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

Example 6 with Frame

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

the class InverseManager method configureTargetMotionProbe.

private void configureTargetMotionProbe(NumericProbeBase probe, ArrayList<MotionTargetComponent> targets, String filename) {
    // System.out.println ("configuring motion probe");
    ArrayList<Property> props = new ArrayList<Property>();
    for (ModelComponent target : targets) {
        if (target instanceof Point) {
            props.add(target.getProperty("position"));
        } else if (target instanceof Frame) {
            props.add(target.getProperty("position"));
            props.add(target.getProperty("orientation"));
        } else {
            System.err.println("Unknown target component type: " + target.getClass().toString());
        }
    }
    // probe.setModel(myController.getMech());
    probe.setAttachedFileName(filename);
    if (probe instanceof NumericInputProbe) {
        ((NumericInputProbe) probe).setInputProperties(props.toArray(new Property[props.size()]));
    } else if (probe instanceof NumericOutputProbe) {
        ((NumericOutputProbe) probe).setOutputProperties(props.toArray(new Property[props.size()]));
    }
    if (probe instanceof NumericInputProbe) {
        File file = probe.getAttachedFile();
        if (file == null || !file.exists()) {
            ((NumericInputProbe) probe).loadEmpty();
            probe.setActive(false);
        } else {
            try {
                probe.load();
                probe.setActive(true);
            } catch (IOException e) {
                e.printStackTrace();
            }
        }
    }
}

Example 7 with Frame

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

the class MotionTargetTerm method doAddTarget.

/**
 * Adds a target to the term for trajectory error
 * @param source
 * @param weight
 * @return the created target body or point
 */
private MotionTargetComponent doAddTarget(MotionTargetComponent source, double weight) {
    mySources.add(source);
    // myController.sourcePoints.add (source);
    source.setTargetActivity(TargetActivity.None);
    MotionTargetComponent target = null;
    if (source instanceof Point) {
        myTargetVelSize += POINT_VEL_SIZE;
        myTargetPosSize += POINT_POS_SIZE;
        target = addTargetPoint((Point) source);
    } else if (source instanceof Frame) {
        myTargetVelSize += FRAME_VEL_SIZE;
        myTargetPosSize += FRAME_POS_SIZE;
        target = addTargetFrame((RigidBody) source);
    }
    myTargetWeights.add(weight);
    updateWeightsVector();
    // set target matrix null, so that it is recreated on demand
    // XXX should be updated on a change event...
    myVelJacobian = null;
    // mySolver.resetVariables();
    return target;
}

Example 8 with Frame

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

the class MotionTargetTerm method interpolateTargetVelocity.

/*
    * calculate target velocity by differencing current and last target positions
    */
private void interpolateTargetVelocity(double h) {
    // paranoid
    assert myTargets.size() == mySources.size();
    updateTargetPos(h);
    if (prevTargetPos == null || prevTargetPos.size() != myTargetPosSize) {
        prevTargetPos = new VectorNd(myTargetPos);
    }
    double[] prevPosBuf = prevTargetPos.getBuffer();
    int idx = 0;
    for (int i = 0; i < myTargets.size(); i++) {
        MotionTargetComponent target = myTargets.get(i);
        if (target instanceof Point) {
            idx = tmpPoint.setPosState(prevPosBuf, idx);
            interpolateTargetVelocityFromPositions(tmpPoint, (Point) target, h);
        } else if (target instanceof Frame) {
            idx = tmpFrame.setPosState(prevPosBuf, idx);
            interpolateTargetVelocityFromPositions(tmpFrame, (Frame) target, h);
        }
    }
    prevTargetPos.set(myTargetPos);
}

Example 9 with Frame

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

the class MotionTargetTerm method removeTarget.

