def gridNode(center,
radius,
dynamic=None,
fixed=False,
wire=False,
color=None,
highlight=False,
material=-1):
"""
Create a :yref:`GridNode` which is needed to set up :yref:`GridConnections<GridConnection>`.
See documentation of :yref:`yade.utils.sphere` for meaning of parameters.
:return: Body object with the :yref:`gridNode` :yref:`shape<Body.shape>`.
"""
b = Body()
b.shape = GridNode(radius=radius,
color=color if color else utils.randomColor(),
wire=wire,
highlight=highlight)
#V=(4./3)*math.pi*radius**3 # will be overwritten by the connection
V = 0.
geomInert = (2. /
5.) * V * radius**2 # will be overwritten by the connection
utils._commonBodySetup(b,
V,
Vector3(geomInert, geomInert, geomInert),
material,
pos=center,
dynamic=dynamic,
fixed=fixed)
b.aspherical = False
b.bounded = False
b.mask = 0 # avoid contact detection with the nodes. Manual interaction will be set for them in "gridConnection" below.
return b
def stl(file,
dynamic=None,
fixed=True,
wire=True,
color=None,
highlight=False,
noBound=False,
material=-1):
""" Import geometry from stl file, return list of created facets."""
imp = STLImporter()
facets = imp.ymport(file)
for b in facets:
b.shape.color = color if color else utils.randomColor()
b.shape.wire = wire
b.shape.highlight = highlight
pos = b.state.pos
utils._commonBodySetup(b,
0,
Vector3(0, 0, 0),
material=material,
pos=pos,
noBound=noBound,
dynamic=dynamic,
fixed=fixed)
b.aspherical = False
return facets
def polyhedra(material,
size=Vector3(1, 1, 1),
seed=None,
v=[],
mask=1,
fixed=False,
color=[-1, -1, -1]):
"""create polyhedra, one can specify vertices directly, or leave it empty for random shape.
:param Material material: material of new body
:param Vector3 size: size of new body (see Polyhedra docs)
:param float seed: seed for random operations
:param [Vector3] v: list of body vertices (see Polyhedra docs)
"""
b = Body()
random.seed(seed)
b.aspherical = True
if len(v) > 0:
b.shape = Polyhedra(v=v)
else:
b.shape = Polyhedra(size=size, seed=random.randint(0, 1E6))
if color[0] == -1:
b.shape.color = randomColor(seed=random.randint(0, 1E6))
else:
b.shape.color = color
b.mat = material
b.state.mass = b.mat.density * b.shape.GetVolume()
b.state.inertia = b.shape.GetInertia() * b.mat.density
b.state.ori = b.shape.GetOri()
b.state.pos = b.shape.GetCentroid()
b.mask = mask
if fixed:
b.state.blockedDOFs = 'xyzXYZ'
return b
def chainedCylinder(begin=Vector3(0, 0, 0),
end=Vector3(1., 0., 0.),
radius=0.2,
dynamic=None,
fixed=False,
wire=False,
color=None,
highlight=False,
material=-1,
mask=1):
"""
Create and connect a chainedCylinder with given parameters. The shape generated by repeted calls of this function is the Minkowski sum of polyline and sphere.
:param Real radius: radius of sphere in the Minkowski sum.
:param Vector3 begin: first point positioning the line in the Minkowski sum
:param Vector3 last: last point positioning the line in the Minkowski sum
In order to build a correct chain, last point of element of rank N must correspond to first point of element of rank N+1 in the same chain (with some tolerance, since bounding boxes will be used to create connections.
:return: Body object with the :yref:`ChainedCylinder` :yref:`shape<Body.shape>`.
.. note:: :yref:`ChainedCylinder` is deprecated and will be removed in the future, use :yref:`GridConnection` instead. See :yref:`yade.gridpfacet.cylinder` and :yref:`yade.gridpfacet.cylinderConnection`.
