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

Example 56 with MechModel

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

the class ArticulatedDemo method build.

public void build(String[] args) {
    MechModel mechMod = new MechModel("mechMod");
    mechMod.setGravity(0, 0, -9.8);
    mechMod.setFrameDamping(1.0);
    mechMod.setRotaryDamping(4.0);
    // mechMod.setIntegrator (MechSystemSolver.Integrator.BackwardEuler);
    // create9LinkLoop (mechMod);
    // create3LinkPlaneCollider (mechMod);
    // createLadderPlaneCollider (mechMod);
    // createCollidingLinkage (mechMod);
    // createLongLinkage (mechMod, 6);
    usePlanarContacts = true;
    createLongLinkage(mechMod, new Point3d(-5, 2, 10), new Point3d(15, 2, 5), 20, 0.5, 10);
    createLongLinkage(mechMod, new Point3d(5, -2, 10), new Point3d(-15, -2, 5), 20, 0.5, 10);
    mechMod.setBounds(new Point3d(0, 0, -10), new Point3d(0, 0, 10));
    mechMod.setProfiling(true);
    addModel(mechMod);
    addControlPanel(mechMod);
}

Example 57 with MechModel

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

the class QuadraticLockingDemo method build.

public void build(String[] args) {
    myTetMod = new FemModel3d("tet");
    FemFactory.createTetGrid(myTetMod, WIDTH, WIDTH, LENGTH, NX, NY, NZ);
    myTetMod.transformGeometry(new RigidTransform3d(-3 * WIDTH / 4, 0, 0));
    setModelProperties(myTetMod);
    myQuadtetMod = new FemModel3d("quadtet");
    FemFactory.createQuadtetGrid(myQuadtetMod, WIDTH, WIDTH, LENGTH, NX, NY, NZ);
    setModelProperties(myQuadtetMod);
    myQuadtetMod.transformGeometry(new RigidTransform3d(3 * WIDTH / 4, 0, 0));
    myHexMod = new FemModel3d("hex");
    FemFactory.createHexGrid(myHexMod, WIDTH, WIDTH, LENGTH, NX, NY, NZ);
    setModelProperties(myHexMod);
    myHexMod.transformGeometry(new RigidTransform3d(9 * WIDTH / 4, 0, 0));
    myMechMod = new MechModel("mech");
    myMechMod.addModel(myTetMod);
    myMechMod.addModel(myQuadtetMod);
    myMechMod.addModel(myHexMod);
    addModel(myMechMod);
    addControlPanel();
}

Example 58 with MechModel

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

the class SimpleCollide method attach.

public void attach(DriverInterface driver) {
    super.attach(driver);
    MechModel mechMod = (MechModel) models().get(0);
// mechMod.rigidBodies().get(0).setDynamic(false);
// NumericInputProbe inprobe =
// new NumericInputProbe(
// mechMod, "rigidBodies/0:position", 0, 5);
// inprobe.addData (2.5, new Point3d(0,0,0.8));
// addInputProbe (inprobe);
}

Example 59 with MechModel

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

the class DoubleArmDemo method build.

public void build(String[] args) {
    model = new MechModel("Arm");
    addModel(model);
    model.setIntegrator(MechSystemSolver.Integrator.RungeKutta4);
    model.setMaxStepSize(0.01);
    setupRenderProps();
    addRigidBodies();
    addJoint();
    addMuscles();
    addEndPoint();
    addPanel();
}