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

Example 31 with RigidBody

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

the class SegmentedPlaneDemo method build.

public void build(String[] args) {
    // set up the mechmodel
    MechModel mechMod = new MechModel("mechMod");
    mechMod.setGravity(0, 0, -9.8);
    mechMod.setFrameDamping(1.0);
    mechMod.setRotaryDamping(4.0);
    mechMod.setIntegrator(MechSystemSolver.Integrator.BackwardEuler);
    // set up the rigid body and the plane constraint
    double lenx = 10;
    double leny = 5;
    double lenz = 3;
    RigidBody box = new RigidBody("box");
    RigidTransform3d XBoxToWorld = new RigidTransform3d();
    box.setInertia(SpatialInertia.createBoxInertia(10, lenx, leny, lenz));
    PolygonalMesh mesh = MeshFactory.createBox(lenx, leny, lenz);
    box.setMesh(mesh, /* fileName= */
    null);
    XBoxToWorld.p.set(0, 0, lenz / 2);
    box.setPose(XBoxToWorld);
    mechMod.addRigidBody(box);
    // FrameMarker mkr = new FrameMarker (box, -5, 2.5, 1.5);
    // mechMod.addFrameMarker (mkr);
    // RenderProps props = mkr.createRenderProps();
    // props.setPointColor (Color.blue);
    // props.setPointStyle (RenderProps.PointStyle.SPHERE);
    // props.setPointRadius (0.25);
    // mkr.setRenderProps (props);
    RigidTransform3d XPlanesToWorld = new RigidTransform3d();
    // XPlanesToWorld.R.setAxisAngle(0,1,0,Math.PI);
    SegmentedPlanarConnector segPlanes = new SegmentedPlanarConnector(box, new Vector3d(-5, 2.5, 1.5), XPlanesToWorld, new double[] { -6, 4, -3, 1, -1, 0, 1, 0, 3, 1, 6, 4 });
    segPlanes.setUnilateral(true);
    segPlanes.setPlaneSize(10);
    RenderProps props = segPlanes.createRenderProps();
    props.setPointColor(Color.blue);
    props.setPointStyle(PointStyle.SPHERE);
    props.setPointRadius(0.25);
    segPlanes.setRenderProps(props);
    // mechMod.addRigidBody (box);
    mechMod.addBodyConnector(segPlanes);
    addModel(mechMod);
    addControlPanel(mechMod);
// AffineTransform3d X = new AffineTransform3d ();
// X.applyScaling (1, 1, 2);
// mechMod.transformGeometry (X);
// RigidTransform3d X = new RigidTransform3d (0, 0, 1.5);
// box.transformGeometry (X);
}

Example 32 with RigidBody

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

the class SkinDemo method addAntagonist.

public void addAntagonist() {
    RigidBody lowerArm = model.rigidBodies().get("lower");
    if (lowerArm == null) {
        return;
    }
    Point3d markerBodyPos = new Point3d(-size.x / 2, 0, 0);
    // Point3d markerBodyPos = new Point3d(-size.x,0,-(size.z/2.0)/1.2);
    FrameMarker marker = new FrameMarker();
    model.addFrameMarker(marker, lowerArm, markerBodyPos);
    Particle fixed = new Particle(1.0, new Point3d(-size.z / 4, 0, -size.z / 2.0));
    // Particle fixed = new Particle(1.0,new Point3d(size.z/4,0,size.z));
    fixed.setDynamic(false);
    model.addParticle(fixed);
    AxialSpring spring = new AxialSpring(100.0, 2.0, 0.0);
    spring.setFirstPoint(marker);
    spring.setSecondPoint(fixed);
    RenderProps rp = new RenderProps(model.getRenderProps());
    rp.setLineStyle(Renderer.LineStyle.SPINDLE);
    rp.setShading(Renderer.Shading.FLAT);
    rp.setLineColor(Color.WHITE);
    spring.setRenderProps(rp);
    model.addAxialSpring(spring);
}

Example 33 with RigidBody

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

the class SkinDemo method addMuscle.

