def execute(self, context):
p0_ref = context.scene.Fractals.p0
p1_ref = context.scene.Fractals.p1
step_size = context.scene.Fractals.stepSize
p0 = vec((p0_ref[0], p0_ref[1], p0_ref[2]))
p1 = vec((p1_ref[0], p1_ref[1], p1_ref[2]))
control = context.scene.Fractals.fractalsEnum
tris = []
for x, y, z in grid(p0, p1, step_size):
vertexpos = []
vertexval = []
for dx, dy, dz in coords(step_size):
pos = vec((x + dx, y + dy, z + dz))
vertexpos.append(pos)
if control == 'julia':
vertexval.append(iterate4DJuliaSet(pos))
elif control == 'mandelbulb':
vertexval.append(iterateMandelBulb(pos))
tris.extend(polygonise(vertexpos, vertexval))
vertices, faces = genFaces(tris)
genMesh(context.scene.Fractals.fractalName, vertices, faces)
return {'FINISHED'}
def execute(self, context):
p0_ref = context.scene.Fractals.p0
p1_ref = context.scene.Fractals.p1
step_size = context.scene.Fractals.stepSize
p0 = vec((p0_ref[0],p0_ref[1], p0_ref[2]))
p1 = vec((p1_ref[0],p1_ref[1], p1_ref[2]))
control = context.scene.Fractals.fractalsEnum
tris = []
for x,y,z in grid(p0,p1,step_size):
vertexpos = []
vertexval = []
for dx,dy,dz in coords(step_size):
pos = vec((x+dx,y+dy,z+dz))
vertexpos.append(pos)
if control == 'julia':
vertexval.append(iterate4DJuliaSet(pos))
elif control == 'mandelbulb':
vertexval.append(iterateMandelBulb(pos))
tris.extend(polygonise(vertexpos,vertexval))
vertices, faces = genFaces(tris)
genMesh(context.scene.Fractals.fractalName, vertices, faces)
return{'FINISHED'}
def compute_traveled_dist(self):
"""Return a float representing the distance between origin and the current position"""
# Get current position
self.position = self.body_obj.worldTransform * vec((0, 0, 0))
# Get distance
self.dist = vec(self.position - self.origin).length
return
def __init__(self, params_, simulator):
"""
Class initialization
:param params_: Dictionary containing parameter for the muscle
:param simulator: SimulatorUtils class to access utility functions
"""
self.n_iter = 0
self.params = params_
self.simulator = simulator
self.name = self.params["name"]
self.active = True
self.logger = logging.getLogger(params_["logger"])
# Check if object exists
self.obj1 = self.simulator.get_object(self.params["obj_1"])
if self.obj1 is None:
self.logger.error("Muscle " + self.name + " deactivated: first extremity object doesn't exit." +
" Check your configuration file!")
self.active = False
self.obj2 = self.simulator.get_object(self.params["obj_2"])
if self.obj2 is None:
self.logger.error("Muscle " + self.name + " deactivated: second extremity object doesn't exit." +
" Check your configuration file!")
self.active = False
# Points of application in local coordinates
if self.params["anch_1"] is None:
self.logger.error("You have not defined the first application point of muscle " + self.name +
"! Center is taken by default. This may results in erroneous simulation")
self.params["anch_1"] = [0.0, 0.0, 0.0]
if self.params["anch_2"] is None:
self.logger.error("You have not defined the second application point of muscle " + self.name +
"! Center is taken by default. This may results in erroneous simulation")
self.params["anch_2"] = [0.0, 0.0, 0.0]
self.app_point_1 = vec((self.params["anch_1"]))
self.app_point_2 = vec((self.params["anch_2"]))
self.app_point_1_world = None
self.app_point_2_world = None
self.length = 0.
self.velocity_1 = 0.
self.velocity_2 = 0.
self.force = vec((0, 0, 0))
self.ctrl_sig = None
if self.active:
self.update_position()
self.update_velocity()
def __init__(self, scene_, params_):
"""Class initialization"""
self.n_iter = 0
self.scene = scene_
self.params = params_
self.name = self.params["name"]
self.active = True
self.logger = logging.getLogger(params_["logger"])
# Check if onject exist
if not self.params["obj_1"] in self.scene.objects:
self.logger.error("Muscle " + self.name + " deactivated: first extremity object doesn't exit." +
" Check your configuration file!")
self.active = False
else:
self.obj1 = self.scene.objects[self.params["obj_1"]]
if not self.params["obj_2"] in self.scene.objects:
self.logger.error("Muscle " + self.name + " deactivated: second extremity object doesn't exit." +
" Check your configuration file!")
