Beispiel #1
0
    def test_add_get_remove_constraints(self, client_type):
        """
        Create some bodies. Then add/query/remove constraints.

        This test only verifies that the Igor interface works. It does *not*
        verify that the objects are really linked in the actual simulation.
        """
        # Reset the constraint database.
        igor = azrael.igor.Igor()
        assert igor.reset().ok

        # Get the client for this test.
        client = self.clients[client_type]

        # Spawn the two bodies.
        pos_1, pos_2, pos_3 = [-2, 0, 0], [2, 0, 0], [6, 0, 0]
        new_objs = [
            {'templateID': '_templateSphere', 'rbs': {'position': pos_1}},
            {'templateID': '_templateSphere', 'rbs': {'position': pos_2}},
            {'templateID': '_templateSphere', 'rbs': {'position': pos_3}}
        ]
        id_1, id_2, id_3 = 1, 2, 3
        assert client.spawn(new_objs) == (True, None, [id_1, id_2, id_3])

        # Define the constraints.
        con_1 = getP2P(rb_a=id_1, rb_b=id_2, pivot_a=pos_2, pivot_b=pos_1)
        con_2 = get6DofSpring2(rb_a=id_2, rb_b=id_3)

        # Verify that no constraints are currently active.
        assert client.getConstraints(None) == (True, None, [])
        assert client.getConstraints([id_1]) == (True, None, [])

        # Add both constraints and verify they are returned correctly.
        assert client.addConstraints([con_1, con_2]) == (True, None, 2)
        ret = client.getConstraints(None)
        assert ret.ok and (sorted(ret.data) == sorted([con_1, con_2]))

        ret = client.getConstraints([id_2])
        assert ret.ok and (sorted(ret.data) == sorted([con_1, con_2]))

        assert client.getConstraints([id_1]) == (True, None, [con_1])
        assert client.getConstraints([id_3]) == (True, None, [con_2])

        # Remove the second constraint and verify the remaining constraint is
        # returned correctly.
        assert client.deleteConstraints([con_2]) == (True, None, 1)
        assert client.getConstraints(None) == (True, None, [con_1])
        assert client.getConstraints([id_1]) == (True, None, [con_1])
        assert client.getConstraints([id_2]) == (True, None, [con_1])
        assert client.getConstraints([id_3]) == (True, None, [])
Beispiel #2
0
def spawnCubes(numCols, numRows, numLayers, center=(0, 0, 0)):
    """
    Spawn multiple cubes in a regular grid.

    The number of cubes equals ``numCols`` * ``numRows`` * ``numLayers``. The
    center of this "prism" is at ``center``.

    Every cube has two boosters and two factories. The factories can themselves
    spawn more (purely passive) cubes.
    """
    # Get a Client instance.
    client = azrael.client.Client()

    # Vertices that define a Cube.
    vert = 1 * np.array([
        -1.0, -1.0, -1.0,   -1.0, -1.0, +1.0,   -1.0, +1.0, +1.0,
        -1.0, -1.0, -1.0,   -1.0, +1.0, +1.0,   -1.0, +1.0, -1.0,
        +1.0, -1.0, -1.0,   +1.0, +1.0, +1.0,   +1.0, -1.0, +1.0,
        +1.0, -1.0, -1.0,   +1.0, +1.0, -1.0,   +1.0, +1.0, +1.0,
        +1.0, -1.0, +1.0,   -1.0, -1.0, -1.0,   +1.0, -1.0, -1.0,
        +1.0, -1.0, +1.0,   -1.0, -1.0, +1.0,   -1.0, -1.0, -1.0,
        +1.0, +1.0, +1.0,   +1.0, +1.0, -1.0,   -1.0, +1.0, -1.0,
        +1.0, +1.0, +1.0,   -1.0, +1.0, -1.0,   -1.0, +1.0, +1.0,
        +1.0, +1.0, -1.0,   -1.0, -1.0, -1.0,   -1.0, +1.0, -1.0,
        +1.0, +1.0, -1.0,   +1.0, -1.0, -1.0,   -1.0, -1.0, -1.0,
        -1.0, +1.0, +1.0,   -1.0, -1.0, +1.0,   +1.0, -1.0, +1.0,
        +1.0, +1.0, +1.0,   -1.0, +1.0, +1.0,   +1.0, -1.0, +1.0
    ])

