Examples with FemMarker artisynth.core.femmodels.FemMarker used on opensource projects

Example 1 with FemMarker

use of artisynth.core.femmodels.FemMarker in project artisynth_core by artisynth.

the class FemBeamMech method build.

public void build(String[] args) {
    femPath = "models/mech/models/fem/";
    modPath = "models/mech/";
    int nn = 2;
    myFemMod = FemFactory.createTetGrid(null, 0.6, 0.2, 0.2, nn * 3, nn * 1, nn * 1);
    myFemMod.setName("fem");
    myFemMod.setDensity(myDensity);
    myFemMod.setBounds(new Point3d(-0.6, 0, 0), new Point3d(0.6, 0, 0));
    myFemMod.setLinearMaterial(60000, 0.33, true);
    myFemMod.setStiffnessDamping(0.002);
    myFemMod.setImplicitIterations(100);
    myFemMod.setImplicitPrecision(0.001);
    myFemMod.setSurfaceRendering(SurfaceRender.Shaded);
    Renderable elems = myFemMod.getElements();
    RenderProps.setLineWidth(elems, 2);
    RenderProps.setLineColor(elems, Color.BLUE);
    Renderable nodes = myFemMod.getNodes();
    RenderProps.setPointStyle(nodes, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(nodes, 0.005);
    RenderProps.setPointColor(nodes, Color.GREEN);
    // fix the leftmost nodes
    double EPS = 1e-9;
    for (FemNode3d n : myFemMod.getNodes()) {
        if (n.getPosition().x < -0.3 + EPS) {
            myLeftNodes.add(n);
        }
    }
    System.out.println("fixed nodes:");
    for (FemNode3d n : myLeftNodes) {
        n.setDynamic(false);
    }
    RenderProps.setFaceColor(myFemMod, new Color(0.4f, 0.4f, 1.0f));
    myFemMod.setProfiling(true);
    RigidBody anchorBox = new RigidBody("anchorBox");
    PolygonalMesh mesh = MeshFactory.createBox(0.1, 0.3, 0.3);
    anchorBox.setMesh(mesh, /* fileName= */
    null);
    RigidTransform3d X = new RigidTransform3d();
    X.p.set(-0.35, 0, 0);
    anchorBox.setPose(X);
    anchorBox.setDynamic(false);
    myMechMod = new MechModel("mech");
    myMechMod.addModel(myFemMod);
    myMechMod.addRigidBody(anchorBox);
    System.out.println("models: " + myMechMod.findComponent("models"));
    System.out.println("models/fem: " + myMechMod.findComponent("models/fem"));
    myMechMod.setIntegrator(Integrator.BackwardEuler);
    addModel(myMechMod);
    myMechMod.setProfiling(true);
    // add marker to lower right corner element
    Point3d corner = new Point3d(0.3, -0.1, -0.1);
    FemElement cornerElem = null;
    for (FemElement e : myFemMod.getElements()) {
        FemNode[] nodeList = e.getNodes();
        for (int i = 0; i < nodeList.length; i++) {
            if (nodeList[i].getPosition().epsilonEquals(corner, 1e-8)) {
                cornerElem = e;
                break;
            }
        }
    }
    if (cornerElem != null) {
        FemMarker mkr = new FemMarker(0.3, -0.07, -0.03);
        myFemMod.addMarker(mkr, cornerElem);
        RenderProps.setPointStyle(mkr, Renderer.PointStyle.SPHERE);
        RenderProps.setPointRadius(mkr, 0.01);
        RenderProps.setPointColor(mkr, Color.WHITE);
        Particle part = new Particle(1, 0.5, -0.07, -0.03);
        RenderProps.setPointStyle(part, Renderer.PointStyle.SPHERE);
        RenderProps.setPointRadius(part, 0.01);
        part.setDynamic(false);
        myMechMod.addParticle(part);
        AxialSpring spr = new AxialSpring(1000, 0, 0);
        myMechMod.attachAxialSpring(part, mkr, spr);
        RenderProps.setLineStyle(spr, Renderer.LineStyle.SPINDLE);
        RenderProps.setLineRadius(spr, 0.01);
        RenderProps.setLineColor(spr, Color.GREEN);
    }
    int numWays = 0;
    double res = 0.2;
    for (int i = 0; i < numWays; i++) {
        addWayPoint(new WayPoint((i + 1) * res, true));
    }
    addControlPanel(myMechMod, myFemMod);
}

