def x_get_fold_deform_task(self):
ft = self.factory_task
it = self.init_displ_task
fixed_z = fix(self.fixed_z, (2))
fixed_y = fix(self.fixed_y, (1))
fixed_x = fix(self.fixed_x, (0))
link_z = link(self.link_z[0], [2], 1, self.link_z[1], [2], -1)
dof_constraints = fixed_x + fixed_z + fixed_y + \
link_z
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
def FN(psi): return lambda t: psi * t
psi_constr = [([(i, 1.0)], FN(self.psi_max))
for i in self.psi_lines]
gu_constant_length = GuConstantLength()
gu_psi_constraints = \
GuPsiConstraints(forming_task=ft,
psi_constraints=psi_constr)
sim_config = SimulationConfig(goal_function_type='gravity potential energy',
gu={'cl': gu_constant_length,
'dofs': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-4, MAX_ITER=self.MAXITER,
debug_level=0)
fu_tot_poteng = FuPotEngTotal(kappa=np.array([self.kappa]),
F_ext_list=[],
rho=self.rho,
exclude_lines=self.psi_lines)
sim_config._fu = fu_tot_poteng
st = SimulationTask(previous_task=ft,
config=sim_config, n_steps=self.n_steps)
fu_tot_poteng.forming_task = st
gu_psi_constraints.forming_task = st
cp = st.formed_object
cp.u = it.u_1
#cp.u[:, 2] = np.random
return st
def _get_fold_angle_cntl(self):
# Link the crease factory it with the constraint client
gu_constant_length = GuConstantLength()
psi_max = np.pi * 0.3
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.factory_task,
psi_constraints=[([(1, 1.0)], lambda t: -psi_max * t),
])
dof_constraints = fix([2], [0, 1, 2]) + fix([0], [1, 2]) \
+ fix([3], [2])
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
sim_config = SimulationConfig(goal_function_type='none',
gu={
'cl': gu_constant_length,
'u': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5,
MAX_ITER=100)
sim_task = SimulationTask(previous_task=self.factory_task,
config=sim_config,
n_steps=5)
return sim_task
def _get_fold_task(self):
self.init_displ_task.x_1
fixed_z = fix(self.fixed_z, (2))
fixed_y = fix(self.fixed_y, (1))
fixed_x = fix(self.fixed_x, (0))
link_z = link(self.link_z[0], [2], 1, self.link_z[1], [2], -1)
dof_constraints = fixed_x + fixed_z + fixed_y + \
link_z
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
FN = lambda psi: lambda t: psi * t
psi_constr = [([(i, 1.0)], FN(self.psi_max)) for i in self.psi_lines]
gu_constant_length = GuConstantLength()
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.init_displ_task,
psi_constraints=psi_constr)
sim_config = SimulationConfig(
goal_function_type='gravity potential energy',
gu={
'cl': gu_constant_length,
'dofs': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5,
MAX_ITER=500,
debug_level=0)
return SimulationTask(previous_task=self.init_displ_task,
config=sim_config,
n_steps=self.n_steps)
def get_merge_nodes_task(self,
prev_ft,
merge_nodes=[[]],
link_nodes=[],
fix_node=[],
stiff_lines=[],
init_nodes=(),
init_val=0.0):
cp = self.factory_task.formed_object
psi_constr = [
([(i, 1.0)], lambda t: self.fix_psi * t) # fold_step(t, i))
for i in stiff_lines
]
gu_psi_constraints = \
GuPsiConstraints(forming_task=prev_ft,
psi_constraints=psi_constr)
F_u_fix = cp.F_N[1]
dof_constraints = fix([F_u_fix[0]], [0, 1, 2]) + \
fix([F_u_fix[1]], [1, 2]) + \
fix([F_u_fix[2]], [2])
if len(link_nodes) > 0:
ln = np.array(link_nodes, dtype=np.int_)
link_nodes1, link_nodes2 = ln.T
ldofs = link(link_nodes1, [0, 1, 2], 1.0, link_nodes2, [0, 1, 2],
-1.0)
