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

Example 1 with PlanarConnector

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

the class ForceTarget method prerender.

@Override
public void prerender(RenderList list) {
    super.prerender(list);
    if (myConnector instanceof PlanarConnector) {
        RigidTransform3d TDW = myConnector.getCurrentTDW();
        startvec = TDW.p;
        endvec.transform(TDW, Vector3d.Z_UNIT);
        endvec.scale(arrowSize / endvec.norm());
        endvec.scale(myTargetLambda.get(0));
        endvec.add(startvec);
        set(start, startvec);
        set(end, endvec);
    } else if (myConnector instanceof SphericalJointBase) {
        startvec = myConnector.getCurrentTCW().p;
        endvec.x = myTargetLambda.get(0) * arrowSize;
        endvec.y = myTargetLambda.get(1) * arrowSize;
        endvec.z = myTargetLambda.get(2) * arrowSize;
        endvec.add(startvec);
        set(start, startvec);
        set(end, endvec);
    }
}

Example 2 with PlanarConnector

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

Example 3 with PlanarConnector

use of artisynth.core.mechmodels.PlanarConnector 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 4 with PlanarConnector

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

the class FrameMarkerEditor method applyAction.

public void applyAction(String actionCommand, LinkedList<ModelComponent> selection, Rectangle popupBounds) {
    if (containsSingleSelection(selection, FrameMarker.class)) {
        if (actionCommand == "Add PlanarConnector") {
            FrameMarker mkr = (FrameMarker) selection.get(0);
            RigidTransform3d XPW = new RigidTransform3d();
            XPW.p.set(mkr.getPosition());
            if (mkr.getFrame() instanceof RigidBody && mkr.getGrandParent() instanceof MechModel) {
                PlanarConnector pc = new PlanarConnector();
                pc.set((RigidBody) mkr.getFrame(), mkr.getLocation(), Vector3d.Z_UNIT);
                pc.setPlaneSize(getDefaultPlaneSize());
                ((MechModel) mkr.getGrandParent()).addBodyConnector(pc);
            } else {
                System.out.println("Unable to create PlanarConnector from selected FrameMarker");
            }
        }
    }
}

Example 5 with PlanarConnector

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

the class ForceTarget method addForceJacobian.

public int addForceJacobian(SparseBlockMatrix J, int bi, int solve_index) {
    MatrixBlock blk = null;
    if (myConnector instanceof PlanarConnector) {
        blk = new Matrix1x1Block();
        blk.set(0, 0, 1d);
        J.addBlock(bi, solve_index, blk);
    } else if (myConnector instanceof SphericalJointBase) {
        blk = new Matrix3x3DiagBlock(1d, 1d, 1d);
        J.addBlock(bi, solve_index, blk);
    } else {
        System.err.println("ForceTarget.addForceJacobian: unsupported connector type: " + myConnector.getClass());
    }
    return bi++;
}