def createScene(root):
##### global parameters
root.createObject(
'VisualStyle',
displayFlags=
"hideVisual showBehavior showCollisionModels hideBoundingCollisionModels hideMapping hideOptions"
)
root.dt = 0.01
root.gravity = [0, -9.8, 0]
root.createObject('RequiredPlugin', pluginName='Compliant')
root.createObject('CompliantAttachButtonSetting')
##### SOLVER
root.createObject('CompliantImplicitSolver', stabilization=1)
root.createObject('SequentialSolver', iterations=100)
root.createObject('LDLTResponse')
##### Collisions
root.createObject('DefaultCollisionGroupManager')
root.createObject('NewProximityIntersection',
alarmDistance=0.5,
contactDistance=0.05)
root.createObject('BruteForceDetection')
root.createObject('DefaultContactManager',
response='FrictionCompliantContact',
responseParams="mu=0.01")
root.createObject('DefaultPipeline', depth=6)
##### Sleep
root.createObject('CompliantSleepController',
printLog=1,
listening=1,
minTimeSinceWakeUp=1.0,
immobileThreshold=0.02,
rotationThreshold=0.1)
##### Bodies
ground_body = createFixedRigidBody(root, 'ground_body', True, [0, 0, 2],
[20, 1, 10])
standalone_body = createRigidBody(root, 'standalone_body', True,
[-6, 3, 0])
standalone_body.dofs.velocity = "2 0 0 0 0 0"
distanceNode = root.createChild('distance')
distance_body1 = createRigidBody(distanceNode, 'distance_body1', True,
[0, 3, 0])
distance_body2 = createRigidBody(distanceNode, 'distance_body2', True,
[0, -3, 0])
distance = StructuralAPI.DistanceRigidJoint('joint', distance_body1.node,
distance_body2.node)
def createSceneAndController(root):
##### global parameters
root.createObject(
'VisualStyle',
displayFlags="showBehavior showWireframe showCollisionModels")
root.dt = 0.001
root.gravity = [0, -9.8, 0]
root.createObject('RequiredPlugin', pluginName='Compliant')
root.createObject('CompliantAttachButtonSetting')
##### SOLVER
root.createObject('CompliantImplicitSolver', stabilization=1)
root.createObject('SequentialSolver', iterations=100)
root.createObject('LDLTResponse')
##### SIMPLE KINETIC JOINTS
# HINGE
hingeNode = root.createChild('hinge')
hinge_body1 = createFixedRigidBody(hingeNode, "hinge_body1", -30)
hinge_body2 = createRigidBody(hingeNode, "hinge_body2", -30)
hinge = StructuralAPI.HingeRigidJoint(2, "joint", hinge_body1.node,
hinge_body2.node)
hinge.addLimits(-1, 0.75)
hinge.addSpring(100)
# SLIDER
sliderNode = root.createChild('slider')
slider_body1 = createFixedRigidBody(sliderNode, "slider_body1", -25)
slider_body2 = createRigidBody(sliderNode, "slider_body2", -25)
slider = StructuralAPI.SliderRigidJoint(1, "joint", slider_body1.node,
slider_body2.node)
slider.addLimits(-1, 5)
slider.addSpring(100)
# CYLINDRICAL
cylindricalNode = root.createChild('cylindrical')
cylindrical_body1 = createFixedRigidBody(cylindricalNode,
"cylindrical_body1", -20)
cylindrical_body2 = createRigidBody(cylindricalNode, "cylindrical_body2",
-20)
cylindrical = StructuralAPI.CylindricalRigidJoint(1, "joint",
cylindrical_body1.node,
cylindrical_body2.node)
cylindrical.addLimits(-1, 5, -1, 0.75)
cylindrical.addSpring(100, 100)
# BALL AND SOCKET
ballandsocketNode = root.createChild('ballandsocket')
ballandsocket_body1 = createFixedRigidBody(ballandsocketNode,
"ballandsocket_body1", -15)
ballandsocket_body2 = createRigidBody(ballandsocketNode,
"ballandsocket_body2", -15)
ballandsocket = StructuralAPI.BallAndSocketRigidJoint(
"joint", ballandsocket_body1.node, ballandsocket_body2.node)
ballandsocket.addSpring(100)
# soft BALL AND SOCKET
ballandsocketNode = root.createChild('softballandsocket')
ballandsocket_body1 = createFixedRigidBody(ballandsocketNode,
"ballandsocket_body1", -10)
ballandsocket_body2 = createRigidBody(ballandsocketNode,
"ballandsocket_body2", -10)
ballandsocket = StructuralAPI.BallAndSocketRigidJoint(
"joint",
ballandsocket_body1.node,
ballandsocket_body2.node,
compliance=1e-2,
isCompliance=False)
ballandsocket.addSpring(100)
ballandsocketNode = root.createChild('simpleballandsocket')
ballandsocket_body1 = createFixedRigidBody(ballandsocketNode,
"simpleballandsocket_body1", -5)
ballandsocket_body2 = createRigidBody(ballandsocketNode,
"simpleballandsocket_body2", -5)
simpleballandsocket = StructuralAPI.SimpleBallAndSocketRigidJoint(
"joint",
ballandsocket_body1.node,
ballandsocket_body2.node,
compliance=1e-2,
isCompliance=False)
# PLANAR
planarNode = root.createChild('planar')
planar_body1 = createFixedRigidBody(planarNode, "planar_body1", 0)
planar_body2 = createRigidBody(planarNode, "planar_body2", 0)