    # Convenience.
    cs = CollShapeBox(1, 1, 1)
    cs = CollShapeMeta('', 'box', (0, 0, 0), (0, 0, 0, 1), cs)
    uv = np.array([], np.float64)
    rgb = np.array([], np.uint8)

    uv = np.zeros(12 * 6, np.float64)
    uv[0:6] = [0, 0, 1, 0, 1, 1]
    uv[6:12] = [0, 0, 1, 1, 0, 1]
    uv[12:18] = [1, 0, 0, 1, 0, 0]
    uv[18:24] = [1, 0, 1, 1, 0, 1]
    uv[24:30] = [0, 0, 1, 1, 0, 1]
    uv[30:36] = [0, 0, 1, 0, 1, 1]
    uv[36:42] = [1, 1, 1, 0, 0, 0]
    uv[42:48] = [1, 1, 0, 0, 0, 1]
    uv[48:54] = [0, 1, 1, 0, 1, 1]
    uv[54:60] = [0, 1, 0, 0, 1, 0]
    uv[60:66] = [0, 1, 0, 0, 1, 0]
    uv[66:72] = [1, 1, 0, 1, 1, 0]

    uv = np.array(uv, np.float64)

    # Compile the path to the texture file.
    path_base = os.path.dirname(os.path.abspath(__file__))
    path_base = os.path.join(path_base, '..', 'azrael', 'static', 'img')
    fname = os.path.join(path_base, 'texture_5.jpg')

    # Load the texture and convert it to flat vector because this is how OpenGL
    # will want it.
    img = PIL.Image.open(fname)
    img = np.array(img)
    rgb = np.rollaxis(np.flipud(img), 1).flatten()

    # # ----------------------------------------------------------------------
    # # Create templates for the factory output.
    # # ----------------------------------------------------------------------
    # tID_1 = 'Product1'
    # tID_2 = 'Product2'
    # frags_1 = [FragMeta('frag_1', 'raw', FragRaw(0.75 * vert, uv, rgb))]
    # frags_2 = [FragMeta('frag_1', 'raw', FragRaw(0.24 * vert, uv, rgb))]
    # t1 = Template(tID_1, [cs], frags_1, [], [])
    # t2 = Template(tID_2, [cs], frags_2, [], [])
    # assert client.addTemplates([t1, t2]).ok
    # del frags_1, frags_2, t1, t2

    # ----------------------------------------------------------------------
    # Define a cube with boosters and factories.
    # ----------------------------------------------------------------------
    # Two boosters, one left, one right. Both point in the same direction.
    b0 = types.Booster(partID='0', pos=[+0.05, 0, 0], direction=[0, 0, 1],
                       minval=0, maxval=10.0, force=0)
    b1 = types.Booster(partID='1', pos=[-0.05, 0, 0], direction=[0, 0, 1],
                       minval=0, maxval=10.0, force=0)

    # # Two factories, one left one right. They will eject the new objects
    # # forwards and backwards, respectively.
    # f0 = types.Factory(
    #     partID='0', pos=[+1.5, 0, 0], direction=[+1, 0, 0],
    #     templateID=tID_1, exit_speed=[0.1, 1])
    # f1 = types.Factory(
    #     partID='1', pos=[-1.5, 0, 0], direction=[-1, 0, 0],
    #     templateID=tID_2, exit_speed=[0.1, 1])

    # # Add the template.
    # tID_3 = 'BoosterCube'
    # frags = [FragMeta('frag_1', 'raw', FragRaw(vert, uv, rgb))]
    # t3 = Template(tID_3, [cs], frags, [b0, b1], [f0, f1])
    # assert client.addTemplates([t3]).ok
    # del frags, t3

    # ----------------------------------------------------------------------
    # Define more booster cubes, each with a different texture.
    # ----------------------------------------------------------------------
    tID_cube = {}
    templates = []
    texture_errors = 0
    for ii in range(numRows * numCols * numLayers):
        # File name of texture.
        fname = os.path.join(path_base, 'texture_{}.jpg'.format(ii + 1))

