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

Example 41 with MechModel

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

the class SpinControlProbe method build.

public void build(String[] args) {
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // Create a parametrically controlled rigid body to spin:
    RigidBody body = RigidBody.createBox("box", 1.0, 1.0, 0.5, 1000.0);
    mech.addRigidBody(body);
    body.setDynamic(false);
    // Create a NumericControlProbe with size 1, initial spin data
    // with time step 2.0, start time 0, and stop time 8.
    NumericControlProbe spinProbe = new NumericControlProbe(/*vsize=*/
    1, new double[] { 0.0, 90.0, 0.0, -90.0, 0.0 }, 2.0, 0.0, 8.0);
    // set cubic interpolation for a smoother result
    spinProbe.setInterpolationOrder(Interpolation.Order.Cubic);
    // then set the data function:
    spinProbe.setDataFunction(new SpinFunction(body));
    addInputProbe(spinProbe);
}

Example 42 with MechModel

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

the class FemBeamTest method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    mech = new MechModel("mech");
    addModel(mech);
    fems = new RenderableComponentList<>(FemModel3d.class);
    FemModel3d tet = FemFactory.createTetGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    tet.setName("tet");
    fems.add(tet);
    FemModel3d pyr = FemFactory.createPyramidGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    pyr.setName("pyr");
    fems.add(pyr);
    FemModel3d wed = FemFactory.createWedgeGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    wed.setName("wed");
    fems.add(wed);
    FemModel3d hex = FemFactory.createHexGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    hex.setName("hex");
    fems.add(hex);
    FemModel3d qtet = FemFactory.createQuadtetGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    qtet.setName("qtet");
    fems.add(qtet);
    FemModel3d qpyr = FemFactory.createQuadpyramidGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    qpyr.setName("qpyr");
    fems.add(qpyr);
    FemModel3d qwed = FemFactory.createQuadwedgeGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    qwed.setName("qwed");
    fems.add(qwed);
    FemModel3d qhex = FemFactory.createQuadhexGrid(null, widthX, widthY, widthZ, numX, numY, numZ);
    qhex.setName("qhex");
    fems.add(qhex);
    // freeze lhs nodes
    double eps = 1e-10;
    for (FemModel3d fem : fems) {
        for (FemNode3d node : fem.getNodes()) {
            if (node.getRestPosition().x < -widthX / 2 + eps) {
                node.setDynamic(false);
            }
        }
    }
    // distribute
    double delta = widthY * 0.25;
    RigidTransform3d translate = new RigidTransform3d();
    for (FemModel3d fem : fems) {
        fem.transformGeometry(translate);
        translate.p.y += widthY + delta;
    }
    mech.add(fems);
    // render properties
    int nfems = fems.size();
    int ifem = 0;
    for (FemModel3d fem : fems) {
        fem.setSurfaceRendering(SurfaceRender.Shaded);
        float h = (float) ifem / nfems;
        RenderProps.setFaceColor(fem, Color.getHSBColor(h, 1.0f, 1.0f));
        ++ifem;
    }
    setMaterial(createDefaultMaterial());
}

Example 43 with MechModel

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

the class FullPlanarJointDemo method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    MechModel mech = (MechModel) models().get("mech");
    RigidBody lumbar1 = mech.rigidBodies().get("lumbar1");
    // constrain to mid-sagittal plane: medio-lateral direction is in world y-axis
    FullPlanarJoint planarJoint = new FullPlanarJoint(lumbar1, Vector3d.Y_UNIT);
    mech.addBodyConnector(planarJoint);
}

Example 44 with MechModel

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

the class JointedFemBeams method build.

public void build(String[] args) {
    MechModel mech = new MechModel("mechMod");
    addModel(mech);
    double stiffness = 5000;
    // create first fem beam and fix the leftmost nodes
    FemModel3d fem1 = addFem(mech, 2.4, 0.6, 0.4, stiffness);
    for (FemNode3d n : fem1.getNodes()) {
        if (n.getPosition().x <= -1.2) {
            n.setDynamic(false);
        }
    }
    // create the second fem beam and shift it 1.5 to the right
    FemModel3d fem2 = addFem(mech, 2.4, 0.4, 0.4, 0.1 * stiffness);
    fem2.transformGeometry(new RigidTransform3d(1.5, 0, 0));
    // create a slotted revolute joint that connects the two fem beams
    RigidTransform3d TDW = new RigidTransform3d(0.5, 0, 0, 0, 0, Math.PI / 2);
    SlottedRevoluteJoint joint = new SlottedRevoluteJoint(fem2, fem1, TDW);
    mech.addBodyConnector(joint);
    // set ranges and rendering properties for the joint
    joint.setAxisLength(0.8);
    joint.setMinX(-0.5);
    joint.setMaxX(0.5);
    joint.setSlotWidth(0.61);
    RenderProps.setLineColor(joint, myJointColor);
    RenderProps.setLineWidth(joint, 3);
    RenderProps.setLineRadius(joint, 0.04);
}

Example 45 with MechModel

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

the class PenetrationRendererDemo method build.

public void build(String[] args) {
    // create MechModel and add to RootModel
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // create and add the ball and plate
    RigidBody ball = RigidBody.createIcosahedralSphere("ball", 0.8, 0.1, 1);
    // ball.setPose (new RigidTransform3d (0, 0, 2, 0.4, 0.1, 0.1));
    ball.setPose(new RigidTransform3d(0, 0, 0, 0.4, 0.1, 0.1));
    ball.setDynamic(false);
    mech.addRigidBody(ball);
    RigidBody plate = RigidBody.createBox("plate", 5, 5, 5, 1);
    plate.setPose(new RigidTransform3d(0, 0, 2.94, 1, 0, 0, 0));
    plate.setDynamic(false);
    mech.addRigidBody(plate);
    // turn on collisions
    mech.setDefaultCollisionBehavior(true, 0.20);
    // make ball transparent so that contacts can be seen more clearly
    RenderProps.setFaceStyle(ball, Renderer.FaceStyle.NONE);
    RenderProps.setDrawEdges(ball, true);
    RenderProps.setEdgeColor(ball, Color.WHITE);
    RenderProps.setVisible(plate, false);
    RenderProps.setAlpha(plate, 0.5);
    // enable rendering of contacts normals and contours
    CollisionManager cm = mech.getCollisionManager();
    RenderProps.setVisible(cm, true);
    RenderProps.setLineWidth(cm, 3);
    RenderProps.setLineColor(cm, Color.RED);
    RenderProps.setEdgeWidth(cm, 3);
    RenderProps.setEdgeColor(cm, Color.BLUE);
    cm.setContactNormalLen(0.5);
    cm.setDrawContactNormals(true);
    cm.setDrawIntersectionContours(true);
    cm.setDrawIntersectionFaces(true);
    cm.setDrawIntersectionPoints(true);
    CollisionResponse resp = mech.setCollisionResponse(ball, plate);
    addMonitor(new PenetrationRenderer(resp));
}