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

Example 51 with MechModel

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

the class FemSurfaceTargetDemo method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    mech = new MechModel("mech");
    mech.setGravity(Vector3d.ZERO);
    addModel(mech);
    fem = new FemMuscleModel("fem");
    fem.setStiffnessDamping(0.1);
    mech.addModel(fem);
    // boundary conditions
    FemFactory.createHexGrid(fem, l, w, w, nl, nw, nw);
    for (FemNode n : fem.getNodes()) {
        if (n.getPosition().x > l / 2 - eps) {
            n.setDynamic(false);
        }
    }
    // muscles
    addMuscle("vert", Color.RED, Vector3d.Z_UNIT);
    addMuscle("trans", Color.BLUE, Vector3d.Y_UNIT);
    body = new RigidBody("plate");
    body.setMesh(MeshFactory.createBox(l, l, l / 10));
    body.setPose(new RigidTransform3d(-1.2 * w - l / 20, 0, 0, 0, 1, 0, Math.PI / 2));
    body.setDynamic(false);
    mech.addRigidBody(body);
    mech.setCollisionBehavior(body, fem, true);
    addTrackingController();
    setupRenderProps();
}

Example 52 with MechModel

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

the class HydrostatInvDemo method build.

public void build(Shape shape) throws IOException {
    super.build(shape);
    hydro.setMaxStepSize(stepsize);
    hydro.setIntegrator(Integrator.Trapezoidal);
    this.setMaxStepSize(stepsize);
    mech = new MechModel("mech");
    mech.setIntegrator(hydro.getIntegrator());
    mech.setMaxStepSize(hydro.getMaxStepSize());
    mech.setGravity(hydro.getGravity());
    removeModel(hydro);
    mech.addModel(hydro);
    addModel(mech);
    probeFilename = null;
    setupRenderProps();
// for (MuscleBundle b : hydro.getMuscleBundles()) {
// RenderProps.setLineColor(b, Color.RED);
// }
}

Example 53 with MechModel

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

the class Fem3dBlock method build.

