def createScene(node):
scene = Tools.scene( node )
style = node.getObject('style')
style.findData('displayFlags').showMappings = False
style.findData('displayFlags').showVisual = False
style.findData('displayFlags').showCollision = True
manager = node.getObject('manager')
manager.response = 'PenalityCompliantContact'
manager.responseParams="stiffness=1e5"
node.dt = 2.5e-3
# node.createObject('CompliantAttachButton')
ode = node.getObject('ode')
node.removeObject(ode)
ode = node.createObject("EulerImplicitSolver", rayleighStiffness = 0, rayleighMass = 0)
num = node.createObject('CGLinearSolver',
name = 'num',
iterations = 100,
tolerance = 1e-7, threshold = 0)
num.printLog = 1
# num = node.createObject('CgSolver', name = 'num', iterations = 100, precision = 1e-7 )
proximity = node.getObject('proximity')
proximity.alarmDistance = 0.1
proximity.contactDistance = 0
proximity.useLineLine = True
# planes
for i in xrange(4):
mesh = dir + '/../mesh/ground.obj'
plane = StructuralAPI.RigidBody( node, "plane-{}".format(i) )
g = Rigid3()
n = np.zeros(3)
n[:] = [0, 1, 0]
r = Quaternion.exp( math.pi / 8 * np.array([1.0, 0.0, 0.0]))
q = Quaternion.exp(i * math.pi / 2 * np.array([0.0, 1.0, 0.0]))
g.orient = q * r
plane.setManually( g, 1, [1,1,1] )
#body3.setFromMesh( mesh, 1 )
cm = plane.addCollisionMesh( mesh, [10, 1, 10] )
cm.triangles.group = "0"
cm.addVisualModel()
plane.node.createObject('FixedConstraint', indices = '0')
cm.triangles.contactFriction = 0.5 # per object friction coefficient
# box
particles = node.createChild('particles')
n = 400
dofs = particles.createObject('MechanicalObject', template = "Vec3d")
pos = np.zeros( (n, 3) )
vel = np.zeros( (n, 3) )
for i in xrange(n):
pos[i, 1] = 2 + i / 1.5
vel[i, 1] = -1
dofs.position = pos.tolist()
dofs.velocity = vel.tolist()
mass = particles.createObject('UniformMass', template = 'Vec3d')
model = particles.createObject('SphereModel', template = 'Vec3d',
selfCollision = True,
radius = 0.1)
def createScene(node):
scene = Tools.scene(node)
style = node.getObject('style')
style.findData('displayFlags').showMappings = False
style.findData('displayFlags').showVisual = False
style.findData('displayFlags').showCollision = True
manager = node.getObject('manager')
manager.response = 'PenalityCompliantContact'
manager.responseParams = "stiffness=1e5"
node.dt = 2.5e-3
# node.createObject('CompliantAttachButton')
ode = node.getObject('ode')
node.removeObject(ode)
ode = node.createObject("EulerImplicitSolver",
rayleighStiffness=0,
rayleighMass=0)
num = node.createObject('CGLinearSolver',
name='num',
iterations=100,
tolerance=1e-7,
threshold=0)
num.printLog = 1
# num = node.createObject('CgSolver', name = 'num', iterations = 100, precision = 1e-7 )
proximity = node.getObject('proximity')
proximity.alarmDistance = 0.1
proximity.contactDistance = 0
proximity.useLineLine = True
# planes
for i in xrange(4):
mesh = dir + '/../mesh/ground.obj'
plane = StructuralAPI.RigidBody(node, "plane-{}".format(i))
g = Rigid3()
n = np.zeros(3)
n[:] = [0, 1, 0]
r = Quaternion.exp(math.pi / 8 * np.array([1.0, 0.0, 0.0]))
q = Quaternion.exp(i * math.pi / 2 * np.array([0.0, 1.0, 0.0]))
g.orient = q * r
plane.setManually(g, 1, [1, 1, 1])
#body3.setFromMesh( mesh, 1 )
cm = plane.addCollisionMesh(mesh, [10, 1, 10])
cm.triangles.group = "0"
cm.addVisualModel()
plane.node.createObject('FixedConstraint', indices='0')
cm.triangles.contactFriction = 0.5 # per object friction coefficient
# box
particles = node.createChild('particles')
n = 400
for i in xrange(n):
p = particles.createChild('particle-{0}'.format(i))
dofs = p.createObject('MechanicalObject', template="Vec3d")
pos = np.zeros(3)
vel = np.zeros(3)
pos[1] = 2 + i / 1.5
vel[1] = -1
