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

Example 1 with RigidCylinder

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

the class CylinderWrapping method build.

public void build(String[] args) {
    MechModel mechMod = new MechModel("mechMod");
    addModel(mechMod);
    mechMod.setGravity(0, 0, -9.8);
    mechMod.setFrameDamping(100.0);
    mechMod.setRotaryDamping(10.0);
    double density = 150;
    double size = 1.0;
    Particle p1 = new Particle(0.1, -size, 0, 4 * size);
    p1.setDynamic(false);
    mechMod.addParticle(p1);
    Particle p2 = new Particle(0.1, -size, 0, 0);
    p2.setDynamic(false);
    mechMod.addParticle(p2);
    // create cylindrical wrapping object
    RigidCylinder cylinder = new RigidCylinder("cylinder", size / 2, 3.5 * size, density, 50);
    cylinder.setPose(new RigidTransform3d(0, 0, 1.5 * size, 0, 0, Math.PI / 2));
    cylinder.setDynamic(false);
    mechMod.addRigidBody(cylinder);
    // create ellipsoidal wrapping object
    double rad = 0.6 * size;
    RigidEllipsoid ball = new RigidEllipsoid("ball", rad, 2 * rad, rad, density, 50);
    ball.transformGeometry(new RigidTransform3d(size * 3, 0, 0));
    mechMod.addRigidBody(ball);
    // attach a marker to the ball
    FrameMarker p0 = new FrameMarker();
    double halfRoot2 = Math.sqrt(2) / 2;
    mechMod.addFrameMarker(p0, ball, new Point3d(-rad * halfRoot2, 0, rad * halfRoot2));
    // enable collisions between the ball and cylinder
    mechMod.setCollisionBehavior(cylinder, ball, true);
    // create the spring, making the segments between p0-p1 and p1-p2 each
    // wrappable with 50 knot points each
    MultiPointSpring spring = new MultiPointSpring("spring", 300, 1.0, 0);
    spring.addPoint(p0);
    spring.setSegmentWrappable(50, new Point3d[] { new Point3d(3, 0, 3) });
    spring.addWrappable(cylinder);
    spring.addWrappable(ball);
    spring.addPoint(p1);
    spring.setSegmentWrappable(50);
    spring.addPoint(p2);
    // optional: shrink wrapping segments around obstacles
    spring.updateWrapSegments();
    mechMod.addMultiPointSpring(spring);
    // set various rendering properties
    RenderProps.setSphericalPoints(p0, size / 10, Color.WHITE);
    RenderProps.setSphericalPoints(p1, size / 5, Color.BLUE);
    RenderProps.setSphericalPoints(p2, size / 10, Color.WHITE);
    RenderProps.setSphericalPoints(spring, size / 10, Color.GRAY);
    RenderProps.setCylindricalLines(spring, size / 30, Color.RED);
    createControlPanel(spring);
}