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

Example 1 with RevoluteJoint

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

the class FrameBodyAttachment method build.

public void build(String[] args) {
    // create MechModel and add to RootModel
    mech = new MechModel("mech");
    mech.setGravity(0, 0, -98);
    mech.setFrameDamping(1.0);
    mech.setRotaryDamping(4.0);
    addModel(mech);
    // bodies will be defined using a mesh
    PolygonalMesh mesh;
    // create bodyB and set its pose
    mesh = MeshFactory.createRoundedBox(lenx1, leny1, lenz1, /*nslices=*/
    8);
    RigidTransform3d TMB = new RigidTransform3d(0, 0, 0, /*axisAng=*/
    1, 1, 1, 2 * Math.PI / 3);
    mesh.transform(TMB);
    bodyB = RigidBody.createFromMesh("bodyB", mesh, /*density=*/
    0.2, 1.0);
    bodyB.setPose(new RigidTransform3d(0, 0, 1.5 * lenx1, 1, 0, 0, Math.PI / 2));
    // create bodyA and set its pose
    mesh = MeshFactory.createRoundedCylinder(leny2 / 2, lenx2, /*nslices=*/
    16, /*nsegs=*/
    1, /*flatBottom=*/
    false);
    mesh.transform(TMB);
    bodyA = RigidBody.createFromMesh("bodyA", mesh, 0.2, 1.0);
    bodyA.setPose(new RigidTransform3d((lenx1 + leny2) / 2, 0, 1.5 * lenx1, 0, Math.PI / 2, 0));
    // create the joint
    RigidTransform3d TDW = new RigidTransform3d(-lenx1 / 2, 0, 1.5 * lenx1, 1, 0, 0, Math.PI / 2);
    RevoluteJoint joint = new RevoluteJoint(bodyB, TDW);
    // add components to the mech model
    mech.addRigidBody(bodyB);
    mech.addRigidBody(bodyA);
    mech.addBodyConnector(joint);
    // set render properties for components
    RenderProps.setLineRadius(joint, 0.2);
    joint.setAxisLength(4);
    // now connect bodyA to bodyB using a FrameAttachment
    mech.attachFrame(bodyA, bodyB);
    // create an auxiliary frame and add it to the mech model
    Frame frame = new Frame();
    mech.addFrame(frame);
    // set the frames axis length > 0 so we can see it
    frame.setAxisLength(4.0);
    // set the attached frame's pose to that of bodyA ...
    RigidTransform3d TFW = new RigidTransform3d(bodyA.getPose());
    // ... plus a translation of lenx2/2 along the x axis:
    TFW.mulXyz(lenx2 / 2, 0, 0);
    // finally, attach the frame to bodyA
    mech.attachFrame(frame, bodyA, TFW);
}

Example 2 with RevoluteJoint

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

the class RigidBodyConnectorList method initializePrototype.

protected void initializePrototype(ModelComponent comp, Class type) {
    if (type == RevoluteJoint.class) {
        RevoluteJoint joint = (RevoluteJoint) comp;
        joint.setAxisLength(getDefaultAxisLength());
        RenderProps.setLineRadius(joint, getDefaultLineRadius());
    } else if (type == SphericalJoint.class) {
        SphericalJoint joint = (SphericalJoint) comp;
        joint.setAxisLength(getDefaultAxisLength());
    }
}

Example 3 with RevoluteJoint

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

the class ArticulatedFem method build.

