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

Example 21 with RigidBody

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

the class ArticulatedDemo method createCollidingLinkage.

void createCollidingLinkage(MechModel mech) {
    Point3d base0 = new Point3d(-1, 2, 9);
    Point3d base1 = new Point3d(-1, -2, 9);
    Point3d tip0 = new Point3d(-3, 0, 5);
    Point3d tip1 = new Point3d(-7, 0, 3);
    double radius = 1.0;
    RigidBody link0 = addSphericalLinkage(mech, radius, ground, base0, null, tip0);
    RigidBody link1 = addSphericalLinkage(mech, radius, link0, tip0, null, tip1);
    RigidBody link2 = addSphericalLinkage(mech, radius, ground, base1, link0, tip0);
    Point3d base2 = new Point3d(1, 2, 9);
    Point3d base3 = new Point3d(1, -2, 9);
    Point3d tip2 = new Point3d(3, 0, 5);
    Point3d tip3 = new Point3d(7, 0, 3);
    RigidBody link3 = addSphericalLinkage(mech, radius, ground, base2, null, tip2);
    RigidBody link4 = addSphericalLinkage(mech, radius, link3, tip2, null, tip3);
    RigidBody link5 = addSphericalLinkage(mech, radius, ground, base3, link3, tip2);
}

Example 22 with RigidBody

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

the class ArticulatedDemo method create9LinkLoop.

void create9LinkLoop(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);
    Point3d tip3 = new Point3d(0, 0, -5);
    Point3d tip4 = new Point3d(5, 3, -5);
    RigidBody link3 = addSphericalLinkage(mech, radius, link0, tip0, null, tip3);
    RigidBody link4 = addSphericalLinkage(mech, radius, link1, tip1, null, tip4);
    RigidBody link5 = addSphericalLinkage(mech, radius, link3, tip3, link4, tip4);
    Point3d tip6 = new Point3d(-2, 0, -10);
    Point3d tip7 = new Point3d(-3, 0, -15);
    RigidBody link6 = addSphericalLinkage(mech, radius, link3, tip3, null, tip6);
    RigidBody link7 = addSphericalLinkage(mech, radius, link6, tip6, null, tip7);
    Point3d tip8 = new Point3d(6, 1, -10);
    Point3d tip9 = new Point3d(8, 2, -15);
    RigidBody link8 = addSphericalLinkage(mech, radius, link4, tip4, null, tip8);
    RigidBody link9 = addSphericalLinkage(mech, radius, link8, tip8, null, tip9);
}

Example 23 with RigidBody

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

the class ArticulatedDemo method createLongLinkage.

void createLongLinkage(MechModel mech, int nlinks) {
    Point3d base0 = new Point3d(0, 0, 9);
    RigidBody link = ground;
    Point3d lastTip = base0;
    double radius = 1.0;
    for (int i = 0; i < nlinks; i++) {
        Point3d tip = new Point3d((i + 1) * 5, 0, 9 - (i + 1) * 5);
        link = addSphericalLinkage(mech, radius, link, lastTip, null, tip);
        lastTip = tip;
    }
}

Example 24 with RigidBody

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

the class ArticulatedDemo method create3LinkPlaneCollider.

void create3LinkPlaneCollider(MechModel mech) {
    usePlanarContacts = true;
    Point3d base0 = new Point3d(-5, 0, 9);
    Point3d tip0 = new Point3d(0, 0, 5);
    Point3d tip1 = new Point3d(5, 0, 3);
    Point3d tip2 = new Point3d(10, 0, 3);
    double radius = 1.0;
    RigidBody link0 = addSphericalLinkage(mech, radius, ground, base0, null, tip0);
    RigidBody link1 = addSphericalLinkage(mech, radius, link0, tip0, null, tip1);
    RigidBody link2 = addSphericalLinkage(mech, radius, link1, tip1, null, tip2);
}

Example 25 with RigidBody

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

the class CompliantConstraintDemo method build.

public void build(String[] args) {
    MechModel mechMod = new MechModel("mechMod");
    // mechMod.setProfiling (true);
    mechMod.setGravity(0, 0, -50);
    // mechMod.setRigidBodyDamper (new FrameDamper (1.0, 4.0));
    mechMod.setFrameDamping(1.0);
    mechMod.setRotaryDamping(4.0);
    mechMod.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;
    RenderProps props;
    double ks = 10;
    double ds = 10;
    // mechMod.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);
    mechMod.addRigidBody(link1);
    // joint 1
    BodyConnector joint1 = null;
    RevoluteJoint rjoint = null;
    TCA.setIdentity();
    TCA.p.set(-lenx1 / 2, 0, 0);
    // TCA.R.mulAxisAngle (0, 1, 0, Math.PI/4);
    TCB.set(link1.getPose());
    TCB.mul(TCA);
    rjoint = new RevoluteJoint(link1, TCA, TCB);
    rjoint.setName("joint1");
    rjoint.setAxisLength(4);
    RenderProps.setLineRadius(rjoint, 0.2);
    joint1 = rjoint;
    // 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);
    mechMod.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);
        rjoint = new RevoluteJoint(link2, TCA, link1, TCB);
        rjoint.setName("joint2");
        rjoint.setAxisLength(4);
        RenderProps.setLineRadius(rjoint, 0.2);
        joint2 = rjoint;
    }
    mechMod.addBodyConnector(joint1);
    if (joint2 != null) {
        mechMod.addBodyConnector(joint2);
    }
    mechMod.transformGeometry(new RigidTransform3d(0, 0, 0, 0, Math.toRadians(75), 0));
    addModel(mechMod);
    addControlPanel(mechMod);
}