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

Example 26 with MechModel

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

the class SimpleCollide method removeObject.

private void removeObject(ModelComponent comp, ObjectType type) {
    MechModel mechMod = (MechModel) models().get(0);
    ComponentList<Probe> myProbes = getInputProbes();
    for (Probe p : myProbes) {
        System.out.println("type's name: " + type.name());
        System.out.println("probe's name: " + p.getName());
        if (type.name().equals(p.getName())) {
            removeInputProbe(p);
        }
    }
    switch(type) {
        case FemEllipsoid:
        case FemSphere:
        case FemCube:
            {
                mechMod.removeModel((FemModel3d) comp);
                break;
            }
        case Box:
        case Molar:
        case Bin:
        case Paw:
        case House:
            {
                mechMod.removeRigidBody((RigidBody) comp);
                break;
            }
        default:
            {
                throw new InternalErrorException("Unimplemented type " + type);
            }
    }
}

Example 27 with MechModel

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

the class MechModelCollide method build.

public void build(String[] args) {
    MechModel mechMod = new MechModel("mechMod");
    // mechMod.setProfiling (true);
    mechMod.setGravity(0, 0, -98);
    // mechMod.setRigidBodyDamper (new FrameDamper (1.0, 4.0));
    mechMod.setFrameDamping(1.0);
    mechMod.setRotaryDamping(4.0);
    RigidTransform3d XMB = new RigidTransform3d();
    RigidTransform3d XLW = new RigidTransform3d();
    RigidTransform3d TCA = new RigidTransform3d();
    RigidTransform3d TCB = new RigidTransform3d();
    RigidTransform3d XAB = new RigidTransform3d();
    PolygonalMesh mesh;
    // number of slices for approximating a circle
    int nslices = 16;
    // // set view so tha points upwards
    // X.R.setAxisAngle (1, 0, 0, -Math.PI/2);
    // viewer.setTransform (X);
    double lenx0 = 30;
    double leny0 = 30;
    double lenz0 = 2;
    RigidBody base = RigidBody.createBox("base", lenx0, leny0, lenz0, 0.2);
    base.setDynamic(false);
    mechMod.setDefaultCollisionBehavior(true, 0.20);
    RenderProps props;
    // first link
    double lenx1 = 10;
    double leny1 = 2;
    double lenz1 = 3;
    RigidBody link1 = new RigidBody("link1");
    link1.setInertia(SpatialInertia.createBoxInertia(10, lenx1, leny1, lenz1));
    mesh = MeshFactory.createRoundedBox(lenx1, leny1, lenz1, nslices / 2);
    XMB.setIdentity();
    XMB.R.setAxisAngle(1, 1, 1, 2 * Math.PI / 3);
    mesh.transform(XMB);
    // mesh.setRenderMaterial (Material.createSpecial (Material.GRAY));
    link1.setMesh(mesh, /* fileName= */
    null);
    XLW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    // XLW.R.mulAxisAngle (0, 1, 0, Math.PI/4);
    XLW.p.set(0, 0, 1.5 * lenx1);
    link1.setPose(XLW);
    mechMod.addRigidBody(link1);
    // second link
    double lenx2 = 10;
    double leny2 = 2;
    double lenz2 = 2;
    RigidBody link2 = new RigidBody("link2");
    if (// useSphericalJoint)
    false) {
        mesh = MeshFactory.createRoundedCylinder(leny2 / 2, lenx2, nslices, /*nsegs=*/
