Examples with PolygonalMesh maspack.geometry.PolygonalMesh used on opensource projects

Example 36 with PolygonalMesh

use of maspack.geometry.PolygonalMesh in project artisynth_core by artisynth.

the class IntersectionFactory method buildIntersectionChart.

public static boolean[][] buildIntersectionChart(PolygonalMesh[] meshList, double tol) {
    int n = meshList.length;
    boolean[][] out = new boolean[n][n];
    ArrayList<TriTriIntersection> intersections = new ArrayList<TriTriIntersection>();
    // TriangleIntersector ti = new TriangleIntersector();
    BVFeatureQuery query = new BVFeatureQuery();
    BVIntersector intersector = new BVIntersector();
    for (int i = 0; i < n; i++) {
        PolygonalMesh mesh1 = meshList[i];
        out[i][i] = true;
        for (int j = i + 1; j < n; j++) {
            PolygonalMesh mesh2 = meshList[j];
            boolean intersects = false;
            // }
            if (intersector.intersectMeshMesh(intersections, mesh1, mesh2)) {
                intersects = true;
                intersections.clear();
            } else if (query.isInsideOrientedMesh(mesh1, mesh2.getVertex(0).getPosition(), tol) || query.isInsideOrientedMesh(mesh2, mesh1.getVertex(0).getPosition(), tol)) {
                intersects = true;
            }
            out[i][j] = intersects;
            out[j][i] = intersects;
        }
    }
    return out;
}

Example 37 with PolygonalMesh

use of maspack.geometry.PolygonalMesh in project artisynth_core by artisynth.

the class MFreeFactory method cloneFem.

public static MFreeModel3d cloneFem(MFreeModel3d model, FemModel3d fem) {
    if (model == null) {
        model = new MFreeModel3d();
    }
    HashMap<FemNode3d, MFreeNode3d> nodeMap = new HashMap<FemNode3d, MFreeNode3d>();
    HashMap<MFreeNode3d, FemNode3d> nodeMapInv = new HashMap<MFreeNode3d, FemNode3d>();
    ArrayList<MFreeNode3d> nodeList = new ArrayList<MFreeNode3d>();
    // duplicate nodes
    for (FemNode3d node : fem.getNodes()) {
        MFreeNode3d mnode = new MFreeNode3d(node.getRestPosition());
        // explicit node masses
        mnode.setMassExplicit(true);
        mnode.setMass(node.getMass());
        MFreeNode3d[] deps = new MFreeNode3d[1];
        deps[0] = mnode;
        VectorNd coords = new VectorNd(new double[] { 1 });
        mnode.setDependentNodes(deps, coords);
        nodeMap.put(node, mnode);
        nodeMapInv.put(mnode, node);
        nodeList.add(mnode);
    }
    // convert surface mesh
    FemMeshComp surfaceFem = fem.getSurfaceMeshComp();
    PolygonalMesh mesh = (PolygonalMesh) surfaceFem.getMesh();
    // build mesh
    PolygonalMesh mesh2 = mesh.copy();
    // index vertices
    int idx = 0;
    for (Vertex3d vtx : mesh.getVertices()) {
        vtx.setIndex(idx++);
    }
    idx = 0;
    for (Vertex3d vtx : mesh2.getVertices()) {
        vtx.setIndex(idx++);
    }
    MFreeMeshComp surfaceMFree = new MFreeMeshComp(model, "surface");
    surfaceMFree.setMesh(mesh2);
    // manually build surface attachments
    for (Vertex3d vtx : mesh.getVertices()) {
        PointAttachment pa = surfaceFem.getAttachment(vtx.getIndex());
        if (pa instanceof PointFem3dAttachment) {
            PointFem3dAttachment pfa = (PointFem3dAttachment) pa;
            FemNode[] masters = pfa.getNodes();
            MFreeNode3d[] deps = new MFreeNode3d[masters.length];
            VectorNd coords = new VectorNd(masters.length);
            for (int j = 0; j < masters.length; j++) {
                // mlist.add (new ContactMaster (masters[j], pfa.getCoordinate(j)));
                deps[j] = nodeMap.get(masters[j]);
                coords.set(j, pfa.getCoordinate(j));
            }
            surfaceMFree.setVertexAttachment(vtx.getIndex(), coords.getBuffer(), deps);
        } else {
            PointParticleAttachment ppa = (PointParticleAttachment) pa;
            DynamicComponent[] masters = ppa.getMasters();
            MFreeNode3d[] deps = new MFreeNode3d[1];
            deps[0] = nodeMap.get(masters[0]);
            VectorNd coords = new VectorNd(new double[] { 1 });
            surfaceMFree.setVertexAttachment(vtx.getIndex(), coords.getBuffer(), deps);
        }
    }
    // integration regions by copying elements
    ArrayList<MFreeElement3d> elemList = new ArrayList<MFreeElement3d>(fem.numElements());
    HashMap<FemElement3d, MFreeElement3d> elemMap = new HashMap<FemElement3d, MFreeElement3d>(fem.numElements());
    for (FemElement3d elem : fem.getElements()) {
        MFreeNode3d[] elemNodes = new MFreeNode3d[elem.numNodes()];
        FemNode3d[] fnodes = elem.getNodes();
        for (int i = 0; i < elem.numNodes(); i++) {
            elemNodes[i] = nodeMap.get(fnodes[i]);
        }
        MFreeElement3d region = new MFreeElement3d(null, elemNodes);
        // region.setAllTermsActive(true);
        MFreeIntegrationPoint3d[] mpnts = new MFreeIntegrationPoint3d[elem.numIntegrationPoints()];
        IntegrationData3d[] mdata = new IntegrationData3d[elem.numIntegrationPoints()];
        IntegrationPoint3d[] ipnts = elem.getIntegrationPoints();
        IntegrationData3d[] idata = elem.getIntegrationData();
        for (int i = 0; i < ipnts.length; i++) {
            Point3d pos = new Point3d();
            ipnts[i].computePosition(pos, elem.getNodes());
            Vector3d[] gradU = ipnts[i].getGNs();
            ArrayList<Vector3d> grads = new ArrayList<Vector3d>();
            for (Vector3d g : gradU) {
                grads.add(g);
            }
            MFreeIntegrationPoint3d mpnt = MFreeIntegrationPoint3d.create(elemNodes, ipnts[i].getShapeWeights(), grads, ipnts[i].getWeight());
            IntegrationData3d mdat = new IntegrationData3d();
            mdat.setRestInverseJacobian(idata[i].getInvJ0(), idata[i].getDetJ0());
            mpnts[i] = mpnt;
            mdata[i] = mdat;
        }
        // set warping point
        if (region.getWarpingPoint() == null) {
            IntegrationPoint3d wpnt = elem.getWarpingPoint();
            IntegrationData3d wdat = elem.getWarpingData();
            Point3d pos = new Point3d();
            wpnt.computePosition(pos, elem.getNodes());
            // Vector3d [] gradU = wpnt.updateShapeGradient(wdat.getInvJ0());
            Vector3d[] gradU = wpnt.getGNs();
            ArrayList<Vector3d> grads = new ArrayList<Vector3d>();
            for (Vector3d g : gradU) {
                grads.add(g);
            }
            // MFreeIntegrationPoint3d mpnt =
            // MFreeIntegrationPoint3d.create(pos, deps,
            // wpnt.getShapeWeights(), grads, wpnt.getWeight()*wdat.getDetJ0());
            MFreeIntegrationPoint3d mpnt = MFreeIntegrationPoint3d.create(elemNodes, wpnt.getShapeWeights(), grads, wpnt.getWeight());
            region.setWarpingPoint(mpnt);
            IntegrationData3d wdata = new IntegrationData3d();
            wdata.setRestInverseJacobian(wdat.getInvJ0(), wdat.getDetJ0());
            region.setWarpingPoint(mpnt, wdata);
        }
        region.setIntegrationPoints(mpnts, mdata);
        elemList.add(region);
        elemMap.put(elem, region);
    }
    // add everything to model
    model.addNodes(nodeList);
    model.addElements(elemList);
    model.setSurfaceMeshComp(surfaceMFree);
    // copy properties
    model.setDensity(fem.getDensity());
    model.setParticleDamping(fem.getParticleDamping());
    model.setStiffnessDamping(fem.getStiffnessDamping());
    // copy over all masses
    for (FemNode3d node : fem.getNodes()) {
        nodeMap.get(node).setMass(node.getMass());
    }
    for (FemElement3d elem : fem.getElements()) {
        elemMap.get(elem).setMass(elem.getMass());
    }
    model.setMaterial(fem.getMaterial());
    return model;
}

