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

Example 36 with MechModel

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

the class RigidBodyCollision method build.

public void build(String[] args) throws IOException {
    try {
        mechmod = new MechModel();
        mechmod.setMaxStepSize(0.005);
        boxes = new ArrayList<RigidBody>();
        table = new RigidBody("table");
        table.setDynamic(false);
        table.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        AffineTransform3d trans = new AffineTransform3d();
        trans.setIdentity();
        trans.applyScaling(4, 2, 0.5);
        table.transformGeometry(trans);
        table.setPose(new RigidTransform3d(new Vector3d(0, 0, 0.8077474533228615), new AxisAngle()));
        table.setInertia(SpatialInertia.createBoxInertia(1, 1, 1, 1));
        mechmod.addRigidBody(table);
        boxes.add(table);
        if (wireFrame) {
            setWireFrame(table);
        }
        // middle box in pile
        box0 = new RigidBody("box0");
        box0.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.5, 0.5, 0.5);
        box0.transformGeometry(trans);
        box0.setInertia(SpatialInertia.createBoxInertia(4, 1, 1, 1));
        addBox(box0, Color.GREEN);
        if (wireFrame) {
            setWireFrame(box0);
        }
        // long thin box, bottom of pile
        box1 = new RigidBody("box1");
        box1.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.6, 0.1, 1.9);
        box1.transformGeometry(trans);
        box1.setInertia(SpatialInertia.createBoxInertia(1, 1, 0.1, 4));
        addBox(box1, Color.YELLOW);
        if (wireFrame) {
            setWireFrame(box1);
        }
        // left hand box falling on unsupported end of
        box2 = new RigidBody("box2");
        // box1
        box2.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.5, 0.5, 0.5);
        box2.transformGeometry(trans);
        box2.setInertia(SpatialInertia.createBoxInertia(20, 1, 1, 1));
        addBox(box2, Color.BLUE);
        if (wireFrame) {
            setWireFrame(box2);
        }
        // top box in pile
        box3 = new RigidBody("box3");
        box3.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.4, 0.4, 0.4);
        box3.transformGeometry(trans);
        box3.setInertia(SpatialInertia.createBoxInertia(0.5, 0.5, 0.5, 4));
        addBox(box3, Color.CYAN);
        // box3.getMesh().name = "box3";
        if (wireFrame) {
            setWireFrame(box3);
        }
        // solo box off to the right.
        box4 = new RigidBody("box4");
        box4.setMesh(new PolygonalMesh(new File(rbpath + "box.obj")), null);
        trans.setIdentity();
        trans.applyScaling(0.6, 0.6, 0.3);
        box4.transformGeometry(trans);
        box4.setInertia(SpatialInertia.createBoxInertia(0.5, 0.5, 0.5, 4));
        box4.setPose(new RigidTransform3d(new Vector3d(1, 0.0, 5), new AxisAngle(0, 0, 0, 0)));
        addBox(box4, Color.RED);
        // box4.getMesh().name = "box4";
        if (wireFrame) {
            setWireFrame(box4);
        }
        mechmod.setDefaultCollisionBehavior(true, 0.05);
        reset();
        addModel(mechmod);
        ControlPanel panel = new ControlPanel();
        panel.addWidget(mechmod, "integrator");
        panel.addWidget(mechmod, "maxStepSize");
        addControlPanel(panel);
        Main.getMain().arrangeControlPanels(this);
        CollisionManager cm = mechmod.getCollisionManager();
        RenderProps.setVisible(cm, true);
        RenderProps.setLineWidth(cm, 3);
        RenderProps.setLineColor(cm, Color.RED);
        cm.setDrawContactNormals(true);
        // addBreakPoint (0.74);
        for (int i = 1; i <= 10; i++) {
            addWayPoint(0.1 * i);
        }
    // setWaypointChecking (true);
    } catch (IOException e) {
        throw e;
    }
}

Example 37 with MechModel

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

the class SegmentedPlaneDemo method build.

