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

Example 16 with FemNode3d

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

the class FemCollision method positionBall.

void positionBall(FemModel3d ball, Vector3d startPos) {
    if (ball == null)
        return;
    Vector3d avg = new Vector3d();
    for (FemNode3d n : ball.getNodes()) avg.add(n.getPosition());
    avg.scale(1 / (double) ball.getNodes().size());
    Vector3d pos = new Vector3d(startPos);
    pos.sub(avg);
    ball.transformGeometry(new RigidTransform3d(pos, new AxisAngle()));
    for (FemNode3d n : ball.getNodes()) {
        n.setVelocity(0, 0, 0);
    }
}

Example 17 with FemNode3d

use of artisynth.core.femmodels.FemNode3d 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 18 with FemNode3d

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

the class FemSkinDemo method getRightNodes.

LinkedList<FemNode3d> getRightNodes(FemModel3d femMod) {
    LinkedList<FemNode3d> nodes = new LinkedList<FemNode3d>();
    double maxx = Double.NEGATIVE_INFINITY;
    for (FemNode3d n : femMod.getNodes()) {
        if (n.getPosition().x > maxx) {
            maxx = n.getPosition().x;
        }
    }
    for (FemNode3d n : femMod.getNodes()) {
        if (n.getPosition().x > maxx - EPS) {
            nodes.add(n);
        }
    }
    return nodes;
}

Example 19 with FemNode3d

use of artisynth.core.femmodels.FemNode3d 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 20 with FemNode3d

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