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

Example 11 with Muscle

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

the class HydrostatModel method createMuscles.

public void createMuscles(Axis axis, String prefix) {
    Point3d p0 = new Point3d();
    Point3d p1 = new Point3d();
    int cnt = 0;
    for (double i = 0; i < (axis == Axis.X ? nl : nl + 1); i++) for (double j = 0; j < (axis == Axis.Y ? nr : nr + 1); j++) for (double k = 0; k < (axis == Axis.Z ? nr : nr + 1); k++) {
        if (periphLongP && axis == Axis.X && ((j != 0 && j != nr) && (k != 0 && k != nr)))
            continue;
        p0.set(l * (i / nl - 0.5), r * (j / nr - 0.5), r * (k / nr - 0.5));
        p1.set(l * ((axis == Axis.X ? i + 1 : i) / (nl) - 0.5), r * ((axis == Axis.Y ? j + 1 : j) / nr - 0.5), r * ((axis == Axis.Z ? k + 1 : k) / nr - 0.5));
        Muscle f = new Muscle(findPoint(p0), findPoint(p1));
        f.setConstantMuscleMaterial(muscleForce, 1);
        // f.getNumber());
        f.setName(prefix + (cnt++));
        muscleFibres.add(f);
    }
}

Example 12 with Muscle

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

the class HydrostatModel method createBundle.

public void createBundle(String name, Point3d emin, Point3d emax, String prefix) {
    Point3d pmin = new Point3d();
    Point3d pmax = new Point3d();
    MuscleBundle newbundle = new MuscleBundle(name);
    addMuscleBundle(newbundle);
    RenderProps.setLineWidth(newbundle, 4);
    // great than check -- use minus minimum
    emin.negate();
    for (Muscle f : muscleFibres) {
        pmin.set(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE);
        pmax.set(-Double.MAX_VALUE, -Double.MAX_VALUE, -Double.MAX_VALUE);
        f.updateBounds(pmin, pmax);
        // great than check -- use minus minimum
        pmin.negate();
        if (f.getName().startsWith(prefix) && emax.greaterEquals(pmax) && emin.greaterEquals(pmin))
            newbundle.addFibre(f);
    }
}

Example 13 with Muscle

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

the class HydrostatModel method createTubeLongMuscles.

public void createTubeLongMuscles() {
    MuscleBundle bundle = new MuscleBundle("long");
    addMuscleBundle(bundle);
    RenderProps.setLineWidth(bundle, 4);
    RenderProps.setLineColor(bundle, Color.RED);
    Point3d p0 = new Point3d();
    Point3d p1 = new Point3d();
    double dl = l / (nl - 1);
    double dt = 2 * Math.PI / nt;
    double dr = (r - rin) / (nr - 1);
    for (double i = 0; i < nt; i++) for (double j = (periphLongP ? nr - 1 : 0); j < nr; j++) {
        for (double k = 0; k < nl - 1; k++) {
            p0.set(-l / 2 + k * dl, -(rin + dr * j) * Math.cos(dt * i), (rin + dr * j) * Math.sin(dt * i));
            p1.set(-l / 2 + (k + 1) * dl, -(rin + dr * j) * Math.cos(dt * i), (rin + dr * j) * Math.sin(dt * i));
            Muscle f = new Muscle(findPoint(p0), findPoint(p1));
            f.setConstantMuscleMaterial(muscleForce, 1);
            bundle.addFibre(f);
        }
    }
}

Example 14 with Muscle

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

the class ForceTargetDemo method addTrackingController.

