UI

java.lang.Object
- msim.ui.UI

```
@ThreadSafe
public class UI
extends java.lang.Object
```
MSim user interface.

This class includes most of the UI elements other than rendering, which is in Display, and manipulation interaction which is in InteractorDriver (manipulating Joint configuration) and WidgetInteractor (manipulating Widget pose).

Text UI: JScheme Interpreter

The primary textual UI is a JScheme REPL that is run in replThread. setJSGlobals() and loadJSchemeFiles() initialize the Scheme environment with the user-level MSim API.

GUI

Though rendering is performed in Display and manipulation is handled in InteractorDriver and WidgetInteractor, this class includes most of the other aspects of graphical interaction, including keybindings and picking/selecting entities.

Actions

An ActionMapper handles mouse and keyboard input (other than picking, manipulation, and navigation) over the grapics display with several action maps, in decreasing priority order:
1. userActionMap: user-added actions
2. consWidgetActionMap: actions enabled during cons-Widget mode
3. consJointActionMap: actions enabled during cons-Joint mode
4. manipulationActionMap: actions enabled during manipulation
5. baseActionMap: general actions
6. sliderActionMap: handles input from the 1234567890 keyboard top-row "slider", which can be directed to adjust navigation or manipulation acceleration, the visual highlight factor, or the alpha mask factor
Picking and the Selection

Clicking the primary mouse button initiates picking, through the Display3D.setPickPointOnCanvas(float, float) API. The Display elaborates the click point to a pick segment through the view volume which pierces the canvas at the clicked pixel, and on the next render cycle all intersecting model entities which are both EntityClass.pickable and EntityClass.individuallyPickable are added to the pickCycle, in order of increasing distance from the viewer. The actual current pick is the entry at pickIndex in the pick cycle, initially the nearest. The user may move forward or back in the cycle with page-up/page-down or right/middle mouse button. The pick cycle and the current pick can be cleared by clicking in empty space or by hiting escape.

The selection is an arbitrary ordered set of model entities currently identified by the user. It is distinct from the pick, but several conveniences are included to add/remove the current pick to/from the selection (hit s or C-click to toggle selection of current pick). The selection is cleared by hitting C-escape.

The pick and selection mechanisms include several further features, enabled or disabled by flags
- Display.clearPickCycleOnNav, Display.clearPickOnNav - whether to clear the current pick cycle when the viewpoint changes, and if so, whether to also clear the current pick itself, or just the remainder of the cycle
- Display.maskPickCycleCompliment, Display.maskPickCompliment - whether to mask entities that are not in (or part of an entity in) the pick cycle (and/or just not the current pick)
- Display.maskPickOccluding - whether to mask entities in the pick cycle that are nearer than the current pick to the viewer's location at the time the pick cycle was generated (which will be the same as the viewer's current location as long as the viewpoint hasn't changed)
- Display.highlightSelection, Display.maskSelectionCompliment - whether to highlight entities that are in (or part of an entity in) the current selection, and similarly whether to mask entities that are not in (and not part of an entity in) the current selection
- maskLinkagesBeyondThreshold, maskLinkageThreshold - whether to mask all nodes in linkages beyond the given threshold distant from the current picked linkage if any
- dumpPickAndSelectionOnChange - whether to dump brief info identifying changes to the pick and selection as they happen
- Display.setRotationCenterToPickedNodeOrigin - whether to set the navigation rotation center to the origin of the canonical coordinate frame of the current picked LinkageNode, or that of the node that contains the current pick entity, if it is not a LinkageNode.
- autoManipulateJoints - whether to automatically begin manipulating Joints when they are picked.
- autoManipulateLinks - whether to automatically begin manipulating Link pose when a Link is picked.
- autoManipulateWidgets - whether to automatically begin manipulating user Widget pose when a Widget is picked.
Model Manipulation

By default, keyboard arrow key and mouse actions in the Display navigate the viewpoint. Hitting "m" with a current pick, picking a Joint with autoManipulateJoints, or calling manipulateJoint(Joint, int) or one of the related APIs disables navigation and enters manipulation mode (hit spacebar to temporarily toggle back and forth from manipulation to navigation). In manipulation the same keyboard and mouse actions that were used for navigation instead control the mobility transform of the indicated Joint, or the parent Joint if the currently picked node is a Link. The actual set of possible motions will be constrained according to the degrees of freedom of the selected Joint; the on-line help, displayed by hitting "h", will enumerate the exact mapping from keyboard and mouse actions to motion of the selected joint.

The Joint.RX_MOBILITY transform is manipulated by default for open-chain tree joints; Joint.RX_TARGET is the default for unlocked chain closures and unlocked tree joints supporting constrained chain closures, and Joint.RX_LOCK is the default for locked connected chain closures. You can override the default and explicitly request to manipulate Joint.RX_TARGET or Joint.RX_POSTURE by hitting "A-m" or "S-m" respectively.

Hit "C-m" to manipulate the local pose of the picked node with respect to its parent node. See manipulatePickedNodeLocalPose() for details.

Manipulation can also be initiated by hitting "p" with a current pick or by calling manipulateLink(Link) or one of the related APIs. This manipulates Link pose via the RootJoint of the picked Link, or that of the parent Link if the currently picked node is a Joint.

Clear the pick, hit escape, or call stopManipulating(boolean) to end manipulation and return to navigation.

TBD
- rectangle pick
Copyright (C) 2008 Marsette A. Vona, III
Author:

Marsette A. Vona, III

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`protected class`	`UI.MSimActionMap` adds some specializations for MSim
`class`	`UI.Pick<T>` Represents a picked entity and the nearest pick intersection.
`protected static class`	`UI.QueuedAction` queued action for `actionMapper`
`protected static class`	`UI.SliderTarget` possible targets for 1234567890 slider actions

Field Summary

Fields
Modifier and Type	Field and Description
`vona.ui.ActionMapper`	`actionMapper` Manages `vona.ui.ActionMapper.Action`s that handle user input.
`protected java.util.List<UI.QueuedAction>`	`actionQueue` queued actions for `actionMapper`
`protected boolean`	`altDownAtLastPick` state of indicated modifier at time of last pick
`static boolean`	`alwaysDumpNodePath` enable for indicated option
`boolean`	`alwaysManipulateLinkGlobalPose` enable for indicated option
`boolean`	`autoManipulateJoints` enable for indicated option
`boolean`	`autoManipulateLinks` enable for indicated option
`boolean`	`autoManipulateLockedNodes` enable for indicated option
`boolean`	`autoManipulateWidgets` enable for indicated option
`UI.MSimActionMap`	`baseActionMap` actions to handle base-case user input
`boolean`	`clickAndDragLinks` enable for indicated option
`UI.MSimActionMap`	`consJointActionMap` actions for cons joint mode
`UI.MSimActionMap`	`consWidgetActionMap` actions for cons widget mode
`private static java.lang.String`	`cvsid`
`static int`	`DEF_DISPLAY_HEIGHT` default graphics display height
`static int`	`DEF_DISPLAY_WIDTH` default graphics display width
`static java.io.InputStream`	`defaultJSchemeInput` default JScheme input stream
`static java.io.OutputStream`	`defaultJSchemeOutput` default JScheme output stream
`Display`	`display` the display, or null if none
`boolean`	`dumpPickAndSelectionOnChange` enable for indicated option
`protected java.awt.Frame`	`frame` our frame, iff run as an application
`static java.lang.String`	`HELP_MESSAGE` help message
`static java.lang.String`	`HOME_URL` application home URL
`static java.lang.String`	`INITIAL_FORMS_MESSAGE` inform user we're running initial forms
`protected interact.Interactor`	`interactor` JScheme interactor, if any
`protected javax.swing.JFrame`	`interactorFrame` JScheme interactor frame, if any
`static java.lang.String`	`JP_MSIM_LINK_MANIPULATOR` marks a joint as created by `getLinkManipulationJoint(msim.model.Link)`
`jscheme.JScheme`	`js` the JScheme interpreter, or null if none
`static java.lang.String`	`JS_API` scheme bindings for the api
`static java.lang.String`	`JS_EXTRA` scheme bindings for the extra stuff
`static java.lang.String`	`JS_INIT` initialization script loaded before all other scripts on cmd line
`static java.lang.String`	`JS_PROMPT` JScheme REPL prompt
`java.io.InputStream`	`jsInput` the JScheme interpreter input stream, or null if none
`java.io.OutputStream`	`jsOutput` the JScheme interpreter output stream, or null if none
`int`	`linkManipulationJointPriority`
`float`	`linkManipulationJointWeight`
`UI.MSimActionMap`	`manipulationActionMap` actions to handle manipulation user input
`InteractorDriver`	`manipulationDriver` the driver for `Joint` manipulation
`vona.ui.RXSInteractor`	`manipulationInteractor` the interactor for `Joint` manipulation
`boolean`	`maskLinkagesBeyondThreshold` enable for indicated option
`protected int`	`maskLinkageThreshold` `Linkage.distanceToPickedLinkage` threshold beyond which linkages are masked.
`vona.ui.RXSInteractor`	`navigationInteractor` the navigation interactor, or null if none
`protected boolean`	`persistManipulatedGoal` Whether to persist the manip goal when stopping manip that started by a pick.
`protected vona.ui.ActionMapper.Action`	`pickAction` the pick action
`protected java.util.List<UI.Pick<?>>`	`pickCycle` Current set of picked `LinkageNode`, `Widget`, `Geometry`, and `LinkageNode.SubFrame`, sorted in order of increasing intersection distance.
`protected int`	`pickIndex` Index of the currently picked entity in `pickCycle`, or negative if none.
`protected java.util.Map<java.lang.Object,UI.Pick<?>>`	`pickMap` Mapping from `LinkageNode`, `Widget`, `Geometry`, or `LinkageNode.SubFrame` to its corresponding `UI.Pick`, if any.
`protected boolean`	`pickPending` Indicates that the pick segment has been set but the render-based pick computations are still not complete.
`protected java.lang.Thread`	`replThread` the thread running the REPL for `js`, if any
`protected java.util.Set<java.lang.Object>`	`selection` The current set of selected `LinkageNode`s, `Widget`s, `Geometry`s, and `LinkageNode.SubFrame`s, in insertion order.
`protected boolean`	`shiftDownAtLastPick` state of indicated modifier at time of last pick
`static float`	`SLIDER_HIGHLIGHT_FACTOR_SCALE` scale for `UI.SliderTarget.ST_HIGHLIGHT`
`protected UI.MSimActionMap`	`sliderActionMap` Implements `UI.SliderTarget.ST_HIGHLIGHT` and `UI.SliderTarget.ST_MASK`.
`protected UI.SliderTarget`	`sliderTarget` current target for 1234567890 slider actions
`static java.lang.String`	`STARTUP_MESSAGE` startup message
`protected boolean`	`togglePickInSelectionPending` Whether to add or remove the new pick from the selection at the end of the next frame with picking.
`UI.MSimActionMap`	`userActionMap` actions to handle user-specified user input
`WidgetInteractor`	`widgetInteractor` the interactor for `Widget` manipulation

Constructor Summary

Constructors
Constructor and Description
`UI()` Covers `UI(boolean, boolean, InputStream, OutputStream)`.
`UI(boolean withDisplay, boolean withJScheme)` Covers `UI(boolean, boolean, InputStream, OutputStream)`.
`UI(boolean withDisplay, boolean withJScheme, java.io.InputStream jschemeInput, java.io.OutputStream jschemeOutput)` Create a new UI.

