def CreateNet(w, h, alpha):
mesh = MetaMesh()
thickness = 0.015
N_w = int(2*w/alpha)
N_h = int(h/alpha)
dh = 0
print(N_h)
for k in range(0, N_h):
dh = float(k*alpha)
mesh.AddBox(0, 0, dh, w, thickness, thickness)
for k in range(0, N_w):
dw = float(k*alpha) - w
mesh.AddBox(dw, 0, h/2, thickness, thickness, h/2)
fname = "%.3f"%alpha
fname = fname.replace(".", "_")
path = "../../data/terrains/"
os.chdir(path)
fname = "net_"+fname+".off"
mesh.write(fname)
def CreateTriRoom(alpha):
mesh = MetaMesh()
length_passage = 0.2
Z_height = 0.1
width_wall = 0.2
length_wall = 4
length_bttm = 1
max_x = 6
width_mid = 0.5 * (max_x - length_passage - width_wall)
x_mid = length_passage + width_mid
#left wall
mesh.AddBox(-max_x, 0, 0, width_wall, length_wall, Z_height)
mesh.AddBox(-x_mid, -length_wall + width_wall, 0, width_mid, width_wall,
Z_height)
mesh.AddBox(-x_mid, +length_wall - width_wall, 0, width_mid, width_wall,
Z_height)
#right wall
mesh.AddBox(+max_x, 0, 0, width_wall, length_wall, Z_height)
mesh.AddBox(+x_mid, -length_wall + width_wall, 0, width_mid, width_wall,
Z_height)
mesh.AddBox(+x_mid, +length_wall - width_wall, 0, width_mid, width_wall,
Z_height)
##narrow passage
width_passage_box = 0.5 * (length_wall - alpha)
y = alpha + width_passage_box
mesh.AddBox(0, +y, 0, length_passage, width_passage_box, Z_height)
mesh.AddBox(0, -y, 0, length_passage, width_passage_box, Z_height)
fname = "%.2f" % alpha
fname = fname.replace(".", "_")
path = "../../data/terrains/narrow_passage/"
os.chdir(path)
fname = "narrow_passage_" + fname + ".off"
mesh.write(fname)
import numpy as np from shutil import copyfile import subprocess from tri_primitives import MetaMesh import os, sys, re Z_height = 0.1 radius = 0.15 mesh = MetaMesh() mesh.AddCylinder(0, 0, 0, radius, Z_height) path = "../../data/terrains/primitives/" os.chdir(path) fname = "manipulatable_disk.off" mesh.write(fname) # import subprocess # subprocess.run(["off2tri", fname])
def CreateTriRoomSequential(alpha):
mesh = MetaMesh()
length_passage = 0.2
Z_height = 0.1
width_wall = 0.2
length_wall = 4
length_bttm = 1
x_max = 8
width_mid = 0.5 * (x_max - length_passage - width_wall)
x_mid = length_passage + width_mid
#left wall
mesh.AddBox(-x_max, 0, 0, width_wall, length_wall, Z_height)
#right wall
mesh.AddBox(+x_max, 0, 0, width_wall, length_wall, Z_height)
#top wall
mesh.AddBox(0, +length_wall - width_wall, 0, x_max, width_wall, Z_height)
#bottom wall
mesh.AddBox(0, -length_wall + width_wall, 0, x_max, width_wall, Z_height)
##narrow passage
width_passage_box = 0.5 * (length_wall - alpha)
y = alpha + width_passage_box
mesh.AddBox(-0.25 * x_max, +y, 0, length_passage, width_passage_box,
Z_height)
mesh.AddBox(-0.25 * x_max, -y, 0, length_passage, width_passage_box,
Z_height)
##narrow passage 2
mesh.AddBox(+0.25 * x_max, +y, 0, length_passage, width_passage_box,
Z_height)
mesh.AddBox(+0.25 * x_max, -y, 0, length_passage, width_passage_box,
Z_height)
fname = "%.2f" % alpha
fname = fname.replace(".", "_")
path = "../../data/terrains/narrow_passage/"
os.chdir(path)
fname = "narrow_passage_sequential_" + fname + ".off"
mesh.write(fname)
def CreateRoom(N, alpha):
mesh = MetaMesh()
height = 0.1
length = 8
length_inner_box = 0.3 * length
thickness = 0.5
passage_length = 1.3
top_length = 4 * passage_length
xright = 0.5 * length + thickness
xleft = -xright
#(1) bottom element
mesh.AddBox(0, 0, 0, 0.5 * length + 2 * thickness, thickness, height)
y = thickness + 0.5 * passage_length
mesh.AddBox(xleft, y, 0, thickness, 0.5 * passage_length, height)
mesh.AddBox(xright, y, 0, thickness, 0.5 * passage_length, height)
#(3) N passage elements
for k in range(1, N):
yoffset = thickness + passage_length + 2 * (k - 1) * passage_length
yk = yoffset + 0.5 * passage_length
mesh.AddBox(0, yk, 0, 0.5 * length_inner_box, 0.5 * passage_length,
height)
yk = yoffset + passage_length
mesh.AddBox(xleft, yk, 0, thickness, passage_length, height)
mesh.AddBox(xright, yk, 0, thickness, passage_length, height)
#(N+1) top element
yoffset = thickness + passage_length + 2 * (N - 1) * passage_length
ytop = yoffset + top_length + thickness
mesh.AddBox(0, ytop, 0, 0.5 * length + 2 * thickness, thickness, height)
y = yoffset + 0.5 * top_length
mesh.AddBox(xleft, y, 0, thickness, 0.5 * top_length, height)
mesh.AddBox(xright, y, 0, thickness, 0.5 * top_length, height)
y = yoffset + 0.25 * top_length
mesh.AddBox(0, y, 0, 0.5 * length_inner_box, 0.25 * top_length, height)
path = "../../data/terrains/"
os.chdir(path)
fname = "spurious_path_N.off"
mesh.write(fname)
import numpy as np
from shutil import copyfile
import subprocess
from tri_primitives import MetaMesh
import os, sys, re
height = 0.2
radius = 0.8
mesh = MetaMesh()
mesh.AddCylinderWithCut(0, 0, 0, radius, height)
path = "../../data/terrains/primitives/"
os.chdir(path)
fname = "cylinder_height_%.2f_radius_%.2f_cut" % (height, radius)
fname = fname.replace(".", "_")
fname = fname + ".stl"
mesh.write(fname)
# import subprocess
# subprocess.run(["off2tri", fname])