public void build(String[] args) {
    int nlinks = 3;
    int nelemsx = 6;
    int nelemsz = 2;
    double femLength = 0.6;
    double femHeight = 0.2;
    double boxLength = 0.1;
    double boxHeight = 0.3;
    double linkLength = femLength + 2 * boxLength;
    myMechMod = new MechModel("mech");
    RigidTransform3d X = new RigidTransform3d();
    RigidBody lastBox = null;
    double linkCenter;
    RigidBody leftAnchorBox = makeBox();
    linkCenter = linkLength * (-nlinks / 2.0 + 0.5);
    X.p.set(linkCenter - (boxLength + femLength) / 2, 0, boxHeight);
    leftAnchorBox.setPose(X);
    leftAnchorBox.setDynamic(false);
    // myMechMod.addRigidBody (leftAnchorBox);
    RigidBody rightAnchorBox = makeBox();
    linkCenter = linkLength * (-nlinks / 2.0 + (nlinks - 1) + 0.5);
    X.p.set(linkCenter + (boxLength + femLength) / 2, 0, boxHeight);
    rightAnchorBox.setPose(X);
    rightAnchorBox.setDynamic(false);
    for (int i = 0; i < nlinks; i++) {
        linkCenter = linkLength * (-nlinks / 2.0 + i + 0.5);
        LinkedList<FemNode3d> leftNodes = new LinkedList<FemNode3d>();
        LinkedList<FemNode3d> rightNodes = new LinkedList<FemNode3d>();
        FemModel3d femMod = FemFactory.createTetGrid(null, femLength, femHeight, femHeight, nelemsx, nelemsz, nelemsz);
        femMod.setDensity(myDensity);
        femMod.setLinearMaterial(200000, 0.4, true);
        femMod.setGravity(0, 0, -9.8);
        double eps = 0.000001;
        for (FemNode3d n : femMod.getNodes()) {
            double x = n.getPosition().x;
            if (x <= -femLength / 2 + eps) {
                leftNodes.add(n);
            } else if (x >= femLength / 2 - eps) {
                rightNodes.add(n);
            }
        }
        femMod.setStiffnessDamping(0.002);
        RenderProps.setLineWidth(femMod.getElements(), 2);
        RenderProps.setLineColor(femMod.getElements(), Color.BLUE);
        RenderProps.setPointStyle(femMod.getNodes(), Renderer.PointStyle.SPHERE);
        RenderProps.setPointRadius(femMod.getNodes(), 0.005);
        femMod.setSurfaceRendering(SurfaceRender.Shaded);
        RenderProps.setFaceColor(femMod, new Color(0f, 0.7f, 0.7f));
        RenderProps.setLineColor(femMod.getElements(), new Color(0f, 0.2f, 0.2f));
        RenderProps.setLineWidth(femMod.getElements(), 3);
        X.p.set(linkCenter, 0, 0);
        femMod.transformGeometry(X);
        myMechMod.addModel(femMod);
        RigidBody leftBox = makeBox();
        X.p.set(linkCenter - (boxLength + femLength) / 2, 0, 0);
        leftBox.setPose(X);
        myMechMod.addRigidBody(leftBox);
        RigidBody rightBox = makeBox();
        X.p.set(linkCenter + (boxLength + femLength) / 2, 0, 0);
        rightBox.setPose(X);
        myMechMod.addRigidBody(rightBox);
        for (FemNode3d n : leftNodes) {
            myMechMod.attachPoint(n, leftBox);
        }
        for (FemNode3d n : rightNodes) {
            myMechMod.attachPoint(n, rightBox);
        }
        RigidTransform3d TCA = new RigidTransform3d();
        RigidTransform3d TCB = new RigidTransform3d();
        RevoluteJoint joint;
        TCA.p.set(-boxLength / 2, 0, boxHeight / 2);
        TCA.R.mulAxisAngle(1, 0, 0, Math.PI / 2);
        if (lastBox == null) {
            TCB.mul(leftBox.getPose(), TCA);
            // TCB.mulInverseLeft (leftAnchorBox.getPose(), TCB);
            joint = new RevoluteJoint(leftBox, TCA, TCB);
        } else {
            TCB.p.set(boxLength / 2, 0, boxHeight / 2);
            TCB.R.mulAxisAngle(1, 0, 0, Math.PI / 2);
            joint = new RevoluteJoint(leftBox, TCA, lastBox, TCB);
        }
        RenderProps.setLineRadius(joint, 0.01);
        RenderProps.setLineColor(joint, new Color(0.15f, 0.15f, 1f));
        joint.setAxisLength(0.5);
        myMechMod.addBodyConnector(joint);
        if (addLastJoint && i == nlinks - 1) {
            TCA.p.set(boxLength / 2, 0, boxHeight / 2);
            TCB.mul(rightBox.getPose(), TCA);
            // TCB.mulInverseLeft (rightAnchorBox.getPose(), TCB);
            joint = new RevoluteJoint(rightBox, TCA, TCB);
            RenderProps.setLineRadius(joint, 0.01);
            RenderProps.setLineColor(joint, new Color(0.15f, 0.15f, 1f));
            joint.setAxisLength(0.5);
            myMechMod.addBodyConnector(joint);
        }
        lastBox = rightBox;
    }
    if (!addLastJoint) {
        lastBox.setDynamic(false);
    }
    myMechMod.setIntegrator(Integrator.BackwardEuler);
    addModel(myMechMod);
    addControlPanel(myMechMod);
}

Example 4 with RevoluteJoint

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

the class SkinDemo method addJoint.

public void addJoint() {
    RigidBody upperArm = model.rigidBodies().get("upper");
    RigidBody lowerArm = model.rigidBodies().get("lower");
    if (upperArm == null || lowerArm == null) {
        return;
    }
    RevoluteJoint j = new RevoluteJoint();
    j.setName("elbow");
    RigidTransform3d TCA = new RigidTransform3d();
    TCA.p.z = -len / 2;
    TCA.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    RigidTransform3d TCW = new RigidTransform3d();
    TCW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    j.setBodies(lowerArm, TCA, null, TCW);
    j.setAxisLength(len / 3);
    model.addBodyConnector(j);
    upperArm.setDynamic(false);
}

Example 5 with RevoluteJoint

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

the class DoubleArmDemo method addJoint.

public void addJoint() {
    RigidBody upperArm = model.rigidBodies().get("upper");
    RigidBody lowerArm = model.rigidBodies().get("lower");
    RigidBody thirdArm = model.rigidBodies().get("third");
    if (upperArm == null || lowerArm == null || thirdArm == null) {
        return;
    }
    RevoluteJoint j = new RevoluteJoint();
    j.setName("elbow");
    RigidTransform3d TCA = new RigidTransform3d();
    TCA.p.z = -len / 2;
    TCA.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    RigidTransform3d TCW = new RigidTransform3d();
    TCW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    j.setBodies(lowerArm, TCA, null, TCW);
    j.setAxisLength(len / 3);
    model.addBodyConnector(j);
    upperArm.setDynamic(false);
    // add joint between lower and third
    j = new RevoluteJoint();
    j.setName("wrist");
    TCA = new RigidTransform3d();
    TCA.p.z = -len / 2;
    TCA.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    TCW = new RigidTransform3d();
    TCW.p.z = len / 2;
    TCW.R.setAxisAngle(1, 0, 0, Math.PI / 2);
    j.setBodies(thirdArm, TCA, lowerArm, TCW);
    j.setAxisLength(len / 3);
    model.addBodyConnector(j);
}