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

Example 31 with FemNode3d

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

the class TransverseIsotropy 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;
    RigidBody rb = RigidBody.createBox("box", 2 * r, 2 * r, 2 * r, 100, true);
    mech.addRigidBody(rb);
    rb.transformGeometry(new RigidTransform3d(new Vector3d(0, 0, -h / 2 - r), AxisAngle.IDENTITY));
    FemModel3d fem = FemFactory.createCylinder(null, h, r, 24, 40, 4);
    fem.setDensity(1000);
    mech.addModel(fem);
    TransverseLinearMaterial mat = new TransverseLinearMaterial();
    mat.setYoungsModulus(50000, 50000);
    mat.setPoissonsRatio(0.45, 0.45);
    double G = 50000 / (2 * (1 + 0.45));
    mat.setShearModulus(G);
    fem.setMaterial(mat);
    fem.setName("fem");
    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);
        } else if (node.getPosition().z < -h / 2 + eps) {
            PointAttachment pa = rb.createPointAttachment(node);
            mech.addAttachment(pa);
        }
    }
}

Example 32 with FemNode3d

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

the class Fem3dBlock method build.

public void build(String type, int nz, int nxy, int options) {
    FemModel3d femMod = new FemModel3d("fem");
    femMod.setDensity(myDensity);
    if (type.equals("tet")) {
        FemFactory.createTetGrid(femMod, 0.6, 0.2, 0.2, nz, nxy, nxy);
    } else if (type.equals("hex")) {
        FemFactory.createHexGrid(femMod, 0.6, 0.2, 0.2, nz, nxy, nxy);
    } else if (type.equals("quadtet")) {
        FemFactory.createQuadtetGrid(femMod, 0.6, 0.2, 0.2, nz, nxy, nxy);
    } else if (type.equals("quadhex")) {
        FemFactory.createQuadhexGrid(femMod, 0.6, 0.2, 0.2, nz, nxy, nxy);
    } else {
        throw new UnsupportedOperationException("Unsupported element type " + type);
    }
    femMod.setBounds(new Point3d(-0.6, 0, 0), new Point3d(0.6, 0, 0));
    femMod.setLinearMaterial(200000, 0.4, true);
    femMod.setStiffnessDamping(0.002);
    Renderable elements = femMod.getElements();
    RenderProps.setLineWidth(elements, 2);
    RenderProps.setLineColor(elements, Color.BLUE);
    Renderable nodes = femMod.getNodes();
    RenderProps.setPointStyle(nodes, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(nodes, 0.01);
    RenderProps.setPointColor(nodes, new Color(153, 0, 204));
    // fix the leftmost nodes
    LinkedList<FemNode3d> leftNodes = getLeftNodes(femMod);
    LinkedList<FemNode3d> rightNodes = getRightNodes(femMod);
    myAttachNodes = rightNodes.toArray(new FemNode3d[0]);
    double wx, wy, wz;
    double mass;
    RigidTransform3d X = new RigidTransform3d();
    PolygonalMesh mesh;
    MechModel mechMod = new MechModel("mech");
    // mechMod.setPrintState ("%10.5f");
    wx = 0.1;
    wy = 0.3;
    wz = 0.3;
    RigidBody leftBody = new RigidBody("leftBody");
    mass = wx * wy * wz * myDensity;
    leftBody.setInertia(SpatialInertia.createBoxInertia(mass, wx, wy, wz));
    mesh = MeshFactory.createBox(wx, wy, wz);
    // mesh.setRenderMaterial (Material.createSpecial (Material.GRAY));
    leftBody.setMesh(mesh, /* fileName= */
    null);
    X.R.setIdentity();
    X.p.set(-0.35, 0, 0);
    leftBody.setPose(X);
    leftBody.setDynamic(true);
    mechMod.addRigidBody(leftBody);
    RenderProps.setPointStyle(mechMod, Renderer.PointStyle.SPHERE);
    RigidTransform3d TCW = new RigidTransform3d();
    RigidTransform3d TCA = new RigidTransform3d();
    TCA.p.set(0, 0, wz / 2);
    TCA.R.mulAxisAngle(1, 0, 0, Math.PI / 2);
    TCW.mul(X, TCA);
    RevoluteJoint joint = new RevoluteJoint(leftBody, TCA, TCW);
    RenderProps.setCylindricalLines(joint, 0.01, Color.BLUE);
    joint.setAxisLength(0.5);
    mechMod.addBodyConnector(joint);
    // right box
    RigidBody rightBody = new RigidBody("rightBody");
    rightBody.setInertia(SpatialInertia.createBoxInertia(mass, wx, wy, wz));
    mesh = MeshFactory.createBox(wx, wy, wz);
    // mesh.setRenderMaterial (Material.createSpecial (Material.GRAY));
    rightBody.setMesh(mesh, /* fileName= */
    null);
    X.p.set(0.35, 0, 0);
    rightBody.setPose(X);
    rightBody.setDynamic(true);
    mechMod.addRigidBody(rightBody);
    mechMod.addModel(femMod);
    for (FemNode3d n : leftNodes) {
        mechMod.attachPoint(n, leftBody);
    }
    // femMod.setProfile (true);
    mechMod.setIntegrator(Integrator.BackwardEuler);
    setConnected(true);
    addModel(mechMod);
    // mechMod.setProfiling (true);
    // int numWays = 10;
    // double res = 0.1;
    // for (int i = 0; i < numWays; i++) {
    // addWayPoint (new WayPoint (TimeBase.secondsToTicks ((i + 1) * res)));
    // }
    // addWayPoint (new WayPoint (TimeBase.secondsToTicks (5)));
    // addBreakPoint(5);
    // setupOutputProbes();
    addControlPanel(mechMod, femMod);
}

