Examples with RigidTransform3d maspack.matrix.RigidTransform3d used on opensource projects

Example 6 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class FemBeamWithFemSphere method build.

public void build(String[] args) throws IOException {
    // Build simple FemBeam
    super.build(args);
    // Create a FEM sphere
    FemModel3d femSphere = new FemModel3d("sphere");
    mech.addModel(femSphere);
    // Read from TetGen file
    TetGenReader.read(femSphere, ArtisynthPath.getSrcRelativePath(FemModel3d.class, "meshes/sphere2.1.node"), ArtisynthPath.getSrcRelativePath(FemModel3d.class, "meshes/sphere2.1.ele"));
    femSphere.scaleDistance(0.22);
    // FEM properties
    femSphere.setDensity(10);
    femSphere.setParticleDamping(2);
    femSphere.setMaterial(new LinearMaterial(4000, 0.33));
    // Reposition FEM to side of beam
    femSphere.transformGeometry(new RigidTransform3d(length / 2 + width / 2, 0, 0));
    // Attach sphere nodes that are inside beam
    for (FemNode3d node : femSphere.getNodes()) {
        // Find element containing node (if exists)
        FemElement3d elem = fem.findContainingElement(node.getPosition());
        // Add attachment if node is inside "fem"
        if (elem != null) {
            mech.attachPoint(node, elem);
        }
    }
    // Set render properties
    setRenderProps(femSphere);
}

Example 7 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class FrameBodyAttachment method build.

public void build(String[] args) {
    // create MechModel and add to RootModel
    mech = new MechModel("mech");
    mech.setGravity(0, 0, -98);
    mech.setFrameDamping(1.0);
    mech.setRotaryDamping(4.0);
    addModel(mech);
    // bodies will be defined using a mesh
    PolygonalMesh mesh;
    // create bodyB and set its pose
    mesh = MeshFactory.createRoundedBox(lenx1, leny1, lenz1, /*nslices=*/
    8);
    RigidTransform3d TMB = new RigidTransform3d(0, 0, 0, /*axisAng=*/
    1, 1, 1, 2 * Math.PI / 3);
    mesh.transform(TMB);
    bodyB = RigidBody.createFromMesh("bodyB", mesh, /*density=*/
    0.2, 1.0);
    bodyB.setPose(new RigidTransform3d(0, 0, 1.5 * lenx1, 1, 0, 0, Math.PI / 2));
    // create bodyA and set its pose
    mesh = MeshFactory.createRoundedCylinder(leny2 / 2, lenx2, /*nslices=*/
    16, /*nsegs=*/
    1, /*flatBottom=*/
    false);
    mesh.transform(TMB);
    bodyA = RigidBody.createFromMesh("bodyA", mesh, 0.2, 1.0);
    bodyA.setPose(new RigidTransform3d((lenx1 + leny2) / 2, 0, 1.5 * lenx1, 0, Math.PI / 2, 0));
    // create the joint
    RigidTransform3d TDW = new RigidTransform3d(-lenx1 / 2, 0, 1.5 * lenx1, 1, 0, 0, Math.PI / 2);
    RevoluteJoint joint = new RevoluteJoint(bodyB, TDW);
    // add components to the mech model
    mech.addRigidBody(bodyB);
    mech.addRigidBody(bodyA);
    mech.addBodyConnector(joint);
    // set render properties for components
    RenderProps.setLineRadius(joint, 0.2);
    joint.setAxisLength(4);
    // now connect bodyA to bodyB using a FrameAttachment
    mech.attachFrame(bodyA, bodyB);
    // create an auxiliary frame and add it to the mech model
    Frame frame = new Frame();
    mech.addFrame(frame);
    // set the frames axis length > 0 so we can see it
    frame.setAxisLength(4.0);
    // set the attached frame's pose to that of bodyA ...
    RigidTransform3d TFW = new RigidTransform3d(bodyA.getPose());
    // ... plus a translation of lenx2/2 along the x axis:
    TFW.mulXyz(lenx2 / 2, 0, 0);
    // finally, attach the frame to bodyA
    mech.attachFrame(frame, bodyA, TFW);
}

Example 8 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class FrameFemAttachment method build.