        1, /*flatBottom=*/
        false);
        link2.setInertia(SpatialInertia.createBoxInertia(10, leny2, leny2, lenx2));
        XLW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
        XLW.p.set(lenx1 / 2, lenx2 / 2, lenx1);
        link2.setPose(XLW);
    }
    mesh = MeshFactory.createRoundedCylinder(leny2 / 2, lenx2, nslices, /*nsegs=*/
    1, /*flatBottom=*/
    false);
    mesh.transform(XMB);
    link2.setInertia(SpatialInertia.createBoxInertia(10, lenx2, leny2, lenz2));
    XLW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    XLW.p.set(lenx1 / 2 + lenx2 / 2, 0, 1.5 * lenx1);
    if (useSphericalJoint) {
        // Math.PI/4;
        double ang = 0;
        XLW.R.mulAxisAngle(0, 1, 0, ang);
        XLW.p.y += Math.sin(ang) * lenx2 / 2;
        XLW.p.x -= (1 - Math.cos(ang)) * lenx2 / 2;
    }
    link2.setPose(XLW);
    link2.setMesh(mesh, /* fileName= */
    null);
    mechMod.addRigidBody(link2);
    if (transparentLinks) {
        RenderProps.setFaceStyle(link1, Renderer.FaceStyle.NONE);
        RenderProps.setDrawEdges(link1, true);
        RenderProps.setFaceStyle(link2, Renderer.FaceStyle.NONE);
        RenderProps.setDrawEdges(link2, true);
    }
    BodyConnector joint2 = null;
    // joint 2
    if (useSphericalJoint) {
        TCA.setIdentity();
        TCA.p.set(-lenx2 / 2, 0, 0);
        XAB.mulInverseLeft(link1.getPose(), link2.getPose());
        TCB.mul(XAB, TCA);
        SphericalJoint sjoint = new SphericalJoint(link2, TCA, link1, TCB);
        // RevoluteJoint joint2 = new RevoluteJoint (link2, TCA, TCB);
        sjoint.setName("joint2");
        // RenderProps.setLineRadius(sjoint, 0.2);
        sjoint.setAxisLength(4);
        mechMod.addBodyConnector(sjoint);
        joint2 = sjoint;
    } else {
        TCA.setIdentity();
        TCA.p.set(-lenx2 / 2, 0, 0);
        // TCA.R.mulAxisAngle (1, 0, 0, -Math.toRadians(90));
        XAB.mulInverseLeft(link1.getPose(), link2.getPose());
        TCB.mul(XAB, TCA);
        RevoluteJoint rjoint = new RevoluteJoint(link2, TCA, link1, TCB);
        rjoint.setName("joint2");
        rjoint.setAxisLength(4);
        RenderProps.setLineRadius(rjoint, 0.2);
        mechMod.addBodyConnector(rjoint);
        rjoint.setTheta(35);
        joint2 = rjoint;
    }
    mechMod.transformGeometry(new RigidTransform3d(-5, 0, 10, 1, 1, 0, Math.toRadians(30)));
    mechMod.addRigidBody(base);
    mechMod.setCollisionBehavior(link1, link2, false);
    CollisionManager cm = mechMod.getCollisionManager();
    RenderProps.setVisible(cm, true);
    RenderProps.setLineWidth(cm, 3);
    RenderProps.setLineColor(cm, Color.RED);
    cm.setDrawContactNormals(true);
    mechMod.setPenetrationTol(1e-3);
    // try {
    // MechSystemSolver.setLogWriter (
    // ArtisynthIO.newIndentingPrintWriter ("solve.txt"));
    // }
    // catch (Exception e)  {
    // }
    addModel(mechMod);
    // mechMod.setIntegrator (Integrator.ForwardEuler);
    // addBreakPoint (0.51);
    // mechMod.setProfiling (true);
    addControlPanel(mechMod);
}

Example 28 with MechModel

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

the class CompliantConstraintDemo method build.