dofs.position = pos.tolist()
dofs.velocity = vel.tolist()
mass = p.createObject('UniformMass', template='Vec3d')
model = p.createObject('SphereModel',
template='Vec3d',
selfCollision=True,
radius=0.1)
def createScene(node):
scene = Tools.scene(node)
style = node.getObject('style')
style.findData('displayFlags').showMappings = True
manager = node.getObject('manager')
manager.response = 'FrictionCompliantContact'
# node.createObject('CompliantAttachButton')
globalMu = 0.7 # per object friction coefficient (the friction coef between 2 objects is approximated as the product of both coefs)
manager.responseParams = 'mu={0}&compliance={1}&horizontalConeProjection=1'.format(
globalMu, 1e-8)
ode = node.getObject('ode')
ode.stabilization = "pre-stabilization"
ode.debug = 2
# (un)comment these to see anisotropy issues with sequential solver
solver = 'ModulusSolver'
solver = 'SequentialSolver'
num = node.createObject(solver,
name='num',
iterations=100,
precision=1e-14,
anderson=4)
num.printLog = True
proximity = node.getObject('proximity')
proximity.alarmDistance = 0.5
proximity.contactDistance = 0.2
proximity.useLineLine = True
# plane
plane = Rigid.Body('plane')
plane.dofs.translation = [0, 5, -15]
alpha = math.pi / 5
mu = math.tan(alpha)
print "plane mu:", mu,
if mu < globalMu: print '(should stick)'
else: print '(should slide)'
q = Quaternion.exp([alpha, 0.0, 0.0])
plane.dofs.rotation = q
s = 6
plane.scale = [s, s, s]
plane.visual = path + '/../mesh/ground.obj'
plane.collision = plane.visual
plane.mass_from_mesh(plane.visual, 10)
plane.mu = 0.5 # per object friction coefficient
plane.node = plane.insert(scene)
plane.node.createObject('FixedConstraint', indices='0')
# box
box = Rigid.Body('box')
box.visual = path + '/../mesh/cube.obj'
box.collision = box.visual
box.dofs.translation = [0, 3, 0]
box.mass_from_mesh(box.visual, 50)
box.mu = 1 # per object friction coefficient
box.dofs.rotation = q
box.node = box.insert(scene)
def createScene(node):
scene = Tools.scene( node )
style = node.getObject('style')
style.findData('displayFlags').showMappings = True
manager = node.getObject('manager')
manager.response = 'FrictionCompliantContact'
# node.createObject('CompliantAttachButton')
globalMu = 0.7 # per object friction coefficient (the friction coef between 2 objects is approximated as the product of both coefs)
manager.responseParams = 'mu={0}&compliance={1}&horizontalConeProjection=1'.format(globalMu,
1e-8)
ode = node.getObject('ode')
ode.stabilization = "pre-stabilization"
ode.debug = 2
# (un)comment these to see anisotropy issues with sequential solver
solver = 'ModulusSolver'
solver = 'SequentialSolver'
num = node.createObject(solver,
name = 'num',
iterations = 100,
precision = 1e-14,
anderson = 4)
num.printLog = True
proximity = node.getObject('proximity')
proximity.alarmDistance = 0.5
proximity.contactDistance = 0.2
proximity.useLineLine = True
# plane
plane = Rigid.Body('plane')
plane.dofs.translation = [0, 5, -15]
alpha = math.pi / 5
mu = math.tan( alpha )
print "plane mu:", mu,
if mu < globalMu: print '(should stick)'
else: print '(should slide)'
q = Quaternion.exp( [alpha, 0.0, 0.0] )
plane.dofs.rotation = q
s = 6
plane.scale = [s, s, s]
plane.visual = path + '/../mesh/ground.obj'
plane.collision = plane.visual
plane.mass_from_mesh( plane.visual, 10 )
plane.mu = 0.5 # per object friction coefficient
plane.node = plane.insert( scene )
plane.node.createObject('FixedConstraint', indices = '0')
# box
box = Rigid.Body('box')
box.visual = path + '/../mesh/cube.obj'
box.collision = box.visual
box.dofs.translation = [0, 3, 0]
box.mass_from_mesh( box.visual, 50 )
box.mu = 1 # per object friction coefficient
box.dofs.rotation = q
box.node = box.insert( scene )
