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

Example 16 with FemModel3d

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

the class FemCollisions method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    // Reduce step size to better resolve collisions
    setMaxStepSize(0.0002);
    // Create and add main MechModel
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // -------------------------------------------------------------
    // BEAM
    // -------------------------------------------------------------
    // Create FEM beam
    FemModel3d beam = new FemModel3d("beam");
    mech.addModel(beam);
    // widths
    double[] size = { 0.003, 0.0015, 0.0015 };
    // resolution
    int[] res = { 4, 2, 2 };
    FemFactory.createGrid(beam, FemElementType.Hex, size[0], size[1], size[2], res[0], res[1], res[2]);
    // Set properties
    beam.setDensity(1000);
    beam.setMaterial(new LinearMaterial(300, 0.33));
    // -------------------------------------------------------------
    // ELLIPSOID
    // -------------------------------------------------------------
    // Create FEM ellipsoid
    FemModel3d ellipsoid = new FemModel3d("ellipsoid");
    mech.addModel(ellipsoid);
    // radii (z, x, y)
    double[] radii = { 0.002, 0.001, 0.001 };
    // resolution (theta, phi, r)
    int[] eres = { 16, 4, 3 };
    FemFactory.createEllipsoid(ellipsoid, radii[0], radii[1], radii[2], eres[0], eres[1], eres[2]);
    // Set properties
    ellipsoid.setDensity(1000);
    ellipsoid.setMaterial(new LinearMaterial(300, 0.33));
    // Transform: rotate 90 degrees about X-Axis
    // translate up by 0.003
    RigidTransform3d trans = new RigidTransform3d();
    trans.setRotation(new AxisAngle(1, 0, 0, Math.PI / 2));
    trans.setTranslation(new Vector3d(0, 0.0005, 0.003));
    ellipsoid.transformGeometry(trans);
    // -------------------------------------------------------------
    // BLOCK WITH EMBEDDED SPHERE
    // -------------------------------------------------------------
    // Create FEM block
    FemModel3d block = new FemModel3d("block");
    mech.addModel(block);
    FemFactory.createHexGrid(block, 0.002, 0.002, 0.002, 3, 3, 3);
    // Set properties
    block.setDensity(1000);
    block.setMaterial(new LinearMaterial(300, 0.33));
    // Create embedded sphere
    double r = 0.0008;
    // level of refinement
    int ref = 2;
    PolygonalMesh sphere = MeshFactory.createOctahedralSphere(r, ref);
    FemMeshComp embeddedSphere = block.addMesh("embedded", sphere);
    // Transform: rotate 90 degrees about X-Axis
    // translate left by 0.003
    trans = new RigidTransform3d();
    trans.setTranslation(new Vector3d(0, 0.003, 0));
    block.transformGeometry(trans);
    // -------------------------------------------------------------
    // TABLE AND COLLISIONS
    // -------------------------------------------------------------
    RigidBody table = RigidBody.createBox("table", 0.005, 0.0075, 0.0008, 0);
    table.setDynamic(false);
    table.setPose(new RigidTransform3d(new Vector3d(0, 0.0015, -0.002), AxisAngle.IDENTITY));
    mech.addRigidBody(table);
    // Set up collisions
    mech.setCollisionBehavior(ellipsoid, beam, true, 0.1);
    mech.setCollisionBehavior(ellipsoid, table, true, 0.1);
    mech.setCollisionBehavior(embeddedSphere, table, true, 0.1);
    mech.setCollisionBehavior(ellipsoid, embeddedSphere, true, 0.1);
    mech.setCollisionBehavior(table, beam, true, 0.1);
    // -------------------------------------------------------------
    // RENDER PROPERTIES
    // -------------------------------------------------------------
    // Draw beam element widgets
    beam.setElementWidgetSize(0.8);
    RenderProps.setLineWidth(beam.getElements(), 0);
    // Make beam blue, and give it a transparent surface
    RenderProps.setFaceColor(beam, Color.BLUE);
    beam.setSurfaceRendering(SurfaceRender.Shaded);
    RenderProps.setAlpha(beam.getMeshComp("surface"), 0.4);
    // Make the ellipsoid red
    RenderProps.setFaceColor(ellipsoid, Color.RED);
    RenderProps.setLineColor(ellipsoid, Color.RED.darker());
    ellipsoid.setSurfaceRendering(SurfaceRender.Shaded);
    // Make the block green
    RenderProps.setFaceColor(block, Color.GREEN);
    RenderProps.setLineColor(block, Color.GREEN.darker());
}

