def fromOriginAndSize(cls, origin, width, length, height, convertToMeters=1,
nDivXYZ=None, grading=None, xAxis=None):
"""Create BlockMeshDict from BFBlockGeometries.
Args:
origin: Minimum point of bounding box as (x, y, z).
width: Width in x direction.
length: Length in y direction.
height: Height in y direction.
convertToMeters: Scaling factor for the vertex coordinates.
nDivXYZ: Number of divisions in (x, y, z) as a tuple (default: 5, 5, 5).
grading: A simpleGrading (default: simpleGrading(1, 1, 1)).
xAxis: An optional tuple that indicates the xAxis direction
(default: (1, 0)).
"""
_xAxis = vectormath.normalize((xAxis[0], xAxis[1], 0) if xAxis else (1, 0, 0))
_zAxis = (0, 0, 1)
_yAxis = vectormath.crossProduct(_zAxis, _xAxis)
vertices = tuple(
vectormath.move(origin,
vectormath.sums((vectormath.scale(_xAxis, i * width),
vectormath.scale(_yAxis, j * length),
vectormath.scale(_zAxis, k * height))
))
for i in range(2) for j in range(2) for k in range(2))
return cls.fromVertices(vertices, convertToMeters, nDivXYZ, grading,
xAxis)
def __calculate2dPoints(v, o, n, w):
# project point
p = vectormath.project(v, o, n)
# move the projected point backwards for half of the width
t = vectormath.scale(vectormath.normalize(vectormath.subtract(v, p)),
w / 2.0)
return vectormath.move(p, t)
def __calculate2dPoints(v, o, n, w):
# project point
p = vectormath.project(v, o, n)
# move the projected point backwards for half of the width
t = vectormath.scale(vectormath.normalize(vectormath.subtract(v, p)),
w / 2.0)
return vectormath.move(p, t)
def fromMinMax(cls, minPt, maxPt, convertToMeters=1, nDivXYZ=None, grading=None,
xAxis=None):
"""Create BlockMeshDict from minimum and maximum point.
Args:
minPt: Minimum point of bounding box as (x, y, z).
maxPt: Maximum point of bounding box as (x, y, z).
convertToMeters: Scaling factor for the vertex coordinates.
nDivXYZ: Number of divisions in (x, y, z) as a tuple (default: 5, 5, 5).
grading: A simpleGrading (default: simpleGrading(1, 1, 1)).
xAxis: An optional tuple that indicates the xAxis direction
(default: (1, 0)).
"""
_xAxis = vectormath.normalize((xAxis[0], xAxis[1], 0) if xAxis else (1, 0, 0))
_zAxis = (0, 0, 1)
_yAxis = vectormath.crossProduct(_zAxis, _xAxis)
diagonal2D = tuple(i - j for i, j in zip(maxPt, minPt))[:2]
_angle = radians(vectormath.angleAnitclockwise(_xAxis[:2], diagonal2D))
width = cos(_angle) * vectormath.length(diagonal2D)
length = sin(_angle) * vectormath.length(diagonal2D)
height = maxPt[2] - minPt[2]
vertices = tuple(
vectormath.move(minPt,
vectormath.sums((vectormath.scale(_xAxis, i * width),
vectormath.scale(_yAxis, j * length),
vectormath.scale(_zAxis, k * height))
))
for i in range(2) for j in range(2) for k in range(2))
return cls.fromVertices(vertices, convertToMeters, nDivXYZ, grading,
xAxis)
def getMovement(self):
dx, dy, dz, rotationAngle = (0, 0, 0, 0)
#move to ball/square border intersection
currentPosition = self.body.getPosition()
target = self.target.getPosition()
if (target[0]-currentPosition[0]) * (target[0]-currentPosition[0]) + \
(target[2]-currentPosition[2]) * (target[2]-currentPosition[2]) < 2.0 and \
currentPosition[1]<1.1:
dy = 2.0
if vectormath.isPointInSquare(target, self.min, self.max):
targetPosition = target
else:
targetPosition = vectormath.getBallAndSquareIntersection(
target, self.target.getLinearVel(), self.min, self.max)
targetPosition = (targetPosition[0] + random() - 0.5,
targetPosition[1],