dof_constraints += ldofs
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(
goal_function_type='total potential energy',
gu={
'cl': gu_constant_length,
'gu': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5,
MAX_ITER=500)
fu_node_dist = \
FuNodeDist(forming_task=prev_ft,
L=merge_nodes,
)
sim_config._fu = fu_node_dist
st = SimulationTask(previous_task=prev_ft,
config=sim_config,
n_steps=1)
fu_node_dist.forming_task = st
cp = st.formed_object
return st
def _get_fold_task(self):
psi_max = self.fix_psi
cp = self.factory_task.formed_object
inner_lines = cp.iL
psi_constr = [([(i, 1.0)], lambda t: psi_max * t) for i in inner_lines]
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.factory_task,
psi_constraints=psi_constr)
F_u_fix = cp.F_N[1]
dof_constraints = fix([F_u_fix[0]], [0, 1, 2]) + \
fix([F_u_fix[1]], [1, 2]) + \
fix([F_u_fix[2]], [2])
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={
'cl': gu_constant_length,
'u': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5,
MAX_ITER=500,
debug_level=0)
return SimulationTask(previous_task=self.factory_task,
config=sim_config,
n_steps=self.n_steps)
def get_single_step_fold_task(self, seq_fold_task):
ft = self.factory_task
seq_cp = seq_fold_task.formed_object
iL = seq_cp.iL
iL_psi = seq_cp.iL_psi
def fold_step(t, start_t=0.0, end_t=1.0):
if t < start_t:
return 0.0
elif t > end_t:
return 1.0
else:
return (t - start_t) / (end_t - start_t)
def FN(psi, start_t, end_t): return lambda t: psi * \
fold_step(t, start_t, end_t)
print('iL', iL)
trange = np.zeros((len(iL), 2), dtype=np.float_)
trange[:, 0] = 0.0
trange[:, 1] = 0.4
trange[2, :] = [0.3, 0.6]
trange[7, :] = [0.5, 0.8]
trange[10, :] = [0.5, 0.8]
trange[11, :] = [0.6, 0.8]
trange[15, :] = [0.6, 0.8]
trange[16, :] = [0.8, 1.0]
trange[18, :] = [0.6, 0.8]
trange[14, :] = [0.8, 1.0]
psi_constraints = [([(i, 1.0)], FN(i_psi, i_start, i_end))
for i, i_psi, i_start, i_end in zip(
iL, iL_psi, trange[:, 0], trange[:, 1])]
gu_psi_constraints = \
GuPsiConstraints(forming_task=ft,
psi_constraints=psi_constraints)
F_u_fix = cp.F_N[1]
dof_constraints = fix([F_u_fix[0]], [0, 1, 2]) + \
fix([F_u_fix[1]], [1, 2]) + \
fix([F_u_fix[2]], [2])
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={
'cl': gu_constant_length,
'u': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5,
MAX_ITER=500,
debug_level=0)
return SimulationTask(previous_task=ft, config=sim_config, n_steps=50)
def _get_fold_seq_task(self):
psi_max = -self.phi_max
dt = 1.0 / 7.0
def fold_step(t, fold_index):
n_steps = 7.0
dt = 1.0 / n_steps
start_t = fold_index * dt
end_t = (fold_index + 1) * dt
if t < start_t:
return 0.0
elif t > end_t:
return 1.0
else:
return (t - start_t) / (end_t - start_t)
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.factory_task,
psi_constraints=[([(0, 1.0)],
lambda t: psi_max * fold_step(t, 0)),
([(1, 1.0)],
lambda t: psi_max * fold_step(t, 1)),
([(6, 1.0)],
lambda t: psi_max * fold_step(t, 2)),
([(7, 1.0)],
lambda t: psi_max * fold_step(t, 3)),
([(3, 1.0)],
lambda t: psi_max * fold_step(t, 4)),
([(12, 1.0)],
lambda t: psi_max * fold_step(t, 5)),
([(13, 1.0)],
lambda t: psi_max * fold_step(t, 6)),
]
)
dof_constraints = fix([0], [0, 1, 2]) + fix([1], [1, 2]) \
+ fix([3], [2])
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={
'cl': gu_constant_length,
'u': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5,