"""
import warnings
warnings.warn(
'\033[1;31mchainedCylinder is deprecated and will be removed in the future, use GridConnection instead. See examples/grids/CohesiveGridConnectionSphere.py.\033[1;0m',
category=UserWarning)
segment = end - begin
b = Body()
b.shape = ChainedCylinder(radius=radius,
length=segment.norm(),
color=color if color else utils.randomColor(),
wire=wire,
highlight=highlight)
b.shape.segment = segment
V = 2 * (4. / 3) * math.pi * radius**3
geomInert = (2. /
5.) * V * radius**2 + b.shape.length * b.shape.length * 2 * (
4. / 3) * math.pi * radius**3
b.state = ChainedState()
b.state.addToChain(O.bodies.append(b))
utils._commonBodySetup(b,
V,
Vector3(geomInert, geomInert, geomInert),
material,
pos=begin,
resetState=False,
dynamic=dynamic,
fixed=fixed)
b.mask = mask
b.bound = Aabb(color=[0, 1, 0])
b.state.ori.setFromTwoVectors(Vector3(0., 0., 1.), segment)
if (end == begin): b.state.ori = Quaternion((1, 0, 0), 0)
return b
def interaction_element(material,nodepairs,elementshape,radius=0.0015,dynamic=None,fixed=True,wire=False,color=Vector3(1,0,0),highlight=False,mask=1): # triangles for drawing(node indices) #faces=[Vector3(0,1,3),Vector3(1,2,3),Vector3(2,0,3),Vector3(0,1,2)] faces=[]; shape=elementshape() shape.color=color if color else randomColor(); [body_,nodes_]=finite_element(material,shape,nodepairs,faces,radius,interface=True) return [body_,nodes_]
def tetrahedral_element(material,nodes,elementshape,radius=0.0015,dynamic=None,fixed=True,wire=False,color=Vector3(1,0,0),highlight=False,mask=1): # triangles for drawing(node indices) #faces are in the format [face_vertex0,face_vertex1,face_vertex2,opposite_vertex] faces=[Vector3(1,2,0),Vector3(2,1,3),Vector3(2,0,3),Vector3(3,1,0)] shape=elementshape() shape.color=color if color else randomColor(); [body_,nodes_]=finite_element(material,shape,nodes,faces,radius) return [body_,nodes_]
def stl(file, dynamic=None,fixed=True,wire=True,color=None,highlight=False,noBound=False,material=-1): """ Import geometry from stl file, return list of created facets.""" imp = STLImporter() facets=imp.ymport(file) for b in facets: b.shape.color=color if color else utils.randomColor() b.shape.wire=wire b.shape.highlight=highlight pos=b.state.pos utils._commonBodySetup(b,0,Vector3(0,0,0),material=material,pos=pos,noBound=noBound,dynamic=dynamic,fixed=fixed) b.aspherical=False return facets
def chainedCylinder(
begin=Vector3(0, 0, 0),
end=Vector3(1.0, 0.0, 0.0),
radius=0.2,
dynamic=None,
fixed=False,
wire=False,
color=None,
highlight=False,
material=-1,
mask=1,
):
"""
Create and connect a chainedCylinder with given parameters. The shape generated by repeted calls of this function is the Minkowski sum of polyline and sphere.
:param Real radius: radius of sphere in the Minkowski sum.
:param Vector3 begin: first point positioning the line in the Minkowski sum
:param Vector3 last: last point positioning the line in the Minkowski sum
In order to build a correct chain, last point of element of rank N must correspond to first point of element of rank N+1 in the same chain (with some tolerance, since bounding boxes will be used to create connections.
:return: Body object with the :yref:`ChainedCylinder` :yref:`shape<Body.shape>`.
