def make_world(forces, mass, num_links=10):
bodies = []
joints = []
# make chain of rectangles
link_mass = mass / num_links
r = Rect([300, 50], [20, 60], mass=link_mass)
bodies.append(r)
joints.append(Joint(r, None, [300, 30]))
for i in range(1, num_links):
if i < num_links - 1:
r = Rect([300, 50 + 50 * i], [20, 60], mass=link_mass)
else:
r = Rect([300, 50 + 50 * i], [20, 60], mass=link_mass)
r.add_force(Gravity(g=100))
bodies.append(r)
joints.append(Joint(bodies[-1], bodies[-2], [300, 25 + 50 * i]))
bodies[-1].add_no_contact(bodies[-2])
# make projectile
m = 3
c_pos = torch.tensor([50, bodies[-1].pos[1]]) # same Y as last chain link
c = Circle(c_pos, 20, restitution=1.)
bodies.append(c)
for f in forces:
c.add_force(ExternalForce(f, multiplier=500 * m))
world = World(bodies, joints, dt=DT, post_stab=True)
return world, r
def fixed_joint_demo(screen):
bodies = []
joints = []
restitution = 0.5
fric_coeff = 0.15
r = Rect([120, 100], [60, 60],
restitution=restitution, fric_coeff=fric_coeff)
bodies.append(r)
r.add_force(ExternalForce(gravity, multiplier=100))
r2 = Rect([160, 100], [60, 60],
restitution=restitution, fric_coeff=fric_coeff)
bodies.append(r2)
joints += [FixedJoint(r, r2)]
r2.add_no_collision(r)
r2.add_force(ExternalForce(gravity, multiplier=100))
inclination = math.pi / 32
r = Rect([inclination, 500, 500], [900, 10],
restitution=restitution, fric_coeff=fric_coeff)
bodies.append(r)
joints.append(TotalConstraint(r))
recorder = None
# recorder = Recorder(DT, screen)
world = World(bodies, joints, dt=DT)
run_world(world, run_time=TIME, screen=screen, recorder=recorder)
def testFric(self):
bodies = []
joints = []
def timed_force(t):
if 1 < t < 2:
return ExternalForce.RIGHT
else:
return ExternalForce.ZEROS
r = Rect([400, 400], [900, 10])
bodies.append(r)
r.add_force(ExternalForce(timed_force, multiplier=100))
r.add_force(ExternalForce(gravity, multiplier=100))
c = Circle([200, 364], 30)
bodies.append(c)
c.add_force(ExternalForce(gravity, multiplier=100))
c = Circle([50, 436], 30)
bodies.append(c)
joints.append(XConstraint(c))
joints.append(YConstraint(c))
c = Circle([800, 436], 30)
bodies.append(c)
joints.append(XConstraint(c))
joints.append(YConstