n_col=n_col,
x_shift=1.8,
roca_size=0.1,
top=3,
rate=0.2,
density=density)
io.add_Newton_impact_friction_nsl('contact', mu=1.0, e=0.01)
run_options = MechanicsHdf5Runner_run_options()
run_options['t0'] = 0
run_options['T'] = T
run_options['h'] = hstep
run_options['theta'] = 1.0
bullet_options = SiconosBulletOptions()
bullet_options.perturbationIterations = 0.
#bullet_options.minimumPointsPerturbationThreshold = 0.
run_options['bullet_options'] = bullet_options
run_options['solver_options'] = options
run_options['constraint_activation_threshold'] = 1e-05
run_options['end_run_iteration_hook'] = dh
run_options['Newton_options'] = sk.SICONOS_TS_LINEAR
run_options['skip_last_update_output'] = True
run_options['skip_reset_lambdas'] = True
#run_options['osns_assembly_type']= sk.REDUCED_DIRECT
translation=[4 * math.sqrt(2), 2.],
orientation=[math.pi / 4.0],
velocity=[0, 0, -1.0],
mass=1.,
inertia=2.0)
# the ground object made with the ground shape. As the mass is
# not given, it is a static object only involved in contact
# detection.
io.add_object('ground', [Contactor('Ground')], translation=[0, -.5])
# Run the simulation from the inputs previously defined and add
# results to the hdf5 file. The visualisation of the output may be done
# with the vview command.
bullet_options = SiconosBulletOptions()
bullet_options.worldScale = 1.0
bullet_options.contactBreakingThreshold = 0.04
bullet_options.dimension = SICONOS_BULLET_2D
bullet_options.perturbationIterations = 0
bullet_options.minimumPointsPerturbationThreshold = 0
options = sk.solver_options_create(sn.SICONOS_FRICTION_2D_NSGS)
options.iparam[sn.SICONOS_IPARAM_MAX_ITER] = 100000
options.dparam[sn.SICONOS_DPARAM_TOL] = 1e-8
T = 2.0
if restart:
T = 2.0
#T=1*0.001
hstep = 0.01
# ./mkspheres.py <n> # ./spheres_in_a_box.py coors-<n>.txt radii-<n>.txt from siconos.mechanics.collision.tools import Contactor from siconos.io.mechanics_run import MechanicsHdf5Runner from siconos.io.FrictionContactTrace import FrictionContactTraceParams import siconos.numerics as sn import siconos.kernel as sk from siconos.mechanics.collision.bullet import SiconosBulletOptions from math import pi import numpy import sys import mkspheres bullet_options = SiconosBulletOptions() bullet_options.worldScale = 1000 bullet_options.contactBreakingThreshold = 0.0002 bullet_options.perturbationIterations = 0 bullet_options.minimumPointsPerturbationThreshold = 0 hstep = 0.001 theta = 0.50001 itermax = 1000 tolerance = 1e-7 lx = mkspheres.lx ly = mkspheres.ly lz = mkspheres.lz margin_ratio=1.e-5 wthick = mkspheres.lz/10 zoffset = -wthick/2
io.add_object('disk', [Contactor('Disk')],
translation=[0, 5.],
velocity=[0, 0, 0.5],
mass=1.,
inertia=2.0)
# the ground object made with the ground shape. As the mass is
# not given, it is a static object only involved in contact
# detection.
io.add_object('ground', [Contactor('Ground_disk')], translation=[0, -4.0])
# Run the simulation from the inputs previously defined and add
# results to the hdf5 file. The visualisation of the output may be done
# with the vview command.
bullet_options = SiconosBulletOptions()
bullet_options.worldScale = 1.0
bullet_options.contactBreakingThreshold = 0.04
bullet_options.dimension = 1
options = sk.solver_options_create(sn.SICONOS_FRICTION_2D_NSGS)
options.iparam[sn.SICONOS_IPARAM_MAX_ITER] = 100000
options.dparam[sn.SICONOS_DPARAM_TOL] = 1e-8
with MechanicsHdf5Runner(mode='r+') as io:
# By default earth gravity is applied and the units are those
# of the International System of Units.
io.run(verbose=True,
with_timer=False,
bullet_options=bullet_options,
#!/usr/bin/env python
# Various object types sliding, rolling, and sitting still.
from siconos.mechanics.collision.tools import Contactor
from siconos.io.mechanics_run import MechanicsHdf5Runner
from siconos.mechanics.collision.convexhull import ConvexHull
from siconos.mechanics.collision.bullet import SiconosBulletOptions
import siconos.numerics as sn
import siconos.kernel as sk
bullet_options = SiconosBulletOptions()
bullet_options.worldScale = 1.0
# Control the number of perturbations applied to generate multipoint
# surface-surface contact manifolds. Default is 5 and 5.
bullet_options.perturbationIterations = 5
bullet_options.minimumPointsPerturbationThreshold = 5
# Creation of the hdf5 file for input/output
with MechanicsHdf5Runner() as io:
# Definition of a tetrahedron as a convex shape.
# Bottom purposely not even.
import numpy
pts = numpy.array([(-1.0, 1.0, -1.0), (1.0, -1.0, -0.5),
(-1.0, -1.0, -0.7), (0.0, 0.0, 1.0)])
io.add_convex_shape('Tetra', pts - pts.mean(0))
io.add_primitive_shape('Cyl', 'Cylinder', [1, 1])
#!/usr/bin/env python
#
# Example of one object under gravity with one contactor and a ground
# using the Siconos proposed mechanics API
#
from siconos.mechanics.collision.tools import Contactor
from siconos.io.mechanics_io import Hdf5
import siconos.numerics as Numerics
import siconos.io.mechanics_io
from siconos.mechanics.collision.bullet import SiconosBulletOptions
options = SiconosBulletOptions()
options.worldScale = 1.0
options.contactBreakingThreshold = 0.04
# Creation of the hdf5 file for input/output
with Hdf5() as io:
# Definition of a sphere
io.addPrimitiveShape('Sphere',
'Sphere', (2, ),
insideMargin=0.2,
outsideMargin=0.3)
# Definition of the ground shape
io.addPrimitiveShape('Ground',
'Box', (10, 10, 0.1),
insideMargin=0.05,
outsideMargin=0.1)
# oscillation if integrated with a fully implicit version of the
# classical time-stepping method. Reducing the step-size led to
# different results as the divergence or deadening was weakened."
mu = 0.3
m = 6*1e-3 # kg
r1 = 1.5 # cm
r2 = 0.5 # cm
a1 = 0.3 # cm
a2 = 1.6 # cm
I1 = 8*1e-3 # kg . cm^2
I3 = 7*1e-3 # kg . cm^2
# Bullet: do not generate extra contact points for convex pairs by
# rotational purterbation method.
bullet_options = SiconosBulletOptions()
bullet_options.perturbationIterations = 0
bullet_options.minimumPointsPerturbationThreshold = 0
with MechanicsHdf5Runner() as io:
io.add_primitive_shape('Body1', 'Sphere', (r1,))
io.add_primitive_shape('Body2', 'Cylinder', (r2, a2))
io.add_primitive_shape('Body3', 'Sphere', (r2,))
io.add_primitive_shape('Ground', 'Box', (100, 100, .5))
io.add_Newton_impact_friction_nsl('contact', mu=mu)
io.add_object('ground', [Contactor('Ground')], translation=[0, 0, 0])
io.add_object('tippe-top', [Contactor('Body1',
relative_translation=[0, 0, a1]),
#
# Here we demonstrate the use of two very small cubes simulated with
# geometry at 1000x its scale. Without scaling, contact detection is
# incorrect for an object of this size. When contact detection is
# performed with scaled-up geometries, the contact points are
# correctly generated and used by Siconos.
#
from siconos.mechanics.collision.tools import Contactor
from siconos.io.mechanics_run import MechanicsHdf5Runner
import siconos.numerics as Numerics
# We need to pass some options to the Bullet backend
from siconos.mechanics.collision.bullet import SiconosBulletOptions
options = SiconosBulletOptions()
options.worldScale = 1000.0
# Creation of the hdf5 file for input/output
with MechanicsHdf5Runner() as io:
# Definition of a cube as a convex shape
io.add_convex_shape('CubeCH',
[(-0.001, 0.001, -0.001), (-0.001, -0.001, -0.001),
(-0.001, -0.001, 0.001), (-0.001, 0.001, 0.001),
(0.001, 0.001, 0.001), (0.001, 0.001, -0.001),
(0.001, -0.001, -0.001), (0.001, -0.001, 0.001)])
# Definition of a cube as a primitive shape
io.add_primitive_shape('CubeP', 'Box', (0.002, 0.002, 0.002))
io.add_object('cubeP', [Contactor('CubeP')],
translation=[0, -0.003, 0.005],
velocity=[0.1, 0, 0, 1, 1, 1],
mass=0.1)
# the ground object made with the ground shape. As the mass is
# not given, it is a static object only involved in contact
# detection.
io.add_object('ground', [Contactor('Ground')], translation=[0, 0, -0.005])
# Run the simulation from the inputs previously defined and add
# results to the hdf5 file. The visualisation of the output may be done
# with the vview command.
from siconos.mechanics.collision.bullet import SiconosBulletOptions
bullet_options = SiconosBulletOptions()
bullet_options.worldScale = 1000.0
bullet_options.contactBreakingThreshold = 0.001
options = sk.solver_options_create(sn.SICONOS_FRICTION_3D_NSGS)
options.iparam[sn.SICONOS_IPARAM_MAX_ITER] = 10000
options.dparam[sn.SICONOS_DPARAM_TOL] = 1e-8
with MechanicsHdf5Runner(mode='r+') as io:
# By default earth gravity is applied and the units are those
# of the International System of Units.
# Because of fixed collision margins used in the collision detection,
# sizes of small objects may need to be expressed in cm or mm.
io.run(with_timer=False,
bullet_options=bullet_options,
