orientation=[math.pi / 4.0],
velocity=[0, 0, -1.0],
mass=1.,
inertia=2.0)
# the ground object made with the ground shape. As the mass is
# not given, it is a static object only involved in contact
# detection.
io.add_object('ground', [Contactor('Ground')], translation=[0, -.5])
# Run the simulation from the inputs previously defined and add
# results to the hdf5 file. The visualisation of the output may be done
# with the vview command.
bullet_options = SiconosBulletOptions()
bullet_options.worldScale = 1.0
bullet_options.contactBreakingThreshold = 0.04
bullet_options.dimension = SICONOS_BULLET_2D
bullet_options.perturbationIterations = 0
bullet_options.minimumPointsPerturbationThreshold = 0
options = sk.solver_options_create(sn.SICONOS_FRICTION_2D_NSGS)
options.iparam[sn.SICONOS_IPARAM_MAX_ITER] = 100000
options.dparam[sn.SICONOS_DPARAM_TOL] = 1e-8
T = 2.0
if restart:
T = 2.0
#T=1*0.001
hstep = 0.01
run_options = MechanicsHdf5Runner_run_options()
#
# Here we demonstrate the use of two very small cubes simulated with
# geometry at 1000x its scale. Without scaling, contact detection is
# incorrect for an object of this size. When contact detection is
# performed with scaled-up geometries, the contact points are
# correctly generated and used by Siconos.
#
from siconos.mechanics.collision.tools import Contactor
from siconos.io.mechanics_run import MechanicsHdf5Runner
import siconos.numerics as Numerics
# We need to pass some options to the Bullet backend
from siconos.mechanics.collision.bullet import SiconosBulletOptions
options = SiconosBulletOptions()
options.worldScale = 1000.0
# Creation of the hdf5 file for input/output
with MechanicsHdf5Runner() as io:
# Definition of a cube as a convex shape
io.add_convex_shape('CubeCH',
[(-0.001, 0.001, -0.001), (-0.001, -0.001, -0.001),
(-0.001, -0.001, 0.001), (-0.001, 0.001, 0.001),
(0.001, 0.001, 0.001), (0.001, 0.001, -0.001),
(0.001, -0.001, -0.001), (0.001, -0.001, 0.001)])
# Definition of a cube as a primitive shape
io.add_primitive_shape('CubeP', 'Box', (0.002, 0.002, 0.002))
# Definition of the ground shape
#!/usr/bin/env python
#
# Example of one object under gravity with one contactor and a ground
# using the Siconos proposed mechanics API
#
from siconos.mechanics.collision.tools import Contactor
from siconos.io.mechanics_io import Hdf5
import siconos.numerics as Numerics
import siconos.io.mechanics_io
from siconos.mechanics.collision.bullet import SiconosBulletOptions
options = SiconosBulletOptions()
options.worldScale = 1.0
options.contactBreakingThreshold = 0.04
# Creation of the hdf5 file for input/output
with Hdf5() as io:
# Definition of a sphere
io.addPrimitiveShape('Sphere',
'Sphere', (2, ),
insideMargin=0.2,
outsideMargin=0.3)
# Definition of the ground shape
io.addPrimitiveShape('Ground',
'Box', (10, 10, 0.1),
insideMargin=0.05,
outsideMargin=0.1)
mu=0.3,
mu_r=1e-03)
#io.add_Newton_impact_friction_nsl('contact', e= 0.0, mu=0.3)
# Create solver options
options = sk.solver_options_create(sn.SICONOS_ROLLING_FRICTION_3D_NSGS)
#options = sk.solver_options_create(sn.SICONOS_FRICTION_3D_NSGS)
options.iparam[sn.SICONOS_IPARAM_MAX_ITER] = 1000
options.dparam[sn.SICONOS_DPARAM_TOL] = 1e-4
# Run the simulation from the inputs previously defined and add
# results to the hdf5 file. The visualisation of the output may be done
# with the vview command.
from siconos.mechanics.collision.bullet import SiconosBulletOptions
bullet_options = SiconosBulletOptions()
bullet_options.worldScale = 1000.0
bullet_options.contactBreakingThreshold = 0.04
bullet_options.dimension = 1
with MechanicsHdf5Runner(mode='r+') as io:
# By default earth gravity is applied and the units are those
# of the International System of Units.
# Because of fixed collision margins used in the collision detection,
# sizes of small objects may need to be expressed in cm or mm.
io.run(
with_timer=False,
bullet_options=bullet_options,
gravity_scale=1,
t0=0,
T=T,
