io.add_primitive_shape('Sphere', 'Sphere', (2,),
insideMargin=0.2, outsideMargin=0.0)
# Definition of the ground shape
io.add_primitive_shape('Ground', 'Box', (10, 10, 0.1),
insideMargin=0.05, 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=0.1, e=0.0)
# The sphere object made with an unique Contactor : the sphere 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
sphere=io.add_object('sphere', [Contactor('Sphere')],
translation=[0, 0, 2.5],
velocity=[0, 0, 0, 0, 0, 0],
mass=1)
io.add_object('sphere2', [Contactor('Sphere')],
translation=[-2.5, 0., 5.5],
velocity=[0, 0, 0, 0, 0, 0],
mass=1)
# io.add_object('sphere3', [Contactor('Sphere')],
# translation=[1.5, 0., 7.5],
# velocity=[0, 0, 0, 0, 0, 0],
# time_of_birth=0.02,
# time_of_death=1.5,
# mass=1)
#
io.addOccShape('Mass1', sphere1)
io.addOccShape('Mass2', sphere2)
io.addOccShape('Arm1', cylinder1)
io.addOccShape('Arm2', cylinder2)
io.addOccShape('Ground', ground)
io.addOccShape('Brick', sphere1)
# Definition of a non smooth law. As no group ids are specified it
# is between contactors of group id 0.
io.addNewtonImpactFrictionNSL('contact', mu=0.1)
# first branch + first mass the center of gravity is at the center of the
# Mass1
io.addObject('arm1', [
Contactor(shape_data='Mass1', contact_type='Face', contact_index=0),
Contactor('Arm1',
contact_type='Face',
contact_index=0,
relative_translation=[0, r1 + l1, 0],
relative_orientation=[(1, 0, 0), pi / 2])
],
translation=[0, 0, r2 + gap + r2 + l2 + r1 + hgap],
orientation=((1, 0, 0), pi / 2),
mass=m1)
# second branch + second mass
io.addObject('arm2', [
Contactor(shape_data='Mass2',
instance_name='Mass2Contact',
contact_type='Face',
def create_chute(io,
box_height=box_height,
box_length=box_length,
box_width=box_width,
plane_thickness=plane_thickness,
scale=1.0,
trans=[0, 0, 0]):
box_height *= scale
box_length *= scale
box_width *= scale
plane_thickness *= scale
######### left_up
v1 = numpy.array([0, 0, box_height])
v2 = numpy.array([
4.370 * scale - 4.370 * 1.200 * scale * scale / box_height, 0.0,
1.200 * scale
])
v3 = numpy.array([box_length, 0, 1.200 * scale])
left_up_normal = normal_plane(v1, v2, v3)
v1_extruded = v1 + numpy.dot(plane_thickness, left_up_normal)
v2_extruded = v2 + numpy.dot(plane_thickness, left_up_normal)
v3_extruded = v3 + numpy.dot(plane_thickness, left_up_normal)
left_up_vertices = numpy.array(
[v1, v2, v3, v1_extruded, v2_extruded, v3_extruded])
# print left_up_vertices
io.addConvexShape('Left_up',
left_up_vertices,
insideMargin=0.1 * plane_thickness)
io.addObject('left_up', [Contactor('Left_up', collision_group=1)],
translation=trans)
######### left_middle
v4 = numpy.array([4.370 * scale, 1.280 * scale, 0.0])
v5 = numpy.array([(6.900 - 1.770) * scale, 1.280 * scale, 0.0])
left_middle_normal = normal_plane(v2, v4, v3)
# print('left_middle_normal=', left_middle_normal)
v4_extruded = v4 + numpy.dot(plane_thickness, left_middle_normal)
v5_extruded = v5 + numpy.dot(plane_thickness, left_middle_normal)
left_middle_vertices = numpy.array(
[v2, v3, v4, v5, v2_extruded, v3_extruded, v4_extruded, v5_extruded])
# print left_middle_vertices
io.addConvexShape('Left_middle',
left_middle_vertices,
insideMargin=0.1 * plane_thickness)
io.addObject('left_middle', [Contactor('Left_middle', collision_group=1)],
translation=trans)
######### left_down
v6 = numpy.array([4.370 * scale, box_width, -.6 * scale])
v7 = numpy.array([(6.900 - 1.770) * scale, box_width, -.6 * scale])
left_down_normal = normal_plane(v4, v6, v5)
# print('left_down_normal=', left_down_normal)
v6_extruded = v6 - [plane_thickness, 0.0, 0.] + numpy.dot(
plane_thickness, left_down_normal)
v7_extruded = v7 + [plane_thickness, 0.0, 0.] + numpy.dot(
plane_thickness, left_down_normal)
left_down_vertices = numpy.array([
