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

Example 11 with FemNode

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

the class MFreeMeshComp method scanMeshUsingVertexInfo.

/**
 * New scan method where the vertex attachments are also scanned
 */
private void scanMeshUsingVertexInfo(ReaderTokenizer rtok) throws IOException {
    PolygonalMesh mesh = (PolygonalMesh) getMesh();
    ArrayList<Vertex3d> vtxList = new ArrayList<Vertex3d>();
    ArrayList<FemNode> nodes = new ArrayList<FemNode>();
    VectorNd weights = new VectorNd();
    rtok.nextToken();
    while (rtok.tokenIsWord()) {
        if (rtok.sval.equals("v")) {
            int nnum = rtok.scanInteger();
            if (nnum == -1) {
                double x = rtok.scanNumber();
                double y = rtok.scanNumber();
                double z = rtok.scanNumber();
                mesh.addVertex(new Vertex3d(x, y, z));
                myVertexAttachments.add(null);
                rtok.nextToken();
            } else {
                PointAttachment ax;
                double w = rtok.scanNumber();
                rtok.nextToken();
                Vertex3d vtx = new Vertex3d();
                if (rtok.tokenIsInteger()) {
                    nodes.clear();
                    weights.setSize(0);
                    nodes.add(getNodeFromNumber(rtok, nnum));
                    weights.append(w);
                    while (rtok.tokenIsInteger()) {
                        nodes.add(getNodeFromNumber(rtok, (int) rtok.lval));
                        weights.append(rtok.scanNumber());
                        rtok.nextToken();
                    }
                    PointFem3dAttachment attacher = new PointFem3dAttachment();
                    attacher.setFromNodes(nodes, weights);
                    ax = attacher;
                } else {
                    MFreeNode3d node = (MFreeNode3d) getNodeFromNumber(rtok, nnum);
                    ax = new PointParticleAttachment(node, null);
                }
                mesh.addVertex(vtx);
                myVertexAttachments.add(ax);
            }
        } else if (rtok.sval.equals("f")) {
            vtxList.clear();
            rtok.nextToken();
            while (rtok.tokenIsInteger()) {
                int vnum = (int) rtok.lval;
                if (vnum > mesh.numVertices()) {
                    throw new IOException("Vertex number " + vnum + " not found, " + rtok);
                }
                vtxList.add(mesh.getVertex(vnum - 1));
                rtok.nextToken();
            }
            mesh.addFace(vtxList.toArray(new Vertex3d[0]));
        } else {
            throw new IOException("Unexpected token: " + rtok);
        }
    }
    rtok.pushBack();
}

Example 12 with FemNode

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

the class MFreeMeshComp method writeVertexInfo.

private void writeVertexInfo(PrintWriter pw, Vertex3d vtx, NumberFormat fmt) {
    PointAttachment pa = null;
    if (vtx.getIndex() < myVertexAttachments.size()) {
        pa = getAttachment(vtx.getIndex());
    }
    if (pa instanceof PointFem3dAttachment) {
        PointFem3dAttachment pfa = (PointFem3dAttachment) pa;
        FemNode[] masters = pfa.getNodes();
        pw.print("v");
        for (int j = 0; j < masters.length; j++) {
            pw.print(" " + masters[j].getNumber() + " " + fmt.format(pfa.getCoordinate(j)));
        }
        pw.println("");
    } else if (pa instanceof PointParticleAttachment) {
        PointParticleAttachment ppa = (PointParticleAttachment) pa;
        MFreeNode3d n = (MFreeNode3d) ppa.getParticle();
        pw.println("v " + n.getNumber() + " 1.0");
    } else {
        pw.println("v -1 " + vtx.getPosition().toString(fmt));
    }
}

Example 13 with FemNode

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

the class FemSurfaceTargetDemo method addTrackingController.

public void addTrackingController() {
    TrackingController tcon = new TrackingController(mech, "tcon");
    for (FemNode n : fem.getNodes()) {
        if (n.getPosition().x < -l / 2 + eps) {
            tcon.addMotionTarget(n);
            RenderProps.setAlpha(n, 0.5);
        }
    }
    for (MuscleBundle b : fem.getMuscleBundles()) {
        tcon.addExciter(b);
    }
    // project reference points to body
    addController(new SurfaceTargetController(body.getMesh(), tcon.getMotionSources(), tcon.getTargetPoints()));
    for (TargetPoint p : tcon.getTargetPoints()) {
        RenderProps.setPointRadius(p, l / 100);
    }
    tcon.addL2RegularizationTerm(0.1);
    tcon.setProbeDuration(10);
    tcon.createProbesAndPanel(this);
    addController(tcon);
}

Example 14 with FemNode

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

the class FemSurfaceTargetDemo method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    mech = new MechModel("mech");
    mech.setGravity(Vector3d.ZERO);
    addModel(mech);
    fem = new FemMuscleModel("fem");
    fem.setStiffnessDamping(0.1);
    mech.addModel(fem);
    // boundary conditions
    FemFactory.createHexGrid(fem, l, w, w, nl, nw, nw);
    for (FemNode n : fem.getNodes()) {
        if (n.getPosition().x > l / 2 - eps) {
            n.setDynamic(false);
        }
    }
    // muscles
    addMuscle("vert", Color.RED, Vector3d.Z_UNIT);
    addMuscle("trans", Color.BLUE, Vector3d.Y_UNIT);
    body = new RigidBody("plate");
    body.setMesh(MeshFactory.createBox(l, l, l / 10));
    body.setPose(new RigidTransform3d(-1.2 * w - l / 20, 0, 0, 0, 1, 0, Math.PI / 2));
    body.setDynamic(false);
    mech.addRigidBody(body);
    mech.setCollisionBehavior(body, fem, true);
    addTrackingController();
    setupRenderProps();
}