def collisions(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The plane (note: this plane is not a dynamic shape, it's just displayed)
# Then create a geom for this plane
# Create a plane geom which prevent the objects from falling forever
references = [
] #a list that stores ode instances before they are removed from memory
def floor():
P1 = gp_Pnt(0, 0, -100)
V1 = gp_Vec(0, 0, 1)
PL = gp_Pln(P1, gp_Dir(V1))
aPlane = GC_MakePlane(PL).Value()
aSurface = Geom_RectangularTrimmedSurface(aPlane, -100., 100., -60.,
60., 1, 1)
face = BRepBuilderAPI_MakeFace(aSurface.GetHandle())
face.Build()
floor = ode.GeomPlane(dyn_context._space, (0, 0, 1), -100)
references.append(floor)
display.DisplayColoredShape(face.Shape(), 'RED')
display.FitAll()
floor()
def add_box(i):
import random
i = i + 1
print "i:", i
# Create a shape of random dimension
rndX, rndY = random.uniform(-5, 5), random.uniform(-5, 5)
_x, _y, _z = 5 + rndX, 10 + rndY, 20
new_box = BRepPrimAPI_MakeBox(_x, _y, _z).Shape()
new_box_translated = translate_topods_from_vector(
new_box, gp_Vec(0, 0, i * 40), False)
d = dyn_context.register_shape(new_box_translated,
enable_collision_detection=True,
use_boundingbox=True)
geom_box = ode.GeomBox(dyn_context._space, lengths=(_x, _y, _z))
geom_box.setBody(d)
references.append(geom_box)
for i in range(60):
add_box(i)
# add_additional(90)
dyn_context.setERP(0.5) # 0.2 default
dyn_context.setCFM(1e-10) # 1e-10 default
dyn_context.set_simulation_duration(25.)
dyn_context.set_time_step(0.001)
dyn_context.set_animation_frame_rate(60)
dyn_context.start_open_loop()
def collisions(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The plane (note: this plane is not a dynamic shape, it's just displayed)
# Then create a geom for this plane
# Create a plane geom which prevent the objects from falling forever
references=[] #a list that stores ode instances before they are removed from memory
def floor():
P1 = gp_Pnt(0,0,-100)
V1 = gp_Vec(0,0,1)
PL = gp_Pln(P1,gp_Dir(V1))
aPlane = GC_MakePlane(PL).Value()
aSurface = Geom_RectangularTrimmedSurface( aPlane, -100., 100., -60., 60., 1, 1 )
face = BRepBuilderAPI_MakeFace(aSurface.GetHandle())
face.Build()
floor = ode.GeomPlane(dyn_context._space, (0,0,1), -100)
references.append(floor)
display.DisplayColoredShape(face.Shape(),'RED')
display.FitAll()
floor()
def add_box(i):
import random
i = i+1
print "i:",i
# Create a shape of random dimension
rndX,rndY = random.uniform(-5,5), random.uniform(-5,5)
_x,_y,_z = 5+rndX, 10+rndY, 20
new_box = BRepPrimAPI_MakeBox(_x,_y,_z).Shape()
new_box_translated = translate_topods_from_vector(new_box, gp_Vec(0,0,i*40), False)
d = dyn_context.register_shape(new_box_translated,enable_collision_detection=True,use_boundingbox=True)
geom_box = ode.GeomBox(dyn_context._space, lengths=(_x,_y,_z))
geom_box.setBody(d)
references.append(geom_box)
for i in range(60):
add_box(i)
# add_additional(90)
dyn_context.setERP(0.5) # 0.2 default
dyn_context.setCFM(1e-10) # 1e-10 default
dyn_context.set_simulation_duration(25.)