/**
 * Removes a target to the term for trajectory error
 * @param source
 */
protected void removeTarget(MotionTargetComponent source) {
    int idx = mySources.indexOf(source);
    if (idx == -1) {
        return;
    }
    if (source instanceof Point) {
        myTargetVelSize -= POINT_VEL_SIZE;
        myTargetPosSize -= POINT_POS_SIZE;
        // remove ref particle created in doAddTarget
        removeTargetPoint((Point) myTargets.get(idx));
    } else if (source instanceof Frame) {
        myTargetVelSize -= FRAME_VEL_SIZE;
        myTargetPosSize -= FRAME_POS_SIZE;
        // remove ref body created in doAddTarget
        removeTargetFrame((Frame) myTargets.get(idx));
    }
    myTargetWeights.remove(idx);
    mySources.remove(idx);
    myTargets.remove(idx);
    updateWeightsVector();
    // set target matrix null, so that it is recreated on demand
    // XXX should be updated on a change event...
    myVelJacobian = null;
// Main.getMain().getInverseManager().configureTargetProbes();
// mySolver.resetVariables();
}

Example 10 with Frame

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

the class Main method setDragger.

private void setDragger() {
    translator3d.setVisible(false);
    transrotator3d.setVisible(false);
    scalar3d.setVisible(false);
    rotator3d.setVisible(false);
    constrainedTranslator3d.setVisible(false);
    constrainedTranslator3d.setMesh(null);
    currentDragger = null;
    myDraggableComponents.clear();
    if (mySelectionMode != SelectionMode.Select && mySelectionMode != SelectionMode.EllipticSelect && mySelectionMode != SelectionMode.Pull) {
        Point3d pmin = new Point3d(inf, inf, inf);
        Point3d pmax = new Point3d(-inf, -inf, -inf);
        int n = 0;
        for (ModelComponent sel : mySelectionManager.getCurrentSelection()) {
            if (sel instanceof Renderable && sel instanceof TransformableGeometry && !ComponentUtils.isAncestorSelected(sel)) {
                myDraggableComponents.add(sel);
                ((Renderable) sel).updateBounds(pmin, pmax);
                n++;
            }
        }
        if (n > 0) {
            RigidTransform3d TDW = new RigidTransform3d();
            double radius = computeDraggerToWorld(TDW, myDraggableComponents, null);
            // set a minimum radius to about 1/6 of the viewer window width
            radius = Math.max(radius, myViewer.distancePerPixel(myViewer.getCenter()) * myViewer.getScreenWidth() / 6);
            if (mySelectionMode == SelectionMode.Translate) {
                translator3d.setVisible(true);
                translator3d.setDraggerToWorld(TDW);
                translator3d.setSize(radius);
                currentDragger = translator3d;
            } else if (mySelectionMode == SelectionMode.Transrotate) {
                transrotator3d.setVisible(true);
                transrotator3d.setDraggerToWorld(TDW);
                transrotator3d.setSize(radius);
                currentDragger = transrotator3d;
            } else if (mySelectionMode == SelectionMode.Scale) {
                scalar3d.setVisible(true);
                scalar3d.setDraggerToWorld(TDW);
                scalar3d.setSize(radius);
                currentDragger = scalar3d;
            } else if (mySelectionMode == SelectionMode.Rotate) {
                rotator3d.setVisible(true);
                rotator3d.setDraggerToWorld(TDW);
                rotator3d.setSize(radius);
                currentDragger = rotator3d;
            } else if (mySelectionMode == SelectionMode.ConstrainedTranslate) {
                PolygonalMesh mesh = null;
                for (Object sel : mySelectionManager.getCurrentSelection()) {
                    if (sel instanceof FrameMarker) {
                        FrameMarker frameMarker = (FrameMarker) sel;
                        Point3d p = new Point3d(frameMarker.getPosition());
                        constrainedTranslator3d.setLocation(p);
                        Frame frame = frameMarker.getFrame();
                        if (frame instanceof RigidBody) {
                            mesh = ((RigidBody) frame).getMesh();
                        }
                        break;
                    }
                }
                if (mesh != null) {
                    constrainedTranslator3d.setSize(radius);
                    constrainedTranslator3d.setMesh(mesh);
                    constrainedTranslator3d.setVisible(true);
                    currentDragger = constrainedTranslator3d;
                }
            }
        }
    }
}