Method Summary

Methods
Modifier and Type	Method and Description
`java.lang.String`	`addJointInteractive(Joint joint)` `addJointInteractive(Link, Link, Joint, boolean)`, get parent and child from pick and/or selection, no rotX.
`java.lang.String`	`addJointInteractive(Joint joint, boolean rotX)` `addJointInteractive(Link, Link, Joint, boolean)`, get parent and child from pick and/or selection.
`java.lang.String`	`addJointInteractive(Link parent, Joint joint)` `addJointInteractive(Link, Link, Joint, boolean)`, get child from pick or selection, no rotX.
`java.lang.String`	`addJointInteractive(Link parent, Joint joint, boolean rotX)` `addJointInteractive(Link, Link, Joint, boolean)`, get child from pick or selection.
`java.lang.String`	`addJointInteractive(Link parent, Link child, Joint joint)` `addJointInteractive(Link, Link, Joint, boolean)`, no rotX.
`java.lang.String`	`addJointInteractive(Link parent, Link child, Joint joint, boolean rotX)` Attach joint to the indicated nodes.
`java.lang.String`	`addWidgetInteractive(LinkageNode parent, java.lang.String name, java.lang.String frame, vona.j3d.Widget widget)` `addWidgetInteractive(LinkageNode, String, String, Widget, boolean)`, no rotX.
`java.lang.String`	`addWidgetInteractive(LinkageNode parent, java.lang.String name, java.lang.String frame, vona.j3d.Widget widget, boolean rotX)` Add widget to the indicated parent node.
`java.lang.String`	`addWidgetInteractive(LinkageNode parent, vona.j3d.Widget widget)` `addWidgetInteractive(LinkageNode, String, String, Widget, boolean)`, default name and frame, no rotX.
`java.lang.String`	`addWidgetInteractive(LinkageNode parent, vona.j3d.Widget widget, boolean rotX)` `addWidgetInteractive(LinkageNode, String, String, Widget, boolean)`, default name and frame.
`java.lang.String`	`addWidgetInteractive(java.lang.String type)` `addWidgetInteractive(LinkageNode, String, String, Widget, boolean)`, to currently picked node or ground link, default name and frame, no rotX.
`java.lang.String`	`addWidgetInteractive(vona.j3d.Widget widget)` `addWidgetInteractive(LinkageNode, String, String, Widget, boolean)`, to currently picked node or ground link, default name and frame, no rotX.
`java.lang.String`	`addWidgetInteractive(vona.j3d.Widget widget, boolean rotX)` `addWidgetInteractive(LinkageNode, String, String, Widget, boolean)`, to currently picked node or ground link, default name and frame.
`void`	`appletDestroy(java.applet.Applet applet)` Aplet destroy method.
`void`	`appletMain()` applet main method, see also `applicationMain()`
`void`	`applicationMain()` application main method, see also `appletMain()`
`void`	`clearPick()` `clearPick(boolean, boolean)`, including current, and fire `pickChanged(boolean, boolean, boolean)`.
`protected void`	`clearPick(boolean exceptCurrent, boolean firePickChanged)` Clear the current pick.
`int`	`clearSelection()` clear `selection`
`protected void`	`configureFrame(java.awt.Frame frame)` configure a GUI toplevel
`void`	`consJointInteractive()` Conses a new joint and `addJointInteractive(Link, Link, Joint, boolean)` in the current pick context via `consJointActionMap`.
`Linkage`	`consLinkageInteractive(Linkage.Disposition disposition)` `consLinkageInteractive(msim.model.Linkage.Disposition, String)`, auto-named.
`Linkage`	`consLinkageInteractive(Linkage.Disposition disposition, java.lang.String name)` Cons and add a new `Linkage` l in-context depending on the current pick.
`Link`	`consLinkInteractive()` Cons and add a new `Link` l in-context depending on the current pick.
`protected void`	`consoleREPL(java.lang.String initialForms)` Run the `js` REPL on the console.
`void`	`consWidgetInteractive()` Conses a new widget and `addWidgetInteractive(LinkageNode, String, String, Widget, boolean)` in the current pick context via `consWidgetActionMap`.
`void`	`cullPickAndSelection()` Go through the pick and selection data structures and cull out any entities which are no longer in the model or which are no longer visible.
`void`	`cycleAxesVisibility()` cycle axes widget visibility
`void`	`cycleClassVisiblity(EntityClass c)` cycle visibility of all entities of `EntityClass` c
`void`	`cycleIndividuallyPickOnly()` Cycle among various combinations of individually picking `EntityClass.NODES`, `EntityClass.SUBFRAMES`, `EntityClass.WIDGETS`, and `EntityClass.GEOMETRIES`.
`void`	`cycleManipulationFrame()` cycle the manipulation frame
`void`	`cycleMobilityWidgetVisibility()` cycle joint mobility widget visibility
`void`	`cycleRouteWidgetVisibility()` cycle route widget visibility
`void`	`cycleUserLinkWidgetVisibility()` cycle user link widget visibility
`void`	`decrementMaskLinkageThreshold()` decrement `maskLinkageThreshold`
`int`	`deselect(java.lang.Object... entities)` Remove entities from the selection, iff present.
`boolean`	`deselectPick()` Covers `deselectPick(boolean, boolean)`, only deselects current pick entity.
`int`	`deselectPick(boolean andDescendantNodes, boolean andAncestorNodes)` Remove the current pick entity, if any, from `selection`.
`void`	`disconnectPickedJointFromChild()` Null the child link of the current picked node iff it's a `Joint`.
`void`	`disconnectPickedJointFromParent()` Null the parent link of the current picked node iff it's a `Joint`.
`static void`	`dumpDetails(java.lang.Object entity)` `dumpDetails(Object, PrintStream)` to System.out
`static void`	`dumpDetails(java.lang.Object entity, java.io.PrintStream s)` dump details of entity
`void`	`dumpHelp()` `dumpHelp(PrintStream, boolean)` to System.out with keybindings
`void`	`dumpHelp(boolean showKeybindings)` `dumpHelp(PrintStream, boolean)` to System.out
`void`	`dumpHelp(java.io.PrintStream s, boolean showKeybindings)` dumps help text
`static void`	`dumpPathAndClass(java.lang.Object entity)` Covers `dumpPathAndClass(Object, boolean, boolean, boolean, PrintStream)`, dumps both path and class with newline to System.out.
`static void`	`dumpPathAndClass(java.lang.Object entity, boolean dumpPath, boolean dumpEntityClass)` Covers `dumpPathAndClass(Object, boolean, boolean, boolean, PrintStream)`, dumps with newline to System.out.
`static void`	`dumpPathAndClass(java.lang.Object entity, boolean dumpPath, boolean dumpEntityClass, boolean withNewline)` Covers `dumpPathAndClass(Object, boolean, boolean, boolean, PrintStream)`, dumps to System.out.
`static void`	`dumpPathAndClass(java.lang.Object entity, boolean dumpPath, boolean dumpEntityClass, boolean withNewline, java.io.PrintStream s)` Dump the full path and/or display entity class of entity.
`static void`	`dumpPathOf(javax.media.j3d.Geometry geometry)` `dumpPathOf(Geometry, PrintStream)`, to System.out
`static void`	`dumpPathOf(javax.media.j3d.Geometry geometry, java.io.PrintStream s)` `dumpPathOf(Widget, PrintStream)` on containing widget, if any, then dump index of geometry.
`static void`	`dumpPathOf(LinkageNode.SubFrame subFrame)` `dumpPathOf(msim.model.LinkageNode.SubFrame, PrintStream)`, to System.out
`static void`	`dumpPathOf(LinkageNode.SubFrame subFrame, java.io.PrintStream s)` `dumpPathOf(LinkageNode, PrintStream)` on containing node, if any, then dump subframe name if any.
`static void`	`dumpPathOf(LinkageNode node)` `dumpPathOf(LinkageNode, PrintStream)`, to System.out
`static void`	`dumpPathOf(LinkageNode node, java.io.PrintStream s)` `Path.dumpPathOf(LinkageNode, PrintStream)` if `alwaysDumpNodePath`, else dump node name.
`static void`	`dumpPathOf(vona.j3d.Widget widget)` `dumpPathOf(Widget, PrintStream)`, to System.out
`static void`	`dumpPathOf(vona.j3d.Widget widget, java.io.PrintStream s)` `dumpPathOf(LinkageNode, PrintStream)` on containing node, if any, then dump widget name if any.
`void`	`dumpPick()` Covers `dumpPick(boolean, boolean, boolean, PrintStream)`, dumps path only to System.out.
`void`	`dumpPick(boolean dumpEntityClass, boolean dumpIndex, boolean dumpDetails)` Covers `dumpPick(boolean, boolean, boolean, PrintStream)`, dumps to System.out.
`void`	`dumpPick(boolean dumpEntityClass, boolean dumpIndex, boolean dumpDetails, java.io.PrintStream s)` Dump information about the current pick, if any.
`void`	`dumpPickDetails()` Covers `dumpPick(boolean, boolean, boolean, PrintStream)`, dumps everything to System.out.
`java.lang.String`	`getAcknowledgementsMessage()` get the acknowledgements message, if any
`java.lang.String`	`getAppletInitialForms()` initial scheme forms to eval at end of init in applet context
`java.lang.String`	`getApplicationInitialForms()` scheme forms to eval at end of init in application context
`java.lang.String`	`getBanner()` message to display before the first JScheme prompt
`java.lang.String`	`getBanner(boolean hasInitialForms)` Appends a note about running initial forms to `getBanner()`, iff necessary.
`java.lang.String`	`getDocMessage()` get the doc message
`java.lang.String`	`getDocURL()` get the doc URL
`java.awt.Frame`	`getFrame()` Get the Frame containing the display, if any.
`java.lang.String`	`getHelpMessage()` get the help message
`java.lang.String`	`getHomeURL()` get the home URL
`java.lang.String`	`getInitialFormsMessage()` get the message to inform the user we're running initial forms
`java.lang.String`	`getJSchemePrompt()` JScheme interpreter prompt to use
`protected Joint`	`getLinkManipulationJoint(Link link)` Called by `manipulateLink(Link, boolean)` to get (or generate) a `Joint` appropriate for manipulating link.
`int`	`getMaskLinkageThreshold()` get `maskLinkageThreshold`
`int`	`getNumSelected()` get the number of entities in the `selection`
`int`	`getNumSelectedOrPicked()` Get the number of entities in the `selection`, plus one if there is a current pick.
`java.util.List<LinkageNode>`	`getPickComplimentNodes()` Covers `getPickComplimentNodes(Collection)`, always conses.
`java.util.Collection<LinkageNode>`	`getPickComplimentNodes(java.util.Collection<LinkageNode> c)` Collect all `LinkageNode`s in that are not the current pick.
`java.util.List<LinkageNode>`	`getPickCycleComplimentNodes()` covers `getPickCycleComplimentNodes(List)`, always conses
`java.util.List<LinkageNode>`	`getPickCycleComplimentNodes(java.util.List<LinkageNode> l)` Collect all `LinkageNode`s that are not curently in the `pickCycle`.
`java.lang.Object`	`getPickedEntity()` `getPickedEntity(boolean)`, null ok
`java.lang.Object`	`getPickedEntity(boolean nullOk)` Get the current picked `LinkageNode`, `Widget`, or `Geometry`, if any else null.
`javax.media.j3d.Geometry`	`getPickedGeometry()` `getPickedGeometry(boolean)`, null ok
`javax.media.j3d.Geometry`	`getPickedGeometry(boolean nullOk)` Return the `Geometry` that is the current pick entity, if any.
`Joint`	`getPickedJoint()` `getPickedJoint(boolean)`, null ok
`Joint`	`getPickedJoint(boolean nullOk)` covers `getPickedNode(boolean)`, returns null if not a Joint
`Link`	`getPickedLink()` `getPickedLink(boolean)`, null ok
`Link`	`getPickedLink(boolean nullOk)` covers `getPickedNode(boolean)`, returns null if not a Link
`Linkage`	`getPickedLinkage()` `getPickedLinkage(boolean)`, does not default to top-level
`Linkage`	`getPickedLinkage(boolean defaultToTopLevel)` Get the `Linkage` containing the node containing the current pick, if any, else null.
`LinkageNode`	`getPickedNode()` `getPickedNode(boolean)`, null ok
