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

Example 1 with DynamicAttachment

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

the class FemModel3d method subdivideHex.

public void subdivideHex(HexElement hex) {
    if (hex.getParent() != myElements) {
        throw new IllegalArgumentException("Hex is not contained in this model");
    }
    LinkedList<FemNode3d> addedNodes = new LinkedList<FemNode3d>();
    LinkedList<FemElement3d> addedElements = new LinkedList<FemElement3d>();
    LinkedList<DynamicAttachment> addedAttachments = new LinkedList<DynamicAttachment>();
    LinkedList<DynamicAttachment> removedAttachments = new LinkedList<DynamicAttachment>();
    int idx = 0;
    FemNode3d[] nodes = new FemNode3d[27];
    for (FemNode3d n : hex.getNodes()) {
        nodes[idx++] = n;
    }
    for (int i = 0; i < 12; i++) {
        // for each edge ...
        FemNode3d n0 = nodes[HexElement.edgeIdxs[2 * i + 0]];
        FemNode3d n1 = nodes[HexElement.edgeIdxs[2 * i + 1]];
        PointFem3dAttachment edgeAttach = getEdgeAttachment(n0, n1);
        FemNode3d edgeNode;
        if (edgeAttach != null) {
            // use the existing mid node as the edge node
            edgeNode = (FemNode3d) edgeAttach.getSlave();
            if (numElementsWithEdge(n0, n1) == 1) {
                // don't need the attachment any more, so remove it
                removedAttachments.add(edgeAttach);
            }
        } else {
            edgeNode = createNode(new FemNode3d[] { n0, n1 });
            addedNodes.add(edgeNode);
            if (numElementsWithEdge(n0, n1) > 1) {
                PointFem3dAttachment a = new PointFem3dAttachment(edgeNode);
                a.setFromNodes(new FemNode[] { n0, n1 }, edgeWeights);
                addedAttachments.add(a);
            }
        }
        nodes[idx++] = edgeNode;
    }
    for (int i = 0; i < 6; i++) {
        // for each face ...
        FemNode3d n0 = nodes[HexElement.faceIdxs[4 * i + 0]];
        FemNode3d n1 = nodes[HexElement.faceIdxs[4 * i + 1]];
        FemNode3d n2 = nodes[HexElement.faceIdxs[4 * i + 2]];
        FemNode3d n3 = nodes[HexElement.faceIdxs[4 * i + 3]];
        PointFem3dAttachment faceAttach = getFaceAttachment(n0, n1, n2, n3);
        FemNode3d faceNode;
        if (faceAttach != null) {
            // use the existing center node as the face node
            faceNode = (FemNode3d) faceAttach.getSlave();
            if (numElementsWithFace(n0, n1, n2, n3) == 1) {
                // don't need the attachment any more, so remove it
                removedAttachments.add(faceAttach);
            }
        } else {
            faceNode = createNode(new FemNode3d[] { n0, n1, n2, n3 });
            addedNodes.add(faceNode);
            if (numElementsWithFace(n0, n1, n2, n3) > 1) {
                PointFem3dAttachment a = new PointFem3dAttachment(faceNode);
                a.setFromNodes(new FemNode[] { n0, n1, n2, n3 }, faceWeights);
                addedAttachments.add(a);
            }
        }
        nodes[idx++] = faceNode;
    }
    FemNode3d centerNode = createNode((FemNode3d[]) hex.getNodes());
    addedNodes.add(centerNode);
    nodes[idx++] = centerNode;
    addedElements.add(createHex(nodes, 0, 8, 20, 11, 16, 24, 26, 23));
    addedElements.add(createHex(nodes, 8, 1, 9, 20, 24, 17, 21, 26));
    addedElements.add(createHex(nodes, 20, 9, 2, 10, 26, 21, 18, 25));
    addedElements.add(createHex(nodes, 11, 20, 10, 3, 23, 26, 25, 19));
    addedElements.add(createHex(nodes, 16, 24, 26, 23, 4, 12, 22, 15));
    addedElements.add(createHex(nodes, 24, 17, 21, 26, 12, 5, 13, 22));
    addedElements.add(createHex(nodes, 26, 21, 18, 25, 22, 13, 6, 14));
    addedElements.add(createHex(nodes, 23, 26, 25, 19, 15, 22, 14, 7));
    for (DynamicAttachment a : removedAttachments) {
        removeAttachment(a);
    }
    removeElement(hex);
    for (FemNode3d n : addedNodes) {
        addNode(n);
    }
    for (FemElement3d e : addedElements) {
        addElement(e);
    }
    for (DynamicAttachment a : addedAttachments) {
        addAttachment(a);
    }
}

Example 2 with DynamicAttachment

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

the class FemModel3d method copy.

