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

Example 1 with MechModel

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

the class FemEmbeddedSphere method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    mech = new MechModel("mech");
    addModel(mech);
    fem = new FemModel3d("fem");
    mech.addModel(fem);
    // Build hex beam and set properties
    double[] size = { 0.4, 0.4, 0.4 };
    int[] res = { 4, 4, 4 };
    FemFactory.createHexGrid(fem, size[0], size[1], size[2], res[0], res[1], res[2]);
    fem.setParticleDamping(2);
    fem.setDensity(10);
    fem.setMaterial(new LinearMaterial(4000, 0.33));
    // Add an embedded sphere mesh
    PolygonalMesh sphereSurface = MeshFactory.createOctahedralSphere(0.15, 3);
    sphere = fem.addMesh("sphere", sphereSurface);
    sphere.setCollidable(Collidability.EXTERNAL);
    // Boundary condition: fixed LHS
    for (FemNode3d node : fem.getNodes()) {
        if (node.getPosition().x < -0.49) {
            node.setDynamic(false);
        }
    }
    // Set rendering properties
    setFemRenderProps(fem);
    setMeshRenderProps(sphere);
}

Example 2 with MechModel

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

the class FrameBodyAttachment method build.

public void build(String[] args) {
    // create MechModel and add to RootModel
    mech = new MechModel("mech");
    mech.setGravity(0, 0, -98);
    mech.setFrameDamping(1.0);
    mech.setRotaryDamping(4.0);
    addModel(mech);
    // bodies will be defined using a mesh
    PolygonalMesh mesh;
    // create bodyB and set its pose
    mesh = MeshFactory.createRoundedBox(lenx1, leny1, lenz1, /*nslices=*/
    8);
    RigidTransform3d TMB = new RigidTransform3d(0, 0, 0, /*axisAng=*/
    1, 1, 1, 2 * Math.PI / 3);
    mesh.transform(TMB);
    bodyB = RigidBody.createFromMesh("bodyB", mesh, /*density=*/
    0.2, 1.0);
    bodyB.setPose(new RigidTransform3d(0, 0, 1.5 * lenx1, 1, 0, 0, Math.PI / 2));
    // create bodyA and set its pose
    mesh = MeshFactory.createRoundedCylinder(leny2 / 2, lenx2, /*nslices=*/
    16, /*nsegs=*/
    1, /*flatBottom=*/
    false);
    mesh.transform(TMB);
    bodyA = RigidBody.createFromMesh("bodyA", mesh, 0.2, 1.0);
    bodyA.setPose(new RigidTransform3d((lenx1 + leny2) / 2, 0, 1.5 * lenx1, 0, Math.PI / 2, 0));
    // create the joint
    RigidTransform3d TDW = new RigidTransform3d(-lenx1 / 2, 0, 1.5 * lenx1, 1, 0, 0, Math.PI / 2);
    RevoluteJoint joint = new RevoluteJoint(bodyB, TDW);
    // add components to the mech model
    mech.addRigidBody(bodyB);
    mech.addRigidBody(bodyA);
    mech.addBodyConnector(joint);
    // set render properties for components
    RenderProps.setLineRadius(joint, 0.2);
    joint.setAxisLength(4);
    // now connect bodyA to bodyB using a FrameAttachment
    mech.attachFrame(bodyA, bodyB);
    // create an auxiliary frame and add it to the mech model
    Frame frame = new Frame();
    mech.addFrame(frame);
    // set the frames axis length > 0 so we can see it
    frame.setAxisLength(4.0);
    // set the attached frame's pose to that of bodyA ...
    RigidTransform3d TFW = new RigidTransform3d(bodyA.getPose());
    // ... plus a translation of lenx2/2 along the x axis:
    TFW.mulXyz(lenx2 / 2, 0, 0);
    // finally, attach the frame to bodyA
    mech.attachFrame(frame, bodyA, TFW);
}

Example 3 with MechModel

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

the class MultiSpringTest method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // addSprings(mech);
    // addMixedUpSprings(mech);
    // addSeparatedSprings(mech);
    // addSpringMesh(mech);
    addVerticalSprings(mech);
    // clear render props
    for (AxialSpring s : mech.axialSprings()) {
        s.setRenderProps(null);
    }
    RenderProps.setLineStyle(mech, LineStyle.CYLINDER);
    RenderProps.setLineRadius(mech, 0.02);
}

Example 4 with MechModel

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

the class SpecularTest method build.

public void build(String[] args) {
    MechModel mech = new MechModel("mech");
    addModel(mech);
    RenderProps.setShininess(mech, 128);
    RenderProps.setFaceStyle(mech, FaceStyle.FRONT_AND_BACK);
    RenderProps.setFaceColor(mech, Color.GRAY.darker().darker());
    RenderProps.setSpecular(mech, Color.WHITE);
    // mech.getRenderProps().setColorMap (createTextureProps());
    // mech.getRenderProps().setNormalMap (createNormalProps());
    // mech.getRenderProps().setBumpMap (createBumpProps());
    FixedMeshBody body0 = createMesh(mech, 0);
// FixedMeshBody body1 = createMesh (mech, 2);
}

Example 5 with MechModel

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

the class FemBeam method build.

public void build(String[] args) throws IOException {
    // Create and add MechModel
    mech = new MechModel("mech");
    addModel(mech);
    // Create and add FemModel
    fem = new FemModel3d("fem");
    mech.add(fem);
    // Build hex beam using factory method
    FemFactory.createHexGrid(fem, length, width, width, /*nx=*/
    6, /*ny=*/
    3, /*nz=*/
    3);
    // Set FEM properties
    fem.setDensity(density);
    fem.setParticleDamping(0.1);
    fem.setMaterial(new LinearMaterial(4000, 0.33));
    // Fix left-hand nodes for boundary condition
    for (FemNode3d n : fem.getNodes()) {
        if (n.getPosition().x <= -length / 2 + EPS) {
            n.setDynamic(false);
        }
    }
    // Set rendering properties
    setRenderProps(fem);
}