`LinkageNode`	`getPickedNode(boolean nullOk)` Return the `LinkageNode` that is or contains the current pick entity, if any.
`LinkageNode.SubFrame`	`getPickedSubFrame()` `getPickedSubFrame(boolean)`, null ok
`LinkageNode.SubFrame`	`getPickedSubFrame(boolean nullOk)` Return the `LinkageNode.SubFrame` that is or contains the current pick entity, if any.
`vona.j3d.Widget`	`getPickedWidget()` `getPickedWidget(boolean)`, null ok
`vona.j3d.Widget`	`getPickedWidget(boolean nullOk)` Return the `Widget` that is or contains the current pick entity, if any.
`java.util.List<java.lang.Object>`	`getSelection()` covers `getSelection(Collection)`, always conses
`java.util.Collection<java.lang.Object>`	`getSelection(java.util.Collection<java.lang.Object> c)` get a copy of the current `selection`
`java.util.List<LinkageNode>`	`getSelectionComplimentNodes()` Covers `getSelectionComplimentNodes(Collection)`, always conses.
`java.util.Collection<LinkageNode>`	`getSelectionComplimentNodes(java.util.Collection<LinkageNode> c)` Collect all `LinkageNode`s that are not curently in the `selection`.
`java.util.List<LinkageNode>`	`getSelectionNodes()` Covers `getSelectionNodes(Collection)`, always conses.
`java.util.Collection<LinkageNode>`	`getSelectionNodes(java.util.Collection<LinkageNode> c)` get a copy of the current `LinkageNode`s in `selection`
`java.lang.String`	`getStartupMessage()` get the startup message, if any
`java.lang.Object`	`getTypedPickedEntity(EntityClass c)` `getTypedPickedEntity(EntityClass, boolean)`, null ok
`java.lang.Object`	`getTypedPickedEntity(EntityClass c, boolean nullOk)` Return the Geometry, `Widget`, or `LinkageNode` that is or contains the current pick iff its most specific entity class is c.
`java.lang.Object[]`	`getTypedSelection(boolean includePick, boolean nullOk, EntityClass... types)` `getTypedSelection(boolean, boolean, Object[], EntityClass...)`, conses
`java.lang.Object[]`	`getTypedSelection(boolean includePick, boolean nullOk, java.lang.Object[] ret, EntityClass... types)` Check if the sequence of entities in the current `selection`, plus optionally the current pick, matches the given sequence of types, and if so, return an array of references to the sequence.
`void`	`incrementMaskLinkageThreshold()` increment `maskLinkageThreshold`
`void`	`individuallyPickOnly(EntityClass c)` Disable individual pickability for all entity classes except c.
`protected void`	`initPickCycle()` init `pickCycle` from `pickMap`
`protected void`	`interactorREPL(java.lang.String initialForms)` Run the `js` REPL in a JScheme `interactor` in its own `interactorFrame`.
`void`	`invertPickedJoint()` `Joint.invert()` the current picked node iff it's a `Joint`.
`protected boolean`	`isEntityLive(java.lang.Object entity)` If entity is a `LinkageNode`, check if it present in the model.
`protected boolean`	`isEntityVisible(java.lang.Object entity)` check if entity is currently visible
`boolean`	`isManipulating()` check if manipulation is ongoing
`boolean`	`loadJSchemeFile(java.lang.String filename)` Load a script from file iff `js` is not null.
`boolean`	`loadJSchemeFileFromResource(java.lang.Class clazz, java.lang.String resourcePath)` Load a scheme file into `js` from a resource for `clazz`, iff `js` is not null.
`void`	`loadJSchemeFiles()` `loadVonaJSchemeFiles()` then `loadMSimJSchemeFiles()`
`void`	`loadMSimJSchemeFiles()` (Re)load all JScheme files in MSim.
`void`	`loadVonaJSchemeFiles()` (Re)load all JScheme files in Vona lib.
`protected Display`	`makeDisplay()` make the `Display`
`protected jscheme.JScheme`	`makeJScheme()` make the JScheme interpreter
`void`	`makePickedJointClosure()` `Joint.makeClosureJoint()` the current picked node iff it's a `Joint`.
`void`	`makePickedJointTree()` `Joint.makeTreeJoint()` the current picked node iff it's a `Joint`.
`void`	`makePickedLinkGround()` `Link.makeGroundLink()` the current picked node iff it's a `Link`.
`void`	`makePickedLinkRoot()` `Link.makeRootLink()` the current picked node iff it's a `Link`.
`void`	`manipulateJoint(Joint joint)` `manipulateJoint(Joint, int, int, boolean)` automatically selecting slackID, requesting manipulation of sub-transform `Joint.RX_MOBILITY`, and always driving full goal.
`void`	`manipulateJoint(Joint joint, boolean driveFullGoal)` `manipulateJoint(Joint, int, int, boolean)` automatically selecting slackID and requesting manipulation of sub-transform `Joint.RX_MOBILITY`.
`void`	`manipulateJoint(Joint joint, int xformID)` `manipulateJoint(Joint, int, int, boolean)`, automatially selecting slackID and driving full goal.
`void`	`manipulateJoint(Joint joint, int xformID, boolean driveFullGoal)` `manipulateJoint(Joint, int, int, boolean)`, automatially selecting slackID.
`void`	`manipulateJoint(Joint joint, int xformID, int slackID)` `manipulateJoint(Joint, int, int, boolean)`, always drives full goal.
`void`	`manipulateJoint(Joint joint, int xformID, int slackID, boolean driveFullGoal)` Start manipulating a particular `Joint` sub-transform.
`void`	`manipulateLink(Link link)` `manipulateLink(Link, boolean)`, always drives full goal.
`void`	`manipulateLink(Link link, boolean driveFullGoal)` `manipulateJoint(Joint, int, int, boolean)` the `Joint.RX_MOBILITY` of the `RootJoint` of link.
`void`	`manipulatePickedEntity()` If the current pick is a `Widget`, `manipulatePickedWidget()`, else `manipulatePickedJoint(int)`.
`void`	`manipulatePickedJoint()` `manipulatePickedJoint(int)` sub-transform `Joint.RX_MOBILITY`.
`void`	`manipulatePickedJoint(int xformID)` `manipulateJoint(Joint, int)` with the currently picked `LinkageNode` (see `getPickedNode(boolean)`) if it's a `Joint`, or the parent `Joint` if the currently picked node is a `Link`.
`void`	`manipulatePickedLink()` `manipulateLink(Link)` with the currently picked `LinkageNode` (see `getPickedNode(boolean)`) if it's a `Link`, or the parent `Link` if the currently picked node is a `Joint`.
`void`	`manipulatePickedNode(int xformID)` `manipulateLink(Link)` with the currently picked `LinkageNode` n (see `getPickedNode(boolean)`) if it's a `Link`, or `manipulateJoint(Joint, int)` if n is a `Joint`.
`void`	`manipulatePickedNodeLocalPose()` Manipulate a transform that controls the pose of the picked node relative to its tree parent.
`void`	`manipulatePickedWidget()` `manipulateWidget(vona.j3d.Widget)` with the currently picked `Widget`, if any, and iff it's a user widget.
`void`	`manipulateWidget(vona.j3d.Widget widget)` Start manipulating a particular `Widget` pose with respect to its attachment.
`void`	`markDistanceToPickedLinkage()` Compute and set `Linkage.distanceToPickedLinkage` for every linkage in the model tree by recursive DFS.
`protected void`	`markDistanceToPickedLinkage(Linkage fromLinkage, Linkage pickedLinkage)` impl of `markDistanceToPickedLinkage()`
`void`	`mergePickedJoint()` `Joint.merge()` the current picked node iff it's a `Joint`.
`void`	`navigateToViewPickedNode()` `navigateToViewPickedNode(boolean)`, does not set default
`void`	`navigateToViewPickedNode(boolean setDefault)` `Display.navigateToView(LinkageNode, String, boolean, boolean, boolean)` the canonical subframe of the current picked node, if any.
`protected void`	`pickChanged()` Called when the current `pickIndex` has changed.
`protected void`	`pickChanged(boolean enableManipulation, boolean enableDump, boolean enableRotationCenter)` Impl of `pickChanged()` with gating enables for the various subtasks.
`java.lang.Object`	`pickNextInCycle()` Advance the current pick to the next entity in the current `pickCycle`, i.e.
`java.lang.Object`	`pickPrevInCycle()` Advance the current pick to the previous entity in the current `pickCycle`, i.e.
`java.lang.Object`	`removePickedEntity()` `removePickedEntity(boolean)`, does not remove parent
`java.lang.Object`	`removePickedEntity(boolean removeParent)` Remove the picked entity, if any.
`boolean`	`restoreManipulation(boolean jump)` Restore any ongoing manipulation to its original state.
`protected void`	`runQueuedActions()` run everything in `actionQueue`
`int`	`select(boolean only, java.lang.Object... entities)` Add entities to the selection, in order, iff not already present.
`int`	`select(java.lang.Object... entities)` covers `select(boolean, Object...)`, adds to existing selection
`protected void`	`selectionChanged()` called when the current `selection` has changed
`boolean`	`selectPick()` Covers `selectPick(boolean, boolean, boolean)`, adds current pick entity to selection.
`int`	`selectPick(boolean only, boolean andDescendantNodes, boolean andAncestorNodes)` Add the current pick entity, if any, to `selection`.
`void`	`setJSGlobal(java.lang.String name, java.lang.Object value)` Bind a global JScheme value.
`void`	`setJSGlobals()` Bind global JScheme values.
`void`	`setMaskLinkageThreshold(int threshold)` set `maskLinkageThreshold`
`<T> void`	`setPick(T entity)` `setPick(Object, float)`, sets u to NaN
`<T> void`	`setPick(T entity, float u)` Clear `pickCycle` and `pickMap`, and set the new pick to contain only entity.
`protected <T> void`	`setPick(T entity, float u, boolean firePickChanged)` Impl of `setPick(Object, float)`.
`void`	`setPickedJointChildToSelectedLink()` `setPickedJointChildToSelectedLink(boolean)`, don't hold absolute pose.
`void`	`setPickedJointChildToSelectedLink(boolean holdAbsolutePose)` Set the child of the current picked node iff it's a `Joint`.
`void`	`setPickedJointChildToSelectedSubFrame()` `setPickedJointChildToSelectedSubFrame(boolean)`, don't hold absolute pose.
`void`	`setPickedJointChildToSelectedSubFrame(boolean holdAbsolutePose)` Set the child of the current picked node iff it's a `Joint`.
`void`	`setPickedJointParentToSelectedLink()` `setPickedJointParentToSelectedLink(boolean)`, don't hold absolute pose.
`void`	`setPickedJointParentToSelectedLink(boolean holdAbsolutePose)` Set the parent of the current picked node iff it's a `Joint`.
`void`	`setPickedJointParentToSelectedSubFrame()` `setPickedJointParentToSelectedSubFrame(boolean)`, don't hold absolute pose.
`void`	`setPickedJointParentToSelectedSubFrame(boolean holdAbsolutePose)` Set the parent of the current picked node iff it's a `Joint`.
`void`	`setPickedNodeSoftGoalToMobility(int xformID)` `Joint.setSoftGoalToMobility(int)` with the currently picked `LinkageNode` n (see `getPickedNode(boolean)`) if it's a `Joint`, or with the root joint if n is a `Link`.
`void`	`splitPickedLink()` `Link.split()` the current picked node n iff it's a `Link`.
`void`	`stopManipulating()` `stopManipulating(boolean)` and unset the goal, if any
`void`	`stopManipulating(boolean unsetGoal)` End any ongoing manipulation.
`void`	`toggleDriveFullGoal()` toggle whether to drive all DoF while manipulating
`void`	`toggleIndividuallyPickable(EntityClass c)` Toggle individual pickability for entity class c.
`void`	`toggleNavigateWhileManipulating()` Enter or exit navigation while a manipulation is ongoing.
`void`	`togglePickedNodeLock()` toggle the lock state of the picked node, if any
`boolean`	`togglePickInSelection()` Select/deselect the current pick.
`void`	`toggleRouteConeWidgetVisibility()` toggle route cone widget visibility
`void`	`toggleSolveParameter(java.lang.String name)` `MSim.toggleSolveParameter(java.lang.String)`