Example 17 with FemModel3d

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

the class FemBeamTest method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    mech = new MechModel("mech");
    addModel(mech);
    fems = new RenderableComponentList<>(FemModel3d.class);
    FemModel3d tet = FemFactory.createTetGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    tet.setName("tet");
    fems.add(tet);
    FemModel3d pyr = FemFactory.createPyramidGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    pyr.setName("pyr");
    fems.add(pyr);
    FemModel3d wed = FemFactory.createWedgeGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    wed.setName("wed");
    fems.add(wed);
    FemModel3d hex = FemFactory.createHexGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    hex.setName("hex");
    fems.add(hex);
    FemModel3d qtet = FemFactory.createQuadtetGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    qtet.setName("qtet");
    fems.add(qtet);
    FemModel3d qpyr = FemFactory.createQuadpyramidGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    qpyr.setName("qpyr");
    fems.add(qpyr);
    FemModel3d qwed = FemFactory.createQuadwedgeGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    qwed.setName("qwed");
    fems.add(qwed);
    FemModel3d qhex = FemFactory.createQuadhexGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    qhex.setName("qhex");
    fems.add(qhex);
    // freeze lhs nodes
    double eps = 1e-10;
    for (FemModel3d fem : fems) {
        for (FemNode3d node : fem.getNodes()) {
            if (node.getRestPosition().x < -widthX / 2 + eps) {
                node.setDynamic(false);
            }
        }
    }
    // distribute
    double delta = widthY * 0.25;
    RigidTransform3d translate = new RigidTransform3d();
    for (FemModel3d fem : fems) {
        fem.transformGeometry(translate);
        translate.p.y += widthY + delta;
    }
    mech.add(fems);
    // render properties
    int nfems = fems.size();
    int ifem = 0;
    for (FemModel3d fem : fems) {
        fem.setSurfaceRendering(SurfaceRender.Shaded);
        float h = (float) ifem / nfems;
        RenderProps.setFaceColor(fem, Color.getHSBColor(h, 1.0f, 1.0f));
        ++ifem;
    }
    setMaterial(createDefaultMaterial());
}

Example 18 with FemModel3d

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

the class JointedFemBeams method build.

public void build(String[] args) {
    MechModel mech = new MechModel("mechMod");
    addModel(mech);
    double stiffness = 5000;
    // create first fem beam and fix the leftmost nodes
    FemModel3d fem1 = addFem(mech, 2.4, 0.6, 0.4, stiffness);
    for (FemNode3d n : fem1.getNodes()) {
        if (n.getPosition().x <= -1.2) {
            n.setDynamic(false);
        }
    }
    // create the second fem beam and shift it 1.5 to the right
    FemModel3d fem2 = addFem(mech, 2.4, 0.4, 0.4, 0.1 * stiffness);
    fem2.transformGeometry(new RigidTransform3d(1.5, 0, 0));
    // create a slotted revolute joint that connects the two fem beams
    RigidTransform3d TDW = new RigidTransform3d(0.5, 0, 0, 0, 0, Math.PI / 2);
    SlottedRevoluteJoint joint = new SlottedRevoluteJoint(fem2, fem1, TDW);
    mech.addBodyConnector(joint);
    // set ranges and rendering properties for the joint
    joint.setAxisLength(0.8);
    joint.setMinX(-0.5);
    joint.setMaxX(0.5);
    joint.setSlotWidth(0.61);
    RenderProps.setLineColor(joint, myJointColor);
    RenderProps.setLineWidth(joint, 3);
    RenderProps.setLineRadius(joint, 0.04);
}

Example 19 with FemModel3d

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

the class FemModel3dAgent method handleLocationEvent.

public void handleLocationEvent(GLViewer viewer, MouseRayEvent rayEvent) {
    Point3d isect;
    if (myUsePlaneToggle.isSelected() && viewer.getNumClipPlanes() > 0) {
        isect = intersectClipPlane(rayEvent.getRay(), viewer.getClipPlane(0));
    } else {
        isect = intersectViewPlane(rayEvent.getRay(), getCenter(new FemModel3d()), viewer);
    }
    positionField.setValue(isect);
}

Example 20 with FemModel3d

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

the class FemModel3dAgent method createPreviewModel.

