Examples with AxisAngle maspack.matrix.AxisAngle used on opensource projects

Example 26 with AxisAngle

use of maspack.matrix.AxisAngle in project artisynth_core by artisynth.

the class FemCollisions method build.

@Override
public void build(String[] args) throws IOException {
    super.build(args);
    // Reduce step size to better resolve collisions
    setMaxStepSize(0.0002);
    // Create and add main MechModel
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // -------------------------------------------------------------
    // BEAM
    // -------------------------------------------------------------
    // Create FEM beam
    FemModel3d beam = new FemModel3d("beam");
    mech.addModel(beam);
    // widths
    double[] size = { 0.003, 0.0015, 0.0015 };
    // resolution
    int[] res = { 4, 2, 2 };
    FemFactory.createGrid(beam, FemElementType.Hex, size[0], size[1], size[2], res[0], res[1], res[2]);
    // Set properties
    beam.setDensity(1000);
    beam.setMaterial(new LinearMaterial(300, 0.33));
    // -------------------------------------------------------------
    // ELLIPSOID
    // -------------------------------------------------------------
    // Create FEM ellipsoid
    FemModel3d ellipsoid = new FemModel3d("ellipsoid");
    mech.addModel(ellipsoid);
    // radii (z, x, y)
    double[] radii = { 0.002, 0.001, 0.001 };
    // resolution (theta, phi, r)
    int[] eres = { 16, 4, 3 };
    FemFactory.createEllipsoid(ellipsoid, radii[0], radii[1], radii[2], eres[0], eres[1], eres[2]);
    // Set properties
    ellipsoid.setDensity(1000);
    ellipsoid.setMaterial(new LinearMaterial(300, 0.33));
    // Transform: rotate 90 degrees about X-Axis
    // translate up by 0.003
    RigidTransform3d trans = new RigidTransform3d();
    trans.setRotation(new AxisAngle(1, 0, 0, Math.PI / 2));
    trans.setTranslation(new Vector3d(0, 0.0005, 0.003));
    ellipsoid.transformGeometry(trans);
    // -------------------------------------------------------------
    // BLOCK WITH EMBEDDED SPHERE
    // -------------------------------------------------------------
    // Create FEM block
    FemModel3d block = new FemModel3d("block");
    mech.addModel(block);
    FemFactory.createHexGrid(block, 0.002, 0.002, 0.002, 3, 3, 3);
    // Set properties
    block.setDensity(1000);
    block.setMaterial(new LinearMaterial(300, 0.33));
    // Create embedded sphere
    double r = 0.0008;
    // level of refinement
    int ref = 2;
    PolygonalMesh sphere = MeshFactory.createOctahedralSphere(r, ref);
    FemMeshComp embeddedSphere = block.addMesh("embedded", sphere);
    // Transform: rotate 90 degrees about X-Axis
    // translate left by 0.003
    trans = new RigidTransform3d();
    trans.setTranslation(new Vector3d(0, 0.003, 0));
    block.transformGeometry(trans);
    // -------------------------------------------------------------
    // TABLE AND COLLISIONS
    // -------------------------------------------------------------
    RigidBody table = RigidBody.createBox("table", 0.005, 0.0075, 0.0008, 0);
    table.setDynamic(false);
    table.setPose(new RigidTransform3d(new Vector3d(0, 0.0015, -0.002), AxisAngle.IDENTITY));
    mech.addRigidBody(table);
    // Set up collisions
    mech.setCollisionBehavior(ellipsoid, beam, true, 0.1);
    mech.setCollisionBehavior(ellipsoid, table, true, 0.1);
    mech.setCollisionBehavior(embeddedSphere, table, true, 0.1);
    mech.setCollisionBehavior(ellipsoid, embeddedSphere, true, 0.1);
    mech.setCollisionBehavior(table, beam, true, 0.1);
    // -------------------------------------------------------------
    // RENDER PROPERTIES
    // -------------------------------------------------------------
    // Draw beam element widgets
    beam.setElementWidgetSize(0.8);
    RenderProps.setLineWidth(beam.getElements(), 0);
    // Make beam blue, and give it a transparent surface
    RenderProps.setFaceColor(beam, Color.BLUE);
    beam.setSurfaceRendering(SurfaceRender.Shaded);
    RenderProps.setAlpha(beam.getMeshComp("surface"), 0.4);
    // Make the ellipsoid red
    RenderProps.setFaceColor(ellipsoid, Color.RED);
    RenderProps.setLineColor(ellipsoid, Color.RED.darker());
    ellipsoid.setSurfaceRendering(SurfaceRender.Shaded);
    // Make the block green
    RenderProps.setFaceColor(block, Color.GREEN);
    RenderProps.setLineColor(block, Color.GREEN.darker());
}

Example 27 with AxisAngle

use of maspack.matrix.AxisAngle in project artisynth_core by artisynth.

the class FemModel3dAgent method createLocationPanel.

private void createLocationPanel() {
    positionField = new VectorField("position", 3);
    positionField.setStretchable(true);
    positionField.addValueChangeListener(this);
    orientationField = new AxisAngleField("orientiation", new AxisAngle());
    orientationField.setStretchable(true);
    orientationField.addValueChangeListener(this);
    LabeledComponentPanel locationPanel = new LabeledComponentPanel();
    locationPanel.addWidget(positionField);
    locationPanel.addWidget(orientationField);
    addWidget(locationPanel);
    locationPanel.setBorder(GuiUtils.createTitledPanelBorder("Location"));
}

Example 28 with AxisAngle

use of maspack.matrix.AxisAngle in project artisynth_core by artisynth.

the class RigidBodyAgent method createLocationPanel.

private void createLocationPanel() {
    positionField = new VectorField("position", 3);
    positionField.setStretchable(true);
    positionField.addValueChangeListener(this);
    orientationField = new AxisAngleField("orientiation", new AxisAngle());
    orientationField.setStretchable(true);
    orientationField.addValueChangeListener(this);
    LabeledComponentPanel locationPanel = new LabeledComponentPanel();
    locationPanel.addWidget(positionField);
    locationPanel.addWidget(orientationField);
    addWidget(locationPanel);
    locationPanel.setBorder(GuiUtils.createTitledPanelBorder("Location"));
}

Example 29 with AxisAngle

use of maspack.matrix.AxisAngle in project artisynth_core by artisynth.

the class GridPlane method getOrientation.

/**
 * Gets the orientation of the display
 */
public AxisAngle getOrientation() {
    AxisAngle axisAng = new AxisAngle();
    XGridToWorld.R.getAxisAngle(axisAng);
    return axisAng;
}

Example 30 with AxisAngle

use of maspack.matrix.AxisAngle in project artisynth_core by artisynth.

the class TextComponent3d method setDefaults.

protected void setDefaults() {
    myFont = new Font(defaultFontName, 0, defaultFontSize);
    myRenderProps = createDefaultRenderProps();
    hAlignment = defaultHAlignment;
    vAlignment = defaultVAlignment;
    myTextSize = defaultTextSize;
    myFontSize = defaultFontSize;
    myText = "";
    myPos = new Point3d();
    myOrientation = new AxisAngle();
    followEye = true;
}