targetPosition[2] + random() - 0.5)
vectorAB = vectormath.getVector(currentPosition, targetPosition)
#to make oponents run to ball coords - self length
vABAngle = atan2(vectorAB[2], vectorAB[0])
vABMagnitude = vectormath.getMagnitudeV(vectorAB)
newVABMagnitude = vABMagnitude - 2.0 #malas garums/2
newVABX = [
cos(vABAngle) * newVABMagnitude, vectorAB[1],
sin(vABAngle) * newVABMagnitude
]
vectorAB = newVABX
if vABMagnitude < 1.8:
moveSpeed = 700 * self.body.getMass().mass
else:
moveSpeed = 4000 * self.body.getMass().mass
currentRotationTuple = self.body.getRotation()
currentRotation = currentRotationTuple[2], currentRotationTuple[
5], currentRotationTuple[8]
vectorAB = vectormath.normalize(vectorAB[0], 0, vectorAB[2])
rotationAngle = vectormath.getAngleBetweenVectors(
currentRotation, vectorAB)
currentRotation = vectormath.negate(currentRotation)
dx = currentRotation[0]
dz = currentRotation[2]
#/------------------
return dx * moveSpeed, dy * moveSpeed, dz * moveSpeed, rotationAngle * moveSpeed
def x_axis(self):
"""X axis as a tuple."""
if self._x_axis:
return self._x_axis
else:
self._x_axis = vectormath.normalize(
vectormath.subtract(self.vertices[1], self.vertices[0]))
return self._x_axis
def getMovement(self):
dx, dy, dz, rotationAngle = (0,0,0,0)
#move to ball/square border intersection
currentPosition = self.body.getPosition()
target = self.target.getPosition()
if (target[0]-currentPosition[0]) * (target[0]-currentPosition[0]) + \
(target[2]-currentPosition[2]) * (target[2]-currentPosition[2]) < 2.0 and \
currentPosition[1]<1.1:
dy = 2.0
if vectormath.isPointInSquare(target, self.min, self.max):
targetPosition = target
else:
targetPosition = vectormath.getBallAndSquareIntersection(target,
self.target.getLinearVel(),
self.min,
self.max)
targetPosition = (targetPosition[0] + random() - 0.5, targetPosition[1], targetPosition[2] + random() - 0.5)
vectorAB = vectormath.getVector(currentPosition, targetPosition)
#to make oponents run to ball coords - self length
vABAngle = atan2(vectorAB[2], vectorAB[0])
vABMagnitude = vectormath.getMagnitudeV(vectorAB)
newVABMagnitude = vABMagnitude - 2.0 #malas garums/2
newVABX = [cos(vABAngle) * newVABMagnitude, vectorAB[1], sin(vABAngle) * newVABMagnitude]
vectorAB = newVABX
if vABMagnitude<1.8:
moveSpeed = 700 * self.body.getMass().mass
else:
moveSpeed = 4000 * self.body.getMass().mass
currentRotationTuple = self.body.getRotation()
currentRotation = currentRotationTuple[2], currentRotationTuple[5], currentRotationTuple[8]
vectorAB = vectormath.normalize(vectorAB[0], 0, vectorAB[2])
rotationAngle = vectormath.getAngleBetweenVectors(currentRotation, vectorAB)
currentRotation = vectormath.negate(currentRotation)
dx = currentRotation[0]
dz = currentRotation[2]
#/------------------
return dx * moveSpeed, dy * moveSpeed, dz * moveSpeed, rotationAngle * moveSpeed
def getPosition(avatar, pos, bone1, bone2, state, limit): #figure out which state we are in, and change the bone we are rotating dir = array(pos) - array(avatar.getBone(bone1).getPosition(viz.ABS_GLOBAL)); #if the hands are swapped if(STATE == 1): oriPosition = array(avatar.getBone(bone2).getPosition(viz.ABS_GLOBAL)); else: oriPosition = array(avatar.getBone(bone1).getPosition(viz.ABS_GLOBAL)); dir_len = dir.dot(dir); dir_len = math.sqrt(dir_len); #normalize the direction given by ppt dir_norm = vectormath.normalize(dir); posArray = oriPosition + dir; pos = [posArray[0], posArray[1], posArray[2]]; #print "state: " + str(state); #if range of arms are limited if(state == 1): a = dir; #print "dir: " + str(dir); #a = array([-1, 1, 1]); a_len = a.dot(a); a_len = math.sqrt(a_len); #doing spherical coordinates, getting the radius first r = a_len; theta = math.acos(-a[1] / r); phi = math.atan2(a[0], a[2]); #print "theta: " + str(theta * 180 / math.pi); #print "phi: " + str(phi * 180 / math.pi); theta = theta * limit; #print "new theta: " + str(theta); y = -r * math.cos(theta); x = r * math.sin(phi) * math.sin(theta); z = r * math.cos(phi) * math.sin(theta); newDir = array([x, y, z]); pos = oriPosition + newDir; #print "newPos: " + str(pos); return pos;
def make2d(self, planeOrigin, planeNormal, width=0.1):
"""Make the blockMeshDict two dimensional.
Args:
planeOrigin: Plane origin as (x, y, z).
planeNormal: Plane normal as (x, y, z).
width: width of 2d blockMeshDict (default: 01).
"""
# copy original vertices
if not self.__original3dVertices:
self.__original3dVertices = self.vertices
else:
# load original 3d vertices
self.make3d()
n = vectormath.normalize(planeNormal)
# project all vertices to plane and move them in direction of normal
# by half of width
self.__vertices = [
self.__calculate2dPoints(v, planeOrigin, n, width)
for v in self.vertices
]
# set boundary condition to empty
# and number of divisions to 1 in shortest side
minimum = min(self.width, self.length, self.height)
if self.width == minimum:
self.nDivXYZ = (1, self.nDivXYZ[1], self.nDivXYZ[2])
self.__is2dInXDir = True
# set both sides to empty
self.__setBoundaryToEmpty(4)
self.__setBoundaryToEmpty(5)
elif self.length == minimum:
self.nDivXYZ = (self.nDivXYZ[0], 1, self.nDivXYZ[2])
self.__is2dInYDir = True
# set inlet and outlet to empty
self.__setBoundaryToEmpty(0)
self.__setBoundaryToEmpty(1)
elif self.height == minimum:
self.nDivXYZ = (self.nDivXYZ[0], self.nDivXYZ[1], 1)
self.__is2dInZDir = True
# set top and bottom to empty
self.__setBoundaryToEmpty(2)
self.__setBoundaryToEmpty(3)
def from_min_max(cls,
min_pt,
max_pt,
convertToMeters=1,
n_div_xyz=None,
grading=None,
x_axis=None):
"""Create BlockMeshDict from minimum and maximum point.
Args:
min_pt: Minimum point of bounding box as (x, y, z).
max_pt: Maximum point of bounding box as (x, y, z).
convertToMeters: Scaling factor for the vertex coordinates.
n_div_xyz: Number of divisions in (x, y, z) as a tuple (default: 5, 5, 5).
grading: A simpleGrading (default: simpleGrading(1, 1, 1)).
x_axis: An optional tuple that indicates the x_axis direction
(default: (1, 0)).
"""
_x_axis = vectormath.normalize((x_axis[0], x_axis[1],
0) if x_axis else (1, 0, 0))
_z_axis = (0, 0, 1)
_y_axis = vectormath.cross_product(_z_axis, _x_axis)
diagonal2_d = tuple(i - j for i, j in zip(max_pt, min_pt))[:2]
_angle = radians(
vectormath.angle_anitclockwise(_x_axis[:2], diagonal2_d))
width = cos(_angle) * vectormath.length(diagonal2_d)
length = sin(_angle) * vectormath.length(diagonal2_d)
height = max_pt[2] - min_pt[2]
vertices = [
vectormath.move(
min_pt,
vectormath.sums((vectormath.scale(_x_axis, i * width),
vectormath.scale(_y_axis, j * length),
vectormath.scale(_z_axis, k * height))))
for i in range(2) for j in range(2) for k in range(2)
]
return cls.from_vertices(vertices, convertToMeters, n_div_xyz, grading,
x_axis)
def fromOriginAndSize(cls,
origin,
width,
length,
height,
convertToMeters=1,
nDivXYZ=None,
grading=None,
xAxis=None):
"""Create BlockMeshDict from BFBlockGeometries.