"""
segment = end - begin
b = Body()
b.shape = ChainedCylinder(
radius=radius,
length=segment.norm(),
color=color if color else utils.randomColor(),
wire=wire,
highlight=highlight,
)
b.shape.segment = segment
V = 2 * (4.0 / 3) * math.pi * radius ** 3
geomInert = (2.0 / 5.0) * V * radius ** 2 + b.shape.length * b.shape.length * 2 * (4.0 / 3) * math.pi * radius ** 3
b.state = ChainedState()
b.state.addToChain(O.bodies.append(b))
utils._commonBodySetup(
b,
V,
Vector3(geomInert, geomInert, geomInert),
material,
pos=begin,
resetState=False,
dynamic=dynamic,
fixed=fixed,
)
b.mask = mask
b.bound = Aabb(color=[0, 1, 0])
b.state.ori.setFromTwoVectors(Vector3(0.0, 0.0, 1.0), segment)
if end == begin:
b.state.ori = Quaternion((1, 0, 0), 0)
return b
def gridConnection(id1,id2,radius,wire=False,color=None,highlight=False,material=-1,mask=1,cellDist=None): """ Create a :yref:`GridConnection` by connecting two :yref:`GridNodes<GridNode>`. :param id1,id2: the two :yref:`GridNodes<GridNode>` forming the cylinder. :param float radius: radius of the cylinder. Note that the radius needs to be the same as the one for the :yref:`GridNodes<GridNode>`. :param Vector3 cellDist: for periodic boundary conditions, see :yref:`Interaction.cellDist`. Note: periodic boundary conditions for gridConnections are not yet implemented! See documentation of :yref:`yade.utils.sphere` for meaning of other parameters. :return: Body object with the :yref:`GridConnection` :yref:`shape<Body.shape>`. .. note:: The material of the :yref:`GridNodes<GridNode>` will be used to set the constitutive behaviour of the internal connection, i.e., the constitutive behaviour of the cylinder. The material of the :yref:`GridConnection` is used for interactions with other (external) bodies. """ b=Body() b.shape=GridConnection(radius=radius,color=color if color else utils.randomColor(),wire=wire,highlight=highlight) sph1=O.bodies[id1] ; sph2=O.bodies[id2] i=createInteraction(id1,id2) nodeMat=sph1.material b.shape.node1=sph1 ; b.shape.node2=sph2 sph1.shape.addConnection(b) ; sph2.shape.addConnection(b) if(O.periodic): if(cellDist!=None): i.cellDist=cellDist segt=sph2.state.pos + O.cell.hSize*i.cellDist - sph1.state.pos else: segt=sph2.state.pos - sph1.state.pos L=segt.norm() V=0.5*L*math.pi*radius**2 geomInert=(2./5.)*V*radius**2 utils._commonBodySetup(b,V,Vector3(geomInert,geomInert,geomInert),material,pos=sph1.state.pos,dynamic=False,fixed=True) sph1.state.mass = sph1.state.mass + V*nodeMat.density sph2.state.mass = sph2.state.mass + V*nodeMat.density for k in [0,1,2]: sph1.state.inertia[k] = sph1.state.inertia[k] + geomInert*nodeMat.density sph2.state.inertia[k] = sph2.state.inertia[k] + geomInert*nodeMat.density b.aspherical=False if O.periodic: i.phys.unp= -(sph2.state.pos + O.cell.hSize*i.cellDist - sph1.state.pos).norm() + sph1.shape.radius + sph2.shape.radius b.shape.periodic=True b.shape.cellDist=i.cellDist else: i.phys.unp= -(sph2.state.pos - sph1.state.pos).norm() + sph1.shape.radius + sph2.shape.radius i.geom.connectionBody=b I=math.pi*(2.*radius)**4/64. E=nodeMat.young i.phys.kn=E*math.pi*(radius**2)/L i.phys.kr=E*I/L i.phys.ks=12.*E*I/(L**3) G=E/(2.*(1+nodeMat.poisson)) i.phys.ktw=2.*I*G/L b.mask=mask return b
def gridConnection(id1,id2,radius,wire=False,color=None,highlight=False,material=-1,mask=1,cellDist=None): """ Create a :yref:`GridConnection` by connecting two :yref:`GridNodes<GridNode>`. :param id1,id2: the two :yref:`GridNodes<GridNode>` forming the cylinder. :param float radius: radius of the cylinder. Note that the radius needs to be the same as the one for the :yref:`GridNodes<GridNode>`. :param Vector3 cellDist: for periodic boundary conditions, see :yref:`Interaction.cellDist`. Note: periodic boundary conditions for gridConnections are not yet implemented! See documentation of :yref:`yade.utils.sphere` for meaning of other parameters. :return: Body object with the :yref:`GridConnection` :yref:`shape<Body.shape>`. .. note:: The material of the :yref:`GridNodes<GridNode>` will be used to set the constitutive behaviour of the internal connection, i.e., the constitutive behaviour of the cylinder. The material of the :yref:`GridConnection` is used for interactions with other (external) bodies. """ b=Body() b.shape=GridConnection(radius=radius,color=color if color else utils.randomColor(),wire=wire,highlight=highlight) sph1=O.bodies[id1] ; sph2=O.bodies[id2] i=createInteraction(id1,id2) nodeMat=sph1.material b.shape.node1=sph1 ; b.shape.node2=sph2 sph1.shape.addConnection(b) ; sph2.shape.addConnection(b) if(O.periodic): if(cellDist!