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

Example 11 with AxialSpring

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

the class MechModelDemo method build.

public void build(String[] args) {
    myMech = new MechModel("mechMod");
    // mechMod.setProfiling (true);
    myMech.setGravity(0, 0, -50);
    // myMech.setRigidBodyDamper (new FrameDamper (1.0, 4.0));
    myMech.setFrameDamping(1.0);
    myMech.setRotaryDamping(4.0);
    myMech.setIntegrator(MechSystemSolver.Integrator.SymplecticEuler);
    RigidTransform3d XMB = new RigidTransform3d();
    RigidTransform3d XLW = new RigidTransform3d();
    RigidTransform3d TCA = new RigidTransform3d();
    RigidTransform3d TCB = new RigidTransform3d();
    RigidTransform3d XAB = new RigidTransform3d();
    PolygonalMesh mesh;
    // number of slices for approximating a circle
    int nslices = 16;
    // // set view so tha points upwards
    // X.R.setAxisAngle (1, 0, 0, -Math.PI/2);
    // viewer.setTransform (X);
    double lenx0 = 15;
    double leny0 = 15;
    double lenz0 = 1.5;
    RigidBody base = new RigidBody("base");
    base.setInertia(SpatialInertia.createBoxInertia(10, lenx0, leny0, lenz0));
    mesh = MeshFactory.createBox(lenx0, leny0, lenz0);
    // XMB.setIdentity();
    // XMB.R.setAxisAngle (1, 1, 1, 2*Math.PI/3);
    // mesh.transform (XMB);
    // mesh.setRenderMaterial (Material.createSpecial (Material.GRAY));
    base.setMesh(mesh, /* fileName= */
    null);
    XLW.setIdentity();
    XLW.p.set(0, 0, 22);
    base.setPose(XLW);
    base.setDynamic(false);
    myMech.addRigidBody(base);
    RenderProps props;
    FrameMarker mk0 = new FrameMarker();
    props = mk0.createRenderProps();
    // props.setColor (Color.GREEN);
    props.setPointRadius(0.5);
    props.setPointStyle(Renderer.PointStyle.SPHERE);
    mk0.setRenderProps(props);
    myMech.addFrameMarker(mk0, base, new Point3d(lenx0 / 2, leny0 / 2, 0));
    FrameMarker mk1 = new FrameMarker();
    mk1.setRenderProps(props);
    myMech.addFrameMarker(mk1, base, new Point3d(-lenx0 / 2, -leny0 / 2, 0));
    FrameMarker mk2 = new FrameMarker();
    mk2.setRenderProps(props);
    FrameMarker mk3 = new FrameMarker();
    mk3.setRenderProps(props);
    double ks = 10;
    double ds = 10;
    AxialSpring spr0 = new AxialSpring(50, 10, 0);
    AxialSpring spr1 = new AxialSpring(50, 10, 0);
    props = spr0.createRenderProps();
    props.setLineStyle(Renderer.LineStyle.CYLINDER);
    props.setLineRadius(0.2);
    props.setLineColor(Color.RED);
    spr0.setRenderProps(props);
    spr1.setRenderProps(props);
    // myMech.addRigidBody (base);
    // first link
    double lenx1 = 10;
    double leny1 = 2;
    double lenz1 = 3;
    RigidBody link1 = new RigidBody("link1");
    link1.setInertia(SpatialInertia.createBoxInertia(10, lenx1, leny1, lenz1));
    mesh = MeshFactory.createRoundedBox(lenx1, leny1, lenz1, nslices / 2);
    XMB.setIdentity();
    XMB.R.setAxisAngle(1, 1, 1, 2 * Math.PI / 3);
    mesh.transform(XMB);
    // mesh.setRenderMaterial (Material.createSpecial (Material.GRAY));