public void build(String[] args) {
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // create and add FEM beam
    FemModel3d fem = FemFactory.createHexGrid(null, 1.0, 0.2, 0.2, 6, 3, 3);
    fem.setMaterial(new LinearMaterial(500000, 0.33));
    RenderProps.setLineColor(fem, Color.BLUE);
    RenderProps.setLineWidth(mech, 2);
    mech.addModel(fem);
    // fix leftmost nodes of the FEM
    for (FemNode3d n : fem.getNodes()) {
        if ((n.getPosition().x - (-0.5)) < 1e-8) {
            n.setDynamic(false);
        }
    }
    // create and add rigid body box
    RigidBody box = RigidBody.createBox("box", 0.25, 0.1, 0.1, /*density=*/
    1000);
    mech.add(box);
    // create a basic frame and and set its pose and axis length
    Frame frame = new Frame();
    frame.setPose(new RigidTransform3d(0.4, 0, 0, 0, Math.PI / 4, 0));
    frame.setAxisLength(0.3);
    mech.addFrame(frame);
    // attach using element-based attachment
    mech.attachFrame(frame, fem);
    // attach the box to the FEM, using all the nodes of elements 31 and 32
    HashSet<FemNode3d> nodes = collectNodes(fem, new int[] { 22, 31 });
    FrameFem3dAttachment attachment = new FrameFem3dAttachment(box);
    attachment.setFromNodes(box.getPose(), nodes);
    mech.addAttachment(attachment);
    // render the attachment nodes for the box as spheres
    for (FemNode n : attachment.getNodes()) {
        RenderProps.setSphericalPoints(n, 0.007, Color.GREEN);
    }
}

Example 9 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class PenetrationRender method build.

public void build(String[] args) {
    MechModel mech = new MechModel("mech");
    addModel(mech);
    // create first body and set its rendering properties
    RigidBody body0 = createHemiBody(mech, "body0", 2, -0.5, false);
    RenderProps.setFaceStyle(body0, FaceStyle.FRONT_AND_BACK);
    RenderProps.setFaceColor(body0, CREAM);
    // create second body and set its pose and rendering properties
    RigidBody body1 = createHemiBody(mech, "body1", 1, 2.0, true);
    body1.setPose(new RigidTransform3d(0, 0, 0.75));
    // set up
    RenderProps.setFaceStyle(body1, FaceStyle.NONE);
    // wireframe
    RenderProps.setShading(body1, Shading.NONE);
    // rendering
    RenderProps.setDrawEdges(body1, true);
    RenderProps.setEdgeColor(body1, GOLD);
    // create and set a collision behavior between body0 and body1, and make
    // collisions INACTIVE since we only care about graphical display
    CollisionBehavior behav = new CollisionBehavior(true, 0);
    behav.setMethod(CollisionBehavior.Method.INACTIVE);
    // show penetration of mesh 0
    behav.setDrawPenetrationDepth(0);
    behav.getPenetrationDepthRange().setUpdating(ScalarRange.Updating.AUTO_FIT);
    mech.setCollisionBehavior(body0, body1, behav);
    CollisionManager cm = mech.getCollisionManager();
    // penetration rendering only works with contour-based collisions
    cm.setColliderType(ColliderType.AJL_CONTOUR);
    // set other rendering properities in the collision manager:
    // enable collision rendering
    RenderProps.setVisible(cm, true);
    // draw contours ...
    cm.setDrawIntersectionContours(true);
    // with a line width of 3
    RenderProps.setEdgeWidth(cm, 3);
    // and a blue color
    RenderProps.setEdgeColor(cm, Color.BLUE);
    // create a custom color map for rendering the penetration depth
    JetColorMap map = new JetColorMap();
    map.setColorArray(new Color[] { // no penetration
    CREAM, createColor(255, 204, 153), createColor(255, 153, 102), createColor(255, 102, 51), createColor(255, 51, 0), // most penetration
    createColor(204, 0, 0) });
    cm.setColorMap(map);
    // create a separate color bar to show depth values associated with the
    // color map
    ColorBar cbar = createColorBar();
    cbar.setColorMap(map);
}

Example 10 with RigidTransform3d

use of maspack.matrix.RigidTransform3d in project artisynth_core by artisynth.

the class PenetrationRender method createHemiBody.

// Creates and returns a rigid body built from a hemispherical mesh.  The
// body is centered at the origin, has a radius of 'rad', and the z axis is
// scaled by 'zscale'.
RigidBody createHemiBody(MechModel mech, String name, double rad, double zscale, boolean flipMesh) {
    PolygonalMesh mesh = MeshFactory.createHemisphere(rad, /*slices=*/
    20, /*levels=*/
    10);
    // scale mesh in the z direction
    mesh.scale(1, 1, zscale);
    if (flipMesh) {
        // flip upside down is requested
        mesh.transform(new RigidTransform3d(0, 0, 0, 0, 0, Math.PI));
    }
    RigidBody body = RigidBody.createFromMesh(name, mesh, /*density=*/
    1000, /*scale=*/
    1.0);
    mech.addRigidBody(body);
    // body is only parametrically controlled
    body.setDynamic(false);
    return body;
}