Examples with FemNode3d artisynth.core.femmodels.FemNode3d used on opensource projects

Example 11 with FemNode3d

use of artisynth.core.femmodels.FemNode3d in project artisynth_core by artisynth.

the class MFreeModel3d method updateSlavePos.

public void updateSlavePos() {
    super.updateSlavePos();
    // nodes
    for (FemNode3d node : myNodes) {
        ((MFreeNode3d) node).updateSlavePos();
    }
    // integration points
    for (FemElement3d elem : myElements) {
        for (IntegrationPoint3d mfip : elem.getIntegrationPoints()) {
            ((MFreeIntegrationPoint3d) mfip).updateSlavePos();
        }
        MFreePoint3d warp = (MFreePoint3d) elem.getWarpingPoint();
        if (warp != null) {
            warp.updateSlavePos();
        }
    }
    // meshes
    myMeshList.updateSlavePos();
    myBVTreeValid = false;
    if (myFrameConstraint != null && !myFrameRelativeP) {
        myFrameConstraint.updateFramePose(/*frameRelative=*/
        false);
    }
}

Example 12 with FemNode3d

use of artisynth.core.femmodels.FemNode3d in project artisynth_core by artisynth.

the class MFreeModel3d method findNearestNode.

/**
 * Finds the nearest node to a specified point that is within
 * a specified maximum distance. If no node is within the
 * specified maximum distance, <code>null</code> is returned.
 *
 * @param pnt Point for which the nearest node should be located
 * @param maxDist Maximum distance that the node must be from the
 * point. If <code>maxDist</code> &lt; 0, then <code>null</code>
 * will be returned.
 * @return Nearest point within the prescribed distance, or <code>null</code>
 * if there is no such point
 */
public FemNode3d findNearestNode(Point3d pnt, double maxDist) {
    if (maxDist < 0) {
        return null;
    }
    BVTree bvtree = getElementBVTree();
    ArrayList<BVNode> nodes = new ArrayList<BVNode>();
    bvtree.intersectSphere(nodes, pnt, maxDist);
    FemNode3d nearest = null;
    double dist = 1 + 2 * maxDist;
    for (BVNode n : nodes) {
        Boundable[] elements = n.getElements();
        for (int i = 0; i < elements.length; i++) {
            FemElement3d e = (FemElement3d) elements[i];
            for (int k = 0; k < e.numNodes(); k++) {
                double d = e.getNodes()[k].getPosition().distance(pnt);
                if (d < dist && d <= maxDist) {
                    dist = d;
                    nearest = e.getNodes()[k];
                }
            }
        }
    }
    return nearest;
}

Example 13 with FemNode3d

use of artisynth.core.femmodels.FemNode3d in project artisynth_core by artisynth.

the class FemDisplayProbe method getStressValue.

// computes stress value of a point inside the FemModel based on
// shape function interpolation
private static double getStressValue(Point3d pnt, FemModel3d model) {
    Point3d loc = new Point3d();
    FemElement3d elem = model.findContainingElement(pnt);
    if (elem == null) {
        elem = model.findNearestElement(loc, pnt);
    }
    Vector3d coords = new Vector3d();
    double stress = 0;
    if (elem != null) {
        elem.getNaturalCoordinates(coords, pnt);
        FemNode3d[] nodes = elem.getNodes();
        for (int i = 0; i < elem.numNodes(); i++) {
            stress += elem.getN(i, coords) * nodes[i].getVonMisesStress();
        }
    }
    return stress;
}

Example 14 with FemNode3d

use of artisynth.core.femmodels.FemNode3d in project artisynth_core by artisynth.

the class Fem3dBlock method setConnected.

public synchronized void setConnected(boolean connect) {
    MechModel mechMod = (MechModel) findComponent("models/mech");
    if (mechMod != null) {
        FemModel3d femMod = (FemModel3d) mechMod.findComponent("models/fem");
        LinkedList<FemNode3d> rightNodes = new LinkedList<FemNode3d>();
        for (int i = 0; i < myAttachNodes.length; i++) {
            rightNodes.add(myAttachNodes[i]);
        }
        if (connect && !rightNodes.get(0).isAttached()) {
            RigidBody rightBody = (RigidBody) mechMod.findComponent("rigidBodies/rightBody");
            // position the block so that it lies at the current
            // end of the beam
            Plane plane = new Plane();
            Point3d centroid = new Point3d();
            int numPnts = rightNodes.size();
            Point3d[] pnts = new Point3d[numPnts];
            for (int i = 0; i < numPnts; i++) {
                pnts[i] = rightNodes.get(i).getPosition();
                centroid.add(pnts[i]);
            }
            centroid.scale(1 / (double) numPnts);
            plane.fit(pnts, numPnts);
            Vector3d normal = new Vector3d(plane.getNormal());
            // to determine the appropriate sign of the normal
            for (FemNode3d node : femMod.getNodes()) {
                if (!rightNodes.contains(node)) {
                    Vector3d diff = new Vector3d();
                    diff.sub(node.getPosition(), rightNodes.get(0).getPosition());
                    if (diff.dot(normal) > 0) {
                        normal.negate();
                    }
                    break;
                }
            }
            RigidTransform3d X = new RigidTransform3d();
            X.R.setZDirection(normal);
            X.R.mulAxisAngle(0, 1, 0, -Math.PI / 2);
            X.p.set(centroid);
            X.mulXyz(0.05, 0, 0);
            rightBody.setPose(X);
            rightBody.setVelocity(new Twist());
            for (FemNode3d n : rightNodes) {
                mechMod.attachPoint(n, rightBody);
            }
        } else if (!connect && rightNodes.get(0).isAttached()) {
            for (FemNode3d n : rightNodes) {
                mechMod.detachPoint(n);
            }
        }
    }
    myConnectedP = connect;
}

Example 15 with FemNode3d

use of artisynth.core.femmodels.FemNode3d 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);
}