public void addTrackingController(FrameMarker mkr) throws IOException {
    TrackingController myTrackingController = new TrackingController(mech, "tcon");
    for (AxialSpring s : mech.axialSprings()) {
        if (s instanceof Muscle) {
            myTrackingController.addExciter((Muscle) s);
        }
    }
    // myTrackingController.addTerm(new StiffnessTerm(model, center));
    // StiffnessTerm kTerm = TrackingController.addStiffnessTarget(center, new int[]{0,2});
    // kTerm.setStiffnessTargetType(StiffnessTargetType.DIAG);
    // ComplianceTerm2d cterm = new ComplianceTerm2d(TrackingController, center, new int[]{0,2});
    // cterm.setComplianceTargetType(StiffnessTargetType.DIAG);
    // TrackingController.addTerm(cterm);
    myTrackingController.addL2RegularizationTerm();
    // myTrackingController.addTerm(new DampingTerm(TrackingController));
    // myTrackingController.addTerm(new StaticMotionTargetTerm(TrackingController));
    myTrackingController.addMotionTarget(mkr);
    setPointRenderProps((TargetPoint) myTrackingController.getMotionTargets().get(0));
    ForceTargetTerm mft = new ForceTargetTerm(myTrackingController);
    // mft.addMotionTarget(mkr);
    // setPointRenderProps((TargetPoint) mft.getMotionTargets ().get (0));
    double[] lam = { -3.5 };
    VectorNd tarlam = new VectorNd(lam);
    if (cons == true) {
        ForceTarget ft = mft.addForceTarget(con);
        ft.setTargetLambda(tarlam);
    }
    if (two_cons == true) {
        ForceTarget ft = mft.addForceTarget(con2);
        ft.setTargetLambda(tarlam);
    }
    if (force == true) {
        myTrackingController.addForceTargetTerm(mft);
    }
    // myTrackingController.getSolver().setBounds(0.01, 0.99);
    // setWorkingDir();
    // loadForceInputProbe(mft);
    myTrackingController.setProbeDuration(10.0);
    myTrackingController.createProbesAndPanel(this);
    addController(myTrackingController);
    reloadTargetProbeData();
}

Example 15 with Muscle

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

the class ForceTargetDemo method build.