planar = StructuralAPI.PlanarRigidJoint(2, "joint", planar_body1.node,
planar_body2.node)
planar.addLimits(-0.5, 1, -3, 3)
planar.addSpring(100, 100)
# GIMBAL
# gimbalNode = root.createChild('gimbal')
# gimbal_body1 = createFixedRigidBody(gimbalNode, "gimbal_body1", 0 )
# gimbal_body2 = createRigidBody(gimbalNode, "gimbal_body2", 0 )
# gimbal = StructuralAPI.GimbalRigidJoint( 2, "joint", gimbal_body1.node, gimbal_body2.node )
# gimbal.addLimits(-0.5,1,-3,3)
# gimbal.addSpring( 100,100 )
# FIXED
fixedNode = root.createChild('fixed')
fixed_body1 = createFixedRigidBody(fixedNode, "fixed_body1", 5)
fixed_body2 = createRigidBody(fixedNode, "fixed_body2", 5)
fixed = StructuralAPI.FixedRigidJoint("joint", fixed_body1.node,
fixed_body2.node)
# DISTANCE
distanceNode = root.createChild('distance')
distance_body1 = createFixedRigidBody(distanceNode, "distance_body1", 10)
distance_body2 = createRigidBody(distanceNode, "distance_body2", 10, 4)
distance = StructuralAPI.DistanceRigidJoint("joint", distance_body1.node,
distance_body2.node)
# 6D spring
springNode = root.createChild('6Dspring')
spring_body1 = createFixedRigidBody(springNode, "spring_body1", 15)
spring_body2 = createRigidBody(springNode, "spring_body2", 15)
spring = StructuralAPI.RigidJointSpring(
"joint", spring_body1.node, spring_body2.node,
[100000, 100000, 100000, 100000, 100000, 10000])
# from now work in float
StructuralAPI.template_suffix = "f"
##### MORE COMPLEX EXAMPLE
complexNode = root.createChild('complex')
# rigid body
body1 = StructuralAPI.RigidBody(complexNode, "body1")
body1.setFromMesh("mesh/cube.obj", 1, [5, -7, 0, 0, 0, 0, 1])
body1.dofs.showObject = True
body1.dofs.showObjectScale = 1
# collision model
body1_collisionModel = body1.addCollisionMesh("mesh/cube.obj",
[3.1, 1.1, 2.1])
body1_collisionModel.triangles.group = "1"
# visual model
body1.visualModel = body1.addVisualModel("mesh/cube.obj", [3, 1, 2])
body1.visualModel.model.setColor(1, 0, 0, 1)
# offsets
body1_offset1 = body1.addOffset("offset1", [
2, 1, 3, 0.7325378163287418, 0.4619397662556433, -0.19134171618254486,
0.4619397662556433
])
body1_offset1.dofs.showObject = True
body1_offset1.dofs.showObjectScale = .5
body1_offset2 = body1.addOffset("offset2", [1, 0, 0, 0, 0, 0, 1])
body1_offset2.dofs.showObject = True
body1_offset2.dofs.showObjectScale = .5
##### RIGID BODY 2
# rigid body
body2 = StructuralAPI.RigidBody(complexNode, "body2")
body2.setManually([10, -7, 0, 0, 0, 0, 1], 1, [1, 1, 1])
body2.dofs.showObject = True
body2.dofs.showObjectScale = 1
# collision model
body2.node.createObject("Sphere", group="1")
# visual model
body2.visualModel = body2.addVisualModel("mesh/cube.obj")
body2.visualModel.model.setColor(0, 1, 0, 1)
##### JOINT
joint1 = StructuralAPI.SliderRigidJoint(0, "joint1", body1_offset1.node,
body2.node)
joint1.addLimits(-10, 10)
joint1.addDamper(5)
##### ROTATED INERTIA
mesh = path + "/../Compliant_test/python/geometric_primitives/rotated_cuboid_12_35_-27.obj"
body3 = StructuralAPI.RigidBody(complexNode, "rotated_mesh")
body3.setFromMesh(
mesh, 1, [-3, -5, 0, 0.7071067811865476, 0, 0, 0.7071067811865476])
body3.dofs.showObject = True
body3.dofs.showObjectScale = 1
body3.addCollisionMesh(mesh)
body3.addVisualModel(mesh)
alignedoffset = body3.addOffset("world_axis_aligned",
[0, 0, 0, 0, 0, 0, 1])
alignedoffset.dofs.showObject = True
alignedoffset.dofs.showObjectScale = .5
alignedoffset.addVisualModel("mesh/cube.obj", [0.1, 0.1, 0.1])
cm = alignedoffset.addCollisionMesh("mesh/cube.obj", [0.2, 0.1, 0.1])
cm.addVisualModel()
mappedpoint1 = body3.addMappedPoint("point", [1, 0, 0], isMechanical=False)
mappedpoint1.dofs.showObject = True
mappedpoint1.dofs.showObjectScale = .1
mappedpoint1.dofs.drawMode = 1
global notalignedoffset
notalignedoffset = body3.addOffset("offset", [
1, 0, 0, 0.7325378163287418, 0.4619397662556433, -0.19134171618254486,
0.4619397662556433
],
isMechanical=False)
notalignedoffset.dofs.showObject = True
notalignedoffset.dofs.showObjectScale = .5
mappedpoint2 = notalignedoffset.addMappedPoint("point", [1, 0, 0],
isMechanical=False)
mappedpoint2.dofs.showObject = True
mappedpoint2.dofs.showObjectScale = .1
mappedpoint2.dofs.drawMode = 1
##### COMPLEX SHAPE
mesh = "mesh/dragon.obj"
dragon = StructuralAPI.RigidBody(complexNode, "dragon")
dragon.setFromMesh(mesh, 1, [-10, -5, 0, 0, 0, 0, 1], [.2, .2, .2])
dragon.dofs.showObject = True
dragon.dofs.showObjectScale = 1
dragon.addCollisionMesh(mesh, [.2, .2, .2])
dragon.addVisualModel(mesh, [.2, .2, .2])