v4 - [plane_thickness, 0.0, 0.], v5 + [plane_thickness, 0.0, 0.],
v6 - [plane_thickness, 0.0, 0.], v7 + [plane_thickness, 0.0, 0.],
v4_extruded - [plane_thickness, 0.0, 0.],
v5_extruded + [plane_thickness, 0.0, 0.], v6_extruded, v7_extruded
])
# print left_down_vertices
io.addConvexShape('Left_down',
left_down_vertices,
insideMargin=0.1 * plane_thickness)
io.addObject('left_udown', [Contactor('Left_down', collision_group=1)],
translation=trans)
######### right_up
v8 = numpy.array([0, box_width, box_height])
v9 = numpy.array([box_length, box_width, 1.200 * scale])
v10 = numpy.array([(6.900 - 1.770) * scale, box_width, 0.0])
v11 = numpy.array([4.370 * scale, box_width, 0.0])
right_up_normal = normal_plane(v8, v9, v10)
# print('right_up_normal=', right_up_normal)
v8_extruded = v8 + numpy.dot(plane_thickness, right_up_normal)
v9_extruded = v9 + numpy.dot(plane_thickness, right_up_normal)
v10_extruded = v10 + numpy.dot(plane_thickness, right_up_normal)
v11_extruded = v11 + numpy.dot(plane_thickness, right_up_normal)
right_up_vertices = numpy.array([
v8, v9, v10, v11, v8_extruded, v9_extruded, v10_extruded, v11_extruded
])
# print right_up_vertices
io.addConvexShape('Right_up',
right_up_vertices,
insideMargin=0.1 * plane_thickness)
io.addObject('right_up', [Contactor('Right_up', collision_group=1)],
translation=trans)
######### rear_up
rear_up_normal = normal_plane(v1, v8, v4)
# print('rear_up_normal=', rear_up_normal)
v1_extruded = v1 + numpy.dot(plane_thickness, rear_up_normal)
v2_extruded = v2 + numpy.dot(plane_thickness, rear_up_normal)
v8_extruded = v8 + numpy.dot(plane_thickness, rear_up_normal)
v4_extruded = v4 + numpy.dot(plane_thickness, rear_up_normal)
v11_extruded = v11 + numpy.dot(plane_thickness, rear_up_normal)
rear_up_vertices = numpy.array([
v1 - [0.0, plane_thickness, 0.0], v2 - [0.0, plane_thickness, 0.0],
v8 + [0.0, plane_thickness, 0.0], v4 - [0.0, plane_thickness, 0.0],
v11 + [0.0, plane_thickness, 0.0],
v1_extruded - [0.0, plane_thickness, 0.0],
v2_extruded - [0.0, plane_thickness, 0.0],
v8_extruded + [0.0, plane_thickness, 0.0],
v4_extruded - [0.0, plane_thickness, 0.0],
v11_extruded + [0.0, plane_thickness, 0.0]
])
# print rear_up_vertices
io.addConvexShape('Rear_up',
rear_up_vertices,
insideMargin=0.1 * plane_thickness)
io.addObject('rear_up', [Contactor('Rear_up', collision_group=2)],
translation=trans,
mass=1.0)
frequency = 50
amplitude = 3.3e-3 * scale
io.addBoundaryCondition(
'vibration',
'rear_up',
indices=[0, 1, 2, 3, 4, 5],
bc_class='HarmonicBC',
a=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
b=[0.0, 0.0, amplitude * frequency * 2.0 * math.pi, 0.0, 0.0, 0.0],
omega=[0.0, 0.0, frequency * 2.0 * math.pi, 0.0, 0.0, 0.0],
phi=[0.0, 0.0, math.pi / 2.0, 0.0, 0.0, 0.0])
######### rear_down
#v12 = numpy.array([(6.900-1.770)*scale, box_width,-.6*scale])
#v13 = numpy.array([4.370*scale, box_width, -.6*scale])
rear_down_normal = normal_plane(v4, v11, v6)
# print('rear_down_normal=', rear_down_normal)
v4_extruded = v4 + numpy.dot(plane_thickness, rear_down_normal)
v11_extruded = v11 + numpy.dot(plane_thickness, rear_down_normal)
v6_extruded = v6 + numpy.dot(plane_thickness, rear_down_normal)
rear_down_vertices = numpy.array(
[v4, v11, v6, v4_extruded, v11_extruded, v6_extruded])
# print rear_down_vertices
io.addConvexShape('Rear_down',
rear_down_vertices,
insideMargin=0.1 * plane_thickness)
io.addObject('rear_down', [Contactor('Rear_down', collision_group=1)],
translation=trans)
######### front_up
front_up_normal = normal_plane(v3, v5, v9)
# print('front_up_normal=', front_up_normal)
v3_extruded = v3 + numpy.dot(plane_thickness, front_up_normal)
v5_extruded = v5 + numpy.dot(plane_thickness, front_up_normal)
v9_extruded = v9 + numpy.dot(plane_thickness, front_up_normal)