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

- Field Detail
  - cvsid
```
private static final java.lang.String cvsid
```
    See Also:
    Constant Field Values
  - HELP_MESSAGE
```
public static final java.lang.String HELP_MESSAGE
```
    help message
    
    See Also:
    Constant Field Values
  - STARTUP_MESSAGE
```
public static final java.lang.String STARTUP_MESSAGE
```
    startup message
    
    See Also:
    Constant Field Values
  - INITIAL_FORMS_MESSAGE
```
public static final java.lang.String INITIAL_FORMS_MESSAGE
```
    inform user we're running initial forms
    
    See Also:
    Constant Field Values
  - DEF_DISPLAY_WIDTH
```
public static final int DEF_DISPLAY_WIDTH
```
    default graphics display width
    
    See Also:
    Constant Field Values
  - DEF_DISPLAY_HEIGHT
```
public static final int DEF_DISPLAY_HEIGHT
```
    default graphics display height
    
    See Also:
    Constant Field Values
  - JS_INIT
```
public static final java.lang.String JS_INIT
```
    initialization script loaded before all other scripts on cmd line
    
    See Also:
    Constant Field Values
  - JS_PROMPT
```
public static final java.lang.String JS_PROMPT
```
    JScheme REPL prompt
  - HOME_URL
```
public static final java.lang.String HOME_URL
```
    application home URL
    
    See Also:
    Constant Field Values
  - JS_API
```
public static final java.lang.String JS_API
```
    scheme bindings for the api
  - JS_EXTRA
```
public static final java.lang.String JS_EXTRA
```
    scheme bindings for the extra stuff
  - SLIDER_HIGHLIGHT_FACTOR_SCALE
```
public static final float SLIDER_HIGHLIGHT_FACTOR_SCALE
```
    scale for UI.SliderTarget.ST_HIGHLIGHT
    
    See Also:
    Constant Field Values
  - JP_MSIM_LINK_MANIPULATOR
```
public static final java.lang.String JP_MSIM_LINK_MANIPULATOR
```
    marks a joint as created by getLinkManipulationJoint(msim.model.Link)
    
    See Also:
    Constant Field Values
  - display
```
public final Display display
```
    the display, or null if none
  - navigationInteractor
```
public final vona.ui.RXSInteractor navigationInteractor
```
    the navigation interactor, or null if none
  - js
```
public final jscheme.JScheme js
```
    the JScheme interpreter, or null if none
  - jsInput
```
public final java.io.InputStream jsInput
```
    the JScheme interpreter input stream, or null if none
  - jsOutput
```
public final java.io.OutputStream jsOutput
```
    the JScheme interpreter output stream, or null if none
  - manipulationDriver
```
public final InteractorDriver manipulationDriver
```
    the driver for Joint manipulation
  - manipulationInteractor
```
public final vona.ui.RXSInteractor manipulationInteractor
```
    the interactor for Joint manipulation
  - widgetInteractor
```
public final WidgetInteractor widgetInteractor
```
    the interactor for Widget manipulation
  - defaultJSchemeInput
```
public static java.io.InputStream defaultJSchemeInput
```
    default JScheme input stream
  - defaultJSchemeOutput
```
public static java.io.OutputStream defaultJSchemeOutput
```
    default JScheme output stream
  - autoManipulateJoints
```
public volatile boolean autoManipulateJoints
```
    enable for indicated option
  - autoManipulateLinks
```
public volatile boolean autoManipulateLinks
```
    enable for indicated option
  - autoManipulateWidgets
```
public volatile boolean autoManipulateWidgets
```
    enable for indicated option
  - autoManipulateLockedNodes
```
public volatile boolean autoManipulateLockedNodes
```
    enable for indicated option
  - maskLinkagesBeyondThreshold
```
public volatile boolean maskLinkagesBeyondThreshold
```
    enable for indicated option
  - alwaysDumpNodePath
```
public static volatile boolean alwaysDumpNodePath
```
    enable for indicated option
  - clickAndDragLinks
```
public volatile boolean clickAndDragLinks
```
    enable for indicated option
  - alwaysManipulateLinkGlobalPose
```
public volatile boolean alwaysManipulateLinkGlobalPose
```
    enable for indicated option
  - linkManipulationJointPriority
```
public volatile int linkManipulationJointPriority
```
  - linkManipulationJointWeight
```
public volatile float linkManipulationJointWeight
```
  - frame
```
protected volatile java.awt.Frame frame
```
    our frame, iff run as an application
  - replThread
```
protected java.lang.Thread replThread
```
    the thread running the REPL for js, if any
  - interactor
```
protected interact.Interactor interactor
```
    JScheme interactor, if any
  - interactorFrame
```
protected javax.swing.JFrame interactorFrame
```
    JScheme interactor frame, if any
  - maskLinkageThreshold
```
protected int maskLinkageThreshold
```
    Linkage.distanceToPickedLinkage threshold beyond which linkages are masked.
  - pickMap
```
protected final java.util.Map<java.lang.Object,UI.Pick<?>> pickMap
```
    Mapping from LinkageNode, Widget, Geometry, or LinkageNode.SubFrame to its corresponding UI.Pick, if any.
    
    Insertion ordered, which corresponds to render order. The contents are later copied to pickCycle, which is then reversed and then stably sorted in increasing distance from the viewer. This is so that coincident objects will remain in reverse render order, which is important because this means the default pick will always be on top.
  - pickCycle
```
protected final java.util.List<UI.Pick<?>> pickCycle
```
    Current set of picked LinkageNode, Widget, Geometry, and LinkageNode.SubFrame, sorted in order of increasing intersection distance.
    
    This is a linked list to support efficient element removal in cullPickAndSelection().
  - pickIndex
```
protected volatile int pickIndex
```
    Index of the currently picked entity in pickCycle, or negative if none.
  - dumpPickAndSelectionOnChange
```
public volatile boolean dumpPickAndSelectionOnChange
```
    enable for indicated option
  - togglePickInSelectionPending
```
protected volatile boolean togglePickInSelectionPending
```
    Whether to add or remove the new pick from the selection at the end of the next frame with picking.
  - pickPending
```
protected volatile boolean pickPending
```
    Indicates that the pick segment has been set but the render-based pick computations are still not complete.
  - pickAction
```
protected volatile vona.ui.ActionMapper.Action pickAction
```
    the pick action
  - altDownAtLastPick
```
protected volatile boolean altDownAtLastPick
```
    state of indicated modifier at time of last pick
  - shiftDownAtLastPick
```
protected volatile boolean shiftDownAtLastPick
```
    state of indicated modifier at time of last pick
  - persistManipulatedGoal
```
protected volatile boolean persistManipulatedGoal
```
    Whether to persist the manip goal when stopping manip that started by a pick.
  - selection
```
protected final java.util.Set<java.lang.Object> selection
```
    The current set of selected LinkageNodes, Widgets, Geometrys, and LinkageNode.SubFrames, in insertion order.
  - actionQueue
```
protected final java.util.List<UI.QueuedAction> actionQueue
```
    queued actions for actionMapper
  - actionMapper
```
public final vona.ui.ActionMapper actionMapper
```
    Manages vona.ui.ActionMapper.Actions that handle user input.
    
    This extends ActionMapper to queue actions while pickPending; they will be run after the pick has completed, working around the issue that the action that initiates a pick may be followed by actions that depend on the new pick, but the new pick will not be computed until the end of the next render.
  - userActionMap
```
public final UI.MSimActionMap userActionMap
```
    actions to handle user-specified user input
  - consWidgetActionMap
```
public final UI.MSimActionMap consWidgetActionMap
```
    actions for cons widget mode
  - consJointActionMap
```
public final UI.MSimActionMap consJointActionMap
```
    actions for cons joint mode
  - manipulationActionMap
```
public final UI.MSimActionMap manipulationActionMap
```
    actions to handle manipulation user input
  - baseActionMap
```
public final UI.MSimActionMap baseActionMap
```
    actions to handle base-case user input
  - sliderTarget
```
protected volatile UI.SliderTarget sliderTarget
```
    current target for 1234567890 slider actions
  - sliderActionMap
```
protected final UI.MSimActionMap sliderActionMap
```
    Implements UI.SliderTarget.ST_HIGHLIGHT and UI.SliderTarget.ST_MASK.
- Constructor Detail
  - UI
```
public UI(boolean withDisplay,
  boolean withJScheme,
  java.io.InputStream jschemeInput,
  java.io.OutputStream jschemeOutput)
```
    Create a new UI.
    
