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

Example 1 with FrameMarker

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

the class RigidBodyEditor method applyAction.

public void applyAction(String actionCommand, LinkedList<ModelComponent> selection, Rectangle popupBounds) {
    if (containsMultipleSelection(selection, RigidBody.class)) {
        if (actionCommand == "Select markers") {
            LinkedList<ModelComponent> list = (LinkedList<ModelComponent>) selection.clone();
            for (ModelComponent c : list) {
                FrameMarker[] mkrs = ((RigidBody) c).getFrameMarkers();
                for (int i = 0; i < mkrs.length; i++) {
                    myMain.getSelectionManager().addSelected(mkrs[i]);
                }
                myMain.getSelectionManager().removeSelected(c);
            }
        }
        if (containsSingleSelection(selection, RigidBody.class)) {
            if (actionCommand == "Edit geometry and inertia ...") {
                if (myEditManager.acquireEditLock()) {
                    RigidBody body = (RigidBody) selection.get(0);
                    RigidBodyGeometryAgent agent = new RigidBodyGeometryAgent(myMain, body);
                    agent.show(popupBounds);
                }
            } else if (actionCommand == "Save mesh as ...") {
                RigidBody body = (RigidBody) selection.get(0);
                PolygonalMesh mesh = body.getMesh();
                EditorUtils.saveMesh(mesh, mesh != null ? mesh.getMeshToWorld() : null);
            } else if (actionCommand == "Attach particles ...") {
                if (myEditManager.acquireEditLock()) {
                    RigidBody body = (RigidBody) selection.get(0);
                    // XXX should be more general than this ... what if mechModel
                    // is a sub model?
                    MechModel mech = (MechModel) body.getGrandParent();
                    myMain.getSelectionManager().clearSelections();
                    AttachParticleBodyAgent agent = new AttachParticleBodyAgent(myMain, mech, body);
                    agent.show(popupBounds);
                }
            } else if (actionCommand == "Add mesh inspector") {
                RigidBody body = (RigidBody) selection.get(0);
                MechModel mech = (MechModel) body.getGrandParent();
                EditablePolygonalMeshComp editMesh = new EditablePolygonalMeshComp(body.getSurfaceMesh());
                double size = RenderableUtils.getRadius(editMesh);
                RenderProps.setVisible(editMesh, true);
                RenderProps.setPointStyle(editMesh, Renderer.PointStyle.SPHERE);
                RenderProps.setPointRadius(editMesh, 0.05 * size);
                mech.addRenderable(editMesh);
            }
        }
    }
}

Example 2 with FrameMarker

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

the class ForceTargetDemo method build.