Args:
origin: Minimum point of bounding box as (x, y, z).
width: Width in x direction.
length: Length in y direction.
height: Height in y direction.
convertToMeters: Scaling factor for the vertex coordinates.
nDivXYZ: Number of divisions in (x, y, z) as a tuple (default: 5, 5, 5).
grading: A simpleGrading (default: simpleGrading(1, 1, 1)).
xAxis: An optional tuple that indicates the xAxis direction
(default: (1, 0)).
"""
_xAxis = vectormath.normalize((xAxis[0], xAxis[1],
0) if xAxis else (1, 0, 0))
_zAxis = (0, 0, 1)
_yAxis = vectormath.crossProduct(_zAxis, _xAxis)
vertices = [
vectormath.move(
origin,
vectormath.sums((vectormath.scale(_xAxis, i * width),
vectormath.scale(_yAxis, j * length),
vectormath.scale(_zAxis, k * height))))
for i in range(2) for j in range(2) for k in range(2)
]
return cls.fromVertices(vertices, convertToMeters, nDivXYZ, grading,
xAxis)
def make2d(self, planeOrigin, planeNormal, width=0.1):
"""Create a new 2D blockMeshDict from this blockMeshDict.
Args:
planeOrigin: Plane origin as (x, y, z).
planeNormal: Plane normal as (x, y, z).
width: width of 2d blockMeshDict (default: 01).
"""
# duplicate blockMeshDict
bmd = self.duplicate()
n = vectormath.normalize(planeNormal)
# project all vertices to plane and move them in direction of normal
# by half of width
bmd.__vertices = tuple(
self.__calculate2dPoints(v, planeOrigin, n, width)
for v in bmd.vertices)
# set boundary condition to empty
# and number of divisions to 1 in shortest side
minimum = min(bmd.width, bmd.length, bmd.height)
if bmd.width == minimum:
bmd.nDivXYZ = (1, bmd.nDivXYZ[1], bmd.nDivXYZ[2])
# set both sides to empty
elif bmd.length == minimum:
bmd.nDivXYZ = (bmd.nDivXYZ[0], 1, bmd.nDivXYZ[2])
# set inlet and outlet to empty
# bmd.inlet.boundaryCondition = Empty()
elif bmd.height == minimum:
bmd.nDivXYZ = (bmd.nDivXYZ[0], bmd.nDivXYZ[1], 1)
# set top and bottom to empty
print('WARNING: make2d doesn\'t update boundary conditions to Empty.')
return bmd
def make2d(self, planeOrigin, planeNormal, width=0.1):
"""Create a new 2D blockMeshDict from this blockMeshDict.
Args:
planeOrigin: Plane origin as (x, y, z).
planeNormal: Plane normal as (x, y, z).
width: width of 2d blockMeshDict (default: 01).
"""
# duplicate blockMeshDict
bmd = self.duplicate()
n = vectormath.normalize(planeNormal)
# project all vertices to plane and move them in direction of normal
# by half of width
bmd.__vertices = tuple(
self.__calculate2dPoints(v, planeOrigin, n, width)
for v in bmd.vertices)
# set boundary condition to empty
# and number of divisions to 1 in shortest side
minimum = min(bmd.width, bmd.length, bmd.height)
if bmd.width == minimum:
bmd.nDivXYZ = (1, bmd.nDivXYZ[1], bmd.nDivXYZ[2])
# set both sides to empty
elif bmd.length == minimum:
bmd.nDivXYZ = (bmd.nDivXYZ[0], 1, bmd.nDivXYZ[2])
# set inlet and outlet to empty
# bmd.inlet.boundaryCondition = Empty()
elif bmd.height == minimum:
bmd.nDivXYZ = (bmd.nDivXYZ[0], bmd.nDivXYZ[1], 1)
# set top and bottom to empty
print('WARNING: make2d doesn\'t update boundary conditions to Empty.')