public void addMuscle() {
    RigidBody upperArm = model.rigidBodies().get("upper");
    RigidBody lowerArm = model.rigidBodies().get("lower");
    if (upperArm == null || lowerArm == null) {
        return;
    }
    Point3d markerBodyPos = new Point3d(-size.x / 2, 0, (size.z / 2.0) / 1.2);
    FrameMarker u = new FrameMarker();
    model.addFrameMarker(u, upperArm, markerBodyPos);
    u.setName("upperAttachment");
    markerBodyPos = new Point3d(size.x / 2, 0, -(size.z / 2.0) / 2);
    FrameMarker l = new FrameMarker();
    model.addFrameMarker(l, lowerArm, markerBodyPos);
    l.setName("lowerAttachment");
    Muscle muscle = new Muscle("muscle");
    muscle.setPeckMuscleMaterial(20.0, 22.0, 30, 0.2, 0.5, 0.1);
    muscle.setFirstPoint(u);
    muscle.setSecondPoint(l);
    RenderProps rp = new RenderProps(model.getRenderProps());
    rp.setLineStyle(Renderer.LineStyle.SPINDLE);
    rp.setLineRadius(len / 20);
    // rp.setLineSlices(10);
    rp.setShading(Renderer.Shading.SMOOTH);
    rp.setLineColor(Color.RED);
    muscle.setRenderProps(rp);
    model.addAxialSpring(muscle);
    if (addCompression) {
        markerBodyPos = new Point3d(size.x / 2, 0, +size.z / 2.0);
        FrameMarker l2 = new FrameMarker();
        model.addFrameMarker(l2, lowerArm, markerBodyPos);
        l2.setName("lowerAttachmentCompressor");
        double len = u.getPosition().distance(l2.getPosition());
        AxialSpring s = new AxialSpring(10, 0, 50);
        s.setFirstPoint(u);
        s.setSecondPoint(l2);
        model.addAxialSpring(s);
        RenderProps props = new RenderProps();
        props.setLineStyle(Renderer.LineStyle.CYLINDER);
        props.setLineRadius(0.0);
        s.setRenderProps(props);
    }
}

Example 34 with RigidBody

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

the class SkinDemo method addEndPoint.

public void addEndPoint() {
    RigidBody lowerArm = model.rigidBodies().get("lower");
    if (lowerArm == null) {
        return;
    }
    FrameMarker endPoint = new FrameMarker();
    endPoint.setName("endPoint");
    endPoint.setFrame(lowerArm);
    endPoint.setLocation(new Point3d(0, 0, len / 2));
    model.addFrameMarker(endPoint);
    // lowerArm.addMarker(endPoint);
    RenderProps rp = new RenderProps(model.getRenderProps());
    rp.setShading(Renderer.Shading.SMOOTH);
    rp.setPointColor(Color.ORANGE);
    rp.setPointRadius(len / 20);
    endPoint.setRenderProps(rp);
}

Example 35 with RigidBody

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

the class SkinDemo method addBody.

public RigidBody addBody(String name, RigidTransform3d pose, String meshName) {
    // add a simple rigid body to the simulation
    RigidBody rb = new RigidBody();
    rb.setName(name);
    rb.setPose(pose);
    model.addRigidBody(rb);
    PolygonalMesh mesh;
    try {
        String meshFilename = ArtisynthPath.getHomeRelativePath("src/artisynth/demos/mech/geometry/", ".") + meshName;
        mesh = new PolygonalMesh();
        mesh.read(new BufferedReader(new FileReader(new File(meshFilename))));
        rb.setMesh(mesh, meshFilename);
    } catch (IOException e) {
        System.out.println(e.getMessage());
        mesh = MeshFactory.createBox(size.x, size.y, size.z);
        rb.setMesh(mesh, null);
    }
    rb.setInertia(SpatialInertia.createBoxInertia(10.0, size.x, size.y, size.z));
    RenderProps rp = new RenderProps(model.getRenderProps());
    rp.setFaceColor(Color.GRAY);
    rp.setShading(Renderer.Shading.FLAT);
    rb.setRenderProps(rp);
    rb.setFrameDamping(10);
    rb.setRotaryDamping(1000.0);
    return rb;
}