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

Example 16 with PointAttachment

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

the class SkinMeshBody method getMass.

@Override
public double getMass() {
    // XXX how to estimate mass?
    // mass of all dependencies?
    double m = 0;
    for (PointAttachment pa : myVertexAttachments) {
        for (DynamicComponent dmc : pa.getMasters()) {
            if (dmc != null && !dmc.isMarked()) {
                m += dmc.getMass(0);
                dmc.setMarked(true);
            }
        }
    }
    // unmark
    for (PointAttachment pa : myVertexAttachments) {
        for (DynamicComponent dmc : pa.getMasters()) {
            if (dmc != null && dmc.isMarked()) {
                dmc.setMarked(false);
            }
        }
    }
    return m;
}

Example 17 with PointAttachment

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

the class MFreeMeshComp method getVertexMasters.

public void getVertexMasters(List<ContactMaster> mlist, Vertex3d vtx) {
    PointAttachment pa = getAttachment(vtx.getIndex());
    if (pa instanceof PointFem3dAttachment) {
        PointFem3dAttachment pfa = (PointFem3dAttachment) pa;
        FemNode[] masters = pfa.getNodes();
        for (int j = 0; j < masters.length; j++) {
            mlist.add(new ContactMaster(masters[j], pfa.getCoordinate(j)));
        }
    } else {
        PointParticleAttachment ppa = (PointParticleAttachment) pa;
        mlist.add(new ContactMaster((MFreeNode3d) ppa.getParticle(), 1));
    }
}

Example 18 with PointAttachment

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

the class MFreeMeshComp method createPointAttachment.

public PointFem3dAttachment createPointAttachment(Point pnt) {
    if (!(getMesh() instanceof PolygonalMesh)) {
        return null;
    }
    PolygonalMesh mesh = (PolygonalMesh) getMesh();
    if (!mesh.isTriangular()) {
        return null;
    }
    // Find nearest face to the point. The vertices of this face will be used
    // to find the nodes and weight for the attachment.
    BVFeatureQuery query = new BVFeatureQuery();
    Point3d near = new Point3d();
    Vector2d uv = new Vector2d();
    Face face = query.nearestFaceToPoint(near, uv, mesh, pnt.getPosition());
    Vertex3d[] vtxs = face.getTriVertices();
    double[] wgts = new double[] { 1 - uv.x - uv.y, uv.x, uv.y };
    HashMap<FemNode, Double> nodeWeights = new HashMap<FemNode, Double>();
    for (int i = 0; i < vtxs.length; i++) {
        PointAttachment va = myVertexAttachments.get(vtxs[i].getIndex());
        if (va instanceof PointParticleAttachment) {
            PointParticleAttachment ppa = (PointParticleAttachment) va;
            FemNode node = (FemNode) ppa.getParticle();
            accumulateNodeWeights(node, wgts[i], nodeWeights);
        } else if (va instanceof PointFem3dAttachment) {
            PointFem3dAttachment pfa = (PointFem3dAttachment) va;
            for (int k = 0; k < pfa.numMasters(); k++) {
                FemNode node = pfa.getNodes()[k];
                double w = pfa.getCoordinate(k);
                accumulateNodeWeights(node, w * wgts[i], nodeWeights);
            }
        }
    }
    // Create a new PointFem3dAttachment
    PointFem3dAttachment ax = new PointFem3dAttachment(pnt);
    VectorNd weightVec = new VectorNd();
    for (Double d : nodeWeights.values()) {
        weightVec.append(d);
    }
    ax.setFromNodes(nodeWeights.keySet(), weightVec);
    return ax;
}

Example 19 with PointAttachment

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

the class MFreeMeshComp method scanMeshUsingVertexInfo.

/**
 * New scan method where the vertex attachments are also scanned
 */
private void scanMeshUsingVertexInfo(ReaderTokenizer rtok) throws IOException {
    PolygonalMesh mesh = (PolygonalMesh) getMesh();
    ArrayList<Vertex3d> vtxList = new ArrayList<Vertex3d>();
    ArrayList<FemNode> nodes = new ArrayList<FemNode>();
    VectorNd weights = new VectorNd();
    rtok.nextToken();
    while (rtok.tokenIsWord()) {
        if (rtok.sval.equals("v")) {
            int nnum = rtok.scanInteger();
            if (nnum == -1) {
                double x = rtok.scanNumber();
                double y = rtok.scanNumber();
                double z = rtok.scanNumber();
                mesh.addVertex(new Vertex3d(x, y, z));
                myVertexAttachments.add(null);
                rtok.nextToken();
            } else {
                PointAttachment ax;
                double w = rtok.scanNumber();
                rtok.nextToken();
                Vertex3d vtx = new Vertex3d();
                if (rtok.tokenIsInteger()) {
                    nodes.clear();
                    weights.setSize(0);
                    nodes.add(getNodeFromNumber(rtok, nnum));
                    weights.append(w);
                    while (rtok.tokenIsInteger()) {
                        nodes.add(getNodeFromNumber(rtok, (int) rtok.lval));
                        weights.append(rtok.scanNumber());
                        rtok.nextToken();
                    }
                    PointFem3dAttachment attacher = new PointFem3dAttachment();
                    attacher.setFromNodes(nodes, weights);
                    ax = attacher;
                } else {
                    MFreeNode3d node = (MFreeNode3d) getNodeFromNumber(rtok, nnum);
                    ax = new PointParticleAttachment(node, null);
                }
                mesh.addVertex(vtx);
                myVertexAttachments.add(ax);
            }
        } else if (rtok.sval.equals("f")) {
            vtxList.clear();
            rtok.nextToken();
            while (rtok.tokenIsInteger()) {
                int vnum = (int) rtok.lval;
                if (vnum > mesh.numVertices()) {
                    throw new IOException("Vertex number " + vnum + " not found, " + rtok);
                }
                vtxList.add(mesh.getVertex(vnum - 1));
                rtok.nextToken();
            }
            mesh.addFace(vtxList.toArray(new Vertex3d[0]));
        } else {
            throw new IOException("Unexpected token: " + rtok);
        }
    }
    rtok.pushBack();
}

Example 20 with PointAttachment

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

the class MFreeMeshComp method writeVertexInfo.

private void writeVertexInfo(PrintWriter pw, Vertex3d vtx, NumberFormat fmt) {
    PointAttachment pa = null;
    if (vtx.getIndex() < myVertexAttachments.size()) {
        pa = getAttachment(vtx.getIndex());
    }
    if (pa instanceof PointFem3dAttachment) {
        PointFem3dAttachment pfa = (PointFem3dAttachment) pa;
        FemNode[] masters = pfa.getNodes();
        pw.print("v");
        for (int j = 0; j < masters.length; j++) {
            pw.print(" " + masters[j].getNumber() + " " + fmt.format(pfa.getCoordinate(j)));
        }
        pw.println("");
    } else if (pa instanceof PointParticleAttachment) {
        PointParticleAttachment ppa = (PointParticleAttachment) pa;
        MFreeNode3d n = (MFreeNode3d) ppa.getParticle();
        pw.println("v " + n.getNumber() + " 1.0");
    } else {
        pw.println("v -1 " + vtx.getPosition().toString(fmt));
    }
}