public void build(String[] args) {
    // set up the mechmodel
    MechModel mechMod = new MechModel("mechMod");
    mechMod.setGravity(0, 0, -9.8);
    mechMod.setFrameDamping(1.0);
    mechMod.setRotaryDamping(4.0);
    mechMod.setIntegrator(MechSystemSolver.Integrator.BackwardEuler);
    // set up the rigid body and the plane constraint
    double lenx = 10;
    double leny = 5;
    double lenz = 3;
    RigidBody box = new RigidBody("box");
    RigidTransform3d XBoxToWorld = new RigidTransform3d();
    box.setInertia(SpatialInertia.createBoxInertia(10, lenx, leny, lenz));
    PolygonalMesh mesh = MeshFactory.createBox(lenx, leny, lenz);
    box.setMesh(mesh, /* fileName= */
    null);
    XBoxToWorld.p.set(0, 0, lenz / 2);
    box.setPose(XBoxToWorld);
    mechMod.addRigidBody(box);
    // FrameMarker mkr = new FrameMarker (box, -5, 2.5, 1.5);
    // mechMod.addFrameMarker (mkr);
    // RenderProps props = mkr.createRenderProps();
    // props.setPointColor (Color.blue);
    // props.setPointStyle (RenderProps.PointStyle.SPHERE);
    // props.setPointRadius (0.25);
    // mkr.setRenderProps (props);
    RigidTransform3d XPlanesToWorld = new RigidTransform3d();
    // XPlanesToWorld.R.setAxisAngle(0,1,0,Math.PI);
    SegmentedPlanarConnector segPlanes = new SegmentedPlanarConnector(box, new Vector3d(-5, 2.5, 1.5), XPlanesToWorld, new double[] { -6, 4, -3, 1, -1, 0, 1, 0, 3, 1, 6, 4 });
    segPlanes.setUnilateral(true);
    segPlanes.setPlaneSize(10);
    RenderProps props = segPlanes.createRenderProps();
    props.setPointColor(Color.blue);
    props.setPointStyle(PointStyle.SPHERE);
    props.setPointRadius(0.25);
    segPlanes.setRenderProps(props);
    // mechMod.addRigidBody (box);
    mechMod.addBodyConnector(segPlanes);
    addModel(mechMod);
    addControlPanel(mechMod);
// AffineTransform3d X = new AffineTransform3d ();
// X.applyScaling (1, 1, 2);
// mechMod.transformGeometry (X);
// RigidTransform3d X = new RigidTransform3d (0, 0, 1.5);
// box.transformGeometry (X);
}

Example 38 with MechModel

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

the class SpringMeshDemo method setCollision.

public void setCollision(boolean enable) {
    if (models().size() > 0) {
        MechModel model = (MechModel) models().getByNumber(0);
        if (model.forceEffectors().size() > 0 && !enable) {
            model.clearForceEffectors();
            rerender();
        } else if (model.forceEffectors().size() == 0 && enable) {
            model.addForceEffector(getCollider(model));
            rerender();
        }
    }
}

