def createScene(root):
# root node setup
root.createObject('RequiredPlugin', pluginName='Compliant')
root.createObject('VisualStyle', displayFlags="showBehavior")
root.createObject('CompliantAttachButtonSetting')
# simuation parameters
root.dt = 1e-2
root.gravity = [0, -9.8, 0]
# ode solver
ode = root.createObject(
'CompliantImplicitSolver',
neglecting_compliance_forces_in_geometric_stiffness=False,
stabilization="pre-stabilization")
# numerical solver
root.createObject('SequentialSolver',
name='numsolver',
iterations=250,
precision=1e-14,
iterateOnBilaterals=True)
root.createObject('LDLTResponse', name='response')
#root.createObject('LUResponse', name='response')
# scene node
scene = root.createChild('scene')
# script variables
nbLink = 10
linkSize = 2
# links creation
links = []
# rigid bodies
for i in xrange(nbLink):
body = StructuralAPI.RigidBody(root, "link-{0}".format(i))
body.setManually(offset=[0, -1. * linkSize * i, 0, 0, 0, 0, 1],
inertia_forces=True)
body.dofs.showObject = True
body.dofs.showObjectScale = 0.25 * linkSize
links.append(body)
# attach first link
links[0].setFixed()
# joints creation
for i in xrange(nbLink - 1):
off1 = links[i].addOffset("offset-{0}-{1}".format(i, i + 1),
[0, -0.5 * linkSize, 0, 0, 0, 0, 1])
off2 = links[i + 1].addOffset("offset-{0}-{1}".format(i + 1, i),
[0, 0.5 * linkSize, 0, 0, 0, 0, 1])
StructuralAPI.HingeRigidJoint(2,
"joint-{0}-{1}".format(i, i + 1),
off1.node,
off2.node,
isCompliance=True,
compliance=0)
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])
def createScene(root):
#### print HELP
print "\n\n################"
print "'UP' and 'DOWN' to control hinge position between base and arm0"
print "'LEFT' and 'RIGHT' to control hinge velocity between arm0 and arm"
print "'+' and '-' to control finger slider forces"
print "(do no forget to press CTRL)"
print "################\n"
sys.stdout.flush()
##### global parameters
root.createObject('VisualStyle', displayFlags="showBehaviorModels" )
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')
### OBJETS
base = StructuralAPI.RigidBody( root, "base" )
base.setFromMesh( "mesh/PokeCube.obj", 1000, [0,-4,0,0,0,0,1], [1,10,1] )
cm = base.addCollisionMesh( "mesh/PokeCube.obj", [1,10,1] )
cm.triangles.group = "1"
cm.addVisualModel()
base.node.createObject('FixedConstraint')
basearmoffset = base.addOffset( "basearmoffset", [0,4.5,0,0,0,0,1] )
basearmoffset.dofs.showObject=True
basearmoffset.dofs.showObjectScale=1
arm0 = StructuralAPI.RigidBody( root, "arm0" )
arm0.setFromMesh( "mesh/PokeCube.obj", 100, [0,5,0,0,0,0,1], [.9,10,.9] )
cm = arm0.addCollisionMesh( "mesh/PokeCube.obj", [.9,10,.9] )
cm.triangles.group = "1"
vm = cm.addVisualModel()
vm.model.setColor( 1,1,0,1 )
armbaseoffset = arm0.addOffset( "armbaseoffset", [0,-4.5,0,0,0,0,1] )
armbaseoffset.dofs.showObject=True
armbaseoffset.dofs.showObjectScale=1
arm0armoffset = arm0.addOffset( "arm0armoffset", [0,4.5,0,0,0,0,1] )
arm0armoffset.dofs.showObject=True
arm0armoffset.dofs.showObjectScale=1
arm = StructuralAPI.RigidBody( root, "arm" )
arm.setFromMesh( "mesh/PokeCube.obj", 10, [0,14,0,0,0,0,1], [.8,10,.8] )
