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

Example 41 with RigidBody

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

the class PenetrationRendererDemo method build.

public void build(String[] args) {
    // create MechModel and add to RootModel
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // create and add the ball and plate
    RigidBody ball = RigidBody.createIcosahedralSphere("ball", 0.8, 0.1, 1);
    // ball.setPose (new RigidTransform3d (0, 0, 2, 0.4, 0.1, 0.1));
    ball.setPose(new RigidTransform3d(0, 0, 0, 0.4, 0.1, 0.1));
    ball.setDynamic(false);
    mech.addRigidBody(ball);
    RigidBody plate = RigidBody.createBox("plate", 5, 5, 5, 1);
    plate.setPose(new RigidTransform3d(0, 0, 2.94, 1, 0, 0, 0));
    plate.setDynamic(false);
    mech.addRigidBody(plate);
    // turn on collisions
    mech.setDefaultCollisionBehavior(true, 0.20);
    // make ball transparent so that contacts can be seen more clearly
    RenderProps.setFaceStyle(ball, Renderer.FaceStyle.NONE);
    RenderProps.setDrawEdges(ball, true);
    RenderProps.setEdgeColor(ball, Color.WHITE);
    RenderProps.setVisible(plate, false);
    RenderProps.setAlpha(plate, 0.5);
    // enable rendering of contacts normals and contours
    CollisionManager cm = mech.getCollisionManager();
    RenderProps.setVisible(cm, true);
    RenderProps.setLineWidth(cm, 3);
    RenderProps.setLineColor(cm, Color.RED);
    RenderProps.setEdgeWidth(cm, 3);
    RenderProps.setEdgeColor(cm, Color.BLUE);
    cm.setContactNormalLen(0.5);
    cm.setDrawContactNormals(true);
    cm.setDrawIntersectionContours(true);
    cm.setDrawIntersectionFaces(true);
    cm.setDrawIntersectionPoints(true);
    CollisionResponse resp = mech.setCollisionResponse(ball, plate);
    addMonitor(new PenetrationRenderer(resp));
}

Example 42 with RigidBody

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

the class FrameMarkerEditor method applyAction.

public void applyAction(String actionCommand, LinkedList<ModelComponent> selection, Rectangle popupBounds) {
    if (containsSingleSelection(selection, FrameMarker.class)) {
        if (actionCommand == "Add PlanarConnector") {
            FrameMarker mkr = (FrameMarker) selection.get(0);
            RigidTransform3d XPW = new RigidTransform3d();
            XPW.p.set(mkr.getPosition());
            if (mkr.getFrame() instanceof RigidBody && mkr.getGrandParent() instanceof MechModel) {
                PlanarConnector pc = new PlanarConnector();
                pc.set((RigidBody) mkr.getFrame(), mkr.getLocation(), Vector3d.Z_UNIT);
                pc.setPlaneSize(getDefaultPlaneSize());
                ((MechModel) mkr.getGrandParent()).addBodyConnector(pc);
            } else {
                System.out.println("Unable to create PlanarConnector from selected FrameMarker");
            }
        }
    }
}

Example 43 with RigidBody

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

the class RigidBodyEditor method addActions.

public void addActions(EditActionMap actions, SelectionManager selManager) {
    LinkedList<ModelComponent> selection = selManager.getCurrentSelection();
    if (containsMultipleSelection(selection, RigidBody.class)) {
        actions.add(this, "Select markers");
        if (containsSingleSelection(selection, RigidBody.class)) {
            RigidBody body = (RigidBody) selection.get(0);
            actions.add(this, "Edit geometry and inertia ...", EXCLUSIVE);
            actions.add(this, "Save mesh as ...");
            if (body.getGrandParent() instanceof MechModel) {
                actions.add(this, "Attach particles ...", EXCLUSIVE);
            }
            if (body.getSurfaceMesh() != null) {
                actions.add(this, "Add mesh inspector");
            }
        }
    }
}

Example 44 with RigidBody

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

the class TransverseIsotropy method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    MechModel mech = new MechModel("mech");
    addModel(mech);
    double h = 0.1;
    double r = 0.005;
    RigidBody rb = RigidBody.createBox("box", 2 * r, 2 * r, 2 * r, 100, true);
    mech.addRigidBody(rb);
    rb.transformGeometry(new RigidTransform3d(new Vector3d(0, 0, -h / 2 - r), AxisAngle.IDENTITY));
    FemModel3d fem = FemFactory.createCylinder(null, h, r, 24, 40, 4);
    fem.setDensity(1000);
    mech.addModel(fem);
    TransverseLinearMaterial mat = new TransverseLinearMaterial();
    mat.setYoungsModulus(50000, 50000);
    mat.setPoissonsRatio(0.45, 0.45);
    double G = 50000 / (2 * (1 + 0.45));
    mat.setShearModulus(G);
    fem.setMaterial(mat);
    fem.setName("fem");
    fem.setSurfaceRendering(SurfaceRender.Shaded);
    RenderProps.setFaceColor(fem, Color.ORANGE);
    RenderProps.setVisible(fem.getElements(), false);
    double eps = 1e-10;
    for (FemNode3d node : fem.getNodes()) {
        if (node.getPosition().z > h / 2 - eps) {
            node.setDynamic(false);
        } else if (node.getPosition().z < -h / 2 + eps) {
            PointAttachment pa = rb.createPointAttachment(node);
            mech.addAttachment(pa);
        }
    }
}

Example 45 with RigidBody

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

the class FemSurfaceTargetDemo method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    mech = new MechModel("mech");
    mech.setGravity(Vector3d.ZERO);
    addModel(mech);
    fem = new FemMuscleModel("fem");
    fem.setStiffnessDamping(0.1);
    mech.addModel(fem);
    // boundary conditions
    FemFactory.createHexGrid(fem, l, w, w, nl, nw, nw);
    for (FemNode n : fem.getNodes()) {
        if (n.getPosition().x > l / 2 - eps) {
            n.setDynamic(false);
        }
    }
    // muscles
    addMuscle("vert", Color.RED, Vector3d.Z_UNIT);
    addMuscle("trans", Color.BLUE, Vector3d.Y_UNIT);
    body = new RigidBody("plate");
    body.setMesh(MeshFactory.createBox(l, l, l / 10));
    body.setPose(new RigidTransform3d(-1.2 * w - l / 20, 0, 0, 0, 1, 0, Math.PI / 2));
    body.setDynamic(false);
    mech.addRigidBody(body);
    mech.setCollisionBehavior(body, fem, true);
    addTrackingController();
    setupRenderProps();
}