v10_extruded = v10 + numpy.dot(plane_thickness, front_up_normal)
front_up_vertices = numpy.array([
v3 - [0.0, plane_thickness, 0.0], v5 - [0.0, plane_thickness, 0.0],
v9 + [0.0, plane_thickness, 0.0], v10 + [0.0, plane_thickness, 0.0],
v3_extruded - [0.0, plane_thickness, 0.0],
v5_extruded - [0.0, plane_thickness, 0.0],
v9_extruded + [0.0, plane_thickness, 0.0],
v10_extruded + [0.0, plane_thickness, 0.0]
])
# print front_up_vertices
io.addConvexShape('Front_up',
front_up_vertices,
insideMargin=0.1 * plane_thickness)
io.addObject('front_up', [Contactor('Front_up', collision_group=1)],
translation=trans)
######### front_down
front_down_normal = normal_plane(v5, v7, v10)
# print('front_down_normal=', front_down_normal)
v7_extruded = v7 + numpy.dot(plane_thickness, front_down_normal)
v5_extruded = v5 + numpy.dot(plane_thickness, front_down_normal)
v10_extruded = v10 + numpy.dot(plane_thickness, front_down_normal)
front_down_vertices = numpy.array(
[v5, v7, v10, v5_extruded, v7_extruded, v10_extruded])
# print front_down_vertices
io.addConvexShape('Front_down',
front_down_vertices,
insideMargin=0.1 * plane_thickness)
io.addObject('front_down', [Contactor('Front_down', collision_group=1)],
translation=trans)
# is between contactors of group id 0.
io.add_Newton_impact_friction_nsl('contact', mu=0.1, e=0.9)
# The sphere object made with an unique Contactor : the sphere 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
mass_test = 1.0
inertia_test = np.eye(3)
inertia_test[0, 0] = 0.25 * mass_test * R * R + 1 / 3.0 * mass_test * L * L
inertia_test[1, 1] = 0.5 * mass_test * R * R
inertia_test[2, 2] = 0.25 * mass_test * R * R + 1 / 3.0 * mass_test * L * L
print(inertia_test)
orientation_test = [0.14, 0.7, 0.7, 0]
io.add_object('cap', [Contactor('Cap')],
translation=[0, 0, 4],
orientation=orientation_test,
velocity=[0, 0, 0, 0, 0, 0],
mass=1,
inertia=inertia_test)
# 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, -0.1])
# 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.
options = sk.solver_options_create(sn.SICONOS_FRICTION_3D_NSGS)
# the same axis.
# Note: This example is to demonstrate external measurement of joint
# positions and application of forces to dynamical systems attached to
# joints. In practice it is better to use internal forces (fInt,
# mInt) to model joint spring-dampers, see folder
# JointsTestsWithInternalForces, and extra Relations with associated
# Non-Smooth Laws to model non-linearities such as joint stops and
# friction, see JointsTestsWithContactDetection.
# Creation of the hdf5 file for input/output
with MechanicsHdf5Runner() as io:
# Definition of two bars connected by a prismatic joint
io.add_primitive_shape('Bar', 'Box', (1, 0.1, 0.1))
io.add_object('bar1', [Contactor('Bar')], [0, 0, 2],
orientation=[(0, 0, 1), np.pi / 2],
mass=1.0,
velocity=[0, 0, 0, 0, 0, 1])
io.add_object('bar2', [
Contactor('Bar', relative_translation=[0, 0.1, 0]),
Contactor('Bar', relative_translation=[0, -0.1, 0])
], [0, 0, 2],
orientation=[(0, 0, 1), np.pi / 2],
mass=1.0)
io.add_joint('joint1',
'bar1',
'bar2', [[0, 0, 0]], [[0, 1, 0]],
'PivotJointR',
absolute=False)
outsideMargin=diameter * margin_ratio)
test = True
if test == True:
n_disks = 10
else:
n_disks = 250
delta_tob = math.sqrt(2.0 * diameter / 9.81)
print('delta_tob', delta_tob)
T = (n_disks * delta_tob) * 1.1
print('T', T)
for s in range(n_disks):
tob = s * delta_tob
trans = [0.5 * diameter * random.random(), 12 * diameter]
io.add_object('disk_' + str(s), [Contactor('Disk')],
translation=trans,
velocity=[0, 0, 0],
mass=mass,
inertia=inertia,
time_of_birth=tob)
# 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('ConvexHull')],
translation=[-box_x_scale / 2.0, -box_y_scale / 2.0])