dyn_context.set_time_step(0.001)
dyn_context.set_animation_frame_rate(60)
dyn_context.start_open_loop()
def adhesion(event=None):
'''
hinge joint example adapted from pyode
http://pyode.sourceforge.net/tutorials/tutorial2.html
'''
from OCC.Utils.Common import center_boundingbox
display.EraseAll()
# Create the dynamic context
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# create the table
block1 = BRepPrimAPI_MakeBox(4, 1, 1).Shape()
N = 12
dyn_shapes = []
for i in range(1, N):
table_shape = translate_topods_from_vector(block1,
gp_Vec(0, 0, 2 * (i * 0.5)),
copy=True)
dyn_shape = dyn_context.register_shape(table_shape,
enable_collision_detection=True,
use_boundingbox=True)
dyn_shapes.append((dyn_shape, table_shape))
_dyn_shapes = iter(dyn_shapes)
prev, table_shape = _dyn_shapes.next()
# safe for future reference
first, cube = prev, table_shape
prev_center = center_boundingbox(table_shape)
slider_vec = gp_Dir(1, 1, 0)
for i, xxx in enumerate(_dyn_shapes):
dyn_shape, table_shape = xxx
bj = DynamicSliderJoint(dyn_context)
bj.set_axis(slider_vec)
center = center_boundingbox(table_shape)
if i == 0:
bj.attach_shapes(prev, ode.environment)
first_joint = bj
else:
bj.attach_shapes(prev, dyn_shape)
dyn_context.register_joint(bj)
prev = dyn_shape
prev_center = center
# get the 1st block, the one one the ground...
xmin, ymin, zmin, xmax, ymax, zmax = get_boundingbox(cube)
# set the middle block in motion
vec1 = (160, 66, 0)
#vec1 = (1.20, 0.66, 0)
middle, topods = dyn_shapes[N / 2]
middle.setLinearVel(vec1)
#middle.setForce(vec1)
# change the color of the bottom element a little...
ais = middle.get_ais_shape().GetObject()
from OCC.Graphic3d import Graphic3d_NOM_SILVER
ais.SetMaterial(Graphic3d_NOM_SILVER)
bj.attach_shapes(dyn_shape, ode.environment)
first_joint.attach_shapes(first, ode.environment)
floor = ode.GeomPlane(dyn_context._space, (0, 0, 1), zmin)
dyn_context.mu = 0 # icey!!!
dyn_context.setERP(0.1) # 0.2 default
dyn_context.setCFM(1e-12) # 1e-10 default
dyn_context.set_simulation_duration(1200)
dyn_context.set_animation_frame_rate(40)
dyn_context.set_time_step(0.01)
dyn_context.start_open_loop(True)
def hinge(event=None):
'''
hinge joint example adapted from pyode
http://pyode.sourceforge.net/tutorials/tutorial2.html
'''
from OCC.Utils.Common import center_boundingbox
display.EraseAll()
# Create the dynamic context
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# create the table
block1 = BRepPrimAPI_MakeBox(4, 1, 1).Shape()
N = 36 * 3
dyn_shapes = []
for i in range(1, N):
table_shape = translate_topods_from_vector(block1,
gp_Vec(0, 0, 2 * (i * 0.5)),
copy=True)
dyn_shape = dyn_context.register_shape(table_shape,
enable_collision_detection=True,
use_boundingbox=True)
dyn_shapes.append((dyn_shape, table_shape))
dyn_shapes = iter(dyn_shapes)
prev, table_shape = dyn_shapes.next()
# safe for future reference
first, cube = prev, table_shape
prev_center = center_boundingbox(table_shape)
for i, xxx in enumerate(dyn_shapes):
dyn_shape, table_shape = xxx
bj = DynamicBallJoint(dyn_context)
center = center_boundingbox(table_shape)
bj.attach_shapes(prev, dyn_shape)
if i % 2 == 0:
bj.set_anchor((prev_center.as_vec() - gp_Vec(2, 0, 0.5)).as_pnt())
else:
bj.set_anchor((prev_center.as_vec() - gp_Vec(-2, 0, 0.5)).as_pnt())
dyn_context.register_joint(bj)
prev = dyn_shape
prev_center = center
# get the 1st block, the one one the ground...
xmin, ymin, zmin, xmax, ymax, zmax = get_boundingbox(cube)
# set the lower block in motion
vec1 = (12, 88, 0)
first.setLinearVel(vec1)