Example 33 with FemNode3d

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

the class FemMuscleArm method addFemMuscle.

public void addFemMuscle(Point3d upper, Point3d lower) throws IOException {
    upperArm = model.rigidBodies().get("upper");
    RigidBody lowerArm = model.rigidBodies().get("lower");
    if (upperArm == null || lowerArm == null) {
        return;
    }
    muscle = new PointToPointMuscle("muscle", 1.0, 0.85, "muscle", true);
    model.addModel(muscle);
    RigidTransform3d X = new RigidTransform3d();
    // Point3d upper = new Point3d(2.4, 0, 20), lower = new Point3d(3, 0, -7);
    FemNode3d first = muscle.getFirstNode(), last = muscle.getLastNode();
    double scale = (upper.distance(lower) / first.getPosition().distance(last.getPosition()));
    System.out.println(scale);
    AffineTransform3d scaling = new AffineTransform3d();
    scaling.setIdentity();
    scaling.applyScaling(scale, scale, scale);
    // muscle.transformGeometry(scaling);
    Vector3d translate = new Vector3d();
    translate.sub(upper, first.getPosition());
    muscle.transformGeometry(new RigidTransform3d(translate, new AxisAngle()));
    Vector3d offfem = new Vector3d(), offtarget = new Vector3d();
    offfem.sub(last.getPosition(), first.getPosition());
    offtarget.sub(lower, upper);
    double angle = offfem.angle(offtarget);
    offfem.cross(offtarget);
    muscle.transformGeometry(new RigidTransform3d(new Vector3d(-upper.x, -upper.y, -upper.z), new AxisAngle()));
    muscle.transformGeometry(new RigidTransform3d(upper, new AxisAngle(offfem, angle)));
    muscle.getFirstNode().setDynamic(false);
    // ant.getFirstNode().setPosition(new Point3d(2.381, 0.000, 20));
    // model.AttachPoint(ant.getFirstNode(),upperArm,new Point3d(-size.x,0,-(size.z/2.0)/1.2));
    model.attachPoint(muscle.getLastNode(), lowerArm);
    muscle.setMaxForce(300000);
    muscle.setExcitation(0.0);
    RenderProps rp = new RenderProps(model.getRenderProps());
    rp.setFaceColor(Color.RED);
    rp.setLineStyle(Renderer.LineStyle.LINE);
    rp.setPointStyle(Renderer.PointStyle.POINT);
    rp.setShading(Renderer.Shading.SMOOTH);
    rp.setLineColor(Color.WHITE);
    muscle.setRenderProps(rp);
    muscle.setSurfaceRendering(SurfaceRender.Shaded);
}

Example 34 with FemNode3d

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

the class FemMuscleDemo method findNearestNode.

FemNode3d findNearestNode(Point3d pnt) {
    FemNode3d node = null;
    double mind = Double.MAX_VALUE;
    for (FemNode3d n : tissue.getNodes()) {
        double d = n.distance(pnt);
        if (d < mind) {
            mind = d;
            node = n;
        }
    }
    return node;
}

Example 35 with FemNode3d

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

the class FemSkinDemo method getLeftNodes.

LinkedList<FemNode3d> getLeftNodes(FemModel3d femMod) {
    LinkedList<FemNode3d> nodes = new LinkedList<FemNode3d>();
    double minx = Double.POSITIVE_INFINITY;
    for (FemNode3d n : femMod.getNodes()) {
        if (n.getPosition().x < minx) {
            minx = n.getPosition().x;
        }
    }
    for (FemNode3d n : femMod.getNodes()) {
        if (n.getPosition().x < minx + EPS) {
            nodes.add(n);
        }
    }
    return nodes;
}