Examples with AxialSpring artisynth.core.mechmodels.AxialSpring used on opensource projects

Example 6 with AxialSpring

use of artisynth.core.mechmodels.AxialSpring 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);
}

Example 7 with AxialSpring

use of artisynth.core.mechmodels.AxialSpring in project artisynth_core by artisynth.

the class SpringMeshDemo method build.

public void build(String[] args) {
    MechModel msmod = new MechModel("msmod");
    // PropertyInfoList list = msmod.getAllPropertyInfo();
    // for (PropertyInfo info : list)
    // { System.out.println (info.getName());
    // }
    msmod.setGravity(0, 0, -9.8);
    // msmod.setGravity (0, 0, 0);
    msmod.setPointDamping(1.0);
    // msmod.setIntegrator (new ForwardEuler());
    // // set view so tha points upwards
    // X.R.setAxisAngle (1, 0, 0, -Math.PI/2);
    // viewer.setTransform (X);
    RenderProps.setPointStyle(msmod, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(msmod, 2);
    RenderProps.setPointColor(msmod, Color.RED);
    RenderProps.setLineRadius(msmod, 0.5);
    RenderProps.setLineStyle(msmod, Renderer.LineStyle.CYLINDER);
    // PlaneCollider collider =
    // new PlaneCollider("plane",
    // new Plane(0, 0, 1, planeZ), 200, 50);
    // collider.setRenderPosition (new Point3d(0, 0, 0), 25);
    // collider.addMechModel (msmod);
    RenderProps props = (new Particle()).createRenderProps();
    props.setPointRadius(2);
    props.setPointStyle(Renderer.PointStyle.SPHERE);
    props.setPointColor(Color.GREEN);
    Particle p0 = new Particle(5, -10, 0, 20);
    p0.setRenderProps(props);
    p0.setDynamic(false);
    Particle p1 = new Particle(5, 0, 0, 25);
    p1.setRenderProps(props);
    Particle p2 = new Particle(5, 0, 0, 15);
    p2.setRenderProps(props);
    Particle p3 = new Particle(5, 10, 0, 20);
    p3.setRenderProps(props);
    AxialSpring[] springs = new AxialSpring[10];
    for (int i = 0; i < springs.length; i++) {
        springs[i] = new AxialSpring(50, 20, 10);
    }
    msmod.particles().addNumbered(p0, 5);
    msmod.particles().addNumbered(p1, 4);
    msmod.particles().addNumbered(p2, 0);
    msmod.particles().addNumbered(p3, 1);
    // msmod.particles().add (p0);
    // msmod.particles().add (p1);
    // msmod.particles().add (p2);
    // msmod.particles().add (p3);
    msmod.attachAxialSpring(p0, p1, springs[0]);
    msmod.attachAxialSpring(p0, p2, springs[1]);
    msmod.attachAxialSpring(p1, p2, springs[2]);
    msmod.attachAxialSpring(p1, p3, springs[3]);
    msmod.attachAxialSpring(p2, p3, springs[4]);
    Particle p10 = new Particle(5, 10, 0, 20);
    Particle p11 = new Particle(5, 5, 0, 10);
    Particle p12 = new Particle(5, 15, 0, 10);
    Particle p13 = new Particle(5, 10, 0, 0);
    msmod.addParticle(p10);
    msmod.addParticle(p11);
    msmod.addParticle(p12);
    msmod.addParticle(p13);
    // add names to some particles so they can be found for probing and
    // attachment
    p0.setName("pnt0");
    p3.setName("pntA");
    p10.setName("pntB");
    p13.setName("pnt7");
    msmod.attachAxialSpring(p10, p11, springs[5]);
    msmod.attachAxialSpring(p10, p12, springs[6]);
    msmod.attachAxialSpring(p11, p12, springs[7]);
    msmod.attachAxialSpring(p11, p13, springs[8]);
    msmod.attachAxialSpring(p12, p13, springs[9]);
    // test for bad component insertion:
    // Particle px = new Particle (5, 10, 0, 0);
    // Particle py = new Particle (5, 10, 0, 0);
    // msmod.attachAxialSpring (px, py, new AxialSpring (50, 20, 10));
    msmod.setBounds(new Point3d(0, 0, -25), new Point3d(0, 0, 25));
    addModel(msmod);
    msmod.scaleMass(4);
    setAttachment(true);
    // int numWays = 10;
    // double res = 1;
    // for (int i=0; i<numWays; i++)
    // { Main.getWorkspace().addWayPoint (
    // new WayPoint(TimeBase.secondsToTicks((i+1)*res), true));
    // }
    addControlPanel();
    addProbes(msmod);
    addWayPoint(0.5);
    // addBreakPoint (1.0);
    addWayPoint(1.0);
    addWayPoint(1.5);
    ReferenceList refs = new ReferenceList("refs");
    refs.addReference(p0);
    refs.addReference(p1);
    refs.addReference(p10);
    refs.addReference(p11);
    refs.addReference(msmod.particles());
    msmod.add(refs);
// msmod.setProfiling (true);
}