return bmd
def fromGeometriesWindVectorAndParameters(cls,
name,
geometries,
windVector,
tunnelParameters,
roughness,
meshingParameters=None,
Zref=None,
convertToMeters=1):
"""Create a windTunnel based on size, wind speed and wind direction."""
# butterfly geometries
geos = tuple(cls.__checkInputGeometry(geo) for geo in geometries)
# update boundary condition of wall geometries
for bfGeometry in geometries:
bfGeometry.boundaryCondition = WindTunnelWallBoundaryCondition()
tp = tunnelParameters
# find xAxis
# project wind vector to XY Plane
windVector = (windVector[0], windVector[1], 0)
zAxis = (0, 0, 1)
xAxis = vm.crossProduct(windVector, zAxis)
yAxis = vm.normalize(windVector)
# get size of bounding box from blockMeshDict
minPt, maxPt = calculateMinMaxFromBFGeometries(geos, xAxis)
_blockMeshDict = BlockMeshDict.fromMinMax(minPt,
maxPt,
convertToMeters,
xAxis=xAxis)
# scale based on wind tunnel parameters
ver = _blockMeshDict.vertices
height = _blockMeshDict.height
v0 = vm.move(ver[0], vm.scale(yAxis, -tp.windward * height))
v0 = vm.move(v0, vm.scale(xAxis, -tp.side * height))
v1 = vm.move(ver[1], vm.scale(yAxis, -tp.windward * height))
v1 = vm.move(v1, vm.scale(xAxis, tp.side * height))
v2 = vm.move(ver[2], vm.scale(yAxis, tp.leeward * height))
v2 = vm.move(v2, vm.scale(xAxis, tp.side * height))
v3 = vm.move(ver[3], vm.scale(yAxis, tp.leeward * height))
v3 = vm.move(v3, vm.scale(xAxis, -tp.side * height))
v4 = vm.move(v0, vm.scale(zAxis, tp.top * height))
v5 = vm.move(v1, vm.scale(zAxis, tp.top * height))
v6 = vm.move(v2, vm.scale(zAxis, tp.top * height))
v7 = vm.move(v3, vm.scale(zAxis, tp.top * height))
# create inlet, outlet, etc
ablConditions = ABLConditions.fromInputValues(
flowSpeed=vm.length(windVector),
z0=roughness,
flowDir=vm.normalize(windVector),
zGround=_blockMeshDict.minZ)
_order = (range(4), )
inlet = BFBlockGeometry(
'inlet', (v0, v1, v5, v4), _order, ((v0, v1, v5, v4), ),
WindTunnelInletBoundaryCondition(ablConditions))
outlet = BFBlockGeometry('outlet', (v2, v3, v7, v6), _order,
((v2, v3, v7, v6), ),
WindTunnelOutletBoundaryCondition())
rightSide = BFBlockGeometry('rightSide', (v1, v2, v6, v5), _order,
((v1, v2, v6, v5), ),
WindTunnelTopAndSidesBoundaryCondition())
leftSide = BFBlockGeometry('leftSide', (v3, v0, v4, v7), _order,
((v3, v0, v4, v7), ),
WindTunnelTopAndSidesBoundaryCondition())
top = BFBlockGeometry('top', (v4, v5, v6, v7), _order,
((v4, v5, v6, v7), ),
WindTunnelTopAndSidesBoundaryCondition())
ground = BFBlockGeometry(
'ground', (v3, v2, v1, v0), (range(4), ), ((v3, v2, v1, v0), ),
WindTunnelGroundBoundaryCondition(ablConditions))
# return the class
wt = cls(name, inlet, outlet, (rightSide, leftSide), top, ground,
geometries, roughness, meshingParameters, Zref,
convertToMeters)
return wt
def fromGeometriesWindVectorAndParameters(
cls, name, geometries, windVector, tunnelParameters, roughness,
meshingParameters=None, Zref=None, convertToMeters=1):
"""Create a windTunnel based on size, wind speed and wind direction."""