=None): i.cellDist=cellDist segt=sph2.state.pos + O.cell.hSize*i.cellDist - sph1.state.pos else: segt=sph2.state.pos - sph1.state.pos L=segt.norm() V=0.5*L*math.pi*radius**2 geomInert=(2./5.)*V*radius**2 utils._commonBodySetup(b,V,Vector3(geomInert,geomInert,geomInert),material,pos=sph1.state.pos,dynamic=False,fixed=True) sph1.state.mass = sph1.state.mass + V*nodeMat.density sph2.state.mass = sph2.state.mass + V*nodeMat.density for k in [0,1,2]: sph1.state.inertia[k] = sph1.state.inertia[k] + geomInert*nodeMat.density sph2.state.inertia[k] = sph2.state.inertia[k] + geomInert*nodeMat.density b.aspherical=False if O.periodic: i.phys.unp= -(sph2.state.pos + O.cell.hSize*i.cellDist - sph1.state.pos).norm() + sph1.shape.radius + sph2.shape.radius b.shape.periodic=True b.shape.cellDist=i.cellDist else: i.phys.unp= -(sph2.state.pos - sph1.state.pos).norm() + sph1.shape.radius + sph2.shape.radius i.geom.connectionBody=b I=math.pi*(2.*radius)**4/64. E=nodeMat.young i.phys.kn=E*math.pi*(radius**2)/L i.phys.kr=E*I/L i.phys.ks=12.*E*I/(L**3) G=E/(2.*(1+nodeMat.poisson)) i.phys.ktw=2.*I*G/L b.mask=mask return b
def gridNode(center,radius,dynamic=None,fixed=False,wire=False,color=None,highlight=False,material=-1): """ Create a :yref:`GridNode` which is needed to set up :yref:`GridConnections<GridConnection>`. See documentation of :yref:`yade.utils.sphere` for meaning of parameters. :return: Body object with the :yref:`gridNode` :yref:`shape<Body.shape>`. """ b=Body() b.shape=GridNode(radius=radius,color=color if color else utils.randomColor(),wire=wire,highlight=highlight) #V=(4./3)*math.pi*radius**3 # will be overwritten by the connection V=0. geomInert=(2./5.)*V*radius**2 # will be overwritten by the connection utils._commonBodySetup(b,V,Vector3(geomInert,geomInert,geomInert),material,pos=center,dynamic=dynamic,fixed=fixed) b.aspherical=False b.bounded=False b.mask=0 # avoid contact detection with the nodes. Manual interaction will be set for them in "gridConnection" below. return b
poisson=poisson,
density=4800,
sigmaT=sigmaT,
crackOpening=crackOpening,
epsCrackOnset=epsCrackOnset,
poisson=poisson,
isoPrestress=isoPrestress))
sphDict = pickle.load(open(packingFile))
from yade 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.setBox=sp.cellSize #doesnt work correctly, periodic cell is too big!!!!
O.cell.refSize = sp.cellSize
axis = 2
ax1 = (axis + 1) % 3
ax2 = (axis + 2) % 3
O.dt = dtSafety * utils.PWaveTimeStep()
import yade.plot as yp
O.engines = [
ForceResetter(),
InsertionSortCollider([
Bo1_Sphere_Aabb(aabbEnlargeFactor=intRadius, label='is2aabb'),
]),
import cPickle as pickle pickle.dump(dd,open(packingFile,'w')) # # load the packing (again); # import cPickle as pickle concreteId=O.materials.append(CpmMat(young=young, frictionAngle=frictionAngle, poisson=poisson, density=4800, sigmaT=sigmaT, crackOpening=crackOpening, epsCrackOnset=epsCrackOnset, poisson=poisson, isoPrestress=isoPrestress)) sphDict=pickle.load(open(packingFile)) from yade 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.setBox=sp.cellSize #doesnt work correctly, periodic cell is too big!!!! O.cell.refSize=sp.cellSize axis=2 ax1=(axis+1)%3 ax2=(axis+2)%3 O.dt=dtSafety*utils.PWaveTimeStep() import yade.plot as yp O.engines=[ ForceResetter(), InsertionSortCollider([Bo1_Sphere_Aabb(aabbEnlargeFactor=intRadius,label='is2aabb'),]), #,sweepLength=.05*avgRadius,nBins=5,binCoeff=5), InteractionLoop(
def chainedCylinder(begin=Vector3(0,0,0),end=Vector3(1.,0.,0.),radius=0.2,dynamic=None,fixed=False,wire=False,color=None,highlight=False,material=-1,mask=1):
"""
Create and connect a chainedCylinder with given parameters. The shape generated by repeted calls of this function is the Minkowski sum of polyline and sphere.
