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

Example 11 with RigidBody

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

the class HydrostatDemo method addContactBlock.

public void addContactBlock(MechModel mech) {
    RigidBody block = new RigidBody();
    block.setName("block");
    block.setMesh(MeshFactory.createQuadBox(100, 100, 20), null);
    block.setInertia(SpatialInertia.createBoxInertia(1, 100, 100, 20));
    block.setPose(new RigidTransform3d(new Vector3d(-50, 0, 40), new RotationMatrix3d()));
    mech.addRigidBody(block);
}

Example 12 with RigidBody

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

the class SkinDemo method addLoad.

public void addLoad() {
    RigidBody lowerArm = model.rigidBodies().get("lower");
    if (lowerArm == null) {
        return;
    }
    double mass = 1.0;
    Particle load = new Particle(mass, new Point3d(-14.14, 0, -14.14));
    load.setName("load");
    // Particle load = new Particle(mass,new Point3d(0,0,0));
    RenderProps rp = new RenderProps(model.getRenderProps());
    rp.setShading(Renderer.Shading.SMOOTH);
    rp.setPointColor(Color.ORANGE);
    rp.setPointRadius(len / 20);
    load.setRenderProps(rp);
    model.addParticle(load);
    model.attachPoint(load, lowerArm, new Point3d(0, 0, len / 2));
}

Example 13 with RigidBody

use of artisynth.core.mechmodels.RigidBody 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 14 with RigidBody

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

the class PointModel method addCenter.

public void addCenter() {
    RigidBody body = new RigidBody("body");
    body.setInertia(SpatialInertia.createSphereInertia(mass, len / 25));
    model.addRigidBody(body);
    RenderProps.setVisible(body, false);
    RigidBody fixed = new RigidBody("fixed");
    fixed.setInertia(SpatialInertia.createSphereInertia(mass, len / 25));
    fixed.setDynamic(false);
    model.addRigidBody(fixed);
    RenderProps.setVisible(fixed, false);
    if (useReactionForceTargetP) {
        // add spherical joint for reaction force target testing
        SphericalJoint joint = new SphericalJoint(body, fixed, Point3d.ZERO);
        joint.setName("center_constraint");
        model.addBodyConnector(joint);
        addMonitor(new ConnectorForceRenderer(joint));
    }
    center = new FrameMarker();
    center.setName("center");
    center.setPointDamping(pointDamping);
    model.addFrameMarker(center, body, Point3d.ZERO);
}

Example 15 with RigidBody

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

the class SimpleCollide method removeObject.

private void removeObject(ModelComponent comp, ObjectType type) {
    MechModel mechMod = (MechModel) models().get(0);
    ComponentList<Probe> myProbes = getInputProbes();
    for (Probe p : myProbes) {
        System.out.println("type's name: " + type.name());
        System.out.println("probe's name: " + p.getName());
        if (type.name().equals(p.getName())) {
            removeInputProbe(p);
        }
    }
    switch(type) {
        case FemEllipsoid:
        case FemSphere:
        case FemCube:
            {
                mechMod.removeModel((FemModel3d) comp);
                break;
            }
        case Box:
        case Molar:
        case Bin:
        case Paw:
        case House:
            {
                mechMod.removeRigidBody((RigidBody) comp);
                break;
            }
        default:
            {
                throw new InternalErrorException("Unimplemented type " + type);
            }
    }
}