Example 2 with FemMarker

use of artisynth.core.femmodels.FemMarker in project artisynth_core by artisynth.

the class FemMuscleDemo method initializeModel.

protected void initializeModel(int xn) throws IOException {
    double widthX = 0.09;
    double widthY = 0.03;
    double widthZ = 0.03;
    int numX = xn * 9;
    int numY = xn * 3;
    int numZ = xn * 3;
    tissue = new FemMuscleModel("fem");
    FemFactory.createHexGrid(tissue, widthX, widthY, widthZ, numX, numY, numZ);
    tissue.setBounds(new Point3d(-widthX, 0, 0), new Point3d(widthX, 0, 0));
    // XXX fix the leftmost nodes
    double EPS = 1e-9;
    double xmin = Double.POSITIVE_INFINITY;
    for (FemNode3d n : tissue.getNodes()) {
        if (n.getPosition().x < xmin) {
            xmin = n.getPosition().x;
        }
    }
    for (FemNode3d n : tissue.getNodes()) {
        if (Math.abs(n.getPosition().x - xmin) < 1e-10) {
            n.setDynamic(false);
        }
    }
    LinkedList<FemElement3d> topElems = new LinkedList<FemElement3d>();
    LinkedList<FemElement3d> midElems = new LinkedList<FemElement3d>();
    LinkedList<FemElement3d> botElems = new LinkedList<FemElement3d>();
    for (FemElement3d e : tissue.getElements()) {
        if (defaultMidElements == ALL) {
            midElems.add(e);
        }
        for (FemNode3d n : e.getNodes()) {
            if (Math.abs(n.getPosition().z - widthZ / 2) < EPS) {
                topElems.add(e);
                break;
            } else if (Math.abs(n.getPosition().z + widthZ / 2) < EPS) {
                botElems.add(e);
                break;
            } else if (defaultMidElements == MIDDLE && Math.abs(n.getPosition().z - widthZ / (2 * numZ)) < EPS) {
                midElems.add(e);
                break;
            }
        }
    }
    RenderProps.setLineWidth(tissue, 2);
    RenderProps.setLineColor(tissue, Color.PINK);
    RenderProps.setPointStyle(tissue, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(tissue, 0.03);
    RenderProps.setPointColor(tissue, Color.PINK);
    RenderProps.setFaceColor(tissue, Color.PINK.darker());
    GenericMuscle mm = new GenericMuscle();
    mm.setMaxStress(5000);
    BlemkerMuscle bm = new BlemkerMuscle();
    // bm.setMaxStress (5000);
    tissue.setMuscleMaterial(bm);
    MuscleBundle top, mid, bot;
    top = createBundle("top", topElems);
    mid = createBundle("mid", midElems);
    bot = createBundle("bot", botElems);
    int k = 0;
    setBundleRenderProps(top, getMuscleColor(k++));
    if (addMidMuscle) {
        setBundleRenderProps(mid, getMuscleColor(k++));
    }
    setBundleRenderProps(bot, getMuscleColor(k));
    tissue.addMuscleBundle(top);
    if (addMidMuscle) {
        tissue.addMuscleBundle(mid);
    }
    tissue.addMuscleBundle(bot);
    double qt = midQuadTerm;
    addStrand(top, -0.035, -0.005, 0.015, 0.035, -0.005, 0.015, 0, 8);
    addStrand(top, -0.035, 0.005, 0.015, 0.035, 0.005, 0.015, 0, 8);
    if (addMidMuscle) {
        addStrand(mid, -0.035, -0.005, 0.000, 0.035, -0.005, 0.000, qt, 8);
        addStrand(mid, -0.035, 0.005, 0.000, 0.035, 0.005, 0.000, qt, 8);
    }
    addStrand(bot, -0.035, -0.005, -0.015, 0.035, -0.005, -0.015, 0, 8);
    addStrand(bot, -0.035, 0.005, -0.015, 0.035, 0.005, -0.015, 0, 8);
    if (addMidMuscle) {
        if (addMidElementsWithin > 0) {
            mid.addElementsNearFibres(addMidElementsWithin);
        }
        if (autoComputeMidDirections) {
            mid.computeElementDirections();
        }
    }
    tissue.setDirectionRenderLen(0.5);
    RenderProps.setPointRadius(tissue, 0.001);
    tissue.setGravity(0, 0, 0);
    tissue.setDensity(1000);
    tissue.setMaterial(new MooneyRivlinMaterial(1037, 0, 0, 486, 0, 10000));
    // tissue.setPoissonsRatio (0.499);
    // tissue.setYoungsModulus (6912);
    tissue.setParticleDamping(6.22);
    // more stable with 0 stiffness damping ...
    tissue.setStiffnessDamping(0.01);
    // tissue.setMaxStepSize(100*TimeBase.USEC);
    tissue.setMaxStepSize(0.01);
    tissue.setIntegrator(Integrator.ConstrainedBackwardEuler);
    myModel.addModel(tissue);
    addModel(myModel);
    for (MuscleBundle b : tissue.getMuscleBundles()) {
        RenderProps.setVisible(b.getFibres(), false);
    }
    for (FemMarker m : tissue.markers()) {
        RenderProps.setVisible(m, false);
    }
    addProbes(tissue);
    createMusclePanel();
// int numWays = 20;
// double res = 0.1;
// for (int i = 0; i < numWays; i++) {
// addWayPoint (new WayPoint (TimeBase.secondsToTicks ((i + 1) * res)));
// }
}