MAX_ITER=500,
debug_level=0)
return SimulationTask(previous_task=self.factory_task,
config=sim_config,
n_steps=self.n_steps)
def _get_fold_task(self):
psi_max = np.pi - 138.19 / 180.0 * np.pi
print(psi_max)
inner_lines = [
1, 7, 10, 11, 12, 13, 14, 16, 17, 18, 19, 22, 24, 25, 26, 32, 34,
35, 37
]
def fold_step(t, fold_index):
n_steps = len(inner_lines)
dt = 1.0 / float(n_steps)
start_t = fold_index * dt
end_t = (fold_index + 1) * dt
print('t', t, start_t, end_t)
if t < start_t:
return 0.0
elif t > end_t:
return 1.0
else:
return (t - start_t) / (end_t - start_t)
np.random.shuffle(inner_lines)
psi_constr = [
([(i, 1.0)], lambda t: psi_max * t) # fold_step(t, i))
for i in inner_lines
]
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.factory_task,
psi_constraints=psi_constr)
dof_constraints = fix([6], [0, 1, 2]) + \
fix([7], [1, 2]) + \
fix([13], [2])
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={
'cl': gu_constant_length,
'u': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5,
MAX_ITER=500,
debug_level=0)
return SimulationTask(previous_task=self.factory_task,
config=sim_config,
n_steps=self.n_steps)
def _get_fold_task(self):
psi_max = np.pi - 138.19 / 180.0 * np.pi
inner_lines = self.factory_task.formed_object.iL
def fold_step(t, fold_index):
n_steps = len(inner_lines)
print('n_steps', n_steps, fold_index)
dt = 1.0 / float(n_steps)
start_t = fold_index * dt
end_t = (fold_index + 1) * dt
print('t', t, start_t, end_t)
if t < start_t:
return 0.0
elif t > end_t:
return 1.0
else:
return (t - start_t) / (end_t - start_t)
FN = lambda i: lambda t: psi_max * fold_step(t, i)
psi_constr = [([(L_idx, 1.0)], FN(i))
for i, L_idx in enumerate(inner_lines)]
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.factory_task,
psi_constraints=psi_constr)
dof_constraints = fix([6], [0, 1, 2]) + \
fix([7], [1, 2]) + \
fix([13], [2])
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={'cl': gu_constant_length,
'u': gu_dof_constraints,
'psi': gu_psi_constraints},
acc=1e-5, MAX_ITER=500,
debug_level=0)
return SimulationTask(previous_task=self.factory_task,
config=sim_config, n_steps=self.n_steps)
def _get_fold_angle_cntl(self):
fixed_nodes_x = fix(
[2], (0))
fixed_nodes_y = fix(
[2, 3], (1))
fixed_nodes_z = fix(
[2, 3, 6], (2))
dof_constraints = fixed_nodes_x + fixed_nodes_z + fixed_nodes_y
def FN(psi): return lambda t: psi * t
psi_constr = [([(i, 1.0)], FN(self.psi_max))
for i in self.psi_lines]
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.factory_task,
psi_constraints=psi_constr)
gu_dof_constraints = GuDofConstraints(
dof_constraints=dof_constraints)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={'cl': gu_constant_length,
'u': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5, MAX_ITER=500,
debug_level=0)
st = SimulationTask(previous_task=self.factory_task,
config=sim_config, n_steps=self.n_fold_steps)
cp = st.formed_object
cp.u[(0, 12), 2] -= 0.4
cp.u[(7, 1, 4), 2] += 0.4
cp.u[(8, 9), 2] -= 0.4
return st
def _get_fold_task(self):
L_rigid = self.factory_task.L_rigid
N_up = self.factory_task.N_up
N_down = self.factory_task.N_down
print('N_up', N_up)
print('N_down', N_down)
N_x_sym = self.factory_task.N_x_sym[2]
print('N_x_sym', N_x_sym)
# N_x_sym = [] # self.factory_task.N_x_sym[[0, -1]]
print('n_dofs', self.factory_task.formed_object.n_dofs)
self.init_displ_task.x_1
