Examples with FemModel3d artisynth.core.femmodels.FemModel3d used on opensource projects

Example 6 with FemModel3d

use of artisynth.core.femmodels.FemModel3d in project artisynth_core by artisynth.

the class FemCollision method createFem.

private FemModel3d createFem(String name, double mySize) {
    double myDensity = 1000;
    double myYoungsModulus = 100000;
    double myPoissonsRatio = 0.33;
    double myParticleDamping = 2.0;
    double myStiffnessDamping = 0.002;
    FemModel3d fem = new FemModel3d(name);
    fem.setDensity(myDensity);
    fem.setParticleDamping(myParticleDamping);
    fem.setStiffnessDamping(myStiffnessDamping);
    // fem.setPoissonsRatio (myPoissonsRatio);
    // fem.setYoungsModulus (myYoungsModulus);
    fem.setLinearMaterial(myYoungsModulus, myPoissonsRatio, true);
    RenderProps.setPointStyle(fem, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(fem, mySize / 50);
    return fem;
}

Example 7 with FemModel3d

use of artisynth.core.femmodels.FemModel3d in project artisynth_core by artisynth.

the class FemSkinDemo method build.

public void build(String[] args) {
    myMech = new MechModel("mech");
    RenderProps.setPointStyle(myMech, Renderer.PointStyle.SPHERE);
    double midw = 0.6;
    FemModel3d femMod1 = createFem("fem1", midw, 0.2, 0.2);
    FemModel3d femMod2 = createFem("fem2", midw, 0.2, 0.2);
    // fix the leftmost nodes
    LinkedList<FemNode3d> leftNodes1 = getLeftNodes(femMod1);
    LinkedList<FemNode3d> rightNodes1 = getRightNodes(femMod1);
    LinkedList<FemNode3d> leftNodes2 = getLeftNodes(femMod2);
    LinkedList<FemNode3d> rightNodes2 = getRightNodes(femMod2);
    RigidTransform3d X = new RigidTransform3d();
    double wx = 0.1;
    double wy = 0.3;
    double wz = 0.3;
    double transx = wx / 2 + 1.5 * midw;
    RigidBody leftBody = createBlock("leftBlock", wx, wy, wz);
    leftBody.setPose(new RigidTransform3d(-transx, 0, 0));
    RigidTransform3d TCW = new RigidTransform3d();
    TCW.p.set(-transx - wx / 2, 0, wz / 2);
    TCW.R.mulAxisAngle(1, 0, 0, Math.PI / 2);
    RevoluteJoint joint = new RevoluteJoint(leftBody, TCW);
    RenderProps.setLineRadius(joint, 0.01);
    joint.setAxisLength(0.4);
    myMech.addBodyConnector(joint);
    RigidBody middleBody = createBlock("middleBlock", midw, 0.21, 0.21);
    RigidBody rightBody = createBlock("rightBlock", wx, wy, wz);
    rightBody.setPose(new RigidTransform3d(transx, 0, 0));
    TCW.p.set(transx + wx / 2, 0, wz / 2);
    TCW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    joint = new RevoluteJoint(rightBody, TCW);
    RenderProps.setLineRadius(joint, 0.01);
    joint.setAxisLength(0.4);
    myMech.addBodyConnector(joint);
    femMod1.transformGeometry(new RigidTransform3d(-midw, 0, 0));
    femMod2.transformGeometry(new RigidTransform3d(midw, 0, 0));
    for (FemNode3d n : leftNodes1) {
        myMech.attachPoint(n, leftBody);
    }
    for (FemNode3d n : rightNodes1) {
        myMech.attachPoint(n, middleBody);
    }
    for (FemNode3d n : leftNodes2) {
        myMech.attachPoint(n, middleBody);
    }
    for (FemNode3d n : rightNodes2) {
        myMech.attachPoint(n, rightBody);
    }
    PolygonalMesh mesh = MeshFactory.createRoundedCylinder(/*r=*/
    0.3, /*h=*/
    1.8, /*nsclices=*/
    12, /*nsegs=*/
    10, /*flatbotton=*/
    false);
    // flip aout y axis
    mesh.transform(new RigidTransform3d(0, 0, 0, 0, Math.PI / 2, 0));
    SkinMeshBody skinBody = new SkinMeshBody(mesh);
    skinBody.addFrame(rightBody);
    skinBody.addFrame(middleBody);
    skinBody.addFrame(leftBody);
    skinBody.addFemModel(femMod1);
    skinBody.addFemModel(femMod2);
    skinBody.computeWeights();
    skinBody.setName("skin");
    RenderProps.setDrawEdges(skinBody, true);
    RenderProps.setFaceStyle(skinBody, Renderer.FaceStyle.NONE);
    myMech.addMeshBody(skinBody);
    addModel(myMech);
}

