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

Example 21 with MechModel

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

the class PointModel method build.

public void build(DemoType demoType) {
    myDemoType = demoType;
    model = new MechModel("point");
    model.setGravity(0, 0, 0);
    model.setIntegrator(Integrator.Trapezoidal);
    model.setMaxStepSize(0.01);
    createModel(myDemoType);
    setupRenderProps();
    setWorkingDir(useReactionForceTargetP ? "reaction_force/" : "east/");
    addTrackingController();
}

Example 22 with MechModel

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

the class SimpleCollide method setTopObject.

public void setTopObject(ObjectType type) {
    MechModel mechMod = (MechModel) models().get(0);
    if (myTopType != type) {
        if (myTopObject != null) {
            if (myBottomObject != null) {
                mechMod.clearCollisionBehavior(myTopObject, myBottomObject);
            }
            removeObject(myTopObject, myTopType);
        }
        Collidable comp = createObject("topObject", type);
        setTopObject(comp, type);
        addObject(comp, type);
        createAndAddControlPanel("Top object", comp);
        if (myBottomObject != null) {
            mechMod.setCollisionBehavior(myTopObject, myBottomObject, true, myFriction);
        }
    }
}

Example 23 with MechModel

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

the class SimpleCollide method setBottomObject.

public void setBottomObject(ObjectType type) {
    MechModel mechMod = (MechModel) models().get(0);
    if (myBottomType != type) {
        if (myBottomObject != null) {
            if (myTopObject != null) {
                mechMod.clearCollisionBehavior(myTopObject, myBottomObject);
            }
            removeObject(myBottomObject, myBottomType);
        }
        Collidable comp = createObject("bottomObject", type);
        setBottomObject(comp, type);
        addObject(comp, type);
        createAndAddControlPanel("Bottom object", comp);
        if (myTopObject != null) {
            mechMod.setCollisionBehavior(myTopObject, myBottomObject, true, myFriction);
        }
    // addBreakPoint (0.33);
    }
}

Example 24 with MechModel

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

the class SimpleCollide method setFriction.

public void setFriction(double mu) {
    MechModel mechMod = (MechModel) models().get(0);
    myFriction = mu;
    if (mechMod != null) {
        mechMod.setFriction(mu);
    }
}

Example 25 with MechModel

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

the class SimpleCollide method build.

public void build(String[] args) {
    MechModel mechMod = new MechModel("mechModel");
    mechMod.setMaxStepSize(0.01);
    mechMod.setIntegrator(Integrator.ConstrainedBackwardEuler);
    addModel(mechMod);
    // for block/block friction test
    // mySeparation = 1.09;
    // mySeparation = .615;
    CollisionManager cm = mechMod.getCollisionManager();
    cm.setColliderType(ColliderType.SIGNED_DISTANCE);
    cm.setDrawIntersectionContours(true);
    RenderProps.setEdgeWidth(cm, 2);
    RenderProps.setEdgeColor(cm, Color.YELLOW);
    RenderProps.setVisible(cm, true);
    setTopObject(ObjectType.FemEllipsoid);
    setBottomObject(ObjectType.Box);
    // for block/block friction test
    // mechMod.transformGeometry (
    // new RigidTransform3d (0, 0, 0, 0, 1, 0, Math.toRadians(20)));
    mechMod.setProfiling(false);
    ControlPanel panel = new ControlPanel("controls");
    panel.addWidget(this, "topObject");
    panel.addWidget(this, "bottomObject");
    panel.addWidget(mechMod, "integrator");
    panel.addWidget(this, "friction");
    panel.addWidget(mechMod, "collisionManager:compliance");
    panel.addWidget(mechMod, "collisionManager:damping");
    addControlPanel(panel, 0);
    // mechMod.transformGeometry (
    // new RigidTransform3d (0, 0, 0, 0, 1, 0, Math.PI));
    Main.getMain().arrangeControlPanels(this);
    // panel.pack();
    // panel.setVisible (true);
    // java.awt.Point loc = Main.getMainFrame().getLocation();
    // panel.setLocation(loc.x + Main.getMainFrame().getWidth(), loc.y);
    // addControlPanel (panel);
    NumericInputProbe iprobe = new NumericInputProbe(mechMod, "rigidBodies/bottomObject:targetOrientation", 0, 6);
    // new NumericInputProbe (
    // mechMod, "rigidBodies/bottomObject:targetPosition", 0, 6);
    iprobe.addData(new double[] { 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 3, 0, 1, 0, 90, 5, 0, 1, 0, 180, 6, 0, 1, 0, 180 }, NumericInputProbe.EXPLICIT_TIME);
    // iprobe.addData (
    // new double[] { 0, 0, 0, 0, 1, 0, 0, 2, 2, 0, 0, 0, 3, 0, 0,
    // 2, 4, 0, 0, 0,},
    // NumericInputProbe.EXPLICIT_TIME);
    // 
    // 
    iprobe.setActive(true);
    addInputProbe(iprobe);
    addBreakPoint(1.34);
}