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

Example 31 with MechModel

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

the class TransverseIsotropyTest method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    MechModel mech = new MechModel("mech");
    addModel(mech);
    double h = 0.1;
    double r = 0.005;
    FemModel3d fem = createCylinder(h, r);
    fem.setName("transverse");
    mech.addModel(fem);
    TransverseLinearMaterial mat = new TransverseLinearMaterial();
    mat.setYoungsModulus(50000, 50000);
    mat.setPoissonsRatio(0.45, 0.45);
    double G = 50000 / (2 * (1 + 0.45));
    mat.setShearModulus(G);
    mat.setCorotated(true);
    fem.setMaterial(mat);
    FemModel3d fem2 = createCylinder(h, r);
    fem2.setName("linear");
    LinearMaterial lmat = new LinearMaterial(50000, 0.45, true);
    fem2.setMaterial(lmat);
    mech.addModel(fem2);
    RigidTransform3d rot = new RigidTransform3d(Vector3d.ZERO, AxisAngle.ROT_Y_90);
    fem.transformGeometry(rot);
    fem2.transformGeometry(rot);
    fem2.transformGeometry(new RigidTransform3d(new Vector3d(0, 2 * r, 0), AxisAngle.IDENTITY));
    RenderProps.setFaceColor(fem2, Color.MAGENTA);
}

Example 32 with MechModel

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

the class TwoStrandWrapBase method build.

public void build(String[] args) {
    myMech = new MechModel("mechMod");
    myMech.setGravity(0, 0, -9.8);
    myMech.setFrameDamping(1.0);
    myMech.setRotaryDamping(0.1);
    myP0 = new Particle(0.1, size * 3, -myGap / 2, size / 2);
    myP0.setDynamic(false);
    myMech.addParticle(myP0);
    myP1 = new Particle(0.1, -size * 3, -myGap / 2, size / 2);
    myP1.setDynamic(false);
    myMech.addParticle(myP1);
    myP2 = new Particle(0.1, -size * 3, myGap / 2, size / 2);
    myP2.setDynamic(false);
    myMech.addParticle(myP2);
    myP3 = new Particle(0.1, size * 3, myGap / 2, size / 2);
    myP3.setDynamic(false);
    myMech.addParticle(myP3);
    mySpring = new MultiPointSpring("spring", 1, 0.1, 0);
    mySpring.addPoint(myP0);
    mySpring.setSegmentWrappable(50);
    mySpring.addPoint(myP1);
    mySpring.addPoint(myP2);
    mySpring.setSegmentWrappable(50);
    mySpring.addPoint(myP3);
    // mySpring.setWrapDamping (1.0);
    // mySpring.setWrapStiffness (10);
    // mySpring.setWrapH (0.01);
    myMech.addMultiPointSpring(mySpring);
    mySpring.setDrawKnots(false);
    mySpring.setDrawABPoints(true);
    mySpring.setWrapDamping(100);
    mySpring.setMaxWrapIterations(10);
    addModel(myMech);
    RenderProps.setPointStyle(myMech, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(myMech, size / 10);
    RenderProps.setLineStyle(myMech, Renderer.LineStyle.CYLINDER);
    RenderProps.setLineRadius(myMech, size / 30);
    RenderProps.setLineColor(myMech, Color.red);
    createControlPanel(myMech);
}

Example 33 with MechModel

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

the class CylinderWrapping method build.

