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

Example 1 with SkinMeshBody

use of artisynth.core.femmodels.SkinMeshBody 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 2 with SkinMeshBody

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

the class SkinDemo method addFiberMesh.

public void addFiberMesh() {
    PolylineMesh mesh = MeshFactory.createSphericalPolyline(8.0, 12, 12);
    mesh.scale(1, 1, 2.5);
    mesh.transform(new RigidTransform3d(-6, 0, 0, 0, Math.toRadians(22.5), 0));
    SkinMeshBody fiberMesh = new SkinMeshBody(mesh);
    fiberMesh.addFrame(model.rigidBodies().get(0));
    fiberMesh.addFrame(model.rigidBodies().get(1));
    fiberMesh.computeWeights();
    model.addMeshBody(fiberMesh);
    RenderProps.setLineColor(fiberMesh, Color.CYAN);
    myFiberMesh = fiberMesh;
}

Example 3 with SkinMeshBody

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

the class SkinDemo method addSkinMesh.

public void addSkinMesh() {
    PolygonalMesh mesh;
    mesh = MeshFactory.createSphere(10.0, 12, 12);
    mesh.scale(1, 1, 2.5);
    mesh.transform(new RigidTransform3d(-6, 0, 0, 0, Math.toRadians(22.5), 0));
    SkinMeshBody skinMesh = new SkinMeshBody(mesh);
    skinMesh.addFrame(model.rigidBodies().get(0));
    skinMesh.addFrame(model.rigidBodies().get(1));
    skinMesh.computeWeights();
    model.addMeshBody(skinMesh);
    RenderProps.setFaceStyle(skinMesh, Renderer.FaceStyle.NONE);
    RenderProps.setDrawEdges(skinMesh, true);
    RenderProps.setLineColor(skinMesh, Color.GRAY);
    mySkinMesh = skinMesh;
}