# 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=0.3)
# the same axis.
# Note: This example is to demonstrate external measurement of joint
# positions and application of forces to dynamical systems attached to
# joints. In practice it is better to use internal forces (fInt,
# mInt) to model joint spring-dampers, see folder
# JointsTestsWithInternalForces, and extra Relations with associated
# Non-Smooth Laws to model non-linearities such as joint stops and
# friction, see JointsTestsWithContactDetection.
# Creation of the hdf5 file for input/output
with MechanicsHdf5Runner() as io:
# Definition of two bars connected by a prismatic joint
io.add_primitive_shape('Bar', 'Box', (1, 0.1, 0.1))
io.add_object('bar1', [Contactor('Bar')], [0.05,0,2],
orientation=[(0,0,1),np.pi/2], mass=1.0, velocity=[0,0,0,0,0,1])
io.add_object('bar2', [Contactor('Bar')], [-0.05,0,2],
orientation=[(0,0,1),np.pi/2], mass=1.0)
io.add_joint('joint1', 'bar1', 'bar2', None, [[0,1,0]], 'PrismaticJointR', True)
# Definition of the ground
io.add_primitive_shape('Ground', 'Box', (5, 5, 0.1))
io.add_object('ground', [Contactor('Ground')], [0,0,-0.05])
class Ctrl(object):
def initialize(self, io):
self.count = 0
self.topo = io._nsds.topology()
self.ds1 = Kernel.cast_NewtonEulerDS(self.topo.getDynamicalSystem('bar1'))
self.ds2 = Kernel.cast_NewtonEulerDS(self.topo.getDynamicalSystem('bar2'))
left_up_vertices=numpy.array([v1,v2,v3,v1_extruded,v2_extruded,v3_extruded])
print('left_up_vertices',left_up_vertices)
v1 = numpy.array([0, 0 , box_height])
v2 = numpy.array([4.370-4.370*1.200/box_height,0.0, 1.200])
v3 = numpy.array([ box_length, 0,1.200])
v1_extruded = v1 + numpy.dot(plan_thickness,left_up_normal)
v2_extruded = v2 + numpy.dot(plan_thickness,left_up_normal)
v3_extruded = v3 + numpy.dot(plan_thickness,left_up_normal)
left_up_vertices=numpy.array([v1,v2,v3,v1_extruded,v2_extruded,v3_extruded])
print('left_up_vertices', left_up_vertices)
io.add_convex_shape('Left_up',left_up_vertices )
io.add_object('left_up', [Contactor('Left_up')],
translation=[0, 0, 0])
######### left_middle
id_plan=id_plan+1
body_collection['plan_id']["left_middle"]=id_plan
v4 = numpy.array([4.370,1.280, 0.0])
v5 = numpy.array([ 6.900-1.770, 1.280,0.0])
left_middle_normal = normal_plane(v2,v4,v3)
print('left_middle_normal=', left_middle_normal)
v4_extruded = v4 + numpy.dot(plan_thickness,left_middle_normal)
v5_extruded = v5 + numpy.dot(plan_thickness,left_middle_normal)
(bowl_com.Coord(1), bowl_com.Coord(2), bowl_com.Coord(3)))
print('bowl moment of inertia:', (bowl_I1, bowl_I2, bowl_I3))
# Creation of the hdf5 file for input/output
with MechanicsHdf5Runner() as io:
io.add_occ_shape('Contact', bowl)
io.add_occ_shape('Ground', ground)
io.add_occ_shape('Ball', ball)
io.add_object('bowl', [
Contactor(
'Contact',
contact_type='Face',
contact_index=0,
),
Contactor(
'Contact',
contact_type='Face',
contact_index=3,
),
Contactor(
'Contact',
contact_type='Edge',
contact_index=0,
)
],
mass=bowl_mass,
orientation=([1, 0, 0], -pi / 2),
io.add_Newton_impact_friction_nsl('contact2',
mu=0.7,
collision_group1=1,
collision_group2=1)
# Definition of a non smooth law between groups 0 and 0
io.add_Newton_impact_friction_nsl('contact3',
mu=0.1,
collision_group1=0,
collision_group2=0)
# A 'two boxes object made with two Contactors.
# As a mass is given, it is a dynamic system involved in contact
# detection and in the simulation.
io.add_object('twoboxes', [
Contactor('BigBox', collision_group=0, relative_translation=[0, 0, 0]),
Contactor('LongBox', collision_group=1, relative_translation=[0, 0, 0])
],
translation=[0, 0, 3],
velocity=[10, 0, 0, 1, 1, 1],
mass=1)
# the ground object made with the ground shape. As the mass is
# not given, it is a static object only involved for contact
# detection.
io.add_object('ground', [Contactor('Ground', collision_group=1)],
translation=[0, 0, 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.