private void createPreviewModel() {
    fem = new FemModel3d();
    setProperties(fem, getPrototypeComponent(myComponentType));
    setProperties(myPrototype, myPrototype);
    FemElementType elemType = null;
    FemMeshType meshType = (FemMeshType) meshSelector.getValue();
    if (elemSelector.isEnabledAll()) {
        elemType = (FemElementType) elemSelector.getValue();
    }
    switch(meshType) {
        case Grid:
            {
                VectorBase dims = gridDimField.getVectorValue();
                int[] divs = gridDivField.getVectorValue();
                FemFactory.createGrid(fem, elemType, dims.get(0), dims.get(1), dims.get(2), divs[0], divs[1], divs[2]);
                break;
            }
        case Tube:
            {
                VectorBase dims = tubeDimField.getVectorValue();
                int[] divs = tubeDivField.getVectorValue();
                FemFactory.createTube(fem, elemType, dims.get(0), dims.get(1), dims.get(2), divs[0], divs[1], divs[2]);
                break;
            }
        case Torus:
            {
                VectorBase dims = torusDimField.getVectorValue();
                int[] divs = torusDivField.getVectorValue();
                FemFactory.createTorus(fem, elemType, dims.get(0), dims.get(1), dims.get(2), divs[0], divs[1], divs[2]);
                break;
            }
        case Sphere:
            {
                int nodes = (Integer) sphereNodesField.getValue();
                String meshPath;
                if (nodes == SPHERE_NODE_OPTIONS[0]) {
                    meshPath = ArtisynthPath.getHomeRelativePath(SPHERE_54_MESH_PATH, ".");
                } else if (nodes == SPHERE_NODE_OPTIONS[1]) {
                    meshPath = ArtisynthPath.getHomeRelativePath(SPHERE_196_MESH_PATH, ".");
                } else {
                    EditorUtils.showError(myDisplay, "Invalid number of nodes for sphere");
                    return;
                }
                try {
                    TetGenReader.read(fem, 1000, meshPath + ".node", meshPath + ".ele", new Vector3d(1, 1, 1));
                } catch (Exception e) {
                    EditorUtils.showError(myDisplay, "Error reading file: " + e.getMessage());
                    return;
                }
                break;
            }
        case Extrusion:
            {
                double d = extrusDepthField.getDoubleValue();
                int n = extrusLayersField.getIntValue();
                String meshFileName = extrusFileField.getStringValue();
                try {
                    PolygonalMesh mesh = new PolygonalMesh(new File(meshFileName));
                    FemFactory.createExtrusion(fem, elemType, n, d, 0, mesh);
                } catch (Exception e) {
                    EditorUtils.showError(myDisplay, "Error reading file: " + e.getMessage());
                    return;
                }
                break;
            }
        case AnsysMesh:
            {
                String nodeFileName = ansysNodeFileField.getStringValue();
                String elemFileName = ansysElemFileField.getStringValue();
                try {
                    AnsysReader.read(fem, nodeFileName, elemFileName, 1000, null, /*options=*/
                    0);
                } catch (Exception e) {
                    EditorUtils.showError(myDisplay, "Error reading file: " + e.getMessage());
                    return;
                }
                break;
            }
        case TetgenMesh:
            {
                String nodeFileName = tetgenNodeFileField.getStringValue();
                String eleFileName = tetgenEleFileField.getStringValue();
                try {
                    TetGenReader.read(fem, 1000, nodeFileName, eleFileName, new Vector3d(1, 1, 1));
                } catch (Exception e) {
                    EditorUtils.showError(myDisplay, "Error reading file: " + e.getMessage());
                    return;
                }
                break;
            }
        case UCDMesh:
            {
                String ucdFileName = ucdMeshFileField.getStringValue();
                try {
                    UCDReader.read(fem, ucdFileName, 1000);
                } catch (Exception e) {
                    EditorUtils.showError(myDisplay, "Error reading file: " + e.getMessage());
                    return;
                }
                break;
            }
        case SurfaceMesh:
            {
                String objFileName = surfaceMeshFileField.getStringValue();
                PolygonalMesh surfaceMesh = null;
                try {
                    surfaceMesh = new PolygonalMesh(new File(objFileName));
                } catch (Exception e) {
                    EditorUtils.showError(myDisplay, "Error reading file: " + e.getMessage());
                    return;
                }
                try {
                    FemFactory.createFromMesh(fem, surfaceMesh, /*quality=*/
                    2.0);
                } catch (Exception e) {
                    e.printStackTrace();
                    EditorUtils.showError(myDisplay, "Error tessellating mesh: " + e.getMessage());
                    return;
                }
                break;
            }
        default:
            {
                throw new InternalErrorException("Unimplemented mesh type");
            }
    }
    RigidTransform3d X = new RigidTransform3d();
    X.p.set(positionField.getVectorValue());
    X.R.setAxisAngle(orientationField.getAxisAngleValue());
    PolygonalMesh mesh = fem.getSurfaceMesh();
    RenderProps props = mesh.createRenderProps();
    props.setFaceStyle(Renderer.FaceStyle.NONE);
    props.setDrawEdges(true);
    props.setLineColor(Color.LIGHT_GRAY);
    mesh.setRenderProps(props);
    mesh.setMeshToWorld(X);
    mesh.setFixed(false);
    mesh.setRenderBuffered(false);
    if (meshPropPanel.getComponentIndex(scaleField) != -1) {
        scaleField.maskValueChangeListeners(true);
        scaleField.setValue(1.0);
        scaleField.maskValueChangeListeners(false);
        lastScale = 1.0;
    }
    myMain.getWorkspace().getViewerManager().addRenderable(mesh);
    rotator = new Transrotator3d();
    GLViewer viewer = myMain.getMain().getViewer();
    rotator.setDraggerToWorld(X);
    rotator.setSize(viewer.distancePerPixel(viewer.getCenter()) * viewer.getScreenWidth() / 6);
    rotator.addListener(new FemModelDraggerListener());
    myMain.getWorkspace().getViewerManager().addDragger(rotator);
    myMain.rerender();
}