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

Example 1 with RigidTorus

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

the class TorusWrapTest method build.

public void build(String[] args) {
    MechModel mechMod = new MechModel("mechMod");
    mechMod.setGravity(0, 0, -9.8);
    mechMod.setFrameDamping(10.0);
    mechMod.setRotaryDamping(0.1);
    RigidBody block = new RigidBody("block");
    PolygonalMesh mesh = MeshFactory.createBox(size, size, size);
    block.setMesh(mesh, null);
    block.setInertiaFromDensity(1);
    // mechMod.addRigidBody (block);
    Particle p0 = new Particle(0.1, size * 3, 0, size / 2);
    p0.setDynamic(false);
    mechMod.addParticle(p0);
    Particle p1 = new Particle(0.1, -size * 3, 0, size / 2);
    p1.setDynamic(false);
    mechMod.addParticle(p1);
    Particle p2 = new Particle(0.1, -size * 3, size, size / 2);
    p2.setDynamic(false);
    // mechMod.addParticle (p2);
    Particle p3 = new Particle(0.1, size * 3, size, size / 2);
    p3.setDynamic(false);
    // mechMod.addParticle (p3);
    RigidTorus torus1 = new RigidTorus("torus1", size, size / 3, myDensity, 50, 30);
    RigidTorus torus2 = new RigidTorus("torus2", size, size / 3, myDensity, 50, 30);
    RigidTorus torus3 = new RigidTorus("torus3", size, size / 3, myDensity, 50, 30);
    torus1.setPose(new RigidTransform3d(-2 * size, 0, 0, 0, Math.PI / 2, 0));
    torus2.setPose(new RigidTransform3d(2 * size, 0, 0, 0, Math.PI / 2, 0));
    torus3.setPose(new RigidTransform3d(0, 0, 0, 0, Math.PI / 2, 0));
    mechMod.addRigidBody(torus1);
    mechMod.addRigidBody(torus2);
    mechMod.addRigidBody(torus3);
    mechMod.setDefaultCollisionBehavior(true, 0);
    MultiPointSpring spring = new MultiPointSpring("spring", 100, 0.1, 0);
    spring.addPoint(p0);
    spring.setSegmentWrappable(50);
    spring.addWrappable(torus1);
    spring.addWrappable(torus2);
    spring.addWrappable(torus3);
    spring.addPoint(p1);
    // spring.addPoint (p2);
    // spring.setSegmentWrappable (50);
    // spring.addPoint (p3);
    // spring.setWrapDamping (1.0);
    // spring.setWrapStiffness (10);
    // spring.setWrapH (0.01);
    mechMod.addMultiPointSpring(spring);
    spring.setDrawKnots(false);
    spring.setDrawABPoints(true);
    spring.setWrapDamping(100);
    spring.setMaxWrapIterations(10);
    addModel(mechMod);
    RenderProps.setPointStyle(mechMod, Renderer.PointStyle.SPHERE);
    RenderProps.setPointRadius(mechMod, size / 10);
    RenderProps.setLineStyle(mechMod, Renderer.LineStyle.CYLINDER);
    RenderProps.setLineRadius(mechMod, size / 30);
    RenderProps.setLineColor(mechMod, Color.red);
    createControlPanel(mechMod);
}