public void build(String[] args) {
    MechModel mechMod = new MechModel("mechMod");
    addModel(mechMod);
    mechMod.setGravity(0, 0, -9.8);
    mechMod.setFrameDamping(100.0);
    mechMod.setRotaryDamping(10.0);
    double density = 150;
    double size = 1.0;
    Particle p1 = new Particle(0.1, -size, 0, 4 * size);
    p1.setDynamic(false);
    mechMod.addParticle(p1);
    Particle p2 = new Particle(0.1, -size, 0, 0);
    p2.setDynamic(false);
    mechMod.addParticle(p2);
    // create cylindrical wrapping object
    RigidCylinder cylinder = new RigidCylinder("cylinder", size / 2, 3.5 * size, density, 50);
    cylinder.setPose(new RigidTransform3d(0, 0, 1.5 * size, 0, 0, Math.PI / 2));
    cylinder.setDynamic(false);
    mechMod.addRigidBody(cylinder);
    // create ellipsoidal wrapping object
    double rad = 0.6 * size;
    RigidEllipsoid ball = new RigidEllipsoid("ball", rad, 2 * rad, rad, density, 50);
    ball.transformGeometry(new RigidTransform3d(size * 3, 0, 0));
    mechMod.addRigidBody(ball);
    // attach a marker to the ball
    FrameMarker p0 = new FrameMarker();
    double halfRoot2 = Math.sqrt(2) / 2;
    mechMod.addFrameMarker(p0, ball, new Point3d(-rad * halfRoot2, 0, rad * halfRoot2));
    // enable collisions between the ball and cylinder
    mechMod.setCollisionBehavior(cylinder, ball, true);
    // create the spring, making the segments between p0-p1 and p1-p2 each
    // wrappable with 50 knot points each
    MultiPointSpring spring = new MultiPointSpring("spring", 300, 1.0, 0);
    spring.addPoint(p0);
    spring.setSegmentWrappable(50, new Point3d[] { new Point3d(3, 0, 3) });
    spring.addWrappable(cylinder);
    spring.addWrappable(ball);
    spring.addPoint(p1);
    spring.setSegmentWrappable(50);
    spring.addPoint(p2);
    // optional: shrink wrapping segments around obstacles
    spring.updateWrapSegments();
    mechMod.addMultiPointSpring(spring);
    // set various rendering properties
    RenderProps.setSphericalPoints(p0, size / 10, Color.WHITE);
    RenderProps.setSphericalPoints(p1, size / 5, Color.BLUE);
    RenderProps.setSphericalPoints(p2, size / 10, Color.WHITE);
    RenderProps.setSphericalPoints(spring, size / 10, Color.GRAY);
    RenderProps.setCylindricalLines(spring, size / 30, Color.RED);
    createControlPanel(spring);
}

Example 34 with MechModel

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

the class MechModelDemo method build.