#print(len(vertices))
v.append(vertices[vertices_array[vb]]['coord'])
#print('v',v)
name = 'brick%03d' % k
cname= 'brick_shp%03d' % k
one_brick(io, name, cname , v, 1.0, density=2300,
trans=[0.0,0.0,0.0],
velo=[0.0,0.0,0.0, 0.0, 0.0, 0.0],tob=0.0)
k=k+1
# if (k > 20):
# break
#input()
# Definition of the ground
io.add_primitive_shape('Ground', 'Box', (10, 1, 0.1))
io.add_object('ground', [Contactor('Ground')], [2.5, 0, -0.5])
# # Enable to smash the wall
# io.add_primitive_shape('Ball', 'Sphere', [1,])
# io.add_object('WreckingBall', [Contactor('Ball')],
# translation=[25,0,3], velocity=[-30,0,2,0,0,0],
# mass=10)
# 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=0.6, e=0.0)
T = 3.0
#T = 3e-2
h_step = 5e-3
# Alternative to the previous convex shape definition.
io.add_primitive_shape('CubePrim', 'Box', (2, 2, 2))
# Definition of the ground shape
io.add_primitive_shape('Ground', 'Box', (100, 100, .5))
# 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=0.3)
# The cube object made with an unique Contactor : the cube 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('cube1', [Contactor('CubeCS')],
translation=[0, 0, 2],
velocity=[10, 0, 0, 1, 1, 1],
mass=1)
io.add_object('cube2', [Contactor('CubePrim')],
translation=[0, 3, 2],
velocity=[10, 0, 0, 1, 1, 1],
mass=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])
# Run the simulation from the inputs previously defined and add
# Definition of the front shape
#io.add_primitive_shape('Front', 'Box', (100, 0.5, 50.))
# 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=0.3)
# The cube object made with an unique Contactor : the cube 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
for i in range(n_row):
for j in range(n_col):
for n in range(n_cube):
io.add_object('cubeCS'+str(n)+'_'+str(i)+'_'+str(j), [Contactor('CubeCS'+str(n)+'_'+str(i)+'_'+str(j))],
translation=[3.0*i, 3.0*j, 2.05*(n+1)],
velocity=[10*(1.0+2.0*(random.random()-1.0)/2.0), 10*(1.0+2.0*(random.random()-1.0)/2.0), 0, 1, 1, 1],
mass=1)
# io.add_object('cube2', [Contactor('CubePrim')], translation=[0, 3, 2],
# velocity=[10, 0, 0, 1, 1, 1],
# mass=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=[50, 50, 0])
io.add_object('movingground', [Contactor('MovingGround')],
#!/usr/bin/env python
from siconos.mechanics.collision.tools import Contactor
from siconos.io.mechanics_run import MechanicsHdf5Runner
import siconos.numerics as Numerics
import siconos.kernel as Kernel
from siconos.mechanics.collision.bullet import SiconosBulletOptions
import numpy as np
with MechanicsHdf5Runner() as io:
io.add_primitive_shape('BigBox', 'Box', (1, 1, 1))
io.add_primitive_shape('SmallBox', 'Box', (0.3, 0.3, 0.3))
io.add_Newton_impact_friction_nsl('contact', e=0.0, mu=0.0)
io.add_object('heavy1', [Contactor('SmallBox')],
translation=[0, 0, 4],
mass=1.0,
velocity=[0, 0, 15, 0, 0, 0])
io.add_object('heavy2', [Contactor('SmallBox')],
translation=[0, 0, -4],
mass=1.0,
velocity=[0, 0, 15, 0, 0, 0])
io.add_object('big', [Contactor('BigBox')],
translation=[0, 0, 0],
mass=0.1,
velocity=[0, 0, 0, 0, 0, 0])
# We create a prismatic joint with friction on its axis. In fact
# as there is no "normal force" in a 1-D friction, it is expressed
# as a lower- and upper-bound of permissible velocity by means of
io.add_primitive_shape('Mass1', 'Sphere', (r1,))
io.add_primitive_shape('Mass2', 'Sphere', (r2,))
# Definition of the ground shape
io.add_primitive_shape('Ground', 'Box', (100, 100, .5))
# the brick shape
io.add_primitive_shape('Brick', 'Box', (bx, by, bz))
# 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=0.1)
# first branch + first mass the center of gravity is at the center of the
# Mass1
io.add_object('arm1', [Contactor('Mass1'),
Contactor('Arm1',
relative_translation=[0, r1+l1/2., 0])],
translation=[0, 0, r2 + gap + r2 + l2 + r1 + hgap],
orientation=((1, 0, 0), pi/2),
mass=m1)
# second branch + second mass
io.add_object('arm2', [Contactor('Mass2'),
Contactor('Arm2',
relative_translation=[0, r2+l2/2., 0])],
translation=[0, 0, r2 + gap],
orientation=((1, 0, 0), pi/2),
velocity=[0, 20, 0, 0, 0, 0],
mass=m2)
# Definition of a cube as a primitive shape
io.add_primitive_shape('CubeP', 'Box', (0.002, 0.002, 0.002))
# Definition of the ground shape
io.add_primitive_shape('Ground', 'Box', (0.1, 0.1, .01))
# 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=0.1)
# The cube object made with an unique Contactor : the cube 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('cubeCH', [Contactor('CubeCH')],
translation=[0, 0.003, 0.005],
