae.jaxb.dae.COLLADA dae, java.lang.String daeRoot) DAELoader.loadFromDAE(Link, COLLADA, String, boolean), loading geometries.
static Link	DAELoader.loadFromDAE(Link linkageRoot, vona.dae.jaxb.dae.COLLADA dae, java.lang.String daeRoot, boolean loadGeometries) Load a Linkage sub-tree from a COLLADA visual scene graph.
static Link	J3DLoader.loadFromJ3D(Link linkageRoot, javax.media.j3d.Node j3dRoot) Covers J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean), always loads body shapes with all vertex components and does not merge unnamed transforms.
static Link	J3DLoader.loadFromJ3D(Link linkageRoot, javax.media.j3d.Node j3dRoot, boolean loadBodyShapes, int j3dFormatMask, boolean mergeUnnamed) Load a Linkage sub-tree from a Java3D scene graph.
static Link	J3DLoader.loadFromJ3D(Link linkageRoot, com.sun.j3d.loaders.Scene j3dScene) Covers J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean), loads from the scene group, always loads body shapes with all vertex components and does not merge unnamed transforms.
static Link	J3DLoader.loadFromJ3D(Link linkageRoot, com.sun.j3d.loaders.Scene j3dScene, boolean loadBodyShapes, int j3dFormatMask, boolean mergeUnnamed) Covers J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean), loads from the scene group.
static Link	J3DLoader.loadFromJ3D(javax.media.j3d.Node j3dRoot) Covers J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean), always loads body shapes with all vertex components, does not merge unnamed transforms, and makes a new linkageRoot.
static Link	J3DLoader.loadFromJ3D(com.sun.j3d.loaders.Scene j3dScene) Covers J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean), loads from the scene group, always loads body shapes with all vertex components, does not merge unnamed transforms, and makes a new linkageRoot.
protected static Link	DAELoader.loadLinkFromDAE(Link link, vona.dae.util.DAEObject source, Link parentLink, boolean loadGeoms, java.util.List<DAELoader.LatentClosure> latentClosures) Load an MSim Link from a DAE element.