Example 38 with PolygonalMesh

use of maspack.geometry.PolygonalMesh in project artisynth_core by artisynth.

the class MFreeMeshComp method scanMeshUsingNodeNumbers.

/**
 * Old method of scanning mesh usign node numbers only.
 */
private void scanMeshUsingNodeNumbers(ReaderTokenizer rtok) throws IOException {
    PolygonalMesh mesh = (PolygonalMesh) getMesh();
    // nodeVertexMap is used during the construction of the mesh,
    // so we build it during the construction rather then letting
    // it be built in finalizeSurfaceBuild()
    myNodeVertexMap = new HashMap<MFreeNode3d, Vertex3d>();
    myNumSingleAttachments = 0;
    ArrayList<Vertex3d> vtxList = new ArrayList<Vertex3d>();
    rtok.nextToken();
    while (rtok.tokenIsWord("f")) {
        vtxList.clear();
        rtok.nextToken();
        while (rtok.tokenIsInteger()) {
            int nnum = (int) rtok.lval;
            MFreeNode3d node = (MFreeNode3d) getNodeFromNumber(rtok, nnum);
            Vertex3d vtx = myNodeVertexMap.get(node);
            if (vtx == null) {
                vtx = new Vertex3d(new Point3d(node.getPosition()));
                myNodeVertexMap.put(node, vtx);
                myVertexAttachments.add(new PointParticleAttachment(node, null));
                myNumSingleAttachments++;
                mesh.addVertex(vtx);
            }
            vtxList.add(vtx);
            rtok.nextToken();
        }
        mesh.addFace(vtxList.toArray(new Vertex3d[0]));
    }
    rtok.pushBack();
}

Example 39 with PolygonalMesh

use of maspack.geometry.PolygonalMesh in project artisynth_core by artisynth.

the class MFreeMeshComp method markSurfaceMesh.

protected void markSurfaceMesh(boolean set) {
    MeshBase mesh = getMesh();
    if (mesh != null && !(mesh instanceof PolygonalMesh)) {
        throw new IllegalArgumentException("Mesh must be a PolygonalMesh to be set as a surface");
    }
    isSurfaceMesh = set;
}

Example 40 with PolygonalMesh

use of maspack.geometry.PolygonalMesh in project artisynth_core by artisynth.

the class RigidBody method setInertiaFromMesh.

private void setInertiaFromMesh(double density) {
    PolygonalMesh mesh = null;
    if ((mesh = getMesh()) == null) {
        throw new IllegalStateException("Mesh has not been set");
    }
    SpatialInertia M = mesh.createInertia(density);
    mySpatialInertia.set(M);
}