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

Example 51 with RigidBody

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

the class ArticulatedDemo method addBox.

private RigidBody addBox(MechModel mechMod, double mass, double wx, double wy, double wz, double px, double py, double pz) {
    RigidBody box = new RigidBody(null);
    box.setInertia(SpatialInertia.createBoxInertia(mass, wx, wy, wz));
    box.setMesh(MeshFactory.createBox(wx, wy, wz), null);
    RigidTransform3d XBoxToWorld = new RigidTransform3d();
    XBoxToWorld.p.set(px, py, pz);
    box.setPose(XBoxToWorld);
    mechMod.addRigidBody(box);
    return box;
}

Example 52 with RigidBody

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

the class ArticulatedDemo method create3LinkLoop.

void create3LinkLoop(MechModel mech) {
    RigidBody box = addBox(mech, /* mass= */
    10, 20, 10, 2, 0, 0, 10);
    box.setDynamic(false);
    Point3d base0 = new Point3d(-5, 0, 9);
    Point3d tip0 = new Point3d(-8, 0, 0);
    Point3d base1 = new Point3d(5, 0, 9);
    Point3d tip1 = new Point3d(2, -2, 0);
    double radius = 1.0;
    RigidBody link0 = addSphericalLinkage(mech, radius, ground, base0, null, tip0);
    RigidBody link1 = addSphericalLinkage(mech, radius, ground, base1, null, tip1);
    RigidBody link2 = addSphericalLinkage(mech, radius, link0, tip0, link1, tip1);
}

Example 53 with RigidBody

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

the class ArticulatedDemo method addSphericalLinkage.

private RigidBody addSphericalLinkage(MechModel mechMod, double radius, RigidBody body0, Point3d pnt0, RigidBody body1, Point3d pnt1) {
    // set up the position of the link
    Vector3d u = new Vector3d();
    u.sub(pnt1, pnt0);
    double len = u.norm();
    u.scale(1 / len);
    RigidTransform3d XLinkToWorld = new RigidTransform3d();
    XLinkToWorld.p.scaledAdd(0.5 * len, u, pnt0);
    XLinkToWorld.R.setZDirection(u);
    // create the link
    PolygonalMesh mesh = MeshFactory.createRoundedCylinder(radius, len, /*nslices=*/
    12, /*nsegs=*/
    1, /*flatBottom=*/
    false);
    SpatialInertia inertia = SpatialInertia.createBoxInertia(/* mass= */
    10, radius, radius, len);
    RigidBody link = new RigidBody(null);
    link.setInertia(inertia);
    link.setMesh(mesh, null);
    link.setPose(XLinkToWorld);
    mechMod.addRigidBody(link);
    // create the spherical joint(s)
    RigidTransform3d TCW = new RigidTransform3d();
    RigidTransform3d TCA = new RigidTransform3d();
    if (body0 != null) {
        TCA.setIdentity();
        TCA.p.set(0, 0, -len / 2);
        TCW.mul(XLinkToWorld, TCA);
        SphericalJoint joint0;
        if (body0 == ground) {
            joint0 = new SphericalJoint(link, TCA, TCW);
        } else {
            RigidTransform3d TCB = new RigidTransform3d();
            TCB.mulInverseLeft(body0.getPose(), TCW);
            joint0 = new SphericalJoint(link, TCA, body0, TCB);
        }
        mechMod.addBodyConnector(joint0);
    }
    if (body1 != null) {
        TCA.setIdentity();
        TCA.p.set(0, 0, len / 2);
        TCW.mul(XLinkToWorld, TCA);
        SphericalJoint joint1;
        if (body1 == ground) {
            joint1 = new SphericalJoint(link, TCA, TCW);
        } else {
            RigidTransform3d TCB = new RigidTransform3d();
            TCB.mulInverseLeft(body1.getPose(), TCW);
            joint1 = new SphericalJoint(link, TCA, body1, TCB);
        }
        mechMod.addBodyConnector(joint1);
    }
    if (usePlanarContacts) {
        // set up a unilateral constraint at the tip
        TCW.setIdentity();
        TCW.p.set(0, 0, zPlane);
        Point3d pCA = new Point3d(0, 0, len / 2);
        PlanarConnector contact = new PlanarConnector(link, pCA, TCW);
        contact.setUnilateral(true);
        contact.setPlaneSize(20);
        mechMod.addBodyConnector(contact);
    }
    return link;
}

Example 54 with RigidBody

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

the class ArticulatedFem method makeBox.

private RigidBody makeBox() {
    RigidBody box = new RigidBody();
    box.setInertia(SpatialInertia.createBoxInertia(boxMass, boxLength, boxHeight, boxHeight));
    box.setMesh(MeshFactory.createBox(boxLength, boxHeight, boxHeight), null);
    return box;
}

Example 55 with RigidBody

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

the class SimpleCollide method createAndAddControlPanel.

ControlPanel createAndAddControlPanel(String name, ModelComponent comp) {
    ControlPanel panel = new ControlPanel(name);
    if (comp instanceof FemModel3d) {
        panel.addWidget(comp, "material");
        panel.addWidget(comp, "density");
        panel.addWidget(comp, "incompressible");
        panel.addWidget(comp, "volume");
    } else if (comp instanceof RigidBody) {
        panel.addWidget(comp, "position");
        panel.addWidget(comp, "orientation");
    } else {
        throw new InternalErrorException("No control panel code for components of type " + comp.getClass());
    }
    ControlPanel existingPanel = getControlPanels().get(name);
    if (existingPanel != null) {
        int idx = getControlPanels().indexOf(existingPanel);
        removeControlPanel(existingPanel);
        existingPanel.dispose();
        addControlPanel(panel, idx);
        Main.getMain().arrangeControlPanels(this);
    } else {
        addControlPanel(panel);
    }
    return panel;
}