public void build(String[] args) {
    MechModel mechMod = new MechModel("mechMod");
    // mechMod.setProfiling (true);
    mechMod.setGravity(0, 0, -50);
    // mechMod.setRigidBodyDamper (new FrameDamper (1.0, 4.0));
    mechMod.setFrameDamping(1.0);
    mechMod.setRotaryDamping(4.0);
    mechMod.setIntegrator(MechSystemSolver.Integrator.SymplecticEuler);
    RigidTransform3d XMB = new RigidTransform3d();
    RigidTransform3d XLW = new RigidTransform3d();
    RigidTransform3d TCA = new RigidTransform3d();
    RigidTransform3d TCB = new RigidTransform3d();
    RigidTransform3d XAB = new RigidTransform3d();
    PolygonalMesh mesh;
    // number of slices for approximating a circle
    int nslices = 16;
    // // set view so tha points upwards
    // X.R.setAxisAngle (1, 0, 0, -Math.PI/2);
    // viewer.setTransform (X);
    double lenx0 = 15;
    double leny0 = 15;
    double lenz0 = 1.5;
    RenderProps props;
    double ks = 10;
    double ds = 10;
    // mechMod.addRigidBody (base);
    // first link
    double lenx1 = 10;
    double leny1 = 2;
    double lenz1 = 3;
    RigidBody link1 = new RigidBody("link1");
    link1.setInertia(SpatialInertia.createBoxInertia(10, lenx1, leny1, lenz1));
    mesh = MeshFactory.createRoundedBox(lenx1, leny1, lenz1, nslices / 2);
    XMB.setIdentity();
    XMB.R.setAxisAngle(1, 1, 1, 2 * Math.PI / 3);
    mesh.transform(XMB);
    // mesh.setRenderMaterial (Material.createSpecial (Material.GRAY));
    link1.setMesh(mesh, /* fileName= */
    null);
    XLW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    // XLW.R.mulAxisAngle (0, 1, 0, Math.PI/4);
    XLW.p.set(0, 0, 1.5 * lenx1);
    link1.setPose(XLW);
    mechMod.addRigidBody(link1);
    // joint 1
    BodyConnector joint1 = null;
    RevoluteJoint rjoint = null;
    TCA.setIdentity();
    TCA.p.set(-lenx1 / 2, 0, 0);
    // TCA.R.mulAxisAngle (0, 1, 0, Math.PI/4);
    TCB.set(link1.getPose());
    TCB.mul(TCA);
    rjoint = new RevoluteJoint(link1, TCA, TCB);
    rjoint.setName("joint1");
    rjoint.setAxisLength(4);
    RenderProps.setLineRadius(rjoint, 0.2);
    joint1 = rjoint;
    // second link
    double lenx2 = 10;
    double leny2 = 2;
    double lenz2 = 2;
    RigidBody link2 = new RigidBody("link2");
    if (// useSphericalJoint)
    false) {
        mesh = MeshFactory.createRoundedCylinder(leny2 / 2, lenx2, nslices, /*nsegs=*/
        1, /*flatBottom=*/
        false);
        link2.setInertia(SpatialInertia.createBoxInertia(10, leny2, leny2, lenx2));
        XLW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
        XLW.p.set(lenx1 / 2, lenx2 / 2, lenx1);
        link2.setPose(XLW);
    }
    mesh = MeshFactory.createRoundedCylinder(leny2 / 2, lenx2, nslices, /*nsegs=*/
    1, /*flatBottom=*/
    false);
    mesh.transform(XMB);
    link2.setInertia(SpatialInertia.createBoxInertia(10, lenx2, leny2, lenz2));
    XLW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    XLW.p.set(lenx1 / 2 + lenx2 / 2, 0, 1.5 * lenx1);
    if (useSphericalJoint) {
        // Math.PI/4;
        double ang = 0;
        XLW.R.mulAxisAngle(0, 1, 0, ang);
        XLW.p.y += Math.sin(ang) * lenx2 / 2;
        XLW.p.x -= (1 - Math.cos(ang)) * lenx2 / 2;
    }
    link2.setPose(XLW);
    link2.setMesh(mesh, /* fileName= */
    null);
    mechMod.addRigidBody(link2);
    BodyConnector joint2 = null;
    // joint 2
    if (useSphericalJoint) {
        TCA.setIdentity();
        TCA.p.set(-lenx2 / 2, 0, 0);
        XAB.mulInverseLeft(link1.getPose(), link2.getPose());
        TCB.mul(XAB, TCA);
        SphericalJoint sjoint = new SphericalJoint(link2, TCA, link1, TCB);
        // RevoluteJoint joint2 = new RevoluteJoint (link2, TCA, TCB);
        sjoint.setName("joint2");
        // RenderProps.setLineRadius(sjoint, 0.2);
        sjoint.setAxisLength(4);
        joint2 = sjoint;
    } else {
        TCA.setIdentity();
        TCA.p.set(-lenx2 / 2, 0, 0);
        // TCA.R.mulAxisAngle (1, 0, 0, -Math.toRadians(90));
        XAB.mulInverseLeft(link1.getPose(), link2.getPose());
        TCB.mul(XAB, TCA);
        rjoint = new RevoluteJoint(link2, TCA, link1, TCB);
        rjoint.setName("joint2");
        rjoint.setAxisLength(4);
        RenderProps.setLineRadius(rjoint, 0.2);
        joint2 = rjoint;
    }
    mechMod.addBodyConnector(joint1);
    if (joint2 != null) {
        mechMod.addBodyConnector(joint2);
    }
    mechMod.transformGeometry(new RigidTransform3d(0, 0, 0, 0, Math.toRadians(75), 0));
    addModel(mechMod);
    addControlPanel(mechMod);
}