    Parameters:
    withDisplay - whether to create a graphical display with makeDisplay()
    withJScheme - whether to create a JScheme interpreter with makeJScheme()
    jschemeInput - the input stream for the JScheme interpreter, null to use defaultJSchemeInput
    jschemeOutput - the output stream for the JScheme interpreter, null to use defaultJSchemeOutput
  - UI
```
public UI(boolean withDisplay,
  boolean withJScheme)
```
    Covers UI(boolean, boolean, InputStream, OutputStream).
    
    Attaches JScheme to defaultJSchemeInput and defaultJSchemeOutput.
  - UI
```
public UI()
```
    Covers UI(boolean, boolean, InputStream, OutputStream).
    
    Enables display and JScheme, attaches JScheme to defaultJSchemeInput and defaultJSchemeOutput.
- Method Detail
  - runQueuedActions
```
protected void runQueuedActions()
```
    run everything in actionQueue
  - getHomeURL
```
public java.lang.String getHomeURL()
```
    get the home URL
  - getDocURL
```
public java.lang.String getDocURL()
```
    get the doc URL
  - getDocMessage
```
public java.lang.String getDocMessage()
```
    get the doc message
  - getHelpMessage
```
public java.lang.String getHelpMessage()
```
    get the help message
  - getStartupMessage
```
public java.lang.String getStartupMessage()
```
    get the startup message, if any
  - getAcknowledgementsMessage
```
public java.lang.String getAcknowledgementsMessage()
```
    get the acknowledgements message, if any
  - getBanner
```
public java.lang.String getBanner()
```
    message to display before the first JScheme prompt
  - getBanner
```
public java.lang.String getBanner(boolean hasInitialForms)
```
    Appends a note about running initial forms to getBanner(), iff necessary.
    
    Parameters:
    hasInitialForms - whether there are initial forms
  - getInitialFormsMessage
```
public java.lang.String getInitialFormsMessage()
```
    get the message to inform the user we're running initial forms
  - applicationMain
```
public void applicationMain()
```
    application main method, see also appletMain()
  - appletMain
```
public void appletMain()
```
    applet main method, see also applicationMain()
  - appletDestroy
```
public void appletDestroy(java.applet.Applet applet)
```
    Aplet destroy method.
    
    Default impl terminates the js REPL, if any.
  - getFrame
```
public java.awt.Frame getFrame()
```
    Get the Frame containing the display, if any.
  - configureFrame
```
protected void configureFrame(java.awt.Frame frame)
```
    configure a GUI toplevel
  - makeDisplay
```
protected Display makeDisplay()
```
    make the Display
  - getJSchemePrompt
```
public java.lang.String getJSchemePrompt()
```
    JScheme interpreter prompt to use
  - getApplicationInitialForms
```
public java.lang.String getApplicationInitialForms()
```
    scheme forms to eval at end of init in application context
  - getAppletInitialForms
```
public java.lang.String getAppletInitialForms()
```
    initial scheme forms to eval at end of init in applet context
  - loadJSchemeFiles
```
public void loadJSchemeFiles()
```
    loadVonaJSchemeFiles() then loadMSimJSchemeFiles()
  - loadVonaJSchemeFiles
```
public void loadVonaJSchemeFiles()
```
    (Re)load all JScheme files in Vona lib.
  - loadMSimJSchemeFiles
```
public void loadMSimJSchemeFiles()
```
    (Re)load all JScheme files in MSim.
  - loadJSchemeFileFromResource
```
public boolean loadJSchemeFileFromResource(java.lang.Class clazz,
                                  java.lang.String resourcePath)
```
    Load a scheme file into js from a resource for clazz, iff js is not null.
    
    Parameters:
    resourcePath - the name of the resource (i.e. the name of a scheme file in the same package as this class)
    
    Returns:
    true iff the file was loaded
  - loadJSchemeFile
```
public boolean loadJSchemeFile(java.lang.String filename)
```
    Load a script from file iff js is not null.
    
    Parameters:
    filename - the name of the file
    
    Returns:
    true iff the file was loaded
  - makeJScheme
```
protected jscheme.JScheme makeJScheme()
```
    make the JScheme interpreter
  - setJSGlobal
```
public void setJSGlobal(java.lang.String name,
               java.lang.Object value)
```
    Bind a global JScheme value.
    
    Does nothing if js is null.
  - setJSGlobals
```
public void setJSGlobals()
```
    Bind global JScheme values.
    
    Does nothing if js is null.
  - consoleREPL
```
protected void consoleREPL(java.lang.String initialForms)
```
    Run the js REPL on the console.
    
    Does nothing if js is null.
    
    Parameters:
    initialForms - the initial scheme forms to eval or null
  - interactorREPL
```
protected void interactorREPL(java.lang.String initialForms)
```
    Run the js REPL in a JScheme interactor in its own interactorFrame.
    
    Parameters:
    initialForms - the initial scheme forms to eval or null
  - individuallyPickOnly
```
public void individuallyPickOnly(EntityClass c)
```
    Disable individual pickability for all entity classes except c.
    
    This does not affect the current pick, pick cycle, or selection, if any.
  - cycleIndividuallyPickOnly
```
public void cycleIndividuallyPickOnly()
```
    Cycle among various combinations of individually picking EntityClass.NODES, EntityClass.SUBFRAMES, EntityClass.WIDGETS, and EntityClass.GEOMETRIES.
  - toggleIndividuallyPickable
```
public void toggleIndividuallyPickable(EntityClass c)
```
    Toggle individual pickability for entity class c.
    
    This does not affect the current pick, pick cycle, or selection, if any.
  - clearPick
```
protected void clearPick(boolean exceptCurrent,
             boolean firePickChanged)
```
    Clear the current pick.
    
    Parameters:
    exceptCurrent - if set then the pickCycle and pickMap are cleared of all contents except the curent pick (at pickIndex), if any
  - clearPick
```
public void clearPick()
```
    clearPick(boolean, boolean), including current, and fire pickChanged(boolean, boolean, boolean).
  - setPick
```
protected <T> void setPick(T entity,
               float u,
               boolean firePickChanged)
```
    Impl of setPick(Object, float).
  - setPick
```
public <T> void setPick(T entity,
               float u)
```
    Clear pickCycle and pickMap, and set the new pick to contain only entity.
    
    Parameters:
    u - signed distance along the pick segment of the nearest intersection, normalized to the pick segment length, or NaN
  - setPick
```
public <T> void setPick(T entity)
```
    setPick(Object, float), sets u to NaN
  - getPickedEntity
```
public java.lang.Object getPickedEntity(boolean nullOk)
```
    Get the current picked LinkageNode, Widget, or Geometry, if any else null.
  - getPickedEntity
```
public java.lang.Object getPickedEntity()
```
    getPickedEntity(boolean), null ok
  - getTypedPickedEntity
```
public java.lang.Object getTypedPickedEntity(EntityClass c,
                                    boolean nullOk)
```
    Return the Geometry, Widget, or LinkageNode that is or contains the current pick iff its most specific entity class is c.
  - getTypedPickedEntity
```
public java.lang.Object getTypedPickedEntity(EntityClass c)
```
    getTypedPickedEntity(EntityClass, boolean), null ok
  - getPickedWidget
```
public vona.j3d.Widget getPickedWidget(boolean nullOk)
```
    Return the Widget that is or contains the current pick entity, if any.
  - getPickedWidget
```
public vona.j3d.Widget getPickedWidget()
```
    getPickedWidget(boolean), null ok
  - getPickedGeometry
```
public javax.media.j3d.Geometry getPickedGeometry(boolean nullOk)
```
    Return the Geometry that is the current pick entity, if any.
  - getPickedGeometry
```
public javax.media.j3d.Geometry getPickedGeometry()
```
    getPickedGeometry(boolean), null ok
  - getPickedNode
```
public LinkageNode getPickedNode(boolean nullOk)
```
    Return the LinkageNode that is or contains the current pick entity, if any.
  - getPickedNode
```
public LinkageNode getPickedNode()
```
    getPickedNode(boolean), null ok
  - getPickedJoint
```
public Joint getPickedJoint(boolean nullOk)
```
    covers getPickedNode(boolean), returns null if not a Joint
  - getPickedJoint
```
public Joint getPickedJoint()
```
    getPickedJoint(boolean), null ok
  - getPickedLink
```
public Link getPickedLink(boolean nullOk)
```
    covers getPickedNode(boolean), returns null if not a Link
  - getPickedLink
```
public Link getPickedLink()
```
    getPickedLink(boolean), null ok
  - getPickedLinkage
```
public Linkage getPickedLinkage(boolean defaultToTopLevel)
```
    Get the Linkage containing the node containing the current pick, if any, else null.
  - getPickedLinkage
```
public Linkage getPickedLinkage()
```
    getPickedLinkage(boolean), does not default to top-level
  - getPickedSubFrame
```
public LinkageNode.SubFrame getPickedSubFrame(boolean nullOk)
```
    Return the LinkageNode.SubFrame that is or contains the current pick entity, if any.
  - getPickedSubFrame
```
public LinkageNode.SubFrame getPickedSubFrame()
```
    getPickedSubFrame(boolean), null ok
  - getPickComplimentNodes
```
public java.util.Collection<LinkageNode> getPickComplimentNodes(java.util.Collection<LinkageNode> c)
```
    Collect all LinkageNodes in that are not the current pick.
  - getPickComplimentNodes
```
public java.util.List<LinkageNode> getPickComplimentNodes()
```
    Covers getPickComplimentNodes(Collection), always conses.
  - getPickCycleComplimentNodes
```
public java.util.List<LinkageNode> getPickCycleComplimentNodes(java.util.List<LinkageNode> l)
```
    Collect all LinkageNodes that are not curently in the pickCycle.
  - getPickCycleComplimentNodes
```
public java.util.List<LinkageNode> getPickCycleComplimentNodes()
```
    covers getPickCycleComplimentNodes(List), always conses
  - pickNextInCycle
```
public java.lang.Object pickNextInCycle()
```
    Advance the current pick to the next entity in the current pickCycle, i.e. the entity next-farther away from the viewer, if any, cycling around to the front of the cycle if the current pick is at the end.
    
    Returns:
    the new current pick entity, if any
  - pickPrevInCycle
```
public java.lang.Object pickPrevInCycle()
```
    Advance the current pick to the previous entity in the current pickCycle, i.e. the entity next-closer to the viewer, if any, cycling around to the end of the cycle if the current pick is at the front.
    