@Override
public FemModel3d copy(int flags, Map<ModelComponent, ModelComponent> copyMap) {
    if (copyMap == null) {
        copyMap = new HashMap<ModelComponent, ModelComponent>();
        flags = CopyableComponent.COPY_REFERENCES;
    }
    FemModel3d fem = (FemModel3d) super.copy(flags, copyMap);
    // fem.myFrame was created in super.copy(), but we redo this
    // so as to create an exact copy of the orginal frame
    FemModelFrame newFrame = myFrame.copy(flags, copyMap);
    newFrame.setName(myFrame.getName());
    copyMap.put(myFrame, newFrame);
    fem.myFrame = newFrame;
    if (myFrameConstraint != null) {
        fem.attachFrame(myFrame.getPose());
    } else {
        fem.attachFrame(null);
    }
    fem.myFrameRelativeP = myFrameRelativeP;
    for (FemNode3d n : myNodes) {
        FemNode3d newn = n.copy(flags, copyMap);
        newn.setName(n.getName());
        copyMap.put(n, newn);
        fem.myNodes.addNumbered(newn, n.getNumber());
        fem.myNodes.setRenderProps(myNodes.getRenderProps());
    }
    for (FemElement3d e : myElements) {
        FemElement3d newe = e.copy(flags, copyMap);
        newe.setName(e.getName());
        copyMap.put(e, newe);
        fem.myElements.addNumbered(newe, e.getNumber());
        fem.myElements.setRenderProps(myElements.getRenderProps());
    }
    for (FemMarker m : myMarkers) {
        FemMarker newm = m.copy(flags, copyMap);
        newm.setName(m.getName());
        fem.myMarkers.addNumbered(newm, m.getNumber());
        fem.myMarkers.setRenderProps(myMarkers.getRenderProps());
    }
    for (DynamicAttachment a : myAttachments) {
        DynamicAttachment newa = a.copy(flags, copyMap);
        newa.setName(a.getName());
        fem.myAttachments.addNumbered(newa, a.getNumber());
    }
    fem.ansysElemProps = new HashMap<FemElement3d, int[]>();
    for (Map.Entry<FemElement3d, int[]> ent : ansysElemProps.entrySet()) {
        FemElement3d newe = (FemElement3d) copyMap.get(ent.getKey());
        int[] props = ArraySupport.copy(ent.getValue());
        fem.ansysElemProps.put(newe, props);
    }
    for (int i = 0; i < myMeshList.size(); i++) {
        FemMeshComp mc = myMeshList.get(i);
        FemMeshComp newFmc = mc.copy(flags, copyMap);
        if (i == 0) {
            fem.myMeshList.addFixed(newFmc);
        } else {
            fem.addMeshComp(newFmc);
        }
        // do this this since addMesh sets collidability by default
        newFmc.setCollidable(mc.getCollidable());
    }
    fem.myAutoGenerateSurface = myAutoGenerateSurface;
    fem.mySurfaceMeshValid = mySurfaceMeshValid;
    fem.myInternalSurfaceMeshComp = null;
    fem.setElementWidgetSizeMode(myElementWidgetSizeMode);
    if (myElementWidgetSizeMode == PropertyMode.Explicit) {
        fem.setElementWidgetSize(myElementWidgetSize);
    }
    fem.clearCachedData(null);
    fem.myAABBTree = null;
    fem.myBVTreeValid = false;
    fem.mySolveMatrixFile = null;
    fem.myNumIncompressConstraints = 0;
    fem.myHardIncompUpdateTime = -1;
    fem.myComputeNodalStress = myComputeNodalStress;
    fem.myComputeNodalStrain = myComputeNodalStrain;
    fem.myHardIncompMethod = myHardIncompMethod;
    fem.myHardIncompMethodValidP = myHardIncompMethodValidP;
    fem.mySoftIncompMethod = mySoftIncompMethod;
    fem.mySoftIncompMethodValidP = mySoftIncompMethodValidP;
    fem.myNodalIncompBlocksAllocatedP = false;
    fem.myNodalIncompConstraintsAllocatedP = false;
    fem.myPressures = new VectorNd(MAX_PRESSURE_VALS);
    fem.myKp = new double[MAX_PRESSURE_VALS];
    fem.myNodalConstraints = new Vector3d[MAX_NODAL_INCOMP_NODES];
    for (int i = 0; i < MAX_NODAL_INCOMP_NODES; i++) {
        fem.myNodalConstraints[i] = new Vector3d();
    }
    return fem;
}

Example 3 with DynamicAttachment

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

the class FemMeshComp method getEdgeNodes.

