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

Example 6 with CollisionManager

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

the class PenetrationRendererDemo method build.

public void build(String[] args) {
    // create MechModel and add to RootModel
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // create and add the ball and plate
    RigidBody ball = RigidBody.createIcosahedralSphere("ball", 0.8, 0.1, 1);
    // ball.setPose (new RigidTransform3d (0, 0, 2, 0.4, 0.1, 0.1));
    ball.setPose(new RigidTransform3d(0, 0, 0, 0.4, 0.1, 0.1));
    ball.setDynamic(false);
    mech.addRigidBody(ball);
    RigidBody plate = RigidBody.createBox("plate", 5, 5, 5, 1);
    plate.setPose(new RigidTransform3d(0, 0, 2.94, 1, 0, 0, 0));
    plate.setDynamic(false);
    mech.addRigidBody(plate);
    // turn on collisions
    mech.setDefaultCollisionBehavior(true, 0.20);
    // make ball transparent so that contacts can be seen more clearly
    RenderProps.setFaceStyle(ball, Renderer.FaceStyle.NONE);
    RenderProps.setDrawEdges(ball, true);
    RenderProps.setEdgeColor(ball, Color.WHITE);
    RenderProps.setVisible(plate, false);
    RenderProps.setAlpha(plate, 0.5);
    // enable rendering of contacts normals and contours
    CollisionManager cm = mech.getCollisionManager();
    RenderProps.setVisible(cm, true);
    RenderProps.setLineWidth(cm, 3);
    RenderProps.setLineColor(cm, Color.RED);
    RenderProps.setEdgeWidth(cm, 3);
    RenderProps.setEdgeColor(cm, Color.BLUE);
    cm.setContactNormalLen(0.5);
    cm.setDrawContactNormals(true);
    cm.setDrawIntersectionContours(true);
    cm.setDrawIntersectionFaces(true);
    cm.setDrawIntersectionPoints(true);
    CollisionResponse resp = mech.setCollisionResponse(ball, plate);
    addMonitor(new PenetrationRenderer(resp));
}