    Returns:
    the new current pick entity, if any
  - navigateToViewPickedNode
```
public void navigateToViewPickedNode(boolean setDefault)
```
    Display.navigateToView(LinkageNode, String, boolean, boolean, boolean) the canonical subframe of the current picked node, if any.
    
    Parameters:
    setDefault - whether to also set the default view and rotation center
  - navigateToViewPickedNode
```
public void navigateToViewPickedNode()
```
    navigateToViewPickedNode(boolean), does not set default
  - pickChanged
```
protected void pickChanged(boolean enableManipulation,
               boolean enableDump,
               boolean enableRotationCenter)
```
    Impl of pickChanged() with gating enables for the various subtasks.
  - pickChanged
```
protected void pickChanged()
```
    Called when the current pickIndex has changed.
    
    This calls pickChanged(boolean, boolean, boolean) with all enables set.
  - markDistanceToPickedLinkage
```
public void markDistanceToPickedLinkage()
```
    Compute and set Linkage.distanceToPickedLinkage for every linkage in the model tree by recursive DFS.
    
    If there is no current picked linkage then the distances are all marked as 0.
    
    This is called automatically after structure changes by the update thread.
  - markDistanceToPickedLinkage
```
protected void markDistanceToPickedLinkage(Linkage fromLinkage,
                               Linkage pickedLinkage)
```
    impl of markDistanceToPickedLinkage()
  - cullPickAndSelection
```
public void cullPickAndSelection()
```
    Go through the pick and selection data structures and cull out any entities which are no longer in the model or which are no longer visible.
    
    This is called automatically after structure changes by the update thread.
  - isEntityLive
```
protected boolean isEntityLive(java.lang.Object entity)
```
    If entity is a LinkageNode, check if it present in the model. Otherwise, if entity is a Widget or a Geometry, retrieve the containing LinkageNode, if any, and do same.
  - isEntityVisible
```
protected boolean isEntityVisible(java.lang.Object entity)
```
    check if entity is currently visible
  - initPickCycle
```
protected void initPickCycle()
```
    init pickCycle from pickMap
  - select
```
public int select(boolean only,
         java.lang.Object... entities)
```
    Add entities to the selection, in order, iff not already present.
    
    Parameters:
    only - whether to clear the previous selection first
    
    Returns:
    the number of entities newly added
  - select
```
public int select(java.lang.Object... entities)
```
    covers select(boolean, Object...), adds to existing selection
  - deselect
```
public int deselect(java.lang.Object... entities)
```
    Remove entities from the selection, iff present.
    
    Returns:
    the number of entities removed
  - clearSelection
```
public int clearSelection()
```
    clear selection
  - getNumSelected
```
public int getNumSelected()
```
    get the number of entities in the selection
  - getNumSelectedOrPicked
```
public int getNumSelectedOrPicked()
```
    Get the number of entities in the selection, plus one if there is a current pick.
  - selectPick
```
public int selectPick(boolean only,
             boolean andDescendantNodes,
             boolean andAncestorNodes)
```
    Add the current pick entity, if any, to selection.
    
    Parameters:
    only - whether to clear the previous selection first
    andDescendantNodes - if the current pick entity is a LinkageNode then this flag indicates that all its tree descendants should also be added to the selection in LinkageNode.traverseTree(msim.model.LinkageNode.NodeHandler) DFS order.
    andAncestorNodes - if the current pick entity is a LinkageNode then this flag indicates that all its tree ancestors (up to but not including the RootJoint) should also be added to the selection in order from nearest to farthest
    
    Returns:
    the number of entities added
  - selectPick
```
public boolean selectPick()
```
    Covers selectPick(boolean, boolean, boolean), adds current pick entity to selection.
  - deselectPick
```
public int deselectPick(boolean andDescendantNodes,
               boolean andAncestorNodes)
```
    Remove the current pick entity, if any, from selection.
    
    Parameters:
    andDescendantNodes - similar to same argument in selectPick(boolean, boolean, boolean)
    andAncestorNodes - similar to same argument in selectPick(boolean, boolean, boolean)
    
    Returns:
    the number of entities removed
  - deselectPick
```
public boolean deselectPick()
```
    Covers deselectPick(boolean, boolean), only deselects current pick entity.
  - togglePickInSelection
```
public boolean togglePickInSelection()
```
    Select/deselect the current pick.
    
    Returns:
    whether the current pick ends up selected, or false if no current pick
  - getSelection
```
public java.util.Collection<java.lang.Object> getSelection(java.util.Collection<java.lang.Object> c)
```
    get a copy of the current selection
  - getSelection
```
public java.util.List<java.lang.Object> getSelection()
```
    covers getSelection(Collection), always conses
  - getSelectionNodes
```
public java.util.Collection<LinkageNode> getSelectionNodes(java.util.Collection<LinkageNode> c)
```
    get a copy of the current LinkageNodes in selection
  - getSelectionNodes
```
public java.util.List<LinkageNode> getSelectionNodes()
```
    Covers getSelectionNodes(Collection), always conses.
  - getSelectionComplimentNodes
```
public java.util.Collection<LinkageNode> getSelectionComplimentNodes(java.util.Collection<LinkageNode> c)
```
    Collect all LinkageNodes that are not curently in the selection.
  - getSelectionComplimentNodes
```
public java.util.List<LinkageNode> getSelectionComplimentNodes()
```
    Covers getSelectionComplimentNodes(Collection), always conses.
  - getTypedSelection
```
public java.lang.Object[] getTypedSelection(boolean includePick,
                                   boolean nullOk,
                                   java.lang.Object[] ret,
                                   EntityClass... types)
```
    Check if the sequence of entities in the current selection, plus optionally the current pick, matches the given sequence of types, and if so, return an array of references to the sequence.
    
    Parameters:
    includePick - whether to append the curent pick, if any, to the sequence of selected objects for the purposes of this method
    ret - the references are returned here, consing if null
    types - the expected type of each entity in the sequence (oldest selected to newest, then pick), or null if an entity is expected but its type is not restricted. The number of expected entities is equal to the number of specified types (including nulls).
    
    Returns:
    a reference to the gathered array of entity references, or null if nullOk and the combined pick and selection did not currently contain the expected number and types of entities
    
    Throws:
    
    java.lang.IllegalStateException - if the combined pick and selection does not currently contain the expected number and types of entities, unless nullOk
  - getTypedSelection
```
public java.lang.Object[] getTypedSelection(boolean includePick,
                                   boolean nullOk,
                                   EntityClass... types)
```
    getTypedSelection(boolean, boolean, Object[], EntityClass...), conses
  - selectionChanged
```
protected void selectionChanged()
```
    called when the current selection has changed
  - manipulateJoint
```
public void manipulateJoint(Joint joint,
                   int xformID,
                   int slackID,
                   boolean driveFullGoal)
```
    Start manipulating a particular Joint sub-transform.
    
    First calls stopManipulating() to end any prior manipulation.
    
    InteractorDriver.bind(java.lang.Object...)s and InteractorDriver.activate()s manipulationDriver, and disables navigation with navigationInteractor.
    
    Any of the three chain sub-transforms Joint.RX_CHILD_TO_MOBILITY, Joint.RX_MOBILITY, Joint.RX_MOBILITY_TO_PARENT, or the two goal transforms Joint.RX_TARGET, Joint.RX_POSTURE, can be manipulated.
    
    Requests to manipulate Joint.RX_MOBILITY on locked connected closure joints are automatically promoted to Joint.RX_LOCK instead. Similarly, requests to manipulate Joint.RX_MOBILITY on (a) unlocked connected closure joints or (b) unlocked supporting tree joints are automatically promoted to Joint.RX_TARGET.
    
    Parameters:
    joint - the Joint to manipulate
    xformID - the Joint sub-transform to manipulate
    slackID - see TrajectoryActor.slackID
    driveFullGoal -
  - manipulateJoint
```
public void manipulateJoint(Joint joint,
                   int xformID,
                   int slackID)
```
    manipulateJoint(Joint, int, int, boolean), always drives full goal.
  - manipulateJoint
```
public void manipulateJoint(Joint joint,
                   int xformID,
                   boolean driveFullGoal)
```
    manipulateJoint(Joint, int, int, boolean), automatially selecting slackID.
    
    slackID is -1 unless joint Joint.isConnected() and xformID Joint.isPositioningSubtransform(int), in which case slackID is set as Joint.otherPositioningTransform(int).
  - manipulateJoint
```
public void manipulateJoint(Joint joint,
                   int xformID)
```
    manipulateJoint(Joint, int, int, boolean), automatially selecting slackID and driving full goal.
    
    slackID is -1 unless joint Joint.isConnected() and xformID Joint.isPositioningSubtransform(int), in which case slackID is set as Joint.otherPositioningTransform(int).
  - manipulateJoint
```
public void manipulateJoint(Joint joint,
                   boolean driveFullGoal)
```
    manipulateJoint(Joint, int, int, boolean) automatically selecting slackID and requesting manipulation of sub-transform Joint.RX_MOBILITY.
  - manipulateJoint
```
public void manipulateJoint(Joint joint)
```
    manipulateJoint(Joint, int, int, boolean) automatically selecting slackID, requesting manipulation of sub-transform Joint.RX_MOBILITY, and always driving full goal.
  - manipulateLink
```
public void manipulateLink(Link link,
                  boolean driveFullGoal)
```
    manipulateJoint(Joint, int, int, boolean) the Joint.RX_MOBILITY of the RootJoint of link.
    
    Does nothing if link is null or the ultimate ground link.
  - getLinkManipulationJoint
```
protected Joint getLinkManipulationJoint(Link link)
```
    Called by manipulateLink(Link, boolean) to get (or generate) a Joint appropriate for manipulating link.
    
    The default is the link's root joint. This may be replaced in a few cases:
    - if link is the ultimate ground link then return is null
    - if alwaysManipulateLinkGlobalPose and link is not in the top-level sublinkage, then a new closure joint is synthesized between link and the ultimate ground link.
    - If clickAndDragLinks, link is the currently picked node, link is not a root link in the top-level sublinkage, and there are geometric coordinates for the pick point, then a new closure joint is synthesized from link either to the ground link of the linkage containing link or to the ultimate ground link if alwaysManipulateLinkGlobalPose. The child-to-mobility transform is set to attach this joint to link at the click point.
    If a joint is synthesized, it is marked with JP_MSIM_LINK_MANIPULATOR, and will be removed in stopManipulating(boolean). Its soft goal priority will be set to linkManipulationJointPriority and its soft goal weight will be set to linkManipulationJointWeight.
  - manipulateLink
```
public void manipulateLink(Link link)
```
    manipulateLink(Link, boolean), always drives full goal.
  - manipulateWidget
```
public void manipulateWidget(vona.j3d.Widget widget)
```
    Start manipulating a particular Widget pose with respect to its attachment.
    
    First calls stopManipulating() to end any prior manipulation.
    8
  - stopManipulating
```
public void stopManipulating(boolean unsetGoal)
```
    End any ongoing manipulation.
    