fixed_z = fix(self.fixed_z, (2))
fixed_x = fix(self.fixed_x, (1))
fixed_y = fix(self.fixed_y, (1))
fixed_y_plus = fix(self.fixed_y_plus, (1), lambda t: t * self.u_max)
fixed_y_minus = fix(self.fixed_y_minus, (1), lambda t: -t * self.u_max)
link_x1 = link([2], 0, 1, [6], 0, 1)
link_x2 = link([10], 0, 1, [14], 0, 1)
dof_constraints = fixed_y_minus + \
fixed_y_plus + fixed_x + fixed_z + fixed_y + link_x1 + link_x2
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
def FN(psi):
return lambda t: psi * t
psi_constr = [([(i, 1.0)], FN(0)) for i in L_rigid]
gu_constant_length = GuConstantLength()
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.init_displ_task,
psi_constraints=psi_constr)
sim_config = SimulationConfig(goal_function_type='none',
gu={
'cl': gu_constant_length,
'dofs': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-4,
MAX_ITER=self.MAXITER,
debug_level=0)
st = SimulationTask(previous_task=self.init_displ_task,
config=sim_config,
n_steps=self.n_steps,
record_iter=False)
gu_dof_constraints.forming_task = st
st.sim_step.print_gu_lst()
print('dofs', st.formed_object.n_dofs)
cp = st.formed_object
cp.u[N_up, 2] += 0.1
cp.u[N_down, 2] -= 0.1
cp.u[(1, 3, 13, 15), 2] += 0.2
cp.u[(5, 7, 9, 11), 2] -= 0.2
cp.u[(0, 16), 2] += 0.5
cp.u[(0), 1] += 0.5
cp.u[(16), 1] -= 0.5
cp.u[(4), 1] += 0.3
cp.u[(12), 1] -= 0.3
cp.u[(4, 12), 2] -= 0.2
return st
def _get_fold_angle_cntl(self):
self.init_displ_task.x_1
corner2_i_x = np.array([0, 0, -1, -1], dtype=np.int_)
corner2_i_y = np.array([0, -1, 0, -1], dtype=np.int_)
corner2_h_x = np.array([0, 0, -1, -1], dtype=np.int_)
corner2_h_y = np.array([0, -1, 0, -1], dtype=np.int_)
tb2_i_x = np.array([1, 1, 1], dtype=np.int_)
tb2_i_y = np.array([0, -1, -1], dtype=np.int_)
tb2_h_x = np.array([1, 1, 2], dtype=np.int_)
tb2_h_y = np.array([0, -1, -1], dtype=np.int_)
up2_i_x = np.array([0, 0, -1, -1], dtype=np.int_)
up2_i_y = np.array([0, 1, 0, 1], dtype=np.int_)
up2_h_x = np.array([0, 0, -1, -1], dtype=np.int_)
up2_h_y = np.array([1, 1, 1, 1], dtype=np.int_)
right2_i_x = np.array([2, 2, 3], dtype=np.int_)
right2_i_y = np.array([0, 0, 0], dtype=np.int_)
right2_h_x = np.array([3, 3, 3], dtype=np.int_)
right2_h_y = np.array([0, 1, 0], dtype=np.int_)
base_i_x = corner2_i_x
base_i_y = corner2_i_y
base_h_x = corner2_h_x
base_h_y = corner2_h_y
for c_x in range(0, self.n_cell_x):
print('c_x', c_x)
base_i_x = np.hstack([base_i_x, 3 * c_x + tb2_i_x])
base_i_y = np.hstack([base_i_y, tb2_i_y])
base_h_x = np.hstack([base_h_x, 3 * c_x + tb2_h_x])
base_h_y = np.hstack([base_h_y, tb2_h_y])
for c_x in range(0, self.n_cell_x - 1):
print('c_x', c_x)
base_i_x = np.hstack([base_i_x, 3 * c_x + right2_i_x])
base_i_y = np.hstack([base_i_y, right2_i_y])
base_h_x = np.hstack([base_h_x, 3 * c_x + right2_h_x])
base_h_y = np.hstack([base_h_y, right2_h_y])
for c_y in range(0, self.n_cell_y - 1):
print('c_y', c_y)
base_i_x = np.hstack([base_i_x, up2_i_x])
base_i_y = np.hstack([base_i_y, c_y + up2_i_y])
base_h_x = np.hstack([base_h_x, up2_h_x])
base_h_y = np.hstack([base_h_y, c_y + up2_h_y])
f = self.factory_task
cp = f.formed_object
m_nodes = f.N_i[base_i_x, base_i_y]
n_nodes = f.N_h[base_h_x, base_h_y]
psi_lines = cp.NN_L[[m_nodes], n_nodes].flatten()
print('psi_lines', psi_lines)
N_h = f.N_h
N_i = f.N_i
N_v = f.N_v
fixed_nodes_x = fix(N_h[0, 0], (0))
fixed_nodes_y = fix(N_h[(0, -1), 0], (1))