Example 8 with AxialSpring

use of artisynth.core.mechmodels.AxialSpring in project artisynth_core by artisynth.

the class ForceTargetDemo method addTrackingController.

public void addTrackingController(FrameMarker mkr) throws IOException {
    TrackingController myTrackingController = new TrackingController(mech, "tcon");
    for (AxialSpring s : mech.axialSprings()) {
        if (s instanceof Muscle) {
            myTrackingController.addExciter((Muscle) s);
        }
    }
    // myTrackingController.addTerm(new StiffnessTerm(model, center));
    // StiffnessTerm kTerm = TrackingController.addStiffnessTarget(center, new int[]{0,2});
    // kTerm.setStiffnessTargetType(StiffnessTargetType.DIAG);
    // ComplianceTerm2d cterm = new ComplianceTerm2d(TrackingController, center, new int[]{0,2});
    // cterm.setComplianceTargetType(StiffnessTargetType.DIAG);
    // TrackingController.addTerm(cterm);
    myTrackingController.addL2RegularizationTerm();
    // myTrackingController.addTerm(new DampingTerm(TrackingController));
    // myTrackingController.addTerm(new StaticMotionTargetTerm(TrackingController));
    myTrackingController.addMotionTarget(mkr);
    setPointRenderProps((TargetPoint) myTrackingController.getMotionTargets().get(0));
    ForceTargetTerm mft = new ForceTargetTerm(myTrackingController);
    // mft.addMotionTarget(mkr);
    // setPointRenderProps((TargetPoint) mft.getMotionTargets ().get (0));
    double[] lam = { -3.5 };
    VectorNd tarlam = new VectorNd(lam);
    if (cons == true) {
        ForceTarget ft = mft.addForceTarget(con);
        ft.setTargetLambda(tarlam);
    }
    if (two_cons == true) {
        ForceTarget ft = mft.addForceTarget(con2);
        ft.setTargetLambda(tarlam);
    }
    if (force == true) {
        myTrackingController.addForceTargetTerm(mft);
    }
    // myTrackingController.getSolver().setBounds(0.01, 0.99);
    // setWorkingDir();
    // loadForceInputProbe(mft);
    myTrackingController.setProbeDuration(10.0);
    myTrackingController.createProbesAndPanel(this);
    addController(myTrackingController);
    reloadTargetProbeData();
}

Example 9 with AxialSpring

use of artisynth.core.mechmodels.AxialSpring in project artisynth_core by artisynth.

the class PointModel method add1dMuscles.

public void add1dMuscles() {
    boolean[] dyn = new boolean[] { false, true, false };
    int[] x = new int[] { -1, 0, 1 };
    // boolean[] dyn = new boolean[]{false,true, true, true,false};
    // int[] x = new int[]{-2,-1,0,1,2};
    // double eps = 1e-4;
    ArrayList<Point> pts = new ArrayList<Point>(x.length);
    for (int i = 0; i < x.length; i++) {
        Point3d pnt = new Point3d(x[i], 0, 0);
        // pnt.normalize();
        pnt.scale(len);
        Particle pt = new Particle(mass, pnt);
        pt.setPointDamping(pointDamping);
        pt.setDynamic(dyn[i]);
        model.addParticle(pt);
        pts.add(pt);
        if (x[i] == 0) {
        // center = pt;
        }
    }
    for (int i = 1; i < pts.size(); i++) {
        AxialSpring m;
        Point p0 = pts.get(i - 1);
        Point p1 = pts.get(i);
        // if (p0==center || p1==center)
        // m = addAxialSpring(p0, p1);
        // else
        m = addMuscle(p0, p1);
        m.setName("m" + Integer.toString(m.getNumber()));
    }
}