Example 39 with MechModel

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

the class FemCollisions method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    // Reduce step size to better resolve collisions
    setMaxStepSize(0.0002);
    // Create and add main MechModel
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // -------------------------------------------------------------
    // BEAM
    // -------------------------------------------------------------
    // Create FEM beam
    FemModel3d beam = new FemModel3d("beam");
    mech.addModel(beam);
    // widths
    double[] size = { 0.003, 0.0015, 0.0015 };
    // resolution
    int[] res = { 4, 2, 2 };
    FemFactory.createGrid(beam, FemElementType.Hex, size[0], size[1], size[2], res[0], res[1], res[2]);
    // Set properties
    beam.setDensity(1000);
    beam.setMaterial(new LinearMaterial(300, 0.33));
    // -------------------------------------------------------------
    // ELLIPSOID
    // -------------------------------------------------------------
    // Create FEM ellipsoid
    FemModel3d ellipsoid = new FemModel3d("ellipsoid");
    mech.addModel(ellipsoid);
    // radii (z, x, y)
    double[] radii = { 0.002, 0.001, 0.001 };
    // resolution (theta, phi, r)
    int[] eres = { 16, 4, 3 };
    FemFactory.createEllipsoid(ellipsoid, radii[0], radii[1], radii[2], eres[0], eres[1], eres[2]);
    // Set properties
    ellipsoid.setDensity(1000);
    ellipsoid.setMaterial(new LinearMaterial(300, 0.33));
    // Transform: rotate 90 degrees about X-Axis
    // translate up by 0.003
    RigidTransform3d trans = new RigidTransform3d();
    trans.setRotation(new AxisAngle(1, 0, 0, Math.PI / 2));
    trans.setTranslation(new Vector3d(0, 0.0005, 0.003));
    ellipsoid.transformGeometry(trans);
    // -------------------------------------------------------------
    // BLOCK WITH EMBEDDED SPHERE
    // -------------------------------------------------------------
    // Create FEM block
    FemModel3d block = new FemModel3d("block");
    mech.addModel(block);
    FemFactory.createHexGrid(block, 0.002, 0.002, 0.002, 3, 3, 3);
    // Set properties
    block.setDensity(1000);
    block.setMaterial(new LinearMaterial(300, 0.33));
    // Create embedded sphere
    double r = 0.0008;
    // level of refinement
    int ref = 2;
    PolygonalMesh sphere = MeshFactory.createOctahedralSphere(r, ref);
    FemMeshComp embeddedSphere = block.addMesh("embedded", sphere);
    // Transform: rotate 90 degrees about X-Axis
    // translate left by 0.003
    trans = new RigidTransform3d();
    trans.setTranslation(new Vector3d(0, 0.003, 0));
    block.transformGeometry(trans);
    // -------------------------------------------------------------
    // TABLE AND COLLISIONS
    // -------------------------------------------------------------
    RigidBody table = RigidBody.createBox("table", 0.005, 0.0075, 0.0008, 0);
    table.setDynamic(false);
    table.setPose(new RigidTransform3d(new Vector3d(0, 0.0015, -0.002), AxisAngle.IDENTITY));
    mech.addRigidBody(table);
    // Set up collisions
    mech.setCollisionBehavior(ellipsoid, beam, true, 0.1);
    mech.setCollisionBehavior(ellipsoid, table, true, 0.1);
    mech.setCollisionBehavior(embeddedSphere, table, true, 0.1);
    mech.setCollisionBehavior(ellipsoid, embeddedSphere, true, 0.1);
    mech.setCollisionBehavior(table, beam, true, 0.1);
    // -------------------------------------------------------------
    // RENDER PROPERTIES
    // -------------------------------------------------------------
    // Draw beam element widgets
    beam.setElementWidgetSize(0.8);
    RenderProps.setLineWidth(beam.getElements(), 0);
    // Make beam blue, and give it a transparent surface
    RenderProps.setFaceColor(beam, Color.BLUE);
    beam.setSurfaceRendering(SurfaceRender.Shaded);
    RenderProps.setAlpha(beam.getMeshComp("surface"), 0.4);
    // Make the ellipsoid red
    RenderProps.setFaceColor(ellipsoid, Color.RED);
    RenderProps.setLineColor(ellipsoid, Color.RED.darker());
    ellipsoid.setSurfaceRendering(SurfaceRender.Shaded);
    // Make the block green
    RenderProps.setFaceColor(block, Color.GREEN);
    RenderProps.setLineColor(block, Color.GREEN.darker());
}

Example 40 with MechModel

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

the class FemMuscleHeart method build.

