def un_cubo(io, name, cname, roca_size=0.05, density=1, trans=None, tob=None):
# Definition of a cube as a convex shape
vertices = numpy.array([[1, 1, 1], [1, -1, 1], [-1, 1, 1], [-1, -1, 1],
[1, 1, -1], [1, -1, -1], [-1, 1, -1], [-1, -1, -1]
]) * roca_size
ch = ConvexHull(vertices)
cm = ch.centroid()
# correction of vertices such that 0 is the centroid
vertices = numpy.array(vertices)[:] - cm[:]
ch = ConvexHull(vertices)
cm = ch.centroid()
# Definition of a polyhedron as a convex shape
io.add_convex_shape(cname, vertices)
# computation of inertia and volume
inertia, volume = ch.inertia(ch.centroid())
io.add_object(
name,
[Contactor(cname)],
translation=trans,
#velocity=veloci,
mass=volume * density,
time_of_birth=tob,
inertia=inertia * density)
def one_brick(io,
name,
cname,
vertices,
size,
density=1,
trans=None,
velo=None,
tob=None):
estimated_size = max(
numpy.array(vertices).max(axis=0) - numpy.array(vertices).min(axis=0))
#print(estimated_size)
# scale = size / max(numpy.array(vertices).max(axis=0)
# - numpy.array(vertices).min(axis=0))
scale = 1.0
ch = ConvexHull(vertices)
cm_ori = ch.centroid()
#print('cm_ori', cm_ori)
if (numpy.linalg.norm(cm_ori) <= 1e-2):
input()
# correction of vertices such that 0 is the centroid
vertices = (numpy.array(vertices)[:] - cm_ori[:]) * scale
ch = ConvexHull(vertices)
cm = ch.centroid()
#print('cm', cm)
# Definition of a polyhedron as a convex shape
io.add_convex_shape(cname, vertices, insideMargin=0.001 * size)
# computation of inertia and volume
inertia, volume = ch.inertia(ch.centroid())
# print('geometric inertia:', inertia)
# print('volume:', volume)
# print('mass:', volume*density)
# print('inertia:', inertia*density)
# io.add_object(name,
# [Contactor(cname, relative_translation = cm_ori)],
# translation=-cm_ori,
# velocity=velo,
# mass=volume*density,
# time_of_birth=tob,
# inertia=inertia*density)
io.add_object(
name, [Contactor(
cname,
relative_orientation=[1.0, 0.0, 0.0, 0.0],
)],
translation=cm_ori,
orientation=[1.0, 0.0, 0.0, 0.0],
velocity=velo,
mass=volume * density,
time_of_birth=tob,
inertia=inertia * density)
def one_rock(io, name, cname, rock_size=0.05, density=1, trans=None, velo=None, tob=None):
# Definition of an irregular polyhedron as a convex shape
rd = [math.pi/2 * random.gauss(0.5,0.2) for _ in range(16)]
rd = [1.143194140731269, 0.6247636994959747, 0.4198206059540749, 1.1116480956118107, 0.8965451614785596, 0.8819019228647785, 0.2592675582459427, 0.22899315888913663, 0.23837569282753324, 0.6585606791241505, 1.0084563758002816, 0.9096785924063177, 0.8633716705085941, 1.1215975890657788, 1.1983269522076825, 0.5443688021200721]
# print('rd', rd)
# input()
def vert(id1, id2, a, b, c):
return (a*math.cos(rd[id1])*math.cos(rd[id2]),
b*math.sin(rd[id1])*math.cos(rd[id2]),
c*math.sin(rd[id2]))
vertices = [ vert( 0, 1, 1, 1, 1),
vert( 2, 3, 1, -1, 1),
vert( 4, 5, -1, 1, 1),
vert( 6, 7, -1, -1, 1),
vert( 8, 9, 1, 1, -1),
vert(10, 11, 1, -1, -1),
vert(12, 13, -1, 1, -1),
vert(14, 15, -1, -1, -1) ]
scale = rock_size / max(numpy.array(vertices).max(axis=0)
- numpy.array(vertices).min(axis=0))
ch = ConvexHull(vertices)
cm = ch.centroid()
# correction of vertices such that 0 is the centroid
vertices = (numpy.array(vertices)[:] - cm[:]) * scale
ch = ConvexHull(vertices)
cm = ch.centroid()
# Definition of a polyhedron as a convex shape
io.add_convex_shape(cname, vertices, insideMargin=0.1*rock_size)
# computation of inertia and volume
inertia,volume=ch.inertia(ch.centroid())
# print('geometric inertia:', inertia)
# print('volume:', volume)
# print('mass:', volume*density)
# print('inertia:', inertia*density)
io.add_object(name,
[Contactor(cname)],
translation=trans,
velocity=velo,
mass=volume*density,
time_of_birth=tob,
inertia=inertia*density)
def una_roca(io, name, cname, roca_size=0.05, density=1, trans=None, tob=None):
# Definition of an irregular polyhedron as a convex shape
rd = [math.pi / 2 * random.gauss(0.5, 0.2) for _ in range(16)]
def vert(id1, id2, a, b, c):
return (a * math.cos(rd[id1]) * math.cos(rd[id2]),