public void build(String[] args) {
    myMech = new MechModel("mechMod");
    // mechMod.setProfiling (true);
    myMech.setGravity(0, 0, -50);
    // myMech.setRigidBodyDamper (new FrameDamper (1.0, 4.0));
    myMech.setFrameDamping(1.0);
    myMech.setRotaryDamping(4.0);
    myMech.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;
    RigidBody base = new RigidBody("base");
    base.setInertia(SpatialInertia.createBoxInertia(10, lenx0, leny0, lenz0));
    mesh = MeshFactory.createBox(lenx0, leny0, lenz0);
    // XMB.setIdentity();
    // XMB.R.setAxisAngle (1, 1, 1, 2*Math.PI/3);
    // mesh.transform (XMB);
    // mesh.setRenderMaterial (Material.createSpecial (Material.GRAY));
    base.setMesh(mesh, /* fileName= */
    null);
    XLW.setIdentity();
    XLW.p.set(0, 0, 22);
    base.setPose(XLW);
    base.setDynamic(false);
    myMech.addRigidBody(base);
    RenderProps props;
    FrameMarker mk0 = new FrameMarker();
    props = mk0.createRenderProps();
    // props.setColor (Color.GREEN);
    props.setPointRadius(0.5);
    props.setPointStyle(Renderer.PointStyle.SPHERE);
    mk0.setRenderProps(props);
    myMech.addFrameMarker(mk0, base, new Point3d(lenx0 / 2, leny0 / 2, 0));
    FrameMarker mk1 = new FrameMarker();
    mk1.setRenderProps(props);
    myMech.addFrameMarker(mk1, base, new Point3d(-lenx0 / 2, -leny0 / 2, 0));
    FrameMarker mk2 = new FrameMarker();
    mk2.setRenderProps(props);
    FrameMarker mk3 = new FrameMarker();
    mk3.setRenderProps(props);
    double ks = 10;
    double ds = 10;
    AxialSpring spr0 = new AxialSpring(50, 10, 0);
    AxialSpring spr1 = new AxialSpring(50, 10, 0);
    props = spr0.createRenderProps();
    props.setLineStyle(Renderer.LineStyle.CYLINDER);
    props.setLineRadius(0.2);
    props.setLineColor(Color.RED);
    spr0.setRenderProps(props);
    spr1.setRenderProps(props);
    // myMech.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);
    myMech.addRigidBody(link1);
    myMech.addFrameMarker(mk2, link1, new Point3d(-lenx1 / 2, 0, -lenz1 / 2));
    myMech.addFrameMarker(mk3, link1, new Point3d(-lenx1 / 2, 0, lenz1 / 2));
    // // joint 1
    // if (usePlanarJoint)
    // {
    // TCA.setIdentity();
    // TCA.p.set (-lenx1/2, 0, 0);
    // TCA.R.setAxisAngle (1, 0, 0, -Math.PI/2);
    // TCB.p.set (0, 0, lenx1);
    // // TCB.R.setAxisAngle (1, 0, 0, -Math.PI/2);
    // PlanarConnector planar =
    // new PlanarConnector (link1, TCA.p, TCB);
    // planar.setName ("plane1");
    // planar.setPlaneSize (20);
    // RenderProps.setColor (planar, Color.BLUE);
    // joint1 = planar;
    // }
    // else
    // {
    // TCA.setIdentity();
    // TCA.p.set (-lenx1/2, 0, 0);
    // // TCA.R.mulAxisAngle (0, 1, 0, Math.PI/4);
    // TCB.set (link1.myState.XFrameToWorld);
    // TCB.mul (TCA);
    // RevoluteJoint rjoint = new RevoluteJoint (link1, TCA, TCB);
    // rjoint.setName ("joint1");
    // rjoint.setAxisLength (4);
    // RenderProps.setLineRadius(rjoint, 0.2);
    // joint1 = rjoint;
    // // SphericalJoint sjoint = new SphericalJoint (
    // // link1, TCA, TCB);
    // // sjoint.setName ("joint1");
    // // sjoint.setAxisLength (5);
    // // joint1 = sjoint;
    // }
    // 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);
    myMech.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);
        RevoluteJoint rjoint = new RevoluteJoint(link2, TCA, link1, TCB);
        // TCB.mul (link2.getPose(), TCA);
        // RevoluteJoint rjoint =
        // new RevoluteJoint (link2, TCA, TCB);
        // RigidTransform3d X = new RigidTransform3d();
        // X.R.setAxisAngle (1, 0, 0, -Math.toRadians(90));
        // X.mul (TCB, X);
        // X.mulInverseRight (X, TCB);
        // rjoint.transformGeometry (X);
        // rjoint.printData();
        rjoint.setName("joint2");
        rjoint.setAxisLength(4);
        RenderProps.setLineRadius(rjoint, 0.2);
        // RigidTransform3d X = new RigidTransform3d();
        // RigidTransform3d TDW = rjoint.getXDW();
        // System.out.println ("getXDW=\n" + TDW.toString("%8.3f"));
        // X.R.setAxisAngle (1, 0, 0, Math.toRadians(80));
        // X.mulInverseRight (X, TDW);
        // X.mul (TDW, X);
        // rjoint.transformGeometry (X, rjoint);
        joint2 = rjoint;
    }
    // myMech.addBodyConnector (joint1);
    if (joint2 != null) {
        myMech.addBodyConnector(joint2);
    }
    myMech.attachAxialSpring(mk0, mk2, spr0);
    myMech.attachAxialSpring(mk1, mk3, spr1);
    if (usePlanarContacts) {
        TCA.setIdentity();
        TCA.p.set(lenx2 / 2 + leny2 / 2, 0, 0);
        TCB.setIdentity();
        // TCB.p.set (0, 0, -lenx2/2);
        // TCB.p.set (0, 0, lenx2/2);
        TCB.R.setIdentity();
        TCB.R.setAxisAngle(0, 0, 1, Math.PI / 2);
        TCB.R.mulAxisAngle(1, 0, 0, Math.toRadians(20));
        PlanarConnector contact1 = new PlanarConnector(link2, TCA.p, TCB);
        contact1.setUnilateral(true);
        contact1.setName("contact1");
        contact1.setPlaneSize(20);
        RenderProps.setFaceColor(contact1, new Color(0.5f, 0.5f, 1f));
        RenderProps.setAlpha(contact1, 0.5);
        myMech.addBodyConnector(contact1);
        TCB.R.setIdentity();
        TCB.R.setAxisAngle(0, 0, 1, Math.PI / 2);
        TCB.R.mulAxisAngle(1, 0, 0, -Math.toRadians(20));
        PlanarConnector contact2 = new PlanarConnector(link2, TCA.p, TCB);
        contact2.setUnilateral(true);
        contact2.setName("contact2");
        contact2.setPlaneSize(20);
        RenderProps.setFaceColor(contact2, new Color(0.5f, 0.5f, 1f));
        RenderProps.setAlpha(contact2, 0.5);
        myMech.addBodyConnector(contact2);
    }
    myMech.setBounds(new Point3d(0, 0, -10), new Point3d(0, 0, 10));
    addModel(myMech);
    addControlPanel(myMech);
// RigidTransform3d X = new RigidTransform3d (link1.getPose());
// X.R.mulRpy (Math.toRadians(-10), 0, 0);
// link1.setPose (X);
// myMech.projectRigidBodyPositionConstraints();
// myMech.setProfiling (true);
// myMech.setIntegrator (Integrator.ForwardEuler);
// addBreakPoint (0.57);
}