fixed_nodes_z = fix([N_h[0, 0], N_h[-1, 0], N_h[0, -1]], (2))
dof_constraints = fixed_nodes_x + fixed_nodes_z + fixed_nodes_y
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
def FN(psi):
return lambda t: psi * t
psi_constr = [([(i, 1.0)], FN(self.psi_max)) for i in psi_lines]
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.init_displ_task,
psi_constraints=psi_constr)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={
'cl': gu_constant_length,
'dofs': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5,
MAX_ITER=500,
debug_level=0)
st = SimulationTask(previous_task=self.init_displ_task,
config=sim_config,
n_steps=self.n_fold_steps)
cp = st.formed_object
N_down = np.hstack([N_h[::3, :].flatten(), N_i[1::3, :].flatten()])
print('N_down', N_down)
N_up = np.hstack([
N_i[::3, :].flatten(), N_i[2::3, :].flatten(), N_v[:, :].flatten()
])
print('N_up', N_up)
cp.u[N_down, 2] -= .1
cp.u[N_up, 2] += .1
return st
def _get_load_self_weight(self):
self.fold_kinem_cntl.x_1
f = self.factory_task
exclude_lines = np.arange(9, 17)
cp = f.formed_object
N_h = f.N_h
N_i = f.N_i
N_v = f.N_v
fixed_nodes = np.hstack([N_h[[-1, -1], [0, -1]]])
fixed_nodes = [25, 27]
fixed_nodes_xyz = fix(
list(N_h[[0, 0, -1, -1], [0, -1, 0, -1]].flatten()), (2)
#fixed_nodes, (0, 2)
)
slided_nodes = np.hstack([N_h[[0, -1], [0, 0]]]) # , [22, 25]])
#slide_y = fix(slided_nodes, [1], lambda t: 1.8 * self.L_y * t)
slide_x = fix([22, 24], [2],
lambda t: 0.95 * (self.L_x) * t)
slide_z = fix(N_h[[1, -2], [1, 1]], [2], lambda t: -0.3 * t)
dof_constraints = fixed_nodes_xyz + slide_z
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
gu_constant_length = GuConstantLength()
fix_psi_constr = [([(i, 1.0)], 0.0)
for i in exclude_lines]
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.fold_kinem_cntl,
psi_constraints=fix_psi_constr)
sim_config = SimulationConfig(
goal_function_type='total potential energy',
gu={'cl': gu_constant_length,
'dofs': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-7, MAX_ITER=1000,
debug_level=0
)
loaded_n = N_h[:, 1].flatten()
def FN(F): return lambda t: t * F
P = 0.0 * 30.5
F_ext_list = [] # (loaded_n, 2, FN(-P))]
thickness = 0.01
E_mod = 21.0e+4
I = 1.0 * thickness**3 / 12.0
kappa = E_mod * I
print('kappa', kappa)
sig_tu = 3000.0
m_u = sig_tu * 1.0 * thickness**2 / 6.0
print('m_u', m_u)
fu_tot_poteng = FuPotEngTotal(
exclude_lines=exclude_lines,
kappa=np.array([kappa]),
thickness=thickness,
rho=23.6,
m_u=m_u,
F_ext_list=F_ext_list
)
sim_config._fu = fu_tot_poteng
st = SimulationTask(
previous_task=self.fold_kinem_cntl,
config=sim_config, n_steps=self.n_load_steps
)
fu_tot_poteng.forming_task = st
cp = st.formed_object
cp.x_0 = self.fold_kinem_cntl.x_1
cp.u[:, :] = 0.0
return st
def _get_fold_kinem_cntl(self):
self.init_displ_task.x_1
base_i_x = np.array([0, 0, -1, -1], dtype=np.int_)
base_i_y = np.array([0, -1, 0, -1], dtype=np.int_)
base_h_x = np.array([0, 0, -1, -1], dtype=np.int_)
base_h_y = np.array([0, -1, 0, -1], dtype=np.int_)
f = self.factory_task
cp = f.formed_object
m_n = f.N_h[(0, 0, -1, -1), (0, -1, 0, -1)]
n_n = f.N_v[(0, 0, -1, -1), (0, -1, 0, -1)]
print(m_n.flatten())
print(n_n.flatten())
fix_psi_lines = cp.NN_L[m_n, n_n].flatten()
print('psi_lines', fix_psi_lines)
cm_nodes = [f.N_i[0, 0], f.N_i[-1, 1]]
cn_nodes = [f.N_h[1, 1], f.N_h[2, 1]]
cpsi_lines = cp.NN_L[cm_nodes, cn_nodes]