self.active = False
else:
self.obj2 = self.scene.objects[self.params["obj_2"]]
# Points of application in local coordinates
if self.params["anch_1"] is None:
self.logger.error("You have not defined the first application point of muscle " + self.name +
"! Center is taken by default. This may results in erroneous simulation")
self.params["anch_1"] = [0.0, 0.0, 0.0]
if self.params["anch_2"] is None:
self.logger.error("You have not defined the second application point of muscle " + self.name +
"! Center is taken by default. This may results in erroneous simulation")
self.params["anch_2"] = [0.0, 0.0, 0.0]
self.app_point_1 = vec((self.params["anch_1"]))
self.app_point_2 = vec((self.params["anch_2"]))
if self.active:
self.app_point_1_world = self.obj1.worldTransform * self.app_point_1 # global coordinates of app point 1 in m
self.app_point_2_world = self.obj2.worldTransform * self.app_point_2 # global coordinates of app point 2 in m
def __init__(self, scene_, config_):
"""Class initialization"""
self.n_iter = 0
self.scene = scene_
self.config = config_
self.logger = config_.logger
self.muscle_type = self.config.muscle_type + "(self.scene, muscle_config)"
self.name = self.config.body["name"]
# Get body object
if not self.config.body["obj"] in self.scene.objects:
self.logger.error("Body " + self.name + " doesn't exit. Check your configuration file!")
self.active = False
else:
self.body_obj = self.scene.objects[self.config.body["obj"]]
# Create and init variables for loss function
self.origin = self.body_obj.worldTransform * vec((0, 0, 0))
self.position = self.origin
self.dist = vec(self.position - self.origin).length
self.powers = []
self.av_power = 0.0
self.loss_fct = 0.0
# Create 4 legs
self.l_fo_leg = Foreleg(scene_, config_, "L")
self.r_fo_leg = Foreleg(scene_, config_, "R")
self.l_ba_leg = Backleg(scene_, config_, "L")
self.r_ba_leg = Backleg(scene_, config_, "R")
# Create the brain object
self.brain = Brain(scene_, config_)
# Create the muscles objects following config
self.muscles = []
for muscle_config in self.config.body["muscles"]:
self.muscles.append(eval(self.muscle_type))
def z_to_the_n(old_z, n):
x = old_z[0]
y = old_z[1]
z = old_z[2]
r = sqrt(x*x + y*y + z*z)
theta = atan2(sqrt(x*x + y*y),z)
phi = atan2(y,x);
new_z = vec()
new_z.x = pow(r,n) * sin(theta*n) * cos(phi*n);
new_z.y = pow(r,n) * sin(theta*n) * sin(phi*n);
new_z.z = pow(r,n) * cos(theta*n)
return new_z
def z_to_the_n(old_z, n):
x = old_z[0]
y = old_z[1]
z = old_z[2]
r = sqrt(x * x + y * y + z * z)
theta = atan2(sqrt(x * x + y * y), z)
phi = atan2(y, x)
new_z = vec()
new_z.x = pow(r, n) * sin(theta * n) * cos(phi * n)
new_z.y = pow(r, n) * sin(theta * n) * sin(phi * n)
new_z.z = pow(r, n) * cos(theta * n)
return new_z
def __init__(self, scene_, params_):
"""Class initialization. Requires scene, controller as well as two object and the local point of application \
of the spring forces"""
Muscle.__init__(self, scene_, params_)
# Model constants and variables
self.k = self.params["k"] # scalar in N/m??
self.c = self.params["c"] # scalar in N.s/m??
self.k_cont = self.params["kc"] # no dimension
self.ctrl_sig = None
if self.active:
self.l = self.app_point_2_world - self.app_point_1_world # global coordinate vector between app points in m
self.v_1 = self.obj1.getVelocity(self.app_point_1) # vector in m/s??
self.v_2 = self.obj2.getVelocity(self.app_point_2) # vector in m/s??
v = self.v_2 - self.v_1 # vector in m/s??
self.v_norm = v.dot(self.l.normalized()) * self.l.normalized() # normal velocity vector in m/s??
self.l0 = self.params["kl0"] * self.l.length # scalar in m??
self.l_cont = self.l0 # scalar in m??
self.force = vec((0, 0, 0)) # vector in N??
def iterateMandelBulb(c):
z = vec()
n = bpy.context.scene.Fractals.mandelbulb.power
threshold = bpy.context.scene.Fractals.mandelbulb.bailout
max_iterations = bpy.context.scene.Fractals.mandelbulb.maxIterations
#n = 8 # make hyperparameter
iterations = 0
converged = 1
while(True):
z = z_to_the_n(z,n) + c
iterations += 1
if iterations > max_iterations:
break
if z.length > threshold:
converged = 0
break
return converged
def iterateMandelBulb(c):
z = vec()
n = bpy.context.scene.Fractals.mandelbulb.power
threshold = bpy.context.scene.Fractals.mandelbulb.bailout
max_iterations = bpy.context.scene.Fractals.mandelbulb.maxIterations
#n = 8 # make hyperparameter
iterations = 0
converged = 1
while (True):
z = z_to_the_n(z, n) + c
iterations += 1
if iterations > max_iterations:
break
if z.length > threshold:
converged = 0
break
return converged
def compute_traveled_dist(self):
"""Return a float representing the distance between origin and the current position"""
return vec(self.simulator.update_world_position(self.body_obj, self.origin) - self.origin).x