:param Real radius: radius of sphere in the Minkowski sum.
:param Vector3 begin: first point positioning the line in the Minkowski sum
:param Vector3 last: last point positioning the line in the Minkowski sum
In order to build a correct chain, last point of element of rank N must correspond to first point of element of rank N+1 in the same chain (with some tolerance, since bounding boxes will be used to create connections.
:return: Body object with the :yref:`ChainedCylinder` :yref:`shape<Body.shape>`.
.. note:: :yref:`ChainedCylinder` is deprecated and will be removed in the future, use :yref:`GridConnection` instead. See :yref:`yade.gridpfacet.cylinder` and :yref:`yade.gridpfacet.cylinderConnection`.
"""
import warnings
warnings.warn('\033[1;31mchainedCylinder is deprecated and will be removed in the future, use GridConnection instead. See examples/grids/CohesiveGridConnectionSphere.py.\033[1;0m',category=UserWarning)
segment=end-begin
b=Body()
b.shape=ChainedCylinder(radius=radius,length=segment.norm(),color=color if color else utils.randomColor(),wire=wire,highlight=highlight)
b.shape.segment=segment
V=2*(4./3)*math.pi*radius**3
geomInert=(2./5.)*V*radius**2+b.shape.length*b.shape.length*2*(4./3)*math.pi*radius**3
b.state=ChainedState()
b.state.addToChain(O.bodies.append(b))
utils._commonBodySetup(b,V,Vector3(geomInert,geomInert,geomInert),material,pos=begin,resetState=False,dynamic=dynamic,fixed=fixed)
b.mask=mask
b.bound=Aabb(color=[0,1,0])
b.state.ori.setFromTwoVectors(Vector3(0.,0.,1.),segment)
if (end == begin): b.state.ori = Quaternion((1,0,0),0)
return b
def gridConnection(id1, id2, radius, wire=False, color=None, highlight=False, material=-1, mask=1, cellDist=None):
"""
Create a :yref:`GridConnection` by connecting two :yref:`GridNodes<GridNode>`.
:param id1,id2: already with :yref:`GridConnections<GridConnection>` connected :yref:`GridNodes<GridNode>`
:param bool wire: if ``True``, top and bottom facet are shown as skeleton; otherwise facets are filled.
:param Vector3-or-None color: color of the PFacet; random color will be assigned if ``None``.
:param Vector3 cellDist: for periodic boundary conditions, see :yref:`Interaction.cellDist`. Note: periodic boundary conditions are not yet implemented!
See documentation of :yref:`yade.utils.sphere` for meaning of other parameters.
:return: Body object with the :yref:`PFacet<PFacet>` :yref:`shape<Body.shape>`.