Example 8 with FemModel3d

use of artisynth.core.femmodels.FemModel3d in project artisynth_core by artisynth.

the class ArticulatedFem method build.

public void build(String[] args) {
    int nlinks = 3;
    int nelemsx = 6;
    int nelemsz = 2;
    double femLength = 0.6;
    double femHeight = 0.2;
    double boxLength = 0.1;
    double boxHeight = 0.3;
    double linkLength = femLength + 2 * boxLength;
    myMechMod = new MechModel("mech");
    RigidTransform3d X = new RigidTransform3d();
    RigidBody lastBox = null;
    double linkCenter;
    RigidBody leftAnchorBox = makeBox();
    linkCenter = linkLength * (-nlinks / 2.0 + 0.5);
    X.p.set(linkCenter - (boxLength + femLength) / 2, 0, boxHeight);
    leftAnchorBox.setPose(X);
    leftAnchorBox.setDynamic(false);
    // myMechMod.addRigidBody (leftAnchorBox);
    RigidBody rightAnchorBox = makeBox();
    linkCenter = linkLength * (-nlinks / 2.0 + (nlinks - 1) + 0.5);
    X.p.set(linkCenter + (boxLength + femLength) / 2, 0, boxHeight);
    rightAnchorBox.setPose(X);
    rightAnchorBox.setDynamic(false);
    for (int i = 0; i < nlinks; i++) {
        linkCenter = linkLength * (-nlinks / 2.0 + i + 0.5);
        LinkedList<FemNode3d> leftNodes = new LinkedList<FemNode3d>();
        LinkedList<FemNode3d> rightNodes = new LinkedList<FemNode3d>();
        FemModel3d femMod = FemFactory.createTetGrid(null, femLength, femHeight, femHeight, nelemsx, nelemsz, nelemsz);
        femMod.setDensity(myDensity);
        femMod.setLinearMaterial(200000, 0.4, true);
        femMod.setGravity(0, 0, -9.8);
        double eps = 0.000001;
        for (FemNode3d n : femMod.getNodes()) {
            double x = n.getPosition().x;
            if (x <= -femLength / 2 + eps) {
                leftNodes.add(n);
            } else if (x >= femLength / 2 - eps) {
                rightNodes.add(n);
            }
        }
        femMod.setStiffnessDamping(0.002);
        RenderProps.setLineWidth(femMod.getElements(), 2);
        RenderProps.setLineColor(femMod.getElements(), Color.BLUE);
        RenderProps.setPointStyle(femMod.getNodes(), Renderer.PointStyle.SPHERE);
        RenderProps.setPointRadius(femMod.getNodes(), 0.005);
        femMod.setSurfaceRendering(SurfaceRender.Shaded);
        RenderProps.setFaceColor(femMod, new Color(0f, 0.7f, 0.7f));
        RenderProps.setLineColor(femMod.getElements(), new Color(0f, 0.2f, 0.2f));
        RenderProps.setLineWidth(femMod.getElements(), 3);
        X.p.set(linkCenter, 0, 0);
        femMod.transformGeometry(X);
        myMechMod.addModel(femMod);
        RigidBody leftBox = makeBox();
        X.p.set(linkCenter - (boxLength + femLength) / 2, 0, 0);
        leftBox.setPose(X);
        myMechMod.addRigidBody(leftBox);
        RigidBody rightBox = makeBox();
        X.p.set(linkCenter + (boxLength + femLength) / 2, 0, 0);
        rightBox.setPose(X);
        myMechMod.addRigidBody(rightBox);
        for (FemNode3d n : leftNodes) {
            myMechMod.attachPoint(n, leftBox);
        }
        for (FemNode3d n : rightNodes) {
            myMechMod.attachPoint(n, rightBox);
        }
        RigidTransform3d TCA = new RigidTransform3d();
        RigidTransform3d TCB = new RigidTransform3d();
        RevoluteJoint joint;
        TCA.p.set(-boxLength / 2, 0, boxHeight / 2);
        TCA.R.mulAxisAngle(1, 0, 0, Math.PI / 2);
        if (lastBox == null) {
            TCB.mul(leftBox.getPose(), TCA);
            // TCB.mulInverseLeft (leftAnchorBox.getPose(), TCB);
            joint = new RevoluteJoint(leftBox, TCA, TCB);
        } else {
            TCB.p.set(boxLength / 2, 0, boxHeight / 2);
            TCB.R.mulAxisAngle(1, 0, 0, Math.PI / 2);
            joint = new RevoluteJoint(leftBox, TCA, lastBox, TCB);
        }
        RenderProps.setLineRadius(joint, 0.01);
        RenderProps.setLineColor(joint, new Color(0.15f, 0.15f, 1f));
        joint.setAxisLength(0.5);
        myMechMod.addBodyConnector(joint);
        if (addLastJoint && i == nlinks - 1) {
            TCA.p.set(boxLength / 2, 0, boxHeight / 2);
            TCB.mul(rightBox.getPose(), TCA);
            // TCB.mulInverseLeft (rightAnchorBox.getPose(), TCB);
            joint = new RevoluteJoint(rightBox, TCA, TCB);
            RenderProps.setLineRadius(joint, 0.01);
            RenderProps.setLineColor(joint, new Color(0.15f, 0.15f, 1f));
            joint.setAxisLength(0.5);
            myMechMod.addBodyConnector(joint);
        }
        lastBox = rightBox;
    }
    if (!addLastJoint) {
        lastBox.setDynamic(false);
    }
    myMechMod.setIntegrator(Integrator.BackwardEuler);
    addModel(myMechMod);
    addControlPanel(myMechMod);
}