cm = arm.addCollisionMesh( "mesh/PokeCube.obj", [.8,10,.8] )
cm.triangles.group = "1"
vm = cm.addVisualModel()
vm.model.setColor( 1,0,0,1 )
armarm0offset = arm.addOffset( "armarm0offset", [0,-4.5,0,0,0,0,1] )
armarm0offset.dofs.showObject=True
armarm0offset.dofs.showObjectScale=1
armfingeroffset = arm.addOffset( "armfingeroffset", [0,4.75,0,0,0,0,1] )
armfingeroffset.dofs.showObject=True
armfingeroffset.dofs.showObjectScale=1
fingerL = StructuralAPI.RigidBody( root, "fingerL" )
fingerL.setFromMesh( "mesh/PokeCube.obj", 1, [-1,20,0,0,0,0,1], [.5,3,.5] )
cm = fingerL.addCollisionMesh( "mesh/PokeCube.obj", [.5,3,.5] )
cm.triangles.group = "1"
vm = cm.addVisualModel()
vm.model.setColor( 0,1,0,1 )
fingerLarmoffset = fingerL.addOffset( "fingerLarmoffset", [0,-1.25,0,0,0,0,1] )
fingerLarmoffset.dofs.showObject=True
fingerLarmoffset.dofs.showObjectScale=1
fingerR = StructuralAPI.RigidBody( root, "fingerR" )
fingerR.setFromMesh( "mesh/PokeCube.obj", 1, [1,20,0,0,0,0,1], [.5,3,.5] )
cm = fingerR.addCollisionMesh( "mesh/PokeCube.obj", [.5,3,.5] )
cm.triangles.group = "1"
vm = cm.addVisualModel()
vm.model.setColor( 0,0,1,1 )
fingerRarmoffset = fingerR.addOffset( "fingerRarmoffset", [0,-1.25,0,0,0,0,1] )
fingerRarmoffset.dofs.showObject=True
fingerRarmoffset.dofs.showObjectScale=1
##### LINKS
global hingebasearm0_positionController
global hingearm0arm_velocityController
global sliderfingerLarm_forceController
global sliderfingerRarm_forceController
hingebasearm = StructuralAPI.HingeRigidJoint( 2, "hingebasearm", basearmoffset.node, armbaseoffset.node )
hingebasearm0_positionController = hingebasearm.addPositionController(hingebasearm0_offset,1e-8)
hingebasearm.addLimits(-hingebasearm0_limit,hingebasearm0_limit)
hingearm0arm = StructuralAPI.HingeRigidJoint( 2, "hingearm0arm", arm0armoffset.node, armarm0offset.node )
hingearm0arm_velocityController = hingearm0arm.addVelocityController(hingearm0arm_velocity,0)
#hingearm0arm.addLimits(-.75,.75) # limits with velocity controller are not well handled
sliderfingerLarm = StructuralAPI.SliderRigidJoint( 0, "sliderfingerLarm", armfingeroffset.node, fingerLarmoffset.node )
sliderfingerLarm_forceController = sliderfingerLarm.addForceController(-sliderfinger_force)
sliderfingerLarm.addLimits(-2,-0.25)
sliderfingerRarm = StructuralAPI.SliderRigidJoint( 0, "sliderfingerRarm", armfingeroffset.node, fingerRarmoffset.node )
sliderfingerRarm_forceController = sliderfingerRarm.addForceController(sliderfinger_force)
sliderfingerRarm.addLimits(0.25,2)
root.createObject('PythonScriptController', filename = __file__, classname = 'Controller')
def createScene(root):
# root node setup
root.createObject('RequiredPlugin', pluginName='Flexible')
root.createObject('RequiredPlugin', pluginName='Compliant')
root.createObject('VisualStyle', displayFlags="showBehavior")
root.createObject('CompliantAttachButtonSetting')
root.createObject('BackgroundSetting', color='1 1 1')
# simuation parameters
root.dt = 1e-1
root.gravity = [0, 0, 0]
# ode solver
ode = root.createObject(
'CompliantImplicitSolver',
neglecting_compliance_forces_in_geometric_stiffness=False,
stabilization="pre-stabilization")