.. note:: :yref:`GridNodes<GridNode>` and :yref:`GridConnections<GridConnection>` need to have the same radius. This is also the radius used to create the :yref:`PFacet<PFacet>`
"""
b = Body()
b.shape = GridConnection(
radius=radius, color=color if color else utils.randomColor(), wire=wire, highlight=highlight
)
sph1 = O.bodies[id1]
sph2 = O.bodies[id2]
i = createInteraction(id1, id2)
nodeMat = sph1.material
b.shape.node1 = sph1
b.shape.node2 = sph2
sph1.shape.addConnection(b)
sph2.shape.addConnection(b)
if O.periodic:
if cellDist != None:
i.cellDist = cellDist
segt = sph2.state.pos + O.cell.hSize * i.cellDist - sph1.state.pos
else:
segt = sph2.state.pos - sph1.state.pos
L = segt.norm()
V = 0.5 * L * math.pi * radius ** 2
geomInert = (2.0 / 5.0) * V * radius ** 2
utils._commonBodySetup(
b, V, Vector3(geomInert, geomInert, geomInert), material, pos=sph1.state.pos, dynamic=False, fixed=True
)
sph1.state.mass = sph1.state.mass + V * nodeMat.density
sph2.state.mass = sph2.state.mass + V * nodeMat.density
for k in [0, 1, 2]:
sph1.state.inertia[k] = sph1.state.inertia[k] + geomInert * nodeMat.density
sph2.state.inertia[k] = sph2.state.inertia[k] + geomInert * nodeMat.density
b.aspherical = False
if O.periodic:
i.phys.unp = (
-(sph2.state.pos + O.cell.hSize * i.cellDist - sph1.state.pos).norm()
+ sph1.shape.radius
+ sph2.shape.radius
)
b.shape.periodic = True
b.shape.cellDist = i.cellDist
else:
i.phys.unp = -(sph2.state.pos - sph1.state.pos).norm() + sph1.shape.radius + sph2.shape.radius
i.geom.connectionBody = b
I = math.pi * (2.0 * radius) ** 4 / 64.0
E = nodeMat.young
i.phys.kn = E * math.pi * (radius ** 2) / L
i.phys.kr = E * I / L
i.phys.ks = 12.0 * E * I / (L ** 3)
G = E / (2.0 * (1 + nodeMat.poisson))
i.phys.ktw = 2.0 * I * G / L
b.mask = mask
return b
def node(center,radius,dynamic=None,fixed=True,wire=False,color=None,highlight=False,material=-1,mask=1): """Create sphere with given parameters; mass and inertia computed automatically. Last assigned material is used by default (*material* = -1), and utils.defaultMaterial() will be used if no material is defined at all. :param Vector3 center: center :param float radius: radius :param float dynamic: deprecated, see "fixed" :param float fixed: generate the body with all DOFs blocked? :param material: specify :yref:`Body.material`; different types are accepted: * int: O.materials[material] will be used; as a special case, if material==-1 and there is no shared materials defined, utils.defaultMaterial() will be assigned to O.materials[0] * string: label of an existing material that will be used * :yref:`Material` instance: this instance will be used * callable: will be called without arguments; returned Material value will be used (Material factory object, if you like) :param int mask: :yref:`Body.mask` for the body :param wire: display as wire sphere? :param highlight: highlight this body in the viewer? :param Vector3-or-None: body's color, as normalized RGB; random color will be assigned if ``None``. :return: A Body instance with desired characteristics. Creating default shared material if none exists neither is given:: >>> O.reset() >>> from yade import utils >>> len(O.materials) 0 >>> s0=utils.sphere([2,0,0],1) >>> len(O.materials) 1 Instance of material can be given:: >>> s1=utils.sphere([0,0,0],1,wire=False,color=(0,1,0),material=ElastMat(young=30e9,density=2e3)) >>> s1.shape.wire False >>> s1.shape.color Vector3(0,1,0) >>> s1.mat.density 2000.0 Material can be given by label:: >>> O.materials.append(FrictMat(young=10e9,poisson=.11,label='myMaterial')) 1 >>> s2=utils.sphere([0,0,2],1,material='myMaterial') >>> s2.mat.label 'myMaterial' >>> s2.mat.poisson 0.11 Finally, material can be a callable object (taking no arguments), which returns a Material instance. Use this if you don't call this function directly (for instance, through yade.pack.randomDensePack), passing only 1 *material* parameter, but you don't want material to be shared. For instance, randomized material properties can be created like this: >>> import random >>> def matFactory(): return ElastMat(young=1e10*random.random(),density=1e3+1e3*random.random()) ... >>> s3=utils.sphere([0,2,0],1,material=matFactory) >>> s4=utils.sphere([1,2,0],1,material=matFactory) """ b=Body() b.shape=Node(radius=radius,color=color if color else randomColor(),wire=wire,highlight=highlight) V=(4./3)*math.pi*radius**3 geomInert=(2./5.)*V*radius**2 _commonBodySetup(b,V,Vector3(geomInert,geomInert,geomInert),material,pos=center,dynamic=dynamic,fixed=fixed,blockedDOFs='XYZ') b.aspherical=False b.mask=mask b.bounded=True return b