[Law2_Dem3DofGeom_FrictPhys_CundallStrack()],
),
## Apply gravity
GravityEngine(gravity=[0, -9.81, 0]),
## NOTE: Non zero Cundall damping affected a dynamic simulation!
NewtonIntegrator(damping=0.3),
## Apply kinematics to walls
## angularVelocity = 0.73 rad/sec = 7 rpm
RotationEngine(subscribedBodies=walls,
rotationAxis=[0, 0, 1],
rotateAroundZero=True,
angularVelocity=0.73)
]
for b in o.bodies:
if isinstance(b.shape, Sphere):
b.state.blockedDOFs = 'z' # blocked movement along Z
o.dt = 0.02 * utils.PWaveTimeStep()
o.saveTmp('init')
from woo import qt
renderer = qt.Renderer()
renderer.wire = True
#qt.Controller()
qt.View()
O.run()
qt.Controller()
qt.View()
O.engines=[
ForceResetter(),
InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Facet_Aabb(),Bo1_Wall_Aabb()]),
InteractionLoop(
[Ig2_Sphere_Sphere_Dem3DofGeom(),Ig2_Facet_Sphere_Dem3DofGeom(),Ig2_Wall_Sphere_Dem3DofGeom()],
[Ip2_FrictMat_FrictMat_FrictPhys()],
[Law2_Dem3DofGeom_FrictPhys_CundallStrack()],
),
GravityEngine(gravity=[1e2,1e2,1e2]),
NewtonIntegrator(damping=0.01),
]
O.dt=utils.PWaveTimeStep()
O.save('/tmp/a.xml')
O.saveTmp()
from woo import log
log.setLevel('Ig2_Wall_Sphere_Dem3DofGeom',log.TRACE)
O.run()
#O.bodies.append([
# utils.facet([[-1,-1,0],[1,-1,0],[0,1,0]],dynamic=False,color=[1,0,0],young=1e3),
# utils.facet([[1,-1,0],[0,1,0,],[1,.5,.5]],dynamic=False,young=1e3)
#])
#import random
#!/usr/local/bin/woo-trunk -x
# -*- coding: utf-8 -*-
o = Omega()
o.engines = [
ForceResetter(),
InsertionSortCollider([
Bo1_Sphere_Aabb(),
]),
IGeomDispatcher([Ig2_Sphere_Sphere_Dem3DofGeom()]),
IPhysDispatcher([Ip2_2xFrictMat_CSPhys()]),
LawDispatcher([Law2_Dem3Dof_CSPhys_CundallStrack()]),
GravityEngine(gravity=[0, 0, -9.81]),
NewtonIntegrator(damping=0.01)
]
from woo import utils
o.bodies.append(utils.sphere([0, 0, 6], 1, dynamic=True, color=[0, 1, 0]))
o.bodies.append(utils.sphere([0, 0, 0], 1, dynamic=False, color=[0, 0, 1]))
o.dt = .2 * utils.PWaveTimeStep()
from woo import qt
qt.Controller()
qt.View()
isoPrestress=isoPrestress))
sphDict = pickle.load(open(packingFile))
from woo import pack
sp = pack.SpherePack()
sp.fromList(sphDict['spheres'])
sp.cellSize = sphDict['cell']
import numpy
avgRadius = numpy.average([r for c, r in sp])
O.bodies.append([utils.sphere(c, r, color=utils.randomColor()) for c, r in sp])
O.periodic = True
O.cell.refSize = sp.cellSize
axis = 2
ax1 = (axis + 1) % 3
ax2 = (axis + 2) % 3
O.dt = dtSafety * utils.PWaveTimeStep()
import woo.log
#woo.log.setLevel('PeriTriaxController',woo.log.TRACE)
import woo.plot as yp
O.engines = [
ForceResetter(),
InsertionSortCollider([
Bo1_Sphere_Aabb(aabbEnlargeFactor=intRadius, label='is2aabb'),
],
sweepLength=.05 * avgRadius,
nBins=5,
binCoeff=5),
InteractionLoop(
[Ig2_Sphere_Sphere_Dem3DofGeom(distFactor=intRadius, label='ss2d3dg')],
pack.regularHexa(pack.inEllipsoid(
(xyz[0] * (sizeBox + gapBetweenBoxes), xyz[1] *
(sizeBox + gapBetweenBoxes) + sizeBox * 0.5, xyz[2] *
(sizeBox + gapBetweenBoxes) - radiusKnife + sizeBox * 0.6),
(sizeBox / 2, sizeBox / 2, sizeBox / 2)),
radius=radiusSph,
gap=0,
color=colorSph))
if (colorSph == colorsph1):
colorSph = colorsph2
else:
colorSph = colorsph1
from woo import qt
O.dt = 2 * utils.PWaveTimeStep() # We do not need now a high accuracy
O.engines = [
ForceResetter(),
InsertionSortCollider([
Bo1_Sphere_Aabb(),
Bo1_Facet_Aabb(),
]),
InteractionLoop(
[Ig2_Sphere_Sphere_L3Geom(),
Ig2_Facet_Sphere_L3Geom()],
[Ip2_FrictMat_FrictMat_FrictPhys()],
[Law2_L3Geom_FrictPhys_ElPerfPl()],
),
GravityEngine(gravity=(0, 0, -9.8)),
TranslationEngine(translationAxis=[1, 0, 0], velocity=5,
ids=KnifeIDs), # Buldozer motion
O.bodies.append(
pack.regularOrtho(pack.inAlignedBox((3, 3, 3), (7, 7, 4)),
radius=.05,
gap=0))
O.engines = [
ForceResetter(),
FlatGridCollider(step=.2,
aabbMin=(0, 0, 0),
aabbMax=(10, 10, 5),
verletDist=0.005),
# InsertionSortCollider([Bo1_Sphere_Aabb()],sweepLength=0.005),
InteractionLoop(
[Ig2_Sphere_Sphere_Dem3DofGeom()],
[Ip2_FrictMat_FrictMat_FrictPhys()],
[Law2_Dem3DofGeom_FrictPhys_CundallStrack()],
),
GravityEngine(gravity=[0, 0, -10]),
NewtonIntegrator(damping=0.4),
]
O.dt = .6 * utils.PWaveTimeStep()
O.saveTmp()
#O.step()
#while True:
# O.step()
# if len(O.interactions)>0 or O.bodies[1].state.pos[2]<.97: break
O.timingEnabled = True
O.run(5000, True)
timing.stats()
import sys
#sys.exit(0)