b * math.sin(rd[id1]) * math.cos(rd[id2]),
c * math.sin(rd[id2]))
vertices = [
vert(0, 1, 1, 1, 1),
vert(2, 3, 1, -1, 1),
vert(4, 5, -1, 1, 1),
vert(6, 7, -1, -1, 1),
vert(8, 9, 1, 1, -1),
vert(10, 11, 1, -1, -1),
vert(12, 13, -1, 1, -1),
vert(14, 15, -1, -1, -1)
]
scale = roca_size / max(
numpy.array(vertices).max(axis=0) - numpy.array(vertices).min(axis=0))
ch = ConvexHull(vertices)
cm = ch.centroid()
# correction of vertices such that 0 is the centroid
vertices = (numpy.array(vertices)[:] - cm[:]) * scale
ch = ConvexHull(vertices)
cm = ch.centroid()
# Definition of a polyhedron as a convex shape
io.add_convex_shape(cname, vertices, insideMargin=0.1 * roca_size)
# computation of inertia and volume
inertia, volume = ch.inertia(ch.centroid())
# print('geometric inertia:', inertia)
# print('volume:', volume)
# print('mass:', volume*density)
# print('inertia:', inertia*density)
io.add_object(
name,
[Contactor(cname)],
translation=trans,
#velocity=veloci,
mass=volume * density,
time_of_birth=tob,
inertia=inertia * density)
io.add_primitive_shape('Ground',
'Box', (10, 10, 1),
insideMargin=0.01,
outsideMargin=0.0)
# Definition of a non smooth law. As no group ids are specified it
# is between contactors of group id 0.
io.add_Newton_impact_friction_nsl('contact',
mu=0.01,
e=0.7,
collision_group1=1,
collision_group2=2)
# computation of inertia and volume
ch = ConvexHull(pts)
inertia, volume = ch.inertia(ch.centroid())
# The tetra object made with an unique Contactor : the tetrahedron
# shape. As a mass is given, it is a dynamic system involved in
# contact detection and in the simulation. With no group id
# specified the Contactor belongs to group 0
io.add_object('tetra', [Contactor('Tetra', collision_group=1)],
translation=[0, 0, 4],
velocity=[0, 0, 0, 0, 0, 0],
mass=1,
inertia=inertia)
# 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', collision_group=2)],
])
all_pts += list(pts)
io.add_convex_shape('Chainlink%02d' % (i * num_parts + j), pts)
# connector: using the 16 points closest to center, create two
# hulls for upper and lower part
all_pts = np.array(all_pts)
connect = all_pts[np.argsort((all_pts[:, 1] - 0)**2)[:16]]
io.add_convex_shape('Chainlink%02d' % (num_parts * 2 + 0),
connect[connect[:, 2] > 0])
io.add_convex_shape('Chainlink%02d' % (num_parts * 2 + 1),
connect[connect[:, 2] < 0])
# computation of inertia and volume of all points
ch = ConvexHull(all_pts)
link_inertia, volume = ch.inertia(ch.centroid())
# computation of inertia and volume of all points including
# extrema of the ball
ball_pos = np.array([0, ball_radius + length * 2 / 3, 0])
ch = ConvexHull(
np.vstack((all_pts, [
ball_pos + [0, ball_radius, 0], ball_pos + [0, 0, ball_radius],
ball_pos + [0, 0, -ball_radius], ball_pos + [ball_radius, 0, 0],
ball_pos + [-ball_radius, 0, 0]
])))
ball_inertia, volume = ch.inertia(ch.centroid())
# ball at the end of the chain
io.add_primitive_shape('Ball', 'Sphere', [ball_radius])
(polyhedron_size_rand, polyhedron_size_rand, 0.0),
(0.0,0.0, 10.0*polyhedron_size_rand)]
print('polyhedron_vertices', polyhedron_vertices)
ch = ConvexHull(polyhedron_vertices)
cm = ch.centroid()
print('cm', cm)
# correction of vertices such that o is the centroid
polyhedron_vertices = numpy.array(polyhedron_vertices)[:]-cm[:]
print('corrected polyhedron_vertices', polyhedron_vertices)
ch = ConvexHull(polyhedron_vertices)
cm = ch.centroid()
print('cm', cm)
# computation of inertia and volume
inertia,volume=ch.inertia(cm)
print ('inertia,volume',inertia,volume)
mass = volume*density
inertia = inertia*density
print ('inertia,mass',inertia,mass)
# Definition of a polyhedron as a convex shape
io.add_convex_shape('PolyhedronCS'+str(n)+'_'+str(i)+'_'+str(j), polyhedron_vertices)
trans=[box_width/5.0+i*x_shift*polyhedron_size, x_shift*(j+2)*polyhedron_size, box_height+polyhedron_size*x_shift*n]
#trans= [0,0,0]
io.add_object('polyhedron'+str(n)+'_'+str(i)+'_'+str(j), [Contactor('PolyhedronCS'+str(n)+'_'+str(i)+'_'+str(j))],
translation=trans, orientation = orientation_polyhedron,
velocity=[0, 0, 0, 0, 0, 0],
mass=mass,inertia=inertia)