Example 10 with AxialSpring

use of artisynth.core.mechmodels.AxialSpring in project artisynth_core by artisynth.

the class DoubleArmDemo method addMuscles.

public void addMuscles() {
    RigidBody upperArm = model.rigidBodies().get("upper");
    RigidBody lowerArm = model.rigidBodies().get("lower");
    RigidBody thirdArm = model.rigidBodies().get("third");
    if (upperArm == null || lowerArm == null || thirdArm == null) {
        return;
    }
    Point3d markerBodyPos = new Point3d(-size.x / 2, 0, (size.z / 2.0) / 1.2);
    FrameMarker u = new FrameMarker();
    model.addFrameMarker(u, upperArm, markerBodyPos);
    u.setName("upperAttachment");
    markerBodyPos = new Point3d(size.x / 2, 0, (size.z / 2.0) / 1.2);
    FrameMarker tu = new FrameMarker();
    model.addFrameMarker(tu, thirdArm, markerBodyPos);
    tu.setName("thirdUpperAttachment");
    markerBodyPos = new Point3d(size.x / 2, 0, -(size.z / 2.0) / 2);
    FrameMarker l = new FrameMarker();
    model.addFrameMarker(l, lowerArm, markerBodyPos);
    l.setName("lowerAttachment");
    markerBodyPos = new Point3d(size.x / 2, 0, (size.z / 2.0) / 2);
    FrameMarker tl = new FrameMarker();
    model.addFrameMarker(tl, lowerArm, markerBodyPos);
    tl.setName("thirdLowerAttachment");
    Muscle muscle = new Muscle("muscle");
    muscle.setPeckMuscleMaterial(20.0, 22.0, 30, 0.2, 0.5, 0.1);
    Muscle muscle2 = new Muscle("muscle2");
    muscle2.setPeckMuscleMaterial(8, 20, 30, 0.2, 0.5, 0.1);
    muscle.setFirstPoint(u);
    muscle2.setFirstPoint(tu);
    muscle.setSecondPoint(l);
    muscle2.setSecondPoint(tl);
    RenderProps rp = new RenderProps(model.getRenderProps());
    rp.setLineStyle(Renderer.LineStyle.SPINDLE);
    rp.setLineRadius(len / 20);
    // rp.setLineSlices(10);
    rp.setShading(Renderer.Shading.SMOOTH);
    rp.setLineColor(Color.RED);
    muscle.setRenderProps(rp);
    muscle2.setRenderProps(rp);
    model.addAxialSpring(muscle);
    model.addAxialSpring(muscle2);
    if (addCompression) {
        markerBodyPos = new Point3d(size.x / 2, 0, +size.z / 2.0);
        FrameMarker l2 = new FrameMarker();
        model.addFrameMarker(l2, lowerArm, markerBodyPos);
        l2.setName("lowerAttachmentCompressor");
        double len = u.getPosition().distance(l2.getPosition());
        AxialSpring s = new AxialSpring(10, 0, 50);
        s.setFirstPoint(u);
        s.setSecondPoint(l2);
        model.addAxialSpring(s);
        RenderProps props = new RenderProps();
        props.setLineStyle(Renderer.LineStyle.CYLINDER);
        props.setLineRadius(0.0);
        s.setRenderProps(props);
        // restoring spring
        len = tu.getPosition().distance(tl.getPosition());
        s = new AxialSpring(10, 0, 2 * len);
        s.setFirstPoint(tu);
        s.setSecondPoint(tl);
        model.addAxialSpring(s);
        s.setRenderProps(props);
    }
}