    InteractorDriver.unbind()s and InteractorDriver.deactivate()s manipulationDriver and re-enables navigationInteractor for navigation.
    
    Parameters:
    unsetGoal - whether to unset goal iff manipulation was directed at a goal transform (Joint.RX_TARGET or Joint.RX_POSTURE)
  - stopManipulating
```
public void stopManipulating()
```
    stopManipulating(boolean) and unset the goal, if any
  - isManipulating
```
public boolean isManipulating()
```
    check if manipulation is ongoing
  - restoreManipulation
```
public boolean restoreManipulation(boolean jump)
```
    Restore any ongoing manipulation to its original state.
    
    Returns:
    true iff the current manipulated transform was different from the original state when manipulation began
  - toggleNavigateWhileManipulating
```
public void toggleNavigateWhileManipulating()
```
    Enter or exit navigation while a manipulation is ongoing.
    
    Ok to call if manipulation is not ongoing, displays an info message.
  - manipulatePickedJoint
```
public void manipulatePickedJoint(int xformID)
```
    manipulateJoint(Joint, int) with the currently picked LinkageNode (see getPickedNode(boolean)) if it's a Joint, or the parent Joint if the currently picked node is a Link.
  - manipulatePickedJoint
```
public void manipulatePickedJoint()
```
    manipulatePickedJoint(int) sub-transform Joint.RX_MOBILITY.
  - manipulatePickedLink
```
public void manipulatePickedLink()
```
    manipulateLink(Link) with the currently picked LinkageNode (see getPickedNode(boolean)) if it's a Link, or the parent Link if the currently picked node is a Joint.
  - manipulatePickedNode
```
public void manipulatePickedNode(int xformID)
```
    manipulateLink(Link) with the currently picked LinkageNode n (see getPickedNode(boolean)) if it's a Link, or manipulateJoint(Joint, int) if n is a Joint.
    
    xformID is ignored if the current pick is a Link.
  - manipulatePickedWidget
```
public void manipulatePickedWidget()
```
    manipulateWidget(vona.j3d.Widget) with the currently picked Widget, if any, and iff it's a user widget.
  - manipulatePickedEntity
```
public void manipulatePickedEntity()
```
    If the current pick is a Widget, manipulatePickedWidget(), else manipulatePickedJoint(int).
  - manipulatePickedNodeLocalPose
```
public void manipulatePickedNodeLocalPose()
```
    Manipulate a transform that controls the pose of the picked node relative to its tree parent.
    
    If the current pick is a Joint, but not a RootJoint, manipulate Joint.RX_MOBILITY_TO_PARENT; if its a RootJoint manipulate Joint.RX_MOBILITY; and if it's a Link manipulate Joint.RX_CHILD_TO_MOBILITY.
    
    In all cases, the manipulated Joint's overall transform is not held by putting slack in another of the joint chain sub-transforms.
  - cycleManipulationFrame
```
public void cycleManipulationFrame()
```
    cycle the manipulation frame
  - toggleDriveFullGoal
```
public void toggleDriveFullGoal()
```
    toggle whether to drive all DoF while manipulating
  - cycleUserLinkWidgetVisibility
```
public void cycleUserLinkWidgetVisibility()
```
    cycle user link widget visibility
  - cycleMobilityWidgetVisibility
```
public void cycleMobilityWidgetVisibility()
```
    cycle joint mobility widget visibility
  - cycleRouteWidgetVisibility
```
public void cycleRouteWidgetVisibility()
```
    cycle route widget visibility
  - toggleRouteConeWidgetVisibility
```
public void toggleRouteConeWidgetVisibility()
```
    toggle route cone widget visibility
  - cycleClassVisiblity
```
public void cycleClassVisiblity(EntityClass c)
```
    cycle visibility of all entities of EntityClass c
  - cycleAxesVisibility
```
public void cycleAxesVisibility()
```
    cycle axes widget visibility
  - setMaskLinkageThreshold
```
public void setMaskLinkageThreshold(int threshold)
```
    set maskLinkageThreshold
  - getMaskLinkageThreshold
```
public int getMaskLinkageThreshold()
```
    get maskLinkageThreshold
  - incrementMaskLinkageThreshold
```
public void incrementMaskLinkageThreshold()
```
    increment maskLinkageThreshold
  - decrementMaskLinkageThreshold
```
public void decrementMaskLinkageThreshold()
```
    decrement maskLinkageThreshold
  - toggleSolveParameter
```
public void toggleSolveParameter(java.lang.String name)
```
    MSim.toggleSolveParameter(java.lang.String)
  - togglePickedNodeLock
```
public void togglePickedNodeLock()
```
    toggle the lock state of the picked node, if any
  - setPickedNodeSoftGoalToMobility
```
public void setPickedNodeSoftGoalToMobility(int xformID)
```
    Joint.setSoftGoalToMobility(int) with the currently picked LinkageNode n (see getPickedNode(boolean)) if it's a Joint, or with the root joint if n is a Link.
  - removePickedEntity
```
public java.lang.Object removePickedEntity(boolean removeParent)
```
    Remove the picked entity, if any.
    
    The current pick cycle, including the current pick, is cleared.
  - removePickedEntity
```
public java.lang.Object removePickedEntity()
```
    removePickedEntity(boolean), does not remove parent
  - splitPickedLink
```
public void splitPickedLink()
```
    Link.split() the current picked node n iff it's a Link.
    
    The pick cycle is cleared except for n, which remains the current pick. Manipulation is initiated for the mobility transform of the new Joint created during the split.
  - mergePickedJoint
```
public void mergePickedJoint()
```
    Joint.merge() the current picked node iff it's a Joint.
    
    The current pick cycle, including the current pick, is cleared.
  - makePickedJointTree
```
public void makePickedJointTree()
```
    Joint.makeTreeJoint() the current picked node iff it's a Joint.
  - makePickedJointClosure
```
public void makePickedJointClosure()
```
    Joint.makeClosureJoint() the current picked node iff it's a Joint.
  - invertPickedJoint
```
public void invertPickedJoint()
```
    Joint.invert() the current picked node iff it's a Joint.
  - makePickedLinkRoot
```
public void makePickedLinkRoot()
```
    Link.makeRootLink() the current picked node iff it's a Link.
  - makePickedLinkGround
```
public void makePickedLinkGround()
```
    Link.makeGroundLink() the current picked node iff it's a Link.
  - disconnectPickedJointFromParent
```
public void disconnectPickedJointFromParent()
```
    Null the parent link of the current picked node iff it's a Joint.
  - disconnectPickedJointFromChild
```
public void disconnectPickedJointFromChild()
```
    Null the child link of the current picked node iff it's a Joint.
  - setPickedJointParentToSelectedLink
```
public void setPickedJointParentToSelectedLink(boolean holdAbsolutePose)
```
    Set the parent of the current picked node iff it's a Joint.
    
    The new parent Link is expected to be the only member of the current selection.
  - setPickedJointParentToSelectedLink
```
public void setPickedJointParentToSelectedLink()
```
    setPickedJointParentToSelectedLink(boolean), don't hold absolute pose.
  - setPickedJointParentToSelectedSubFrame
```
public void setPickedJointParentToSelectedSubFrame(boolean holdAbsolutePose)
```
    Set the parent of the current picked node iff it's a Joint.
    
    The new parent is expected to be a link subframe that is the only member of the current selection.
  - setPickedJointParentToSelectedSubFrame
```
public void setPickedJointParentToSelectedSubFrame()
```
    setPickedJointParentToSelectedSubFrame(boolean), don't hold absolute pose.
  - setPickedJointChildToSelectedLink
```
public void setPickedJointChildToSelectedLink(boolean holdAbsolutePose)
```
    Set the child of the current picked node iff it's a Joint.
    
    The new child Link is expected to be the only member of the current selection.
  - setPickedJointChildToSelectedLink
```
public void setPickedJointChildToSelectedLink()
```
    setPickedJointChildToSelectedLink(boolean), don't hold absolute pose.
  - setPickedJointChildToSelectedSubFrame
```
public void setPickedJointChildToSelectedSubFrame(boolean holdAbsolutePose)
```
    Set the child of the current picked node iff it's a Joint.
    
    The new child is expected to be a link subframe that is the only member of the current selection.
  - setPickedJointChildToSelectedSubFrame
```
public void setPickedJointChildToSelectedSubFrame()
```
    setPickedJointChildToSelectedSubFrame(boolean), don't hold absolute pose.
  - consLinkageInteractive
```
public Linkage consLinkageInteractive(Linkage.Disposition disposition,
                             java.lang.String name)
```
    Cons and add a new Linkage l in-context depending on the current pick.
    
    If there is a current pick then the containing Linkage will be the parent of l, else l will be added as a child of the top-level Linkage.
    
    The ground Link of the new Linkage will appear initially under the mouse cursor (iff the cursor is over the canvas), and its pose will be under manipulation on return of this method.
    
    The current pick, if any, will be cleared, and the new Linkage will be the only picked entity on return.
    
    Parameters:
    name - the name of the new linkage or null to auto-name
  - consLinkageInteractive
```
public Linkage consLinkageInteractive(Linkage.Disposition disposition)
```
    consLinkageInteractive(msim.model.Linkage.Disposition, String), auto-named.
  - consLinkInteractive
```
public Link consLinkInteractive()
```
    Cons and add a new Link l in-context depending on the current pick.
    
    If the current picked node is a Joint j that is attached to a parent and child c, l is attached as a child of a new locked Joint.Type.GENERAL Joint attached to c, or as the child of j if c is null.
    
    If the current picked node is a Link p, l is attached as a child of a new locked GENERAL Joint attached to p.
    
    In all other cases (no current picked node, or current picked node is a Joint with no parent) a new root Link is created.
    
    Unless the parent Joint of the new Link has neither mutable positioning transforms nor unlocked mobility with at least three translation DoF, the new Link will appear initially under the mouse cursor (iff the cursor is over the canvas), and will be under manipulation on return of this method. If the parent Joint's positioning transforms are mutable, the manipulated sub-transform will be child-to-mobility; otherwise it will be mobility.
    
    The current pick, if any, will be cleared, and the new Link will be the only picked entity on return.
  - consWidgetInteractive
```
public void consWidgetInteractive()
```
    Conses a new widget and addWidgetInteractive(LinkageNode, String, String, Widget, boolean) in the current pick context via consWidgetActionMap.
  - addWidgetInteractive
```
public java.lang.String addWidgetInteractive(LinkageNode parent,
                                    java.lang.String name,
                                    java.lang.String frame,
                                    vona.j3d.Widget widget,
                                    boolean rotX)
```
    Add widget to the indicated parent node.
    
    widget will appear initially under the mouse cursor (iff the cursor is over the canvas), and will be under manipulation on return of this method.
    
    The current pick, if any, will be cleared, and the widget will be the only picked entity on return.
    
    Also see consWidgetInteractive().
    