    link1.setMesh(mesh, /* fileName= */
    null);
    XLW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    // XLW.R.mulAxisAngle (0, 1, 0, Math.PI/4);
    XLW.p.set(0, 0, 1.5 * lenx1);
    link1.setPose(XLW);
    myMech.addRigidBody(link1);
    myMech.addFrameMarker(mk2, link1, new Point3d(-lenx1 / 2, 0, -lenz1 / 2));
    myMech.addFrameMarker(mk3, link1, new Point3d(-lenx1 / 2, 0, lenz1 / 2));
    // // joint 1
    // if (usePlanarJoint)
    // {
    // TCA.setIdentity();
    // TCA.p.set (-lenx1/2, 0, 0);
    // TCA.R.setAxisAngle (1, 0, 0, -Math.PI/2);
    // TCB.p.set (0, 0, lenx1);
    // // TCB.R.setAxisAngle (1, 0, 0, -Math.PI/2);
    // PlanarConnector planar =
    // new PlanarConnector (link1, TCA.p, TCB);
    // planar.setName ("plane1");
    // planar.setPlaneSize (20);
    // RenderProps.setColor (planar, Color.BLUE);
    // joint1 = planar;
    // }
    // else
    // {
    // TCA.setIdentity();
    // TCA.p.set (-lenx1/2, 0, 0);
    // // TCA.R.mulAxisAngle (0, 1, 0, Math.PI/4);
    // TCB.set (link1.myState.XFrameToWorld);
    // TCB.mul (TCA);
    // RevoluteJoint rjoint = new RevoluteJoint (link1, TCA, TCB);
    // rjoint.setName ("joint1");
    // rjoint.setAxisLength (4);
    // RenderProps.setLineRadius(rjoint, 0.2);
    // joint1 = rjoint;
    // // SphericalJoint sjoint = new SphericalJoint (
    // // link1, TCA, TCB);
    // // sjoint.setName ("joint1");
    // // sjoint.setAxisLength (5);
    // // joint1 = sjoint;
    // }
    // second link
    double lenx2 = 10;
    double leny2 = 2;
    double lenz2 = 2;
    RigidBody link2 = new RigidBody("link2");
    if (// useSphericalJoint)
    false) {
        mesh = MeshFactory.createRoundedCylinder(leny2 / 2, lenx2, nslices, /*nsegs=*/
        1, /*flatBottom=*/
        false);
        link2.setInertia(SpatialInertia.createBoxInertia(10, leny2, leny2, lenx2));
        XLW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
        XLW.p.set(lenx1 / 2, lenx2 / 2, lenx1);
        link2.setPose(XLW);
    }
    mesh = MeshFactory.createRoundedCylinder(leny2 / 2, lenx2, nslices, /*nsegs=*/
    1, /*flatBottom=*/
    false);
    mesh.transform(XMB);
    link2.setInertia(SpatialInertia.createBoxInertia(10, lenx2, leny2, lenz2));
    XLW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    XLW.p.set(lenx1 / 2 + lenx2 / 2, 0, 1.5 * lenx1);
    if (useSphericalJoint) {
        // Math.PI/4;
        double ang = 0;
        XLW.R.mulAxisAngle(0, 1, 0, ang);
        XLW.p.y += Math.sin(ang) * lenx2 / 2;
        XLW.p.x -= (1 - Math.cos(ang)) * lenx2 / 2;
    }
    link2.setPose(XLW);
    link2.setMesh(mesh, /* fileName= */
    null);
    myMech.addRigidBody(link2);
    BodyConnector joint2 = null;
    // joint 2
    if (useSphericalJoint) {
        TCA.setIdentity();
        TCA.p.set(-lenx2 / 2, 0, 0);
        XAB.mulInverseLeft(link1.getPose(), link2.getPose());
        TCB.mul(XAB, TCA);
        SphericalJoint sjoint = new SphericalJoint(link2, TCA, link1, TCB);
        // RevoluteJoint joint2 = new RevoluteJoint (link2, TCA, TCB);
        sjoint.setName("joint2");