velocity=[0.1, 0, 0, 1, 1, 1],
mass=0.1)
# The primitive cube geometry object
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])
io.add_primitive_shape('Mass2', 'Sphere', (r2, ))
# Definition of the ground shape
io.add_primitive_shape('Ground', 'Box', (100, 100, .5))
# the brick shape
io.add_primitive_shape('Brick', 'Box', (bx, by, bz))
# 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=0.1)
# first branch + first mass the center of gravity is at the center of the
# Mass1
io.add_object('arm1', [
Contactor('Mass1'),
Contactor('Arm1', relative_translation=[0, r1 + l1 / 2., 0])
],
translation=[0, 0, r2 + gap + r2 + l2 + r1 + hgap],
orientation=((1, 0, 0), pi / 2),
mass=m1)
# second branch + second mass
io.add_object('arm2', [
Contactor('Mass2'),
Contactor('Arm2', relative_translation=[0, r2 + l2 / 2., 0])
],
translation=[0, 0, r2 + gap],
orientation=((1, 0, 0), pi / 2),
velocity=[0, 20, 0, 0, 0, 0],
mass=m2)
with MechanicsHdf5Runner() as io:
# Definition of a sphere
io.add_primitive_shape('Disk',
'Disk', (disk_radius, ),
insideMargin=0.0,
outsideMargin=0.0)
# The sphere object made with an unique Contactor : the sphere 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
mass = density * disk_radius**2 * math.pi
inertia = 1 / 2. * mass * disk_radius**2
io.add_object('disk', [Contactor('Disk')],
translation=[0, 5.],
velocity=[0, 0, 0.5],
mass=mass,
inertia=inertia)
# Definition of a box
io.add_primitive_shape('Box',
'Box2d', (box_height, box_width),
insideMargin=0.0,
outsideMargin=0.0)
mass = density * box_height * box_width
inertia = 1 / 12. * mass * (box_height**2 + box_width**2)
io.add_object('box', [Contactor('Box')],
translation=[0, 7.],
#!/usr/bin/env python
from siconos.mechanics.collision.tools import Contactor
from siconos.io.mechanics_run import MechanicsHdf5Runner
import siconos.numerics as sn
import siconos.kernel as sk
with MechanicsHdf5Runner() as io:
io.add_primitive_shape('Cube', 'Box', (1, 1, 1))
io.add_primitive_shape('Ground', 'Box', (10, 10, .5))
io.add_Newton_impact_friction_nsl('contact', e=0.0, mu=0.2)
io.add_object('ground', [Contactor('Ground')], translation=[0, 0, -0.25])
io.add_object('cube1', [Contactor('Cube')],
translation=[-1, 0, 0.5],
mass=0.1)
io.add_object('cube2', [Contactor('Cube')],
translation=[1, 0, 0.5],
mass=0.1,
velocity=[5, 0, 5, 0, 0, 0])
io.add_joint('joint1', 'cube1', 'cube2', None, [[0, 0, 1]],
'PrismaticJointR')
test = True
if test:
T = 0.1
else:
T = 3.
options = sk.solver_options_create(sn.SICONOS_GENERIC_MECHANICAL_NSGS)
options.iparam[sn.SICONOS_IPARAM_MAX_ITER] = 10000
from siconos.io.mechanics_run import MechanicsHdf5Runner
import siconos.kernel as Kernel
# A demonstration of how to couple the two free axes of a
# CylindricalJointR in order to construct a screw relation. (Coupled
# rotational and translational motion.)
# Creation of the hdf5 file for input/output
with MechanicsHdf5Runner() as io:
# Bouncy contact with the ground
io.add_Newton_impact_friction_nsl('contact', mu=0.3, e=0.6)
# Definition of a bar
io.add_primitive_shape('Bar', 'Box', (0.2, 0.2, 1))
io.add_object('bar', [Contactor('Bar')], [0,0,1], mass=1)
# Definition of the ground
io.add_primitive_shape('Ground', 'Box', (2, 3, 0.1))
io.add_object('ground', [Contactor('Ground')], [0,0,-0.05])
# Add a cylindrical joint with a coupling between its two degrees
# of freedom with a ratio of 5.0 (rotation of 5 radians for every
# translation of 1.0 units)
io.add_joint('joint1', 'bar', None, [[0,0,0]], [[0,0,1]], 'CylindricalJointR',
coupled=[(0,1,5.0)], absolute=True)
# Load and run the simulation
with MechanicsHdf5Runner(mode='r+') as io:
io.run(t0=0,
T=3,
io.add_primitive_shape('Sphere', 'Sphere', (2,),
insideMargin=0.2, outsideMargin=0.0)
# Definition of the ground shape
io.add_primitive_shape('Ground', 'Box', (10, 10, 0.1),
insideMargin=0.05, 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=0.1, e=0.9)
# The sphere object made with an unique Contactor : the sphere 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('sphere', [Contactor('Sphere')],
translation=[0, 0, 4],
velocity=[0, 0, 0, 0, 0, 0],
mass=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, -0.1])
# 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
io.add_object('part2', [Volume(shape_name='body2',
instance_name='Body2',
relative_translation=[-0.5 * l2, 0., 0.])],
translation=[l1 + 0.5*l2, 0., 0.],
orientation=[0., 0., 1., 0.],
velocity=[0., 0., -0.5 * w10 * l1, 0., w20, 0.],
mass=0.038,
inertia=[1., 5.9e-4, 1.])