public void build(String[] args) throws IOException {
    // create MechModel and add to RootModel
    mech = new MechModel("mech");
    addModel(mech);
    // create the components
    p1 = new Particle("p1", /*mass=*/
    2, /*x,y,z=*/
    0, 0, 0.15);
    p2 = new Particle("p2", 2, 10, 0, 0.15);
    p3 = new Particle("p3", 2, 5, 5, 0);
    p4 = new Particle("p4", 2, 5, -5, 0);
    p5 = new Particle("p5", 0, 5, 0, 5);
    p6 = new Particle("p6", 0, 5, 0, -5);
    box = RigidBody.createBox("box", /*wx,wy,wz=*/
    0.5, 0.3, 0.3, /*density=*/
    1);
    box.setPose(new RigidTransform3d(/*x,y,z=*/
    5, 0, -0.15));
    // create marker point and connect it to the box:
    FrameMarker mkr = new FrameMarker(/*x,y,z=*/
    0, 0, 0.15);
    mkr.setFrame(box);
    // create the muscle:
    muscle = new Muscle("mus1", /*restLength=*/
    5);
    muscle.setPoints(p1, mkr);
    muscle.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    1000));
    muscle2 = new Muscle("mus2", /*restLength=*/
    5);
    muscle2.setPoints(p2, mkr);
    muscle2.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    1000));
    muscle3 = new Muscle("mus3", /*restLength=*/
    5);
    muscle3.setPoints(p3, mkr);
    muscle3.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    muscle4 = new Muscle("mus4", /*restLength=*/
    5);
    muscle4.setPoints(p4, mkr);
    muscle4.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    muscle5 = new Muscle("mus5", /*restLength=*/
    5);
    muscle5.setPoints(p5, mkr);
    muscle5.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    muscle6 = new Muscle("mus6", /*restLength=*/
    5);
    muscle6.setPoints(p6, mkr);
    muscle6.setMaterial(new SimpleAxialMuscle(/*stiffness=*/
    0, /*damping=*/
    10, /*maxf=*/
    4000));
    if (two_cons == true) {
        RigidTransform3d XPW = new RigidTransform3d(5, 0, 0);
        XPW.R.mulAxisAngle(1, 0, 0, Math.toRadians(90));
        // Connection on the corner
        // PlanarConnector connector =
        // new PlanarConnector (box, new Vector3d (lenx/2, -2.5, 1.5), XPW);
        // Connection in the center
        con = new PlanarConnector(box, new Vector3d(0, 0, 0.15), XPW);
        con.setUnilateral(false);
        con.setPlaneSize(2);
        RenderProps props = con.createRenderProps();
        props.setPointColor(Color.blue);
        props.setPointStyle(Renderer.PointStyle.SPHERE);
        props.setPointRadius(0.06);
        con.setRenderProps(props);
        // con = new ParticlePlaneConstraint(p5, pl);
        // RenderProps.setDrawEdges (con, true);
        // RenderProps.setVisible (con, true);
        RigidTransform3d XPW2 = new RigidTransform3d(5, 0, 0);
        XPW2.R.mulAxisAngle(1, 0, 0, 0);
        // Connection on the corner
        // PlanarConnector connector =
        // new PlanarConnector (box, new Vector3d (lenx/2, -2.5, 1.5), XPW);
        // Connection in the center
        con2 = new PlanarConnector(box, new Vector3d(0, 0, 0.15), XPW2);
        con2.setUnilateral(false);
        con2.setPlaneSize(2);
        con2.setRenderProps(props);
    } else {
        RigidTransform3d XPW = new RigidTransform3d(5, 0, 0);
        XPW.R.mulAxisAngle(1, 0, 0, Math.toRadians(45));
        con = new PlanarConnector(box, new Vector3d(0, 0, 0.15), XPW);
        con.setUnilateral(false);
        con.setPlaneSize(2);
        RenderProps props = con.createRenderProps();
        props.setPointColor(Color.blue);
        props.setPointStyle(Renderer.PointStyle.SPHERE);
        props.setPointRadius(0.06);
        con.setRenderProps(props);
    }
    // con.setRenderProps (myRenderProps);
    // add components to the mech model
    mech.addParticle(p1);
    mech.addParticle(p2);
    mech.addParticle(p3);
    mech.addParticle(p4);
    mech.addParticle(p5);
    mech.addParticle(p6);
    mech.addRigidBody(box);
    mech.addFrameMarker(mkr);
    // mech.addParticle (p5);
    mech.addAxialSpring(muscle);
    mech.addAxialSpring(muscle2);
    mech.addAxialSpring(muscle3);
    mech.addAxialSpring(muscle4);
    mech.addAxialSpring(muscle5);
    mech.addAxialSpring(muscle6);
    con.setName("con1");
    if (two_cons == true) {
        con2.setName("con2");
    }
    if (cons == true) {
        mech.addBodyConnector(con);
        ConnectorForceRenderer rend = new ConnectorForceRenderer(con);
        myRenderProps = rend.createRenderProps();
        myRenderProps.setLineStyle(LineStyle.CYLINDER);
        myRenderProps.setLineRadius(0.175);
        myRenderProps.setLineColor(Color.BLUE);
        rend.setRenderProps(myRenderProps);
        rend.setArrowSize(0.1);
        addMonitor(rend);
    }
    if (two_cons == true) {
        mech.addBodyConnector(con2);
    }
    // first particle set to be fixed
    p1.setDynamic(false);
    p2.setDynamic(false);
    p3.setDynamic(false);
    p4.setDynamic(false);
    p5.setDynamic(false);
    p6.setDynamic(false);
    // increase model bounding box for the viewer
    mech.setBounds(/*min=*/
    -1, 0, -1, /*max=*/
    1, 0, 0);
    // set render properties for the components
    setPointRenderProps(p1);
    setPointRenderProps(p2);
    setPointRenderProps(p3);
    setPointRenderProps(p4);
    setPointRenderProps(p5);
    setPointRenderProps(p6);
    setPointRenderProps(mkr);
    setLineRenderProps(muscle);
    setLineRenderProps(muscle2);
    setLineRenderProps(muscle3);
    setLineRenderProps(muscle4);
    setLineRenderProps(muscle5);
    setLineRenderProps(muscle6);
    addTrackingController(mkr);
    if (cons = true) {
        addConForceProbe(10, 0.1);
    }
}