// Model builder
@Override
public void build(String[] args) throws IOException {
    super.build(args);
    setMaxStepSize(0.005);
    // Root mechanical model
    MechModel mech = new MechModel("mech");
    mech.setGravity(0, 0, -9.8);
    addModel(mech);
    // -------------------------------------------------------------
    // HEART LOAD / ADD GEOMETRY
    // -------------------------------------------------------------
    // Heart surface mesh, with texture
    String heartFile = ArtisynthPath.getSrcRelativePath(this, "data/HumanHeart.obj");
    WavefrontReader wfr = new WavefrontReader(new File(heartFile));
    PolygonalMesh heartMesh = new PolygonalMesh();
    wfr.readMesh(heartMesh);
    // triangulate for interaction
    heartMesh.triangulate();
    // FEM heart:
    // - FEM mesh of heart convex hull
    // - embedded heart surface geometry
    FemMuscleModel heart = new FemMuscleModel("heart");
    TetGenReader.read(heart, ArtisynthPath.getSrcRelativePath(this, "data/HumanHeartHull.node"), ArtisynthPath.getSrcRelativePath(this, "data/HumanHeartHull.ele"));
    // add real-looking mesh
    FemMeshComp embeddedHeart = heart.addMesh(heartMesh);
    embeddedHeart.setName("embedded");
    // Allow inverted elements (poor quality mesh)
    heart.setWarnOnInvertedElements(false);
    heart.setAbortOnInvertedElements(false);
    // Convert unites to metres (original was cm)
    heart.scaleDistance(0.01);
    heart.setGravity(0, 0, -9.8);
    heart.setStiffnessDamping(0.02);
    // Set material properties
    heart.setDensity(1000);
    FemMaterial femMat = new LinearMaterial(2500, 0.33, true);
    // simple muscle
    MuscleMaterial muscleMat = new SimpleForceMuscle(500.0);
    heart.setMaterial(femMat);
    // Add heart to model
    mech.addModel(heart);
    // -------------------------------------------------------------
    // MUSCLE BUNDLES
    // -------------------------------------------------------------
    // One "long" direction muscle bundle
    // One "radial" muscle bundle
    // LONG BUNDLE
    // Compute the "long" direction of the heart
    PolygonalMesh hull = heart.getSurfaceMesh();
    RigidTransform3d trans = hull.computePrincipalAxes();
    Vector3d longAxis = new Vector3d();
    // first column of rotation
    trans.R.getColumn(0, longAxis);
    // Create the long axis muscle bundle
    MuscleBundle longBundle = new MuscleBundle("long");
    for (FemElement3d elem : heart.getElements()) {
        longBundle.addElement(elem, longAxis);
    }
    longBundle.setMuscleMaterial(muscleMat);
    heart.addMuscleBundle(longBundle);
    // RADIAL BUNDLE
    // Compute a plane through centre of heart
    Plane plane = new Plane(longAxis, new Point3d(trans.p));
    Point3d centroid = new Point3d();
    Vector3d radialDir = new Vector3d();
    // Create the radial muscle bundle
    MuscleBundle radialBundle = new MuscleBundle("radial");
    for (FemElement3d elem : heart.getElements()) {
        elem.computeCentroid(centroid);
        // project to plane and compute radial direction
        plane.project(centroid, centroid);
        radialDir.sub(centroid, trans.p);
        radialDir.normalize();
        radialBundle.addElement(elem, radialDir);
    }
    radialBundle.setMuscleMaterial(muscleMat);
    heart.addMuscleBundle(radialBundle);
    // -------------------------------------------------------------
    // RIGID TABLE AND COLLISION
    // -------------------------------------------------------------
    // Create a rigid box for the heart to fall on
    RigidBody box = RigidBody.createBox("box", 0.2, 0.2, 0.02, 0, /*addnormals*/
    true);
    box.setPose(new RigidTransform3d(new Vector3d(0, 0, -0.2), AxisAngle.IDENTITY));
    box.setDynamic(false);
    mech.addRigidBody(box);
    // Enable collisions between the heart and table
    mech.setCollisionBehavior(heart, box, true);
    // -------------------------------------------------------------
    // RENDER PROPERTIES
    // -------------------------------------------------------------
    // Hide elements and nodes
    RenderProps.setVisible(heart.getElements(), false);
    RenderProps.setVisible(heart.getNodes(), false);
    RenderProps.setLineColor(radialBundle, Color.BLUE);
    RenderProps.setLineColor(longBundle, Color.RED);
    radialBundle.setDirectionRenderLen(0.1);
    longBundle.setDirectionRenderLen(0.1);
    RenderProps.setVisible(radialBundle, false);
    RenderProps.setVisible(longBundle, false);
    RenderProps.setVisible(heart.getSurfaceMeshComp(), false);
    // adjust table render properties
    RenderProps.setShading(box, Shading.METAL);
    RenderProps.setSpecular(box, new Color(0.8f, 0.8f, 0.8f));
    // adjust heart mesh render properties
    RenderProps rprops = embeddedHeart.getRenderProps();
    rprops.getBumpMap().setScaling(0.01f);
    // don't modify specular
    rprops.getColorMap().setSpecularColoring(false);
    rprops.setShading(Shading.SMOOTH);
    rprops.setFaceColor(new Color(0.8f, 0.8f, 0.8f));
    rprops.getColorMap().setColorMixing(ColorMixing.MODULATE);
    rprops.setSpecular(new Color(0.4f, 0.4f, 0.4f));
    rprops.setShininess(128);
    // -------------------------------------------------------------
    // INPUT PROBES
    // -------------------------------------------------------------
    // Add heart probe
    addHeartProbe(longBundle, radialBundle);
}