// public static FemMeshComp createSurface (FemModel3d fem, int resolution) {
// return createSurface (new FemMeshComp (fem), resolution);
// }
// private static boolean containsNode(FemNode3d n, FemNode[] nodes) {
// for (int i = 0; i < nodes.length; i++) {
// if (nodes[i] == n) {
// return true;
// }
// }
// return false;
// }
private ArrayList<FemNode3d> getEdgeNodes(FemNode3d n0, FemNode3d n1, FemModel3d fem) {
    LinkedList<DynamicAttachment> masters = n0.getMasterAttachments();
    if (masters == null) {
        return null;
    }
    ArrayList<FemNode3d> nodes = new ArrayList<FemNode3d>();
    ArrayList<Double> weights = new ArrayList<Double>();
    for (DynamicAttachment a : masters) {
        if (a instanceof PointFem3dAttachment) {
            PointFem3dAttachment pfa = (PointFem3dAttachment) a;
            if (pfa.numMasters() == 2 && pfa.getSlave() instanceof FemNode3d) {
                FemNode3d slaveNode = (FemNode3d) pfa.getSlave();
                if (slaveNode.getGrandParent() == fem && FemModel3d.containsNode(n1, pfa.getNodes())) {
                    nodes.add(slaveNode);
                    double w = pfa.getCoordinates().get(0);
                    if (n0 == pfa.getNodes()[0]) {
                        weights.add(w);
                    } else {
                        weights.add(1 - w);
                    }
                }
            }
        }
    }
    // just do a bubble sort; easier to implement
    for (int i = 0; i < nodes.size() - 1; i++) {
        for (int j = i + 1; j < nodes.size(); j++) {
            if (weights.get(j) < weights.get(i)) {
                double w = weights.get(i);
                weights.set(i, weights.get(j));
                weights.set(j, w);
                FemNode3d n = nodes.get(i);
                nodes.set(i, nodes.get(j));
                nodes.set(j, n);
            }
        }
    }
    return nodes;
}

Example 4 with DynamicAttachment

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

the class FemModel3d method getEdgeAttachment.

static PointFem3dAttachment getEdgeAttachment(FemNode3d n0, FemNode3d n1) {
    double weight = 0;
    PointFem3dAttachment attachment = null;
    LinkedList<DynamicAttachment> masters = n0.getMasterAttachments();
    if (masters == null) {
        return null;
    }
    for (DynamicAttachment a : masters) {
        if (a instanceof PointFem3dAttachment) {
            PointFem3dAttachment pfa = (PointFem3dAttachment) a;
            if (pfa.numMasters() == 2 && pfa.getSlave() instanceof FemNode3d) {
                if (containsNode(n1, pfa.getNodes())) {
                    double w = pfa.getCoordinates().get(0);
                    if (Math.abs(w - 0.5) < Math.abs(weight - 0.5)) {
                        // this point is closer
                        attachment = pfa;
                    }
                }
            }
        }
    }
    return attachment;
}

Example 5 with DynamicAttachment

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

the class FemModel3d method getFaceAttachment.

private PointFem3dAttachment getFaceAttachment(FemNode3d n0, FemNode3d n1, FemNode3d n2, FemNode3d n3) {
    VectorNd idealWeights = new VectorNd(faceWeights);
    double mindist = Double.MAX_VALUE;
    PointFem3dAttachment attachment = null;
    LinkedList<DynamicAttachment> masters = n0.getMasterAttachments();
    if (masters == null) {
        return null;
    }
    for (DynamicAttachment a : masters) {
        if (a instanceof PointFem3dAttachment) {
            PointFem3dAttachment pfa = (PointFem3dAttachment) a;
            if (pfa.numMasters() == 4 && pfa.getSlave() instanceof FemNode3d) {
                FemNode[] nodes = pfa.getNodes();
                if (containsNode(n1, nodes) && containsNode(n2, nodes) && containsNode(n3, nodes)) {
                    double d = idealWeights.distance(pfa.getCoordinates());
                    if (d < mindist) {
                        mindist = d;
                        attachment = pfa;
                    }
                }
            }
        }
    }
    return attachment;
}