# numerical solver
# root.createObject('LDLTSolver', name="numsolver")
root.createObject('SequentialSolver',
name='numsolver',
iterations=250,
precision=1e-14,
iterateOnBilaterals=True)
# root.createObject('LDLTResponse', name='response')
# root.createObject('LUResponse', name='response')
# scene node
scene = root.createChild('scene')
# script variables
nbLink = 7
linkSize = 2
# links creation
links = []
# rigid bodies
for i in xrange(nbLink):
body = StructuralAPI.RigidBody(root, "link-{0}".format(i))
body.setManually(offset=[0, -1. * linkSize * i, 0, 0, 0, 0, 1],
inertia_forces=False)
body.dofs.showObject = True
body.dofs.showObjectScale = 0.25 * linkSize
body.addVisualModel("mesh/cylinder.obj",
scale3d=[.3, .1 * linkSize, .3],
offset=[0, -0.5 * linkSize, 0, 0, 0, 0, 1])
links.append(body)
# attach first link
links[0].setFixed()
# joints creation
points = []
for i in xrange(nbLink - 1):
off1 = links[i].addOffset("offset-{0}-{1}".format(i, i + 1),
[0, -0.5 * linkSize, 0, 0, 0, 0, 1])
off2 = links[i + 1].addOffset("offset-{0}-{1}".format(i + 1, i),
[0, 0.5 * linkSize, 0, 0, 0, 0, 1])
j = StructuralAPI.HingeRigidJoint(2,
"joint-{0}-{1}".format(i, i + 1),
off1.node,
off2.node,
isCompliance=False,
compliance=1E-5)
#StructuralAPI.BallAndSocketRigidJoint("joint-{0}-{1}".format(i, i+1), off1.node, off2.node, isCompliance=True, compliance=0)
j.addLimits(0, .8, compliance=1E-15)
points.append(links[i].addAbsoluteMappedPoint(
"point-{0}-{1}".format(i, i + 1),
[0.5, -1. * linkSize * i - 0.25 * linkSize, 0]))
points.append(links[i + 1].addAbsoluteMappedPoint(
"point-{0}-{1}".format(i + 1, i),
[0.5, -1. * linkSize * (i + 1) + 0.25 * linkSize, 0]))
points.append(links[nbLink - 1].addAbsoluteMappedPoint(
"point-{0}".format(nbLink),
[0.5, -1. * linkSize * (nbLink - 1) - 0.5 * linkSize, 0]))
# rod
rodNode = scene.createChild('rod')
rodNode.createObject('MechanicalObject',
name='dofs',
template="Vec3",
position=concat([0.5, 0.5 * linkSize, 0]))
rodNode.createObject('UniformMass', name="mass", totalMass="1")
rodNode.createObject('RestShapeSpringsForceField',
points="0",
stiffness="1E3")
fullrodNode = rodNode.createChild('fullrod')
input = '@' + rodNode.getPathName() + ' '
indexPairs = '0 0 '
edges = ''
for i, p in enumerate(points):
input += '@' + p.node.getPathName() + ' '
indexPairs += str(i + 1) + ' 0 '
edges += str(i) + ' ' + str(i + 1) + ' '
p.node.addChild(fullrodNode)
fullrodNode.createObject('MechanicalObject',
template="Vec3",
showObject=True,
showObjectScale=0.1,
showColor="0 1 0 1",
drawMode=1)
fullrodNode.createObject('SubsetMultiMapping',
template="Vec3,Vec3",
name="mapping",
input=input,
output='@./',
indexPairs=indexPairs)
Lnode = fullrodNode.createChild("L")
Lnode.createObject('MechanicalObject', template="Vec1")
Lnode.createObject('LengthMapping',
template="Vec3,Vec1",
edges=edges,
offset=str(-nbLink * linkSize),
geometricStiffness=1)
Lnode.createObject('UniformCompliance',
compliance=1E-10,
rayleighStiffness=0,
isCompliance='1')
Vnode = fullrodNode.createChild("visual")
Vnode.createObject('VisualModel', edges=edges)
Vnode.createObject('IdentityMapping')