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

Example 16 with AxialSpring

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

the class PointModel method add2dLabeledMuscles.

public void add2dLabeledMuscles(String[] labels) {
    double[] muscleFs;
    double muscleFmult;
    if (applyDisturbance) {
        muscleFs = new double[] { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 };
        muscleFmult = 100;
    } else {
        muscleFs = new double[] { 5, 1, 2, 1, 5, 1, 2, 1, 5, 1, 2, 1, 5, 1, 2, 1 };
        muscleFmult = 10;
    }
    addMuscles(new RigidTransform3d(), labels.length, 0.0);
    int i = 0;
    for (AxialSpring s : model.axialSprings()) {
        if (s instanceof Muscle) {
            s.setName(labels[i]);
            // ((Muscle) s).setMaxForce(muscleFmult * muscleFs[i]);
            // RenderProps.setLineRadius(s, 0.1 * muscleFs[i]);
            i += 1;
        }
    }
}

Example 17 with AxialSpring

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

the class PointModel method addAxialSpring.

private AxialSpring addAxialSpring(Point p0, Point p1) {
    AxialSpring s = new AxialSpring(springK, springD, springRestLen);
    s.setFirstPoint(p0);
    s.setSecondPoint(p1);
    model.addAxialSpring(s);
    RenderProps.setLineColor(s, Color.GRAY);
    RenderProps.setLineStyle(s, LineStyle.LINE);
    RenderProps.setLineWidth(s, 4);
    return s;
}

Example 18 with AxialSpring

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

the class PointModel method addTrackingController.

public void addTrackingController() {
    TrackingController myTrackingController = new TrackingController(model, "tcon");
    for (AxialSpring s : model.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));
    MotionTargetComponent target = myTrackingController.addMotionTarget(center);
    RenderProps.setPointRadius((Renderable) target, 0.525);
    if (useReactionForceTargetP) {
        ForceTargetTerm forceTerm = new ForceTargetTerm(myTrackingController);
        ForceTarget ft = forceTerm.addForceTarget(model.bodyConnectors().get("center_constraint"));
        ft.setArrowSize(2);
        RenderProps.setLineStyle(ft, LineStyle.CYLINDER);
        RenderProps.setLineRadius(ft, 0.25);
        forceTerm.setWeight(1d);
        myTrackingController.addForceTargetTerm(forceTerm);
    }
    // myTrackingController.getSolver().setBounds(0.01, 0.99);
    myTrackingController.createProbesAndPanel(this);
    addController(myTrackingController);
}

Example 19 with AxialSpring

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

the class PointModel1d method setProperties.

public void setProperties() {
    double springK = 100.0;
    double passiveFraction = 0.5;
    double muscleD = 0.0;
    double pointDamping = 0.1;
    for (AxialSpring s : model.axialSprings()) {
        if (s instanceof AxialSpring) {
            if (s.getMaterial() instanceof LinearAxialMaterial) {
                LinearAxialMaterial mat = (LinearAxialMaterial) s.getMaterial().clone();
                mat.setStiffness(springK);
                s.setMaterial(mat);
            }
        }
        if (s instanceof Muscle) {
            Muscle m = (Muscle) s;
            if (m.getMaterial() instanceof AxialMuscleMaterial) {
                AxialMuscleMaterial mat = (AxialMuscleMaterial) m.getMaterial().clone();
                mat.setPassiveFraction(passiveFraction);
                mat.setDamping(muscleD);
                m.setMaterial(mat);
            }
        }
    }
    for (Particle p : model.particles()) {
        p.setPointDamping(pointDamping);
    }
}

Example 20 with AxialSpring

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

the class PointModel2d method addTrackingController.

public void addTrackingController() {
    super.addTrackingController();
    for (AxialSpring s : model.axialSprings()) {
        if (s instanceof Muscle) {
            ((Muscle) s).setExcitationColor(Color.RED);
            RenderProps.setLineColor(s, new Color(0, 0, 219));
        }
    }
    model.setMaxColoredExcitation(0.1);
}