Example 29 with MechModel

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

the class MenuBarHandler method doBlankMechmodel.

private void doBlankMechmodel() {
    doClearModel();
    myMain.getRootModel().addModel(new MechModel());
}

Example 30 with MechModel

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

the class TorusWrapTest method build.

public void build(String[] args) {
    MechModel mechMod = new MechModel("mechMod");
    mechMod.setGravity(0, 0, -9.8);
    mechMod.setFrameDamping(10.0);
    mechMod.setRotaryDamping(0.1);
    RigidBody block = new RigidBody("block");
    PolygonalMesh mesh = MeshFactory.createBox(size, size, size);
    block.setMesh(mesh, null);
    block.setInertiaFromDensity(1);
    // mechMod.addRigidBody (block);
    Particle p0 = new Particle(0.1, size * 3, 0, size / 2);
    p0.setDynamic(false);
    mechMod.addParticle(p0);
    Particle p1 = new Particle(0.1, -size * 3, 0, size / 2);
    p1.setDynamic(false);
    mechMod.addParticle(p1);
    Particle p2 = new Particle(0.1, -size * 3, size, size / 2);
    p2.setDynamic(false);
    // mechMod.addParticle (p2);
    Particle p3 = new Particle(0.1, size * 3, size, size / 2);
    p3.setDynamic(false);
    // mechMod.addParticle (p3);
    RigidTorus torus1 = new RigidTorus("torus1", size, size / 3, myDensity, 50, 30);
    RigidTorus torus2 = new RigidTorus("torus2", size, size / 3, myDensity, 50, 30);
    RigidTorus torus3 = new RigidTorus("torus3", size, size / 3, myDensity, 50, 30);
    torus1.setPose(new RigidTransform3d(-2 * size, 0, 0, 0, Math.PI / 2, 0));
    torus2.setPose(new RigidTransform3d(2 * size, 0, 0, 0, Math.PI / 2, 0));
    torus3.setPose(new RigidTransform3d(0, 0, 0, 0, Math.PI / 2, 0));
    mechMod.addRigidBody(torus1);
    mechMod.addRigidBody(torus2);
    mechMod.addRigidBody(torus3);
    mechMod.setDefaultCollisionBehavior(true, 0);
    MultiPointSpring spring = new MultiPointSpring("spring", 100, 0.1, 0);
    spring.addPoint(p0);
    spring.setSegmentWrappable(50);
    spring.addWrappable(torus1);
    spring.addWrappable(torus2);
    spring.addWrappable(torus3);
    spring.addPoint(p1);
    // spring.addPoint (p2);
    // spring.setSegmentWrappable (50);
    // spring.addPoint (p3);
    // spring.setWrapDamping (1.0);
    // spring.setWrapStiffness (10);
    // spring.setWrapH (0.01);
    mechMod.addMultiPointSpring(spring);
    spring.setDrawKnots(false);
    spring.setDrawABPoints(true);
    spring.setWrapDamping(100);
    spring.setMaxWrapIterations(10);
    addModel(mechMod);
    RenderProps.setPointStyle(mechMod, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(mechMod, size / 10);
    RenderProps.setLineStyle(mechMod, Renderer.LineStyle.CYLINDER);
    RenderProps.setLineRadius(mechMod, size / 30);
    RenderProps.setLineColor(mechMod, Color.red);
    createControlPanel(mechMod);
}