        # Load the texture image. If the image is unavailable do not endow the
        # cube with a texture.
        try:
            img = PIL.Image.open(fname)
            img = np.array(img)
            rgb = np.rollaxis(np.flipud(img), 1).flatten()
            curUV = uv
        except FileNotFoundError:
            texture_errors += 1
            rgb = curUV = np.array([])

        # Create the template.
        tID = ('BoosterCube_{}'.format(ii))
        frags = [FragMeta('frag_1', 'raw', FragRaw(vert, curUV, rgb)),
                 FragMeta('frag_2', 'raw', FragRaw(vert, curUV, rgb))]
        tmp = Template(tID, [cs], frags, [b0, b1], [])
        templates.append(tmp)

        # Add the templateID to a dictionary because we will need it in the
        # next step to spawn the templates.
        tID_cube[ii] = tID
        del frags, tmp, tID, fname

    if texture_errors > 0:
        print('Could not load texture for {} of the {} objects'
              .format(texture_errors, ii + 1))

    # Define all templates.
    print('Adding {} templates: '.format(ii + 1), end='', flush=True)
    t0 = time.time()
    assert client.addTemplates(templates).ok
    print('{:.1f}s'.format(time.time() - t0))

    # ----------------------------------------------------------------------
    # Spawn the differently textured cubes in a regular grid.
    # ----------------------------------------------------------------------
    allObjs = []
    cube_idx = 0
    cube_spacing = 0.0

    # Determine the template and position for every cube. The cubes are *not*
    # spawned in this loop, but afterwards.
    print('Compiling scene: ', end='', flush=True)
    t0 = time.time()
    for row in range(numRows):
        for col in range(numCols):
            for lay in range(numLayers):
                # Base position of cube.
                pos = np.array([col, row, lay], np.float64)

                # Add space in between cubes.
                pos *= -(4 + cube_spacing)

                # Correct the cube's position to ensure the center of the
                # grid coincides with the origin.
                pos[0] += (numCols // 2) * (1 + cube_spacing)
                pos[1] += (numRows // 2) * (1 + cube_spacing)
                pos[2] += (numLayers // 2) * (1 + cube_spacing)

                # Move the grid to position ``center``.
                pos += np.array(center)

                # Store the position and template for this cube.
                allObjs.append({'template': tID_cube[cube_idx],
                                'position': pos})
                cube_idx += 1
                del pos

    # fixme: this code assumes there are at least 4 cubes!
    if len(allObjs) < 4:
        print('fixme: start demo with at least 4 cubes!')
        sys.exit(1)
    allObjs = []
    pos_0 = [2, 0, 10]
    pos_1 = [-2, 0, 10]
    pos_2 = [-6, 0, 10]
    pos_3 = [-10, 0, 10]
    allObjs.append({'template': tID_cube[0], 'position': pos_0})
    allObjs.append({'template': tID_cube[1], 'position': pos_1})
    allObjs.append({'template': tID_cube[2], 'position': pos_2})
    allObjs.append({'template': tID_cube[3], 'position': pos_3})

    # The first object cannot move (only rotate). It serves as an anchor for
    # the connected bodies.
    allObjs[0]['axesLockLin'] = [0, 0, 0]
    allObjs[0]['axesLockRot'] = [1, 1, 1]

    # Add a small damping factor to all bodies to avoid them moving around
    # perpetually.
    for oo in allObjs[1:]:
        oo['axesLockLin'] = [0.9, 0.9, 0.9]
        oo['axesLockRot'] = [0.9, 0.9, 0.9]

    print('{:,} objects ({:.1f}s)'.format(len(allObjs), time.time() - t0))
    del cube_idx, cube_spacing, row, col, lay

    # Spawn the cubes from the templates at the just determined positions.
    print('Spawning {} objects: '.format(len(allObjs)), end='', flush=True)
    t0 = time.time()
    ret = client.spawn(allObjs)
    assert ret.ok
    ids = ret.data
    print('{:.1f}s'.format(time.time() - t0))