# change the color of the bottom element a little...
ais = first.get_ais_shape().GetObject()
from OCC.Graphic3d import Graphic3d_NOM_SILVER
ais.SetMaterial(Graphic3d_NOM_SILVER)
# lock the upper block
#bj.attach_shapes(dyn_shape, ode.environment)
vec2 = (-12, -88, 0)
dyn_shape.setLinearVel(vec2)
ais = dyn_shape.get_ais_shape().GetObject()
ais.SetMaterial(Graphic3d_NOM_SILVER)
# create a floor...
floor = ode.GeomPlane(dyn_context._space, (0, 0, 1), zmin)
def f():
XXX = 0.15 * N
first.setLinearVel((0, XXX, 0))
dyn_shape.setLinearVel((0, -XXX, 0))
dyn_context.mu = 500
dyn_context.setERP(0.8) # 0.2 default
dyn_context.setCFM(1e-12) # 1e-10 default
dyn_context.set_simulation_duration(1200.)
dyn_context.set_animation_frame_rate(60)
dyn_context.set_time_step(0.01)
dyn_context.register_post_step_callback(f)
dyn_context.start_open_loop(True)
def pillars(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The plane (note: this plane is not a dynamic shape, it's just displayed)
# Then create a geom for this plane
# Create a plane geom which prevent the objects from falling forever
references = [
] #a list that stores ode instances before they are removed from memory
def floor():
Z = -100
P1 = gp_Pnt(0, 0, Z)
V1 = gp_Vec(0, 0, 1)
PL = gp_Pln(P1, gp_Dir(V1))
aPlane = GC_MakePlane(PL).Value()
aSurface = Geom_RectangularTrimmedSurface(aPlane, -10., 10., -6., 6.,
1, 1)
face = BRepBuilderAPI_MakeFace(aSurface.GetHandle())
face.Build()
floor = ode.GeomPlane(dyn_context._space, (0, 0, 1), Z)
references.append(floor)
display.DisplayColoredShape(face.Shape(), 'RED')
display.FitAll()
floor()
class Pilars(object):
def __init__(self, nx,ny,nz,\
dx,dy,dz,\
spacex,spacey,spacez
):
self.n = 0
# number of grid
self.nx = nx
self.ny = ny
self.nz = nz
# distance between grid members
self.dx = dx
self.dy = dy
self.dz = dz
# space between grid members
self.spacex = spacex
self.spacey = spacey
self.spacez = spacez
# current z level in grid
self.level = 0
self.iX, self.iY, self.iZ = 0, 0, 0
def add_boxes(self):
for i in range(self.nx):
self.iX += 1
for j in range(self.ny):
self.iY += 1
for k in range(self.nz):
self.n += 1
if (self.iX * self.iY) % (self.nx - 1 * self.ny -
1) == 0:
self.level += 1
self.iX, self.iY = 0, 0
new_box = BRepPrimAPI_MakeBox(self.dx, self.dy,
self.dz).Shape()
_x = self.dx * i + self.spacex * i
_y = self.dy * j + self.spacey * j
_z = (self.dz * k + self.spacez * k)
print '_x,_y,_z', _x, _y, _z
v = gp_Vec(_x, _y, _z)
new_box_translated = translate_topods_from_vector(
new_box, v, False)
d = dyn_context.register_shape(
new_box_translated,
enable_collision_detection=True,
use_boundingbox=True)
p = Pilars(6,6,6,\
1,1,3,\
0.1,0.1,0.1)
#1,1,1)
p.add_boxes()
dyn_context.setERP(0.5) # 0.2 default
dyn_context.setCFM(1e-10) # 1e-10 default
dyn_context.set_simulation_duration(20.)