io.add_object('slider', [
Shape(shape_name='Slider',
instance_name='cslid',
relative_translation=[-a, 0., 0.]),
Contactor(
instance_name='Contact_b_f1',
shape_name='Contact_b_cyl',
contact_type='Face',
contact_index=1,
relative_translation=[-a, 0., 0.]),
Contactor(
instance_name='Contact_h_f1',
shape_name='Contact_h_cyl',
contact_type='Face',
contact_index=1,
relative_translation=[-a, 0., 0.]),
Contactor(
instance_name='Contact_b_f0',
shape_name='Contact_b_cyl',
contact_type='Face',
contact_index=0,
relative_translation=[-a, 0., 0.]),
Contactor(
from OCC.gp import gp_Pnt
siconos.io.mechanics_run.set_backend('occ')
sphere = BRepPrimAPI_MakeSphere(1.).Shape()
ground = BRepPrimAPI_MakeBox(gp_Pnt(-50, -50, 0), 100., 100., .5).Shape()
# Creation of the hdf5 file for input/output
with MechanicsHdf5Runner() as io:
io.add_occ_shape('Sphere', sphere)
io.add_occ_shape('Ground', ground)
io.add_object('sphere', [
Volume('Sphere'),
Contactor('Sphere', contact_type='Face', contact_index=0)
],
mass=1,
translation=[0, 0, 10],
velocity=[0, 0, 0, 0, 0, 0])
io.add_object('ground',
[Contactor('Ground', contact_type='Face', contact_index=5)],
mass=0,
translation=[0, 0, 0])
io.add_interaction('sphere-ground',
'sphere',
'Sphere-1',
'ground',
'Ground-0',
motor_id = None
# Creation of the hdf5 file for input/output
with Hdf5() as io:
# Only touch the ground, ignore contacts between links of the robot
io.addNewtonImpactFrictionNSL('contact',
collision_group1=0,
collision_group2=1,
mu=0.3,
e=0.0)
# Definition of the ground shape
io.addPrimitiveShape('Ground', 'Box', (100, 100, 2))
io.addObject('ground', [Contactor('Ground', collision_group=1)],
translation=[0, 0, -1])
# Define shape of a bar-shaped link
io.addPrimitiveShape('Bar1', 'Box', (10, 1, 1))
io.addPrimitiveShape('Bar2', 'Box', (12.67, 1, 1))
## Core
bar1 = \
io.addObject('bar1', [Contactor('Bar1'),
Contactor('Bar1',
relative_translation=[5.5, 0, 0],
relative_orientation=[(0,0,1), pi/2]),
Contactor('Bar1',
relative_translation=[-5.5, 0, 0],
relative_orientation=[(0,0,1), pi/2])],
# io.add_object('Ball' % k, [Contactor('Ball')],
# translation=[0., 0., 0.],
# mass=1.0)
# a big rock
one_rock(io, 'rock', 'rock_shape', rock_size = rock_size,
density=2300,
trans = [30.,0. ,35.],
velo=rock_velocity, tob=rock_tob)
# Definition of the ground
io.add_primitive_shape('Ground', 'Box', (50, 50, 0.1))
io.add_object('ground', [Contactor('Ground')], [0, 0, -0.05])
# Definition of the slope
angle_slope= -math.pi/4.0
io.add_object('slope', [Contactor('Ground',
relative_translation=[30.0, 0.0, -25.0* math.sin(angle_slope)],
relative_orientation=[math.cos(angle_slope/2.0),
0.0,
math.sin(angle_slope/2.0),
0.0]) ],
[0, 0, -0.05])
# # Enable to smash the wall
# io.add_primitive_shape('Ball', 'Sphere', [1,])
# io.add_object('WreckingBall', [Contactor('Ball')],
# translation=[25,0,3], velocity=[-30,0,2,0,0,0],
# mass=10)
v3 = numpy.array([5.00, 0.9354, 0.3535])
amont_normal = normal_plane(v1, v2, v3)
print('amont_normal=', amont_normal)
v0_extruded = v0 + numpy.dot(plan_thickness, amont_normal)
v1_extruded = v1 + numpy.dot(plan_thickness, amont_normal)
v2_extruded = v2 + numpy.dot(plan_thickness, amont_normal)
v3_extruded = v3 + numpy.dot(plan_thickness, amont_normal)
amont_vertices = numpy.array(
[v0, v1, v2, v3, v0_extruded, v1_extruded, v2_extruded, v3_extruded])
print amont_vertices
io.addConvexShape('amont', amont_vertices)
io.addObject('amont', [Contactor('amont')],
translation=[1.50, -1.45, -1.5331])
######### aval