print('cpsi_lines', cpsi_lines)
N_h = f.N_h
N_i = f.N_i
N_v = f.N_v
fixed_nodes_x = fix(
N_i[1, (0, 1)], (0))
fixed_nodes_y = fix(
[N_h[1, 1].flatten()], (1))
fixed_nodes_z = fix(
list(N_v[[0, 0, -1], [0, -1, 0]].flatten()), (2)
)
link_nodes_yz = link(
list(N_v[[0, 0], [0, -1]].flatten()) +
list(N_h[[0, 0], [0, -1]].flatten()), (1, 2), 1.0,
list(N_i[[0, 0], [0, -1]].flatten()) +
list(N_h[[-1, -1], [0, -1]].flatten()), (1, 2), -1.0,
)
link_nodes_z = link(
N_h[1, 1], 2, 1.0,
N_h[2, 1], 2, -1.0,
)
dof_constraints = fixed_nodes_x + fixed_nodes_z + fixed_nodes_y + \
link_nodes_yz + link_nodes_z
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
def FN(psi): return lambda t: psi * t
cpsi_constr = [([(cpsi_line, 1.0)], FN(0.502 * np.pi))
for cpsi_line in cpsi_lines]
fix_psi_constr = [([(i, 1.0)], 0.0)
for i in fix_psi_lines]
print('fix_psi_lines', fix_psi_lines)
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.init_displ_task,
psi_constraints=fix_psi_constr + cpsi_constr)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={'cl': gu_constant_length,
'dofs': gu_dof_constraints,
'psi': gu_psi_constraints},
acc=1e-5, MAX_ITER=500,
debug_level=0)
st = SimulationTask(previous_task=self.init_displ_task,
config=sim_config, n_steps=self.n_fold_steps)
cp = st.formed_object
N_down = np.hstack([N_h[::3, :].flatten(),
N_i[1::3, :].flatten(),
[23, 26]
])
print('N_down', N_down)
N_up = np.hstack([N_i[::3, :].flatten(),
N_i[2::3, :].flatten(),
N_v[:, :].flatten()])
print('N_up', N_up)
cp.u[N_down, 2] -= self.d_down
cp.u[N_up, 2] += self.d_up
cp.u[:, 2] += self.d_down
return st
def _get_fold_angle_cntl(self):
self.init_displ_task.x_1
corner2_i_x = np.array([0, 0, -1, -1], dtype=np.int_)
corner2_i_y = np.array([0, -1, 0, -1], dtype=np.int_)
corner2_h_x = np.array([0, 0, -1, -1], dtype=np.int_)
corner2_h_y = np.array([0, -1, 0, -1], dtype=np.int_)
tb2_i_x = np.array([1, 1, 1], dtype=np.int_)
tb2_i_y = np.array([0, -1, -1], dtype=np.int_)
tb2_h_x = np.array([1, 1, 2], dtype=np.int_)
tb2_h_y = np.array([0, -1, -1], dtype=np.int_)
up2_i_x = np.array([0, 0, -1, -1], dtype=np.int_)
up2_i_y = np.array([0, 1, 0, 1], dtype=np.int_)
up2_h_x = np.array([0, 0, -1, -1], dtype=np.int_)
up2_h_y = np.array([1, 1, 1, 1], dtype=np.int_)
right2_i_x = np.array([2, 2, 3], dtype=np.int_)
right2_i_y = np.array([0, 0, 0], dtype=np.int_)
right2_h_x = np.array([3, 3, 3], dtype=np.int_)
right2_h_y = np.array([0, 1, 0], dtype=np.int_)
base_i_x = corner2_i_x
base_i_y = corner2_i_y
base_h_x = corner2_h_x
base_h_y = corner2_h_y
for c_x in range(0, self.n_cell_x):
base_i_x = np.hstack([base_i_x, 3 * c_x + tb2_i_x])
base_i_y = np.hstack([base_i_y, tb2_i_y])
base_h_x = np.hstack([base_h_x, 3 * c_x + tb2_h_x])
base_h_y = np.hstack([base_h_y, tb2_h_y])
for c_x in range(0, self.n_cell_x - 1):
base_i_x = np.hstack([base_i_x, 3 * c_x + right2_i_x])
base_i_y = np.hstack([base_i_y, right2_i_y])
base_h_x = np.hstack([base_h_x, 3 * c_x + right2_h_x])
base_h_y = np.hstack([base_h_y, right2_h_y])
for c_y in range(0, self.n_cell_y - 1):
print('c_y', c_y)
base_i_x = np.hstack([base_i_x, up2_i_x])
base_i_y = np.hstack([base_i_y, c_y + up2_i_y])
base_h_x = np.hstack([base_h_x, up2_h_x])
base_h_y = np.hstack([base_h_y, c_y + up2_h_y])
f = self.factory_task
cp = f.formed_object
m_nodes = f.N_i[base_i_x, base_i_y]
n_nodes = f.N_h[base_h_x, base_h_y]