dyn_context.set_time_step(0.001)
dyn_context.set_animation_frame_rate(24)
dyn_context.start_open_loop(False)
def hinge(event=None):
'''
hinge joint example adapted from pyode
http://pyode.sourceforge.net/tutorials/tutorial2.html
'''
from OCC.Utils.Common import center_boundingbox
display.EraseAll()
# Create the dynamic context
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# create the table
block1 = BRepPrimAPI_MakeBox(4,1,1).Shape()
N = 36*3
dyn_shapes = []
for i in range(1,N):
table_shape = translate_topods_from_vector(block1, gp_Vec(0,0,2*(i*0.5)), copy=True)
dyn_shape = dyn_context.register_shape(table_shape, enable_collision_detection=True, use_boundingbox=True)
dyn_shapes.append((dyn_shape,table_shape))
dyn_shapes = iter(dyn_shapes)
prev, table_shape = dyn_shapes.next()
# safe for future reference
first, cube = prev, table_shape
prev_center = center_boundingbox(table_shape)
for i,xxx in enumerate(dyn_shapes):
dyn_shape, table_shape = xxx
bj = DynamicBallJoint(dyn_context)
center = center_boundingbox(table_shape)
bj.attach_shapes(prev, dyn_shape)
if i%2 == 0:
bj.set_anchor( (prev_center.as_vec() - gp_Vec(2,0,0.5)).as_pnt() )
else:
bj.set_anchor( (prev_center.as_vec() - gp_Vec(-2,0,0.5)).as_pnt() )
dyn_context.register_joint(bj)
prev=dyn_shape
prev_center = center
# get the 1st block, the one one the ground...
xmin, ymin, zmin, xmax, ymax, zmax = get_boundingbox(cube).Get()
# set the lower block in motion
vec1 = (12, 88, 0)
first.setLinearVel(vec1)
# change the color of the bottom element a little...
ais = first.get_ais_shape().GetObject()
from OCC.Graphic3d import Graphic3d_NOM_SILVER
ais.SetMaterial(Graphic3d_NOM_SILVER)
# lock the upper block
#bj.attach_shapes(dyn_shape, ode.environment)
vec2 = (-12, -88, 0)
dyn_shape.setLinearVel(vec2)
ais = dyn_shape.get_ais_shape().GetObject()
ais.SetMaterial(Graphic3d_NOM_SILVER)
# create a floor...
floor = ode.GeomPlane(dyn_context._space, (0,0,1), zmin)
def f():
print 'first:',first.getPosition()
print 'velo:', first.getLinearVel()
XXX = 0.15 * N
first.setLinearVel((0, XXX,0))
dyn_shape.setLinearVel((0,-XXX,0))
dyn_context.mu = 500
dyn_context.setERP(0.8) # 0.2 default
dyn_context.setCFM(1e-12) # 1e-10 default
dyn_context.set_simulation_duration(1200.)
dyn_context.set_animation_frame_rate(60)
dyn_context.set_time_step(0.01)
dyn_context.register_post_step_callback(f)
dyn_context.start_open_loop(True)
def pillars(event=None):
display.EraseAll()
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# The plane (note: this plane is not a dynamic shape, it's just displayed)
# Then create a geom for this plane
# Create a plane geom which prevent the objects from falling forever
references=[] #a list that stores ode instances before they are removed from memory
def floor():
Z = -100
P1 = gp_Pnt(0,0,Z)
V1 = gp_Vec(0,0,1)
PL = gp_Pln(P1,gp_Dir(V1))
aPlane = GC_MakePlane(PL).Value()
aSurface = Geom_RectangularTrimmedSurface( aPlane, -10., 10., -6., 6., 1, 1 )
face = BRepBuilderAPI_MakeFace(aSurface.GetHandle())
face.Build()
floor = ode.GeomPlane(dyn_context._space, (0,0,1), Z)
references.append(floor)
display.DisplayColoredShape(face.Shape(),'RED')
display.FitAll()
floor()
class Pilars(object):
def __init__(self, nx,ny,nz,\
dx,dy,dz,\
spacex,spacey,spacez
):
self.n=0
# number of grid
self.nx=nx
self.ny=ny
self.nz=nz
# distance between grid members
self.dx=dx
self.dy=dy
self.dz=dz
# space between grid members
self.spacex=spacex
self.spacey=spacey
self.spacez=spacez
# current z level in grid
self.level = 0
self.iX, self.iY, self.iZ = 0,0,0
def add_boxes(self):
for i in range(self.nx):
self.iX +=1
for j in range(self.ny):
self.iY +=1
for k in range(self.nz):
self.n +=1
if (self.iX*self.iY) % (self.nx-1*self.ny-1) == 0:
self.level += 1
self.iX, self.iY = 0,0
new_box = BRepPrimAPI_MakeBox(self.dx,self.dy,self.dz).Shape()
_x = self.dx*i + self.spacex*i
_y = self.dy*j + self.spacey*j
_z = ( self.dz*k + self.spacez*k )
print '_x,_y,_z',_x,_y,_z
v = gp_Vec(_x,_y,_z)
new_box_translated = translate_topods_from_vector(new_box, v, False)
d = dyn_context.register_shape(new_box_translated,enable_collision_detection=True,use_boundingbox=True)
p = Pilars(6,6,6,\
1,1,3,\
0.1,0.1,0.1)
#1,1,1)
p.add_boxes()
dyn_context.setERP(0.5) # 0.2 default
dyn_context.setCFM(1e-10) # 1e-10 default
dyn_context.set_simulation_duration(20.)