public void build(String type, int nz, int nxy, int options) {
    FemModel3d femMod = new FemModel3d("fem");
    femMod.setDensity(myDensity);
    if (type.equals("tet")) {
        FemFactory.createTetGrid(femMod, 0.6, 0.2, 0.2, nz, nxy, nxy);
    } else if (type.equals("hex")) {
        FemFactory.createHexGrid(femMod, 0.6, 0.2, 0.2, nz, nxy, nxy);
    } else if (type.equals("quadtet")) {
        FemFactory.createQuadtetGrid(femMod, 0.6, 0.2, 0.2, nz, nxy, nxy);
    } else if (type.equals("quadhex")) {
        FemFactory.createQuadhexGrid(femMod, 0.6, 0.2, 0.2, nz, nxy, nxy);
    } else {
        throw new UnsupportedOperationException("Unsupported element type " + type);
    }
    femMod.setBounds(new Point3d(-0.6, 0, 0), new Point3d(0.6, 0, 0));
    femMod.setLinearMaterial(200000, 0.4, true);
    femMod.setStiffnessDamping(0.002);
    Renderable elements = femMod.getElements();
    RenderProps.setLineWidth(elements, 2);
    RenderProps.setLineColor(elements, Color.BLUE);
    Renderable nodes = femMod.getNodes();
    RenderProps.setPointStyle(nodes, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(nodes, 0.01);
    RenderProps.setPointColor(nodes, new Color(153, 0, 204));
    // fix the leftmost nodes
    LinkedList<FemNode3d> leftNodes = getLeftNodes(femMod);
    LinkedList<FemNode3d> rightNodes = getRightNodes(femMod);
    myAttachNodes = rightNodes.toArray(new FemNode3d[0]);
    double wx, wy, wz;
    double mass;
    RigidTransform3d X = new RigidTransform3d();
    PolygonalMesh mesh;
    MechModel mechMod = new MechModel("mech");
    // mechMod.setPrintState ("%10.5f");
    wx = 0.1;
    wy = 0.3;
    wz = 0.3;
    RigidBody leftBody = new RigidBody("leftBody");
    mass = wx * wy * wz * myDensity;
    leftBody.setInertia(SpatialInertia.createBoxInertia(mass, wx, wy, wz));
    mesh = MeshFactory.createBox(wx, wy, wz);
    // mesh.setRenderMaterial (Material.createSpecial (Material.GRAY));
    leftBody.setMesh(mesh, /* fileName= */
    null);
    X.R.setIdentity();
    X.p.set(-0.35, 0, 0);
    leftBody.setPose(X);
    leftBody.setDynamic(true);
    mechMod.addRigidBody(leftBody);
    RenderProps.setPointStyle(mechMod, Renderer.PointStyle.SPHERE);
    RigidTransform3d TCW = new RigidTransform3d();
    RigidTransform3d TCA = new RigidTransform3d();
    TCA.p.set(0, 0, wz / 2);
    TCA.R.mulAxisAngle(1, 0, 0, Math.PI / 2);
    TCW.mul(X, TCA);
    RevoluteJoint joint = new RevoluteJoint(leftBody, TCA, TCW);
    RenderProps.setCylindricalLines(joint, 0.01, Color.BLUE);
    joint.setAxisLength(0.5);
    mechMod.addBodyConnector(joint);
    // right box
    RigidBody rightBody = new RigidBody("rightBody");
    rightBody.setInertia(SpatialInertia.createBoxInertia(mass, wx, wy, wz));
    mesh = MeshFactory.createBox(wx, wy, wz);
    // mesh.setRenderMaterial (Material.createSpecial (Material.GRAY));
    rightBody.setMesh(mesh, /* fileName= */
    null);
    X.p.set(0.35, 0, 0);
    rightBody.setPose(X);
    rightBody.setDynamic(true);
    mechMod.addRigidBody(rightBody);
    mechMod.addModel(femMod);
    for (FemNode3d n : leftNodes) {
        mechMod.attachPoint(n, leftBody);
    }
    // femMod.setProfile (true);
    mechMod.setIntegrator(Integrator.BackwardEuler);
    setConnected(true);
    addModel(mechMod);
    // mechMod.setProfiling (true);
    // int numWays = 10;
    // double res = 0.1;
    // for (int i = 0; i < numWays; i++) {
    // addWayPoint (new WayPoint (TimeBase.secondsToTicks ((i + 1) * res)));
    // }
    // addWayPoint (new WayPoint (TimeBase.secondsToTicks (5)));
    // addBreakPoint(5);
    // setupOutputProbes();
    addControlPanel(mechMod, femMod);
}

Example 54 with MechModel

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

the class FemMuscleArm method build.

public void build(String[] args) throws IOException {
    model = new MechModel("Arm");
    addModel(model);
    model.setIntegrator(MechSystemSolver.Integrator.BackwardEuler);
    model.setMaxStepSize(0.01);
    AxialSpring.myIgnoreCoriolisInJacobian = false;
    setupRenderProps();
    addRigidBodies();
    addJoint();
    // addFemMuscle(new Point3d(2.4, 0, 20), new Point3d(3, 0, -7));
    addFemMuscle(new Point3d(-1.5, 0.0, 18), new Point3d(-4, 0.0, -2));
    // addAntagonist();
    // addLoad();
    addEndPoint();
    setCollisions(true);
    addControlPanel();
    addProbes();
}

Example 55 with MechModel

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

the class FemMuscleArm method getCollisions.

public boolean getCollisions() {
    MechModel mech = (MechModel) models().get(0);
    PointToPointMuscle muscle = (PointToPointMuscle) mech.findComponent("models/0");
    RigidBody upperArm = (RigidBody) mech.findComponent("rigidBodies/upper");
    if (muscle == null || upperArm == null) {
        return false;
    }
    CollisionBehavior cb = mech.getCollisionBehavior(muscle, upperArm);
    return cb != null && cb.isEnabled();
}