psi_lines = cp.NN_L[[m_nodes], n_nodes].flatten()
print('psi_lines', psi_lines)
cm_node = f.N_i[0, 0]
cn_node = f.N_h[1, 1]
cpsi_line = cp.NN_L[cm_node, cn_node]
print('cpsi_lines', cpsi_line)
N_h = f.N_h
N_i = f.N_i
N_v = f.N_v
y_mid = N_i.shape[1] / 2
fixed_nodes_x = fix(
N_h[0, 0], (0))
fixed_nodes_y = fix(
N_h[(0, -1), 0], (1))
fixed_nodes_z = fix(
[N_h[0, 0], N_h[-1, 0], N_h[0, -1]], (2))
u_max = (1.999 * self.c * self.t_max)
link_mid = link(
N_i[0, 0], (0), 1.0,
N_i[2, 0], (0), -1.0,
lambda t: t * u_max
)
print('--------------------------')
print(N_i[0, 0].flatten())
print(N_i[2, 0].flatten())
print('--------------------------')
dof_constraints = fixed_nodes_x + fixed_nodes_z + fixed_nodes_y # + \
# link_mid
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
def FN(psi): return lambda t: psi * t
cpsi_constr = [([(cpsi_line, 1.0)], FN(0.99 * np.pi))]
lpsi_constr = [([(psi_lines[0], 1.0), (i, -1.0)], 0.0)
for i in psi_lines[1:]]
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.init_displ_task,
psi_constraints=lpsi_constr + cpsi_constr)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={'cl': gu_constant_length,
'dofs': gu_dof_constraints,
'psi': gu_psi_constraints},
acc=1e-5, MAX_ITER=500,
debug_level=0)
st = SimulationTask(node='Fold angle control',
previous_task=self.init_displ_task,
config=sim_config, n_steps=self.n_fold_steps)
cp = st.formed_object
N_down = np.hstack([N_h[::3, :].flatten(),
N_i[1::3, :].flatten()
])
print('N_down', N_down)
N_up = np.hstack([N_i[::3, :].flatten(),
N_i[2::3, :].flatten(),
N_v[:, :].flatten()])
print('N_up', N_up)
cp.u[N_down, 2] -= self.d_down
cp.u[N_up, 2] += self.d_up
cp.u[:, 2] += self.d_down
return st
return cp_factory
if __name__ == '__main__':
cp_factory_task = create_cp_factory()
cp = cp_factory_task.formed_object
# Link the crease factory it with the constraint client
gu_constant_length = GuConstantLength()
psi_max = np.pi * 0.3
gu_psi_constraints = \
GuPsiConstraints(forming_task=cp_factory_task,
psi_constraints=[([(1, 1.0)], lambda t: psi_max * t),
([(3, 1.0)], psi_max),
([(5, 1.0)], lambda t: psi_max * t),
])
dof_constraints = fix([0], [0, 1, 2]) + fix([1], [1, 2]) \
+ fix([2], [2])
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
sim_config = SimulationConfig(goal_function_type='none',
gu={
'cl': gu_constant_length,
'u': gu_dof_constraints,
'psi': gu_psi_constraints
},
acc=1e-5,
MAX_ITER=100)
def _get_fold_kinem_cntl(self):
self.init_displ_task.x_1
corner2_i_x = np.array([0, 0, -1, -1], dtype=np.int_)
corner2_i_y = np.array([0, -1, 0, -1], dtype=np.int_)
corner2_h_x = np.array([0, 0, -1, -1], dtype=np.int_)
corner2_h_y = np.array([0, -1, 0, -1], dtype=np.int_)
tb2_i_x = np.array([1, 1, 1], dtype=np.int_)
tb2_i_y = np.array([0, -1, -1], dtype=np.int_)
tb2_h_x = np.array([1, 1, 2], dtype=np.int_)
tb2_h_y = np.array([0, -1, -1], dtype=np.int_)
up2_i_x = np.array([0, 0, -1, -1], dtype=np.int_)
up2_i_y = np.array([0, 1, 0, 1], dtype=np.int_)
up2_h_x = np.array([0, 0, -1, -1], dtype=np.int_)
up2_h_y = np.array([1, 1, 1, 1], dtype=np.int_)
right2_i_x = np.array([2, 2, 3], dtype=np.int_)
right2_i_y = np.array([0, 0, 0], dtype=np.int_)
right2_h_x = np.array([3, 3, 3], dtype=np.int_)
right2_h_y = np.array([0, 1, 0], dtype=np.int_)
base_i_x = corner2_i_x
base_i_y = corner2_i_y
base_h_x = corner2_h_x
base_h_y = corner2_h_y
for c_x in range(0, self.n_cell_x):