public void build(String[] args) throws IOException {
    // create MechModel and add to RootModel
    mech = new MechModel("mech");
    addModel(mech);
    // create the components
    p1 = new Particle("p1", /*mass=*/
    2, /*x,y,z=*/
    0, 0, 0.15);
    p2 = new Particle("p2", 2, 10, 0, 0.15);
    p3 = new Particle("p3", 2, 5, 5, 0);
    p4 = new Particle("p4", 2, 5, -5, 0);
    p5 = new Particle("p5", 0, 5, 0, 5);
    p6 = new Particle("p6", 0, 5, 0, -5);
    box = RigidBody.createBox("box", /*wx,wy,wz=*/
    0.5, 0.3, 0.3, /*density=*/
    1);
    box.setPose(new RigidTransform3d(/*x,y,z=*/
    5, 0, -0.15));
    // create marker point and connect it to the box:
    FrameMarker mkr = new FrameMarker(/*x,y,z=*/
    0, 0, 0.15);
    mkr.setFrame(box);
    // create the muscle:
    muscle = new Muscle("mus1", /*restLength=*/
    5);
    muscle.setPoints(p1, mkr);
    muscle.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    1000));
    muscle2 = new Muscle("mus2", /*restLength=*/
    5);
    muscle2.setPoints(p2, mkr);
    muscle2.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    1000));
    muscle3 = new Muscle("mus3", /*restLength=*/
    5);
    muscle3.setPoints(p3, mkr);
    muscle3.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    muscle4 = new Muscle("mus4", /*restLength=*/
    5);
    muscle4.setPoints(p4, mkr);
    muscle4.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    muscle5 = new Muscle("mus5", /*restLength=*/
    5);
    muscle5.setPoints(p5, mkr);
    muscle5.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    muscle6 = new Muscle("mus6", /*restLength=*/
    5);
    muscle6.setPoints(p6, mkr);
    muscle6.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    if (two_cons == true) {
        RigidTransform3d XPW = new RigidTransform3d(5, 0, 0);
        XPW.R.mulAxisAngle(1, 0, 0, Math.toRadians(90));
        // Connection on the corner
        // PlanarConnector connector =
        // new PlanarConnector (box, new Vector3d (lenx/2, -2.5, 1.5), XPW);
        // Connection in the center
        con = new PlanarConnector(box, new Vector3d(0, 0, 0.15), XPW);
        con.setUnilateral(false);
        con.setPlaneSize(2);
        RenderProps props = con.createRenderProps();
        props.setPointColor(Color.blue);
        props.setPointStyle(Renderer.PointStyle.SPHERE);
        props.setPointRadius(0.06);
        con.setRenderProps(props);
        // con = new ParticlePlaneConstraint(p5, pl);
        // RenderProps.setDrawEdges (con, true);
        // RenderProps.setVisible (con, true);
        RigidTransform3d XPW2 = new RigidTransform3d(5, 0, 0);
        XPW2.R.mulAxisAngle(1, 0, 0, 0);
        // Connection on the corner
        // PlanarConnector connector =
        // new PlanarConnector (box, new Vector3d (lenx/2, -2.5, 1.5), XPW);
        // Connection in the center
        con2 = new PlanarConnector(box, new Vector3d(0, 0, 0.15), XPW2);
        con2.setUnilateral(false);
        con2.setPlaneSize(2);
        con2.setRenderProps(props);
    } else {
        RigidTransform3d XPW = new RigidTransform3d(5, 0, 0);
        XPW.R.mulAxisAngle(1, 0, 0, Math.toRadians(45));
        con = new PlanarConnector(box, new Vector3d(0, 0, 0.15), XPW);
        con.setUnilateral(false);
        con.setPlaneSize(2);
        RenderProps props = con.createRenderProps();
        props.setPointColor(Color.blue);
        props.setPointStyle(Renderer.PointStyle.SPHERE);
        props.setPointRadius(0.06);
        con.setRenderProps(props);
    }
    // con.setRenderProps (myRenderProps);
    // add components to the mech model
    mech.addParticle(p1);
    mech.addParticle(p2);
    mech.addParticle(p3);
    mech.addParticle(p4);
    mech.addParticle(p5);
    mech.addParticle(p6);
    mech.addRigidBody(box);
    mech.addFrameMarker(mkr);
    // mech.addParticle (p5);
    mech.addAxialSpring(muscle);
    mech.addAxialSpring(muscle2);
    mech.addAxialSpring(muscle3);
    mech.addAxialSpring(muscle4);
    mech.addAxialSpring(muscle5);
    mech.addAxialSpring(muscle6);
    con.setName("con1");
    if (two_cons == true) {
        con2.setName("con2");
    }
    if (cons == true) {
        mech.addBodyConnector(con);
        ConnectorForceRenderer rend = new ConnectorForceRenderer(con);
        myRenderProps = rend.createRenderProps();
        myRenderProps.setLineStyle(LineStyle.CYLINDER);
        myRenderProps.setLineRadius(0.175);
        myRenderProps.setLineColor(Color.BLUE);
        rend.setRenderProps(myRenderProps);
        rend.setArrowSize(0.1);
        addMonitor(rend);
    }
    if (two_cons == true) {
        mech.addBodyConnector(con2);
    }
    // first particle set to be fixed
    p1.setDynamic(false);
    p2.setDynamic(false);
    p3.setDynamic(false);
    p4.setDynamic(false);
    p5.setDynamic(false);
    p6.setDynamic(false);
    // increase model bounding box for the viewer
    mech.setBounds(/*min=*/
    -1, 0, -1, /*max=*/
    1, 0, 0);
    // set render properties for the components
    setPointRenderProps(p1);
    setPointRenderProps(p2);
    setPointRenderProps(p3);
    setPointRenderProps(p4);
    setPointRenderProps(p5);
    setPointRenderProps(p6);
    setPointRenderProps(mkr);
    setLineRenderProps(muscle);
    setLineRenderProps(muscle2);
    setLineRenderProps(muscle3);
    setLineRenderProps(muscle4);
    setLineRenderProps(muscle5);
    setLineRenderProps(muscle6);
    addTrackingController(mkr);
    if (cons = true) {
        addConForceProbe(10, 0.1);
    }
}