    Parameters:
    parent - the parent node, if null then defaults to currently picked node, if any, else ground Link
    name - the name to assign widget, or null to use its existing LinkageNode.WP_NAME, or auto-name if both null
    frame - the sub-frame, null to use widget's existing LinkageNode.WP_FRAME if any, else getPickedSubFrame(boolean), or LinkageNode.SF_CANONICAL failing that
    rotX - whether to first apply a pi/2 x-axis rotation to the widget
    
    Returns:
    the name of widget after it was added
  - addWidgetInteractive
```
public java.lang.String addWidgetInteractive(LinkageNode parent,
                                    java.lang.String name,
                                    java.lang.String frame,
                                    vona.j3d.Widget widget)
```
    addWidgetInteractive(LinkageNode, String, String, Widget, boolean), no rotX.
  - addWidgetInteractive
```
public java.lang.String addWidgetInteractive(LinkageNode parent,
                                    vona.j3d.Widget widget,
                                    boolean rotX)
```
    addWidgetInteractive(LinkageNode, String, String, Widget, boolean), default name and frame.
  - addWidgetInteractive
```
public java.lang.String addWidgetInteractive(LinkageNode parent,
                                    vona.j3d.Widget widget)
```
    addWidgetInteractive(LinkageNode, String, String, Widget, boolean), default name and frame, no rotX.
  - addWidgetInteractive
```
public java.lang.String addWidgetInteractive(vona.j3d.Widget widget,
                                    boolean rotX)
```
    addWidgetInteractive(LinkageNode, String, String, Widget, boolean), to currently picked node or ground link, default name and frame.
  - addWidgetInteractive
```
public java.lang.String addWidgetInteractive(vona.j3d.Widget widget)
```
    addWidgetInteractive(LinkageNode, String, String, Widget, boolean), to currently picked node or ground link, default name and frame, no rotX.
  - addWidgetInteractive
```
public java.lang.String addWidgetInteractive(java.lang.String type)
```
    addWidgetInteractive(LinkageNode, String, String, Widget, boolean), to currently picked node or ground link, default name and frame, no rotX.
  - consJointInteractive
```
public void consJointInteractive()
```
    Conses a new joint and addJointInteractive(Link, Link, Joint, boolean) in the current pick context via consJointActionMap.
  - addJointInteractive
```
public java.lang.String addJointInteractive(Link parent,
                                   Link child,
                                   Joint joint,
                                   boolean rotX)
```
    Attach joint to the indicated nodes.
    
    Iff joint Joint.positioningTransformsMutable() the parent mobility frame of joint will appear initially under the mouse cursor (iff the cursor is over the canvas), and will be under manipulation on return of this method.
    
    The current pick, if any, will be cleared, and the joint will be the only picked entity on return.
    
    If both parent and child are specified (non-null) then they must differ, and joint is connected as indicated. If either or both is null then appropriate Links are chosen or consed according to the current pick/selection. Let sp be the sequence of picked and selected entities in order from least to most recent (the current pick, if any, is last in this order). sp is only used by this method if its length is 1 or 2, and if each entity is either a LinkageNode or SubFrame. If sp is length 2, then let sp0 be the oldest and sp1 be the newest entity; otherwise let sp0 be the single selected/picked entity and let sp1 be null.
    
    First, parent is chosen as sp0 iff that's a Link or SubFrame, or as the child Link of sp0 if that's a Joint j, or if j has no child then a new Link is consed. If sp0 is null then the ground link is used as parent. Next, child is chosen as sp1 iff that's a Link or SubFrame, or as the child Link of sp1 iff that's a Joint j, or if j has no child then a new Link is consed. If sp1 is null then child is left as null.
    
    If new Links are consed they are placed according to the current Joint transforms. Also, while the mobility-to-parent transform of joint is never mutated, the child-to-mobility transform (or the mobility transform, if not Joint.positioningTransformsMutable()) is adjusted to match the adjacent Link CMTs when joint is fully connected.
    
    Also see consJointInteractive().
    
    Parameters:
    parent - the parent Link, if null then choose or cons from pick/selection context
    child - the child Link, if null then choose or cons from pick/selection context
    rotX - whether to first apply a pi/2 x-axis rotation to the parent mobility frame
    
    Returns:
    the name of joint after it was added
  - addJointInteractive
```
public java.lang.String addJointInteractive(Link parent,
                                   Link child,
                                   Joint joint)
```
    addJointInteractive(Link, Link, Joint, boolean), no rotX.
  - addJointInteractive
```
public java.lang.String addJointInteractive(Link parent,
                                   Joint joint,
                                   boolean rotX)
```
    addJointInteractive(Link, Link, Joint, boolean), get child from pick or selection.
  - addJointInteractive
```
public java.lang.String addJointInteractive(Link parent,
                                   Joint joint)
```
    addJointInteractive(Link, Link, Joint, boolean), get child from pick or selection, no rotX.
  - addJointInteractive
```
public java.lang.String addJointInteractive(Joint joint,
                                   boolean rotX)
```
    addJointInteractive(Link, Link, Joint, boolean), get parent and child from pick and/or selection.
  - addJointInteractive
```
public java.lang.String addJointInteractive(Joint joint)
```
    addJointInteractive(Link, Link, Joint, boolean), get parent and child from pick and/or selection, no rotX.
  - dumpHelp
```
public void dumpHelp(java.io.PrintStream s,
            boolean showKeybindings)
```
    dumps help text
  - dumpHelp
```
public void dumpHelp(boolean showKeybindings)
```
    dumpHelp(PrintStream, boolean) to System.out
  - dumpHelp
```
public void dumpHelp()
```
    dumpHelp(PrintStream, boolean) to System.out with keybindings
  - dumpDetails
```
public static void dumpDetails(java.lang.Object entity,
               java.io.PrintStream s)
```
    dump details of entity
  - dumpDetails
```
public static void dumpDetails(java.lang.Object entity)
```
    dumpDetails(Object, PrintStream) to System.out
  - dumpPathAndClass
```
public static void dumpPathAndClass(java.lang.Object entity,
                    boolean dumpPath,
                    boolean dumpEntityClass,
                    boolean withNewline,
                    java.io.PrintStream s)
```
    Dump the full path and/or display entity class of entity.
  - dumpPathAndClass
```
public static void dumpPathAndClass(java.lang.Object entity,
                    boolean dumpPath,
                    boolean dumpEntityClass,
                    boolean withNewline)
```
    Covers dumpPathAndClass(Object, boolean, boolean, boolean, PrintStream), dumps to System.out.
  - dumpPathAndClass
```
public static void dumpPathAndClass(java.lang.Object entity,
                    boolean dumpPath,
                    boolean dumpEntityClass)
```
    Covers dumpPathAndClass(Object, boolean, boolean, boolean, PrintStream), dumps with newline to System.out.
  - dumpPathAndClass
```
public static void dumpPathAndClass(java.lang.Object entity)
```
    Covers dumpPathAndClass(Object, boolean, boolean, boolean, PrintStream), dumps both path and class with newline to System.out.
  - dumpPathOf
```
public static void dumpPathOf(LinkageNode node,
              java.io.PrintStream s)
```
    Path.dumpPathOf(LinkageNode, PrintStream) if alwaysDumpNodePath, else dump node name.
  - dumpPathOf
```
public static void dumpPathOf(LinkageNode node)
```
    dumpPathOf(LinkageNode, PrintStream), to System.out
  - dumpPathOf
```
public static void dumpPathOf(vona.j3d.Widget widget,
              java.io.PrintStream s)
```
    dumpPathOf(LinkageNode, PrintStream) on containing node, if any, then dump widget name if any.
  - dumpPathOf
```
public static void dumpPathOf(vona.j3d.Widget widget)
```
    dumpPathOf(Widget, PrintStream), to System.out
  - dumpPathOf
```
public static void dumpPathOf(LinkageNode.SubFrame subFrame,
              java.io.PrintStream s)
```
    dumpPathOf(LinkageNode, PrintStream) on containing node, if any, then dump subframe name if any.
  - dumpPathOf
```
public static void dumpPathOf(LinkageNode.SubFrame subFrame)
```
    dumpPathOf(msim.model.LinkageNode.SubFrame, PrintStream), to System.out
  - dumpPathOf
```
public static void dumpPathOf(javax.media.j3d.Geometry geometry,
              java.io.PrintStream s)
```
    dumpPathOf(Widget, PrintStream) on containing widget, if any, then dump index of geometry.
  - dumpPathOf
```
public static void dumpPathOf(javax.media.j3d.Geometry geometry)
```
    dumpPathOf(Geometry, PrintStream), to System.out
  - dumpPick
```
public void dumpPick(boolean dumpEntityClass,
            boolean dumpIndex,
            boolean dumpDetails,
            java.io.PrintStream s)
```
    Dump information about the current pick, if any.
    
    Parameters:
    dumpEntityClass - whether to dump the most specific display entity class of the picked entity
    dumpIndex - whether to dump info about the index of the pick within the current pickCycle
    dumpDetails - whether to dump the type-specific details of the current pick
  - dumpPick
```
public void dumpPick(boolean dumpEntityClass,
            boolean dumpIndex,
            boolean dumpDetails)
```
    Covers dumpPick(boolean, boolean, boolean, PrintStream), dumps to System.out.
  - dumpPick
```
public void dumpPick()
```
    Covers dumpPick(boolean, boolean, boolean, PrintStream), dumps path only to System.out.
  - dumpPickDetails
```
public void dumpPickDetails()
```
    Covers dumpPick(boolean, boolean, boolean, PrintStream), dumps everything to System.out.

Class UI

Text UI: JScheme Interpreter

GUI

Actions

Picking and the Selection

Model Manipulation

TBD

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

cvsid

HELP_MESSAGE

STARTUP_MESSAGE

INITIAL_FORMS_MESSAGE

DEF_DISPLAY_WIDTH

DEF_DISPLAY_HEIGHT

JS_INIT

JS_PROMPT

HOME_URL

JS_API

JS_EXTRA

SLIDER_HIGHLIGHT_FACTOR_SCALE

JP_MSIM_LINK_MANIPULATOR

display

navigationInteractor

js

jsInput

jsOutput

manipulationDriver

manipulationInteractor

widgetInteractor

defaultJSchemeInput

defaultJSchemeOutput

autoManipulateJoints

autoManipulateLinks

autoManipulateWidgets

autoManipulateLockedNodes

maskLinkagesBeyondThreshold

alwaysDumpNodePath

clickAndDragLinks

alwaysManipulateLinkGlobalPose

linkManipulationJointPriority

linkManipulationJointWeight

frame

replThread

interactor

interactorFrame

maskLinkageThreshold

pickMap

pickCycle

pickIndex

dumpPickAndSelectionOnChange

togglePickInSelectionPending

pickPending

pickAction

altDownAtLastPick

shiftDownAtLastPick

persistManipulatedGoal

selection

actionQueue

actionMapper

userActionMap

consWidgetActionMap

consJointActionMap

manipulationActionMap

baseActionMap

sliderTarget

sliderActionMap

Constructor Detail

UI

UI

UI

Method Detail

runQueuedActions

getHomeURL

getDocURL

getDocMessage