Example 35 with MechModel

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

the class MultiMuscleDemo method build.

public void build(String[] args) {
    super.build(args);
    MechModel mechMod = (MechModel) models().get("mechMod");
    RigidBody block = mechMod.rigidBodies().get("block");
    Particle p0 = new Particle(0.1, 0, -size * 3, size / 2);
    p0.setDynamic(false);
    mechMod.addParticle(p0);
    Particle p1 = new Particle(0.1, 0, size * 3, size / 2);
    p1.setDynamic(false);
    mechMod.addParticle(p1);
    FrameMarker mkr0 = new FrameMarker();
    mechMod.addFrameMarker(mkr0, block, new Point3d(0, -size / 2, size / 2));
    FrameMarker mkr1 = new FrameMarker();
    mechMod.addFrameMarker(mkr1, block, new Point3d(0, size / 2, size / 2));
    MultiPointMuscle muscle = new MultiPointMuscle();
    LinearAxialMuscle mat = new LinearAxialMuscle();
    mat.setForceScaling(1);
    mat.setMaxForce(10);
    mat.setMaxLength(size);
    mat.setPassiveFraction(0.1);
    muscle.setMaterial(mat);
    muscle.addPoint(p0);
    muscle.addPoint(mkr0);
    muscle.addPoint(mkr1);
    muscle.addPoint(p1);
    mechMod.addMultiPointSpring(muscle);
    RenderProps.setLineColor(mechMod, Color.BLUE);
    RenderProps.setLineStyle(muscle, LineStyle.SPINDLE);
    RenderProps.setLineRadius(muscle, 0.1);
    RenderProps.setLineColor(muscle, Color.RED);
}