Example 3 with FemMarker

use of artisynth.core.femmodels.FemMarker in project artisynth_core by artisynth.

the class FemMuscleDemo method addStrand.

/**
 * Adds a strand of muscles interpolated between two points, using FemNodes
 * if they are close enough, or otherwise inserting markers.
 */
protected void addStrand(MuscleBundle bundle, double p0x, double p0y, double p0z, double p1x, double p1y, double p1z, double quadTerm, int numPnts) {
    Point pnt;
    Point prevPnt = null;
    Point3d pos0 = new Point3d(p0x, p0y, p0z);
    Point3d pos1 = new Point3d(p1x, p1y, p1z);
    Point3d pos = new Point3d();
    for (int i = 0; i < numPnts; i++) {
        double s = i / (numPnts - 1.0);
        pos.combine(1 - s, pos0, s, pos1);
        double r = Math.sqrt(pos.x * pos.x + pos.y * pos.y);
        pos.z += quadTerm * r * r;
        pnt = findNearestNode(pos);
        if (pnt.distance(pos) > 0.0001) {
            FemMarker mkr = new FemMarker(pos);
            tissue.addMarker(mkr);
            pnt = mkr;
        }
        if (prevPnt != null) {
            Muscle muscle = new Muscle();
            muscle.setConstantMuscleMaterial(1, 1);
            muscle.setFirstPoint(prevPnt);
            muscle.setSecondPoint(pnt);
            bundle.addFibre(muscle);
        }
        prevPnt = pnt;
    }
}

Example 4 with FemMarker

use of artisynth.core.femmodels.FemMarker in project artisynth_core by artisynth.

the class FemBeamWithMuscle method build.

public void build(String[] args) throws IOException {
    // Create simple FEM beam
    super.build(args);
    // Add a particle fixed in space
    Particle p1 = new Particle(/*mass=*/
    0, -length / 2, 0, 2 * width);
    mech.addParticle(p1);
    p1.setDynamic(false);
    RenderProps.setSphericalPoints(p1, 0.02, Color.BLUE);
    // Add a marker at the end of the model
    FemMarker mkr = createMarker(fem, length / 2 - 0.1, 0, width / 2);
    // Create a muscle between the point an marker
    Muscle muscle = createMuscle();
    muscle.setPoints(p1, mkr);
    mech.addAxialSpring(muscle);
}

Example 5 with FemMarker

use of artisynth.core.femmodels.FemMarker in project artisynth_core by artisynth.

the class FemBeamWithMuscle method createMarker.

// Creates a FEM Marker
protected FemMarker createMarker(FemModel3d fem, double x, double y, double z) {
    FemMarker mkr = new FemMarker(/*name=*/
    null, x, y, z);
    RenderProps.setSphericalPoints(mkr, 0.02, Color.BLUE);
    fem.addMarker(mkr);
    return mkr;
}