Methods in msim.serialization with parameters of type Link

Modifier and Type	Method and Description
protected static vona.dae.jaxb.dae.NodeType	DAEExporter.exportLinkToDAE(Link link, boolean exportWidgets, boolean exportParentJoint, DAEExporter.Libraries lib, java.util.List<DAEExporter.LatentClosure> latentClosures) Export an MSim Link to a DAE "node".
static vona.dae.jaxb.dae.COLLADA	DAEExporter.exportToDAE(Link linkageRoot) Covers DAEExporter.exportToDAE(Link, boolean), exports widgets.
static vona.dae.jaxb.dae.COLLADA	DAEExporter.exportToDAE(Link linkageRoot, boolean exportUserLinkWidgets) Export a Linkage sub-tree to a COLLADA visual scene graph.
protected static void	DAELoader.loadChildFromDAE(vona.dae.jaxb.dae.NodeType source, Link parent, boolean loadGeoms, java.util.List<DAELoader.LatentClosure> latentClosures) Load a COLLADA "node" child.
protected static void	J3DLoader.loadChildrenFromJ3D(Link linkageRoot, javax.media.j3d.Group j3dGroup, boolean loadBodyShapes, int j3dFormatMask, boolean mergeUnnamed, java.lang.StringBuffer j3dPath, vona.math.RX mergeCMT, char type) Helper for J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean, StringBuffer, RX) that loads correspondents to the children of j3dGroup to linkageRoot.
static Link	DAELoader.loadFromDAE(Link linkageRoot, vona.dae.jaxb.dae.COLLADA dae, java.lang.String daeRoot) DAELoader.loadFromDAE(Link, COLLADA, String, boolean), loading geometries.
static Link	DAELoader.loadFromDAE(Link linkageRoot, vona.dae.jaxb.dae.COLLADA dae, java.lang.String daeRoot, boolean loadGeometries) Load a Linkage sub-tree from a COLLADA visual scene graph.
static Link	J3DLoader.loadFromJ3D(Link linkageRoot, javax.media.j3d.Node j3dRoot) Covers J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean), always loads body shapes with all vertex components and does not merge unnamed transforms.
static Link	J3DLoader.loadFromJ3D(Link linkageRoot, javax.media.j3d.Node j3dRoot, boolean loadBodyShapes, int j3dFormatMask, boolean mergeUnnamed) Load a Linkage sub-tree from a Java3D scene graph.
protected static void	J3DLoader.loadFromJ3D(Link linkageRoot, javax.media.j3d.Node j3dRoot, boolean loadBodyShapes, int j3dFormatMask, boolean mergeUnnamed, java.lang.StringBuffer j3dPath, vona.math.RX mergeCMT) Impl of J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean).
static Link	J3DLoader.loadFromJ3D(Link linkageRoot, com.sun.j3d.loaders.Scene j3dScene) Covers J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean), loads from the scene group, always loads body shapes with all vertex components and does not merge unnamed transforms.
static Link	J3DLoader.loadFromJ3D(Link linkageRoot, com.sun.j3d.loaders.Scene j3dScene, boolean loadBodyShapes, int j3dFormatMask, boolean mergeUnnamed) Covers J3DLoader.loadFromJ3D(Link, Node, boolean, int, boolean), loads from the scene group.
protected static Link	DAELoader.loadLinkFromDAE(Link link, vona.dae.util.DAEObject source, Link parentLink, boolean loadGeoms, java.util.List<DAELoader.LatentClosure> latentClosures) Load an MSim Link from a DAE element.
DAEMSimMassProps	DAEMSimMassProps.readFrom(Link link) read all settings from link
DAEMSimGroundLink	DAEMSimGroundLink.readFrom(Link link) read all settings from link
DAEMSimUserSubframe	DAEMSimUserSubframe.readFrom(Link link, java.lang.String name, vona.math.RX rx) Read from the named user subframe on link.
DAEMSimMassProps	DAEMSimMassProps.writeTo(Link link) write all settings to link
DAEMSimUserSubframe	DAEMSimUserSubframe.writeTo(Link link, vona.math.RX rx) Write to a corresponding user subframe on link.

Constructors in msim.serialization with parameters of type Link

Constructor and Description
DAELoader.LatentClosure(DAEMSimClosure daeMSimClosure, Link parent, vona.dae.jaxb.dae.NodeType source) sets all fields by reference

Uses of Link in msim.ui

Methods in msim.ui that return Link

Modifier and Type	Method and Description
Link	UI.consLinkInteractive() Cons and add a new Link l in-context depending on the current pick.
Link	UI.getPickedLink() UI.getPickedLink(boolean), null ok
Link	UI.getPickedLink(boolean nullOk) covers UI.getPickedNode(boolean), returns null if not a Link

Methods in msim.ui with parameters of type Link

Modifier and Type	Method and Description
java.lang.String	UI.addJointInteractive(Link parent, Joint joint) UI.addJointInteractive(Link, Link, Joint, boolean), get child from pick or selection, no rotX.
java.lang.String	UI.addJointInteractive(Link parent, Joint joint, boolean rotX) UI.addJointInteractive(Link, Link, Joint, boolean), get child from pick or selection.
java.lang.String	UI.addJointInteractive(Link parent, Link child, Joint joint) UI.addJointInteractive(Link, Link, Joint, boolean), no rotX.
java.lang.String	UI.addJointInteractive(Link parent, Link child, Joint joint, boolean rotX) Attach joint to the indicated nodes.
protected Joint	UI.getLinkManipulationJoint(Link link) Called by UI.manipulateLink(Link, boolean) to get (or generate) a Joint appropriate for manipulating link.
void	UI.manipulateLink(Link link) UI.manipulateLink(Link, boolean), always drives full goal.
void	UI.manipulateLink(Link link, boolean driveFullGoal) UI.manipulateJoint(Joint, int, int, boolean) the Joint.RX_MOBILITY of the RootJoint of link.
protected int	Display.renderTree(Link l) Render the sub-tree rooted at l, respecting EntityClass.visibility.