# butterfly geometries
geos = tuple(cls.__checkInputGeometry(geo) for geo in geometries)
# update boundary condition of wall geometries
for bfGeometry in geometries:
bfGeometry.boundaryCondition = WindTunnelWallBoundaryCondition(
bfGeometry.boundaryCondition.refLevels
)
tp = tunnelParameters
# find xAxis
# project wind vector to XY Plane
windVector = (windVector[0], windVector[1], 0)
zAxis = (0, 0, 1)
xAxis = vm.crossProduct(windVector, zAxis)
yAxis = vm.normalize(windVector)
# get size of bounding box from blockMeshDict
minPt, maxPt = calculateMinMaxFromBFGeometries(geos, xAxis)
_blockMeshDict = BlockMeshDict.fromMinMax(minPt, maxPt, convertToMeters,
xAxis=xAxis)
# scale based on wind tunnel parameters
ver = _blockMeshDict.vertices
height = _blockMeshDict.height
v0 = vm.move(ver[0], vm.scale(yAxis, -tp.windward * height))
v0 = vm.move(v0, vm.scale(xAxis, -tp.side * height))
v1 = vm.move(ver[1], vm.scale(yAxis, -tp.windward * height))
v1 = vm.move(v1, vm.scale(xAxis, tp.side * height))
v2 = vm.move(ver[2], vm.scale(yAxis, tp.leeward * height))
v2 = vm.move(v2, vm.scale(xAxis, tp.side * height))
v3 = vm.move(ver[3], vm.scale(yAxis, tp.leeward * height))
v3 = vm.move(v3, vm.scale(xAxis, -tp.side * height))
v4 = vm.move(v0, vm.scale(zAxis, tp.top * height))
v5 = vm.move(v1, vm.scale(zAxis, tp.top * height))
v6 = vm.move(v2, vm.scale(zAxis, tp.top * height))
v7 = vm.move(v3, vm.scale(zAxis, tp.top * height))
# create inlet, outlet, etc
ablConditions = ABLConditions.fromInputValues(
flowSpeed=vm.length(windVector), z0=roughness,
flowDir=vm.normalize(windVector), zGround=_blockMeshDict.minZ)
_order = (range(4),)
inlet = BFBlockGeometry(
'inlet', (v0, v1, v5, v4), _order, ((v0, v1, v5, v4),),
WindTunnelInletBoundaryCondition(ablConditions))
outlet = BFBlockGeometry(
'outlet', (v2, v3, v7, v6), _order, ((v2, v3, v7, v6),),
WindTunnelOutletBoundaryCondition())
rightSide = BFBlockGeometry(
'rightSide', (v1, v2, v6, v5), _order, ((v1, v2, v6, v5),),
WindTunnelTopAndSidesBoundaryCondition())
leftSide = BFBlockGeometry(
'leftSide', (v3, v0, v4, v7), _order, ((v3, v0, v4, v7),),
WindTunnelTopAndSidesBoundaryCondition())
top = BFBlockGeometry('top', (v4, v5, v6, v7), _order,
((v4, v5, v6, v7),),
WindTunnelTopAndSidesBoundaryCondition())
ground = BFBlockGeometry(
'ground', (v3, v2, v1, v0), (range(4),), ((v3, v2, v1, v0),),
WindTunnelGroundBoundaryCondition(ablConditions))
# return the class
wt = cls(name, inlet, outlet, (rightSide, leftSide), top, ground,
geometries, roughness, meshingParameters, Zref,
convertToMeters)
return wt
def x_axis(self, v):
"""X axis."""
v = v or (1, 0, 0)
self._x_axis = vectormath.normalize((v[0], v[1], 0))