        // RenderProps.setLineRadius(sjoint, 0.2);
        sjoint.setAxisLength(4);
        joint2 = sjoint;
    } else {
        TCA.setIdentity();
        TCA.p.set(-lenx2 / 2, 0, 0);
        // TCA.R.mulAxisAngle (1, 0, 0, -Math.toRadians(90));
        XAB.mulInverseLeft(link1.getPose(), link2.getPose());
        TCB.mul(XAB, TCA);
        RevoluteJoint rjoint = new RevoluteJoint(link2, TCA, link1, TCB);
        // TCB.mul (link2.getPose(), TCA);
        // RevoluteJoint rjoint =
        // new RevoluteJoint (link2, TCA, TCB);
        // RigidTransform3d X = new RigidTransform3d();
        // X.R.setAxisAngle (1, 0, 0, -Math.toRadians(90));
        // X.mul (TCB, X);
        // X.mulInverseRight (X, TCB);
        // rjoint.transformGeometry (X);
        // rjoint.printData();
        rjoint.setName("joint2");
        rjoint.setAxisLength(4);
        RenderProps.setLineRadius(rjoint, 0.2);
        // RigidTransform3d X = new RigidTransform3d();
        // RigidTransform3d TDW = rjoint.getXDW();
        // System.out.println ("getXDW=\n" + TDW.toString("%8.3f"));
        // X.R.setAxisAngle (1, 0, 0, Math.toRadians(80));
        // X.mulInverseRight (X, TDW);
        // X.mul (TDW, X);
        // rjoint.transformGeometry (X, rjoint);
        joint2 = rjoint;
    }
    // myMech.addBodyConnector (joint1);
    if (joint2 != null) {
        myMech.addBodyConnector(joint2);
    }
    myMech.attachAxialSpring(mk0, mk2, spr0);
    myMech.attachAxialSpring(mk1, mk3, spr1);
    if (usePlanarContacts) {
        TCA.setIdentity();
        TCA.p.set(lenx2 / 2 + leny2 / 2, 0, 0);
        TCB.setIdentity();
        // TCB.p.set (0, 0, -lenx2/2);
        // TCB.p.set (0, 0, lenx2/2);
        TCB.R.setIdentity();
        TCB.R.setAxisAngle(0, 0, 1, Math.PI / 2);
        TCB.R.mulAxisAngle(1, 0, 0, Math.toRadians(20));
        PlanarConnector contact1 = new PlanarConnector(link2, TCA.p, TCB);
        contact1.setUnilateral(true);
        contact1.setName("contact1");
        contact1.setPlaneSize(20);
        RenderProps.setFaceColor(contact1, new Color(0.5f, 0.5f, 1f));
        RenderProps.setAlpha(contact1, 0.5);
        myMech.addBodyConnector(contact1);
        TCB.R.setIdentity();
        TCB.R.setAxisAngle(0, 0, 1, Math.PI / 2);
        TCB.R.mulAxisAngle(1, 0, 0, -Math.toRadians(20));
        PlanarConnector contact2 = new PlanarConnector(link2, TCA.p, TCB);
        contact2.setUnilateral(true);
        contact2.setName("contact2");
        contact2.setPlaneSize(20);
        RenderProps.setFaceColor(contact2, new Color(0.5f, 0.5f, 1f));
        RenderProps.setAlpha(contact2, 0.5);
        myMech.addBodyConnector(contact2);
    }
    myMech.setBounds(new Point3d(0, 0, -10), new Point3d(0, 0, 10));
    addModel(myMech);
    addControlPanel(myMech);
// RigidTransform3d X = new RigidTransform3d (link1.getPose());
// X.R.mulRpy (Math.toRadians(-10), 0, 0);
// link1.setPose (X);
// myMech.projectRigidBodyPositionConstraints();
// myMech.setProfiling (true);
// myMech.setIntegrator (Integrator.ForwardEuler);
// addBreakPoint (0.57);
}