Example 3 with FrameMarker

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

the class PointModel method addCenter.

public void addCenter() {
    RigidBody body = new RigidBody("body");
    body.setInertia(SpatialInertia.createSphereInertia(mass, len / 25));
    model.addRigidBody(body);
    RenderProps.setVisible(body, false);
    RigidBody fixed = new RigidBody("fixed");
    fixed.setInertia(SpatialInertia.createSphereInertia(mass, len / 25));
    fixed.setDynamic(false);
    model.addRigidBody(fixed);
    RenderProps.setVisible(fixed, false);
    if (useReactionForceTargetP) {
        // add spherical joint for reaction force target testing
        SphericalJoint joint = new SphericalJoint(body, fixed, Point3d.ZERO);
        joint.setName("center_constraint");
        model.addBodyConnector(joint);
        addMonitor(new ConnectorForceRenderer(joint));
    }
    center = new FrameMarker();
    center.setName("center");
    center.setPointDamping(pointDamping);
    model.addFrameMarker(center, body, Point3d.ZERO);
}

Example 4 with FrameMarker

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

the class DoubleArmDemo method addEndPoint.

public void addEndPoint() {
    RigidBody thirdArm = model.rigidBodies().get("third");
    if (thirdArm == null) {
        return;
    }
    FrameMarker endPoint = new FrameMarker();
    endPoint.setName("endPoint");
    endPoint.setFrame(thirdArm);
    endPoint.setLocation(new Point3d(0, 0, len / 2));
    model.addFrameMarker(endPoint);
    // lowerArm.addMarker(endPoint);
    RenderProps rp = new RenderProps(model.getRenderProps());
    rp.setShading(Renderer.Shading.SMOOTH);
    rp.setPointColor(Color.ORANGE);
    rp.setPointRadius(len / 20);
    endPoint.setRenderProps(rp);
}

Example 5 with FrameMarker

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

the class DoubleArmDemo method addMuscles.

public void addMuscles() {
    RigidBody upperArm = model.rigidBodies().get("upper");
    RigidBody lowerArm = model.rigidBodies().get("lower");
    RigidBody thirdArm = model.rigidBodies().get("third");
    if (upperArm == null || lowerArm == null || thirdArm == 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) / 1.2);
    FrameMarker tu = new FrameMarker();
    model.addFrameMarker(tu, thirdArm, markerBodyPos);
    tu.setName("thirdUpperAttachment");
    markerBodyPos = new Point3d(size.x / 2, 0, -(size.z / 2.0) / 2);
    FrameMarker l = new FrameMarker();
    model.addFrameMarker(l, lowerArm, markerBodyPos);
    l.setName("lowerAttachment");
    markerBodyPos = new Point3d(size.x / 2, 0, (size.z / 2.0) / 2);
    FrameMarker tl = new FrameMarker();
    model.addFrameMarker(tl, lowerArm, markerBodyPos);
    tl.setName("thirdLowerAttachment");
    Muscle muscle = new Muscle("muscle");
    muscle.setPeckMuscleMaterial(20.0, 22.0, 30, 0.2, 0.5, 0.1);
    Muscle muscle2 = new Muscle("muscle2");
    muscle2.setPeckMuscleMaterial(8, 20, 30, 0.2, 0.5, 0.1);
    muscle.setFirstPoint(u);
    muscle2.setFirstPoint(tu);
    muscle.setSecondPoint(l);
    muscle2.setSecondPoint(tl);
    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);
    muscle2.setRenderProps(rp);
    model.addAxialSpring(muscle);
    model.addAxialSpring(muscle2);
    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);
        // restoring spring
        len = tu.getPosition().distance(tl.getPosition());
        s = new AxialSpring(10, 0, 2 * len);
        s.setFirstPoint(tu);
        s.setSecondPoint(tl);
        model.addAxialSpring(s);
        s.setRenderProps(props);
    }
}