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

Example 1 with MultiPointSpring

use of artisynth.core.mechmodels.MultiPointSpring 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);
}

Example 2 with MultiPointSpring

use of artisynth.core.mechmodels.MultiPointSpring 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 3 with MultiPointSpring

use of artisynth.core.mechmodels.MultiPointSpring 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);
}