Example 12 with AxialSpring

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

the class SkinDemo method addAntagonist.

public void addAntagonist() {
    RigidBody lowerArm = model.rigidBodies().get("lower");
    if (lowerArm == null) {
        return;
    }
    Point3d markerBodyPos = new Point3d(-size.x / 2, 0, 0);
    // Point3d markerBodyPos = new Point3d(-size.x,0,-(size.z/2.0)/1.2);
    FrameMarker marker = new FrameMarker();
    model.addFrameMarker(marker, lowerArm, markerBodyPos);
    Particle fixed = new Particle(1.0, new Point3d(-size.z / 4, 0, -size.z / 2.0));
    // Particle fixed = new Particle(1.0,new Point3d(size.z/4,0,size.z));
    fixed.setDynamic(false);
    model.addParticle(fixed);
    AxialSpring spring = new AxialSpring(100.0, 2.0, 0.0);
    spring.setFirstPoint(marker);
    spring.setSecondPoint(fixed);
    RenderProps rp = new RenderProps(model.getRenderProps());
    rp.setLineStyle(Renderer.LineStyle.SPINDLE);
    rp.setShading(Renderer.Shading.FLAT);
    rp.setLineColor(Color.WHITE);
    spring.setRenderProps(rp);
    model.addAxialSpring(spring);
}

Example 13 with AxialSpring

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

the class SkinDemo method addMuscle.

public void addMuscle() {
    RigidBody upperArm = model.rigidBodies().get("upper");
    RigidBody lowerArm = model.rigidBodies().get("lower");
    if (upperArm == null || lowerArm == 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) / 2);
    FrameMarker l = new FrameMarker();
    model.addFrameMarker(l, lowerArm, markerBodyPos);
    l.setName("lowerAttachment");
    Muscle muscle = new Muscle("muscle");
    muscle.setPeckMuscleMaterial(20.0, 22.0, 30, 0.2, 0.5, 0.1);
    muscle.setFirstPoint(u);
    muscle.setSecondPoint(l);
    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);
    model.addAxialSpring(muscle);
    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);
    }
}

Example 14 with AxialSpring

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

the class MultiSpringTest method addSpringMesh.

protected void addSpringMesh(MechModel mech) {
    Particle p0 = new Particle(0.5, -0.10, 0, 0.20);
    p0.setDynamic(false);
    Particle p1 = new Particle(0.5, 0, 0, 0.25);
    Particle p2 = new Particle(0.5, 0, 0, 0.15);
    Particle p3 = new Particle(0.5, 0.10, 0, 0.20);
    AxialSpring[] springs = new AxialSpring[10];
    for (int i = 0; i < springs.length; i++) {
        springs[i] = new AxialSpring(0.50, 0.20, 0.10);
    }
    // mech.particles().addNumbered (p0, 5);
    mech.particles().addNumbered(p1, 4);
    mech.particles().addNumbered(p2, 0);
    // mech.particles().addNumbered (p3, 1);
    // mech.attachAxialSpring (p0, p1, springs[0]);
    // mech.attachAxialSpring (p0, p2, springs[1]);
    mech.attachAxialSpring(p2, p1, springs[2]);
// mech.attachAxialSpring (p1, p3, springs[3]);
// mech.attachAxialSpring (p2, p3, springs[4]);
// Particle p10 = new Particle (0.5, 0.10, 0, 0.20);
// Particle p11 = new Particle (0.5, 0.05, 0, 0.10);
// Particle p12 = new Particle (0.5, 0.15, 0, 0.10);
// Particle p13 = new Particle (0.5, 0.10, 0, 0);
// 
// mech.addParticle (p10);
// mech.addParticle (p11);
// mech.addParticle (p12);
// mech.addParticle (p13);
// 
// mech.attachAxialSpring (p10, p11, springs[5]);
// mech.attachAxialSpring (p10, p12, springs[6]);
// mech.attachAxialSpring (p11, p12, springs[7]);
// mech.attachAxialSpring (p11, p13, springs[8]);
// mech.attachAxialSpring (p12, p13, springs[9]);
}

Example 15 with AxialSpring

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

the class PointModel method attach.

@Override
public void attach(DriverInterface driver) {
    super.attach(driver);
    if (getControlPanels().size() == 0) {
        ControlPanel panel = new ControlPanel("activations", "");
        for (AxialSpring s : model.axialSprings()) {
            if (s instanceof Muscle) {
                Muscle m = (Muscle) s;
                String name = (m.getName() == null ? "m" + m.getNumber() : m.getName().toUpperCase());
                panel.addWidget(name, m, "excitation", 0.0, 1.0);
            }
        }
        addControlPanel(panel);
    }
}