v4 = numpy.array([-2.50, 0, 0])
v5 = numpy.array([5.00, 0, 0])
aval_normal = normal_plane(v2, v4, v3)
print('aval_normal=', aval_normal)
v4_extruded = v4 + numpy.dot(plan_thickness, aval_normal)
v5_extruded = v5 + numpy.dot(plan_thickness, aval_normal)
aval_vertices = numpy.array(
[v2, v3, v4, v5, v2_extruded, v3_extruded, v4_extruded, v5_extruded])
print aval_vertices
M = M - 1 if M > 1 else M
W = W - 1
z += height + sep
# A column
make_stack(0, -10, 1, 1, size_stack)
# A pyramid
make_stack(0, 0, size_stack, size_stack, size_stack)
# A wall
make_stack(0, 10, 1, size_stack, size_stack)
# Definition of the ground
io.add_primitive_shape('Ground', 'Box', (50, 50, 0.1))
io.add_object('ground', [Contactor('Ground')], [0, 0, -0.05])
# Enable to smash the wall
# io.add_primitive_shape('Ball', 'Sphere', [1,])
# io.add_object('WreckingBall', [Contactor('Ball')],
# translation=[30,0,3], velocity=[-30,0,2,0,0,0],
# mass=10)
# 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=0.3)
solver = sn.SICONOS_GLOBAL_FRICTION_3D_ADMM
dump_probability = .02
theta = 0.50
# raw_input()
# Definition of a cube as a convex shape
io.add_convex_shape('Bar', [(-bar_length, bar_width, -bar_height),
(-bar_length, -bar_width, -bar_height),
(-bar_length, -bar_width, bar_height),
(-bar_length, bar_width, bar_height),
(bar_length, bar_width, bar_height),
(bar_length, bar_width, -bar_height),
(bar_length, -bar_width, -bar_height),
(bar_length, -bar_width, bar_height)])
angle = math.pi / 8.0
trans = [0, 0, 4.0 * scale]
ori = [math.cos(angle / 2.0), 0.0, math.sin(angle / 2.0), 0]
print('ori initial', ori)
io.add_object('bar', [Contactor('Bar')],
translation=trans,
orientation=ori,
velocity=[0, 0, 0, 0, 0.0, 0],
mass=mass)
# Definition of the ground shape
io.add_primitive_shape('Ground', 'Box',
(5 * scale, 5 * scale, 0.1 * scale))
angleground = -math.pi / 4.0
axis = [1.0, 0.0, 0.0]
origround = [
math.cos(angleground / 2.0), axis[0] * math.sin(angleground / 2.0),
axis[1] * math.sin(angleground / 2.0),
axis[2] * math.sin(angleground / 2.0)
]
# Alternative to the previous convex shape definition.
# io.add_primitive_shape('Cube1', 'Box', (2, 2, 2))
# Definition of the ground shape
io.add_primitive_shape('Ground', 'Box', (100, 100, .5))
# 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=0.3)
# The cube object made with an unique Contactor : the cube 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('cube', [Contactor('Cube')], translation=[0, 0, 2],
velocity=[10, 0, 0, 1, 1, 1],
mass=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])
# 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.
with MechanicsHdf5Runner(mode='r+') as io:
io.add_primitive_shape('CubePrim2', 'Box', (2*edge_length, 2*edge_length,
2*edge_length))
# Definition of the ground shape
io.add_primitive_shape('Ground', 'Box',
(plane_length, plane_length, plane_length/10.0))
# 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=0.3, e=0.5)
# The cube object made with an unique Contactor : the cube 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('cube1', [Contactor('CubeCS1')], translation=[0, 0, 2],
velocity=[velocity_init, 0, 0, angular_velocity_init,
angular_velocity_init, angular_velocity_init],
mass=1)
io.add_object('cube2', [Contactor('CubeCS2')],
translation=[0, 0, 2+3*edge_length],
velocity=[velocity_init, 0, 0,
angular_velocity_init,
angular_velocity_init,
angular_velocity_init],
mass=1)
io.add_object('cubeP1', [Contactor('CubePrim1')],
translation=[0, 3*edge_length, 2],
velocity=[velocity_init, 0, 0,