Example 9 with FemModel3d

use of artisynth.core.femmodels.FemModel3d in project artisynth_core by artisynth.

the class LinearAuxiliaryTest method createCylinder.

FemModel3d createCylinder(double h, double r) {
    FemModel3d fem = FemFactory.createCylinder(null, h, r, 24, 40, 4);
    fem.setDensity(1000);
    fem.setSurfaceRendering(SurfaceRender.Shaded);
    RenderProps.setFaceColor(fem, Color.ORANGE);
    RenderProps.setVisible(fem.getElements(), false);
    double eps = 1e-10;
    for (FemNode3d node : fem.getNodes()) {
        if (node.getPosition().z < -h / 2 + eps) {
            node.setDynamic(false);
        }
    }
    return fem;
}

Example 10 with FemModel3d

use of artisynth.core.femmodels.FemModel3d in project artisynth_core by artisynth.

the class LinearAuxiliaryTest method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    MechModel mech = new MechModel("mech");
    addModel(mech);
    double h = 0.1;
    double r = 0.005;
    LinearMaterial lmat = new LinearMaterial(50000, 0.45, true);
    FemModel3d fem1 = createCylinder(h, r);
    fem1.setName("auxiliary");
    mech.addModel(fem1);
    fem1.setMaterial(new NullMaterial());
    AuxMaterialBundle bundle = new AuxMaterialBundle("mat");
    for (FemElement3d elem : fem1.getElements()) {
        bundle.addElement(new AuxMaterialElementDesc(elem));
    }
    fem1.addMaterialBundle(bundle);
    bundle.setMaterial(lmat);
    FemModel3d fem2 = createCylinder(h, r);
    fem2.setName("linear");
    fem2.setMaterial(lmat);
    mech.addModel(fem2);
    RigidTransform3d rot = new RigidTransform3d(Vector3d.ZERO, AxisAngle.ROT_Y_90);
    fem1.transformGeometry(rot);
    fem2.transformGeometry(rot);
    fem2.transformGeometry(new RigidTransform3d(new Vector3d(0, 2 * r, 0), AxisAngle.IDENTITY));
    RenderProps.setFaceColor(fem2, Color.MAGENTA);
    addMonitor(new StiffnessErrorMonitor(fem1, fem2));
}