base_i_x = np.hstack([base_i_x, 3 * c_x + tb2_i_x])
base_i_y = np.hstack([base_i_y, tb2_i_y])
base_h_x = np.hstack([base_h_x, 3 * c_x + tb2_h_x])
base_h_y = np.hstack([base_h_y, tb2_h_y])
for c_x in range(0, self.n_cell_x - 1):
base_i_x = np.hstack([base_i_x, 3 * c_x + right2_i_x])
base_i_y = np.hstack([base_i_y, right2_i_y])
base_h_x = np.hstack([base_h_x, 3 * c_x + right2_h_x])
base_h_y = np.hstack([base_h_y, right2_h_y])
for c_y in range(0, self.n_cell_y - 1):
print('c_y', c_y)
base_i_x = np.hstack([base_i_x, up2_i_x])
base_i_y = np.hstack([base_i_y, c_y + up2_i_y])
base_h_x = np.hstack([base_h_x, up2_h_x])
base_h_y = np.hstack([base_h_y, c_y + up2_h_y])
f = self.factory_task
cp = f.formed_object
m_nodes = f.N_i[base_i_x, base_i_y]
n_nodes = f.N_h[base_h_x, base_h_y]
psi_lines = cp.NN_L[m_nodes, n_nodes].flatten()
print('psi_lines', psi_lines)
cm_nodes = [f.N_i[0, 0], f.N_i[-1, 1]]
cn_nodes = [f.N_h[1, 1], f.N_h[2, 1]]
cpsi_lines = cp.NN_L[cm_nodes, cn_nodes]
print('cpsi_lines', cpsi_lines)
N_h = f.N_h
N_i = f.N_i
N_v = f.N_v
fixed_nodes_x = fix(
N_i[1, (0, 1)], (0))
fixed_nodes_y = fix(
[N_h[1, 1].flatten()], (1))
fixed_nodes_z = fix(
list(N_v[[0, 0, -1], [0, -1, 0]].flatten()), (2)
)
link_nodes_yz = link(
list(N_v[[0, 0], [0, -1]].flatten()) +
list(N_h[[0, 0], [0, -1]].flatten()), (1, 2), 1.0,
list(N_i[[0, 0], [0, -1]].flatten()) +
list(N_h[[-1, -1], [0, -1]].flatten()), (1, 2), -1.0,
)
link_nodes_z = link(
N_h[1, 1], 2, 1.0,
N_h[2, 1], 2, -1.0,
)
dof_constraints = fixed_nodes_x + fixed_nodes_z + fixed_nodes_y + \
link_nodes_yz + link_nodes_z
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
def FN(psi): return lambda t: psi * t
cpsi_constr = [([(cpsi_line, 1.0)], FN(0.99 * np.pi))
for cpsi_line in cpsi_lines]
gu_psi_constraints = \
GuPsiConstraints(forming_task=self.init_displ_task,
psi_constraints=cpsi_constr)
gu_constant_length = GuConstantLength()
sim_config = SimulationConfig(goal_function_type='none',
gu={'cl': gu_constant_length,
'dofs': gu_dof_constraints,
'psi': gu_psi_constraints},
acc=1e-5, MAX_ITER=500,
debug_level=0)
st = SimulationTask(previous_task=self.init_displ_task,
config=sim_config, n_steps=self.n_fold_steps)
cp = st.formed_object
N_down = np.hstack([N_h[::3, :].flatten(),
N_i[1::3, :].flatten()
])
print('N_down', N_down)
N_up = np.hstack([N_i[::3, :].flatten(),
N_i[2::3, :].flatten(),
N_v[:, :].flatten()])
print('N_up', N_up)
cp.u[N_down, 2] -= self.d_down
cp.u[N_up, 2] += self.d_up
cp.u[:, 2] += self.d_down
return st
return cp_factory
if __name__ == '__main__':
cp_factory_task = create_cp_factory()
cp = cp_factory_task.formed_object
# Link the crease factory with the constraint client
gu_constant_length = GuConstantLength()
psi_max = np.pi * .49
gu_psi_constraints = \
GuPsiConstraints(forming_task=cp_factory_task,
psi_constraints=[([(2, 1.0)], 0.0),
([(7, 1.0)], 0.0),
([(4, 1.0)], 0.0),
([(6, 1.0)], 0.0),
([(3, 1.0)], lambda t: -psi_max * t),
#([(5, 1.0)], lambda t: psi_max * t),
])
dof_constraints = fix([0], [1]) + fix([1], [0, 1, 2]) \
+ fix([2, 4], [2])
gu_dof_constraints = GuDofConstraints(dof_constraints=dof_constraints)
sim_config = SimulationConfig(goal_function_type='none',
gu={'cl': gu_constant_length,
'u': gu_dof_constraints,
'psi': gu_psi_constraints},
acc=1e-8, MAX_ITER=100)
sim_task = SimulationTask(previous_task=cp_factory_task,
config=sim_config,