dyn_context.set_time_step(0.001)
dyn_context.set_animation_frame_rate(24)
dyn_context.start_open_loop(False)
def adhesion(event=None):
'''
hinge joint example adapted from pyode
http://pyode.sourceforge.net/tutorials/tutorial2.html
'''
from OCC.Utils.Common import center_boundingbox
display.EraseAll()
# Create the dynamic context
dyn_context = DynamicSimulationContext()
dyn_context.set_display(display, safe_yield)
dyn_context.enable_collision_detection()
dyn_context.enable_gravity()
# create the table
block1 = BRepPrimAPI_MakeBox(4,1,1).Shape()
N = 12
dyn_shapes = []
for i in range(1,N):
table_shape = translate_topods_from_vector(block1, gp_Vec(0,0,2*(i*0.5)), copy=True)
dyn_shape = dyn_context.register_shape(table_shape, enable_collision_detection=True, use_boundingbox=True)
dyn_shapes.append((dyn_shape,table_shape))
_dyn_shapes = iter(dyn_shapes)
prev, table_shape = _dyn_shapes.next()
# safe for future reference
first, cube = prev, table_shape
prev_center = center_boundingbox(table_shape)
slider_vec = gp_Dir(1,1,0)
for i,xxx in enumerate(_dyn_shapes):
dyn_shape, table_shape = xxx
bj = DynamicSliderJoint(dyn_context)
bj.set_axis(slider_vec)
center = center_boundingbox(table_shape)
if i == 0:
bj.attach_shapes(prev, ode.environment)
first_joint = bj
else:
bj.attach_shapes(prev, dyn_shape)
dyn_context.register_joint(bj)
prev=dyn_shape
prev_center = center
# get the 1st block, the one one the ground...
xmin, ymin, zmin, xmax, ymax, zmax = get_boundingbox(cube)
# set the middle block in motion
vec1 = (160, 66, 0)
#vec1 = (1.20, 0.66, 0)
middle, topods = dyn_shapes[N/2]
middle.setLinearVel(vec1)
#middle.setForce(vec1)
# change the color of the bottom element a little...
ais = middle.get_ais_shape().GetObject()
from OCC.Graphic3d import Graphic3d_NOM_SILVER
ais.SetMaterial(Graphic3d_NOM_SILVER)
bj.attach_shapes( dyn_shape, ode.environment )
first_joint.attach_shapes( first, ode.environment )
floor = ode.GeomPlane(dyn_context._space, (0,0,1), zmin)
dyn_context.mu = 0 # icey!!!
dyn_context.setERP(0.1) # 0.2 default
dyn_context.setCFM(1e-12) # 1e-10 default
dyn_context.set_simulation_duration(1200)
dyn_context.set_animation_frame_rate(40)
dyn_context.set_time_step(0.01)
dyn_context.start_open_loop(True)
