Examples with SimpleForceMuscle artisynth.core.materials.SimpleForceMuscle used on opensource projects

Example 1 with SimpleForceMuscle

use of artisynth.core.materials.SimpleForceMuscle in project artisynth_core by artisynth.

the class FemMuscleHeart method build.

// Model builder
@Override
public void build(String[] args) throws IOException {
    super.build(args);
    setMaxStepSize(0.005);
    // Root mechanical model
    MechModel mech = new MechModel("mech");
    mech.setGravity(0, 0, -9.8);
    addModel(mech);
    // -------------------------------------------------------------
    // HEART LOAD / ADD GEOMETRY
    // -------------------------------------------------------------
    // Heart surface mesh, with texture
    String heartFile = ArtisynthPath.getSrcRelativePath(this, "data/HumanHeart.obj");
    WavefrontReader wfr = new WavefrontReader(new File(heartFile));
    PolygonalMesh heartMesh = new PolygonalMesh();
    wfr.readMesh(heartMesh);
    // triangulate for interaction
    heartMesh.triangulate();
    // FEM heart:
    // - FEM mesh of heart convex hull
    // - embedded heart surface geometry
    FemMuscleModel heart = new FemMuscleModel("heart");
    TetGenReader.read(heart, ArtisynthPath.getSrcRelativePath(this, "data/HumanHeartHull.node"), ArtisynthPath.getSrcRelativePath(this, "data/HumanHeartHull.ele"));
    // add real-looking mesh
    FemMeshComp embeddedHeart = heart.addMesh(heartMesh);
    embeddedHeart.setName("embedded");
    // Allow inverted elements (poor quality mesh)
    heart.setWarnOnInvertedElements(false);
    heart.setAbortOnInvertedElements(false);
    // Convert unites to metres (original was cm)
    heart.scaleDistance(0.01);
    heart.setGravity(0, 0, -9.8);
    heart.setStiffnessDamping(0.02);
    // Set material properties
    heart.setDensity(1000);
    FemMaterial femMat = new LinearMaterial(2500, 0.33, true);
    // simple muscle
    MuscleMaterial muscleMat = new SimpleForceMuscle(500.0);
    heart.setMaterial(femMat);
    // Add heart to model
    mech.addModel(heart);
    // -------------------------------------------------------------
    // MUSCLE BUNDLES
    // -------------------------------------------------------------
    // One "long" direction muscle bundle
    // One "radial" muscle bundle
    // LONG BUNDLE
    // Compute the "long" direction of the heart
    PolygonalMesh hull = heart.getSurfaceMesh();
    RigidTransform3d trans = hull.computePrincipalAxes();
    Vector3d longAxis = new Vector3d();
    // first column of rotation
    trans.R.getColumn(0, longAxis);
    // Create the long axis muscle bundle
    MuscleBundle longBundle = new MuscleBundle("long");
    for (FemElement3d elem : heart.getElements()) {
        longBundle.addElement(elem, longAxis);
    }
    longBundle.setMuscleMaterial(muscleMat);
    heart.addMuscleBundle(longBundle);
    // RADIAL BUNDLE
    // Compute a plane through centre of heart
    Plane plane = new Plane(longAxis, new Point3d(trans.p));
    Point3d centroid = new Point3d();
    Vector3d radialDir = new Vector3d();
    // Create the radial muscle bundle
    MuscleBundle radialBundle = new MuscleBundle("radial");
    for (FemElement3d elem : heart.getElements()) {
        elem.computeCentroid(centroid);
        // project to plane and compute radial direction
        plane.project(centroid, centroid);
        radialDir.sub(centroid, trans.p);
        radialDir.normalize();
        radialBundle.addElement(elem, radialDir);
    }
    radialBundle.setMuscleMaterial(muscleMat);
    heart.addMuscleBundle(radialBundle);
    // -------------------------------------------------------------
    // RIGID TABLE AND COLLISION
    // -------------------------------------------------------------
    // Create a rigid box for the heart to fall on
    RigidBody box = RigidBody.createBox("box", 0.2, 0.2, 0.02, 0, /*addnormals*/
    true);
    box.setPose(new RigidTransform3d(new Vector3d(0, 0, -0.2), AxisAngle.IDENTITY));
    box.setDynamic(false);
    mech.addRigidBody(box);
    // Enable collisions between the heart and table
    mech.setCollisionBehavior(heart, box, true);
    // -------------------------------------------------------------
    // RENDER PROPERTIES
    // -------------------------------------------------------------
    // Hide elements and nodes
    RenderProps.setVisible(heart.getElements(), false);
    RenderProps.setVisible(heart.getNodes(), false);
    RenderProps.setLineColor(radialBundle, Color.BLUE);
    RenderProps.setLineColor(longBundle, Color.RED);
    radialBundle.setDirectionRenderLen(0.1);
    longBundle.setDirectionRenderLen(0.1);
    RenderProps.setVisible(radialBundle, false);
    RenderProps.setVisible(longBundle, false);
    RenderProps.setVisible(heart.getSurfaceMeshComp(), false);
    // adjust table render properties
    RenderProps.setShading(box, Shading.METAL);
    RenderProps.setSpecular(box, new Color(0.8f, 0.8f, 0.8f));
    // adjust heart mesh render properties
    RenderProps rprops = embeddedHeart.getRenderProps();
    rprops.getBumpMap().setScaling(0.01f);
    // don't modify specular
    rprops.getColorMap().setSpecularColoring(false);
    rprops.setShading(Shading.SMOOTH);
    rprops.setFaceColor(new Color(0.8f, 0.8f, 0.8f));
    rprops.getColorMap().setColorMixing(ColorMixing.MODULATE);
    rprops.setSpecular(new Color(0.4f, 0.4f, 0.4f));
    rprops.setShininess(128);
    // -------------------------------------------------------------
    // INPUT PROBES
    // -------------------------------------------------------------
    // Add heart probe
    addHeartProbe(longBundle, radialBundle);
}

Example 2 with SimpleForceMuscle

use of artisynth.core.materials.SimpleForceMuscle in project artisynth_core by artisynth.

the class FemSurfaceTargetDemo method addMuscle.

public void addMuscle(String name, Color color, Vector3d dir) {
    MuscleBundle b = new MuscleBundle(name);
    for (FemElement3d e : fem.getElements()) {
        b.addElement(e, dir);
    }
    b.setMuscleMaterial(new SimpleForceMuscle(muscleMaxStress));
    b.setDirectionRenderLen(w / 4);
    RenderProps.setLineColor(b, color);
    RenderProps.setLineWidth(b, 4);
    fem.addMuscleBundle(b);
}