    # Define the constraints.
    p2p_0 = ConstraintP2P(pivot_a=[-2, 0, 0], pivot_b=[2, 0, 0])
    p2p_1 = ConstraintP2P(pivot_a=[-2, 0, 0], pivot_b=[2, 0, 0])
    p2p_2 = ConstraintP2P(pivot_a=[-2, 0, 0], pivot_b=[2, 0, 0])
    dof = Constraint6DofSpring2(
        frameInA=[0, 0, 0, 0, 0, 0, 1],
        frameInB=[0, 0, 0, 0, 0, 0, 1],
        stiffness=[2, 2, 2, 1, 1, 1],
        damping=[1, 1, 1, 1, 1, 1],
        equilibrium=[-2, -2, -2, 0, 0, 0],
        linLimitLo=[-4.5, -4.5, -4.5],
        linLimitHi=[4.5, 4.5, 4.5],
        rotLimitLo=[-0.1, -0.2, -0.3],
        rotLimitHi=[0.1, 0.2, 0.3],
        bounce=[1, 1.5, 2],
        enableSpring=[True, False, False, False, False, False])
    constraints = [
        ConstraintMeta('', 'p2p', ids[0], ids[1], p2p_0),
        ConstraintMeta('', 'p2p', ids[1], ids[2], p2p_1),
        ConstraintMeta('', '6DOFSPRING2', ids[2], ids[3], dof),
    ]
    assert client.addConstraints(constraints) == (True, None, 3)

    # Make 'frag_2' invisible by setting its scale to zero.
    for objID in ret.data:
        client.setFragmentStates({objID: [
            FragState('frag_2', 0, [0, 0, 0], [0, 0, 0, 1])]})
Beispiel #3
0
    def test_create_constraints_with_physics(self, client_type):
        """
        Spawn two rigid bodies and define a Point2Point constraint among them.
        Then apply a force onto one of them and verify the second one moves
        accordingly.
        """
        # Reset the constraint database.
        igor = azrael.igor.Igor()
        assert igor.reset().ok

        # Get the client for this test.
        client = self.clients[client_type]

        # Reset the database and instantiate a Leonard.
        leo = getLeonard(azrael.leonard.LeonardBullet)

        # Spawn two bodies.
        pos_a, pos_b = [-2, 0, 0], [2, 0, 0]
        new_objs = [
            {'templateID': '_templateSphere',
             'rbs': {'position': pos_a}},
            {'templateID': '_templateSphere',
             'rbs': {'position': pos_b}},
        ]
        id_1, id_2 = 1, 2
        assert client.spawn(new_objs) == (True, None, [id_1, id_2])

        # Verify the position of the bodies.
        ret = client.getObjectStates([id_1, id_2])
        assert ret.ok
        assert ret.data[id_1]['rbs']['position'] == pos_a
        assert ret.data[id_2]['rbs']['position'] == pos_b

        # Define- and add the constraints.
        con = [getP2P(rb_a=id_1, rb_b=id_2, pivot_a=pos_b, pivot_b=pos_a)]
        assert client.addConstraints(con) == (True, None, 1)

        # Apply a force that will pull the left object further to the left.
        # However, both objects must move the same distance in the same
        # direction because they are now linked together.
        assert client.setForce(id_1, [-10, 0, 0]).ok
        leo.processCommandsAndSync()
        leo.step(1.0, 60)

        # Query the object positions. Due to some database timings is sometimes
        # happen that the objects appear to not have moved. In that case retry
        # the query a few times before moving to the comparison.
        for ii in range(10):
            assert ii < 9

            # Query the objects and put their positions into convenience
            # variables.
            ret = client.getRigidBodies([id_1, id_2])
            pos_a2 = ret.data[id_1]['rbs'].position
            pos_b2 = ret.data[id_2]['rbs'].position

            # Exit this loop if both objects have moved.
            if (pos_a != pos_a2) and (pos_b != pos_b2):
                break
            time.sleep(0.1)

        # Verify that the objects have moved to the left and maintained their
        # distance.
        delta_a = np.array(pos_a2) - np.array(pos_a)
        delta_b = np.array(pos_b2) - np.array(pos_b)
        assert delta_a[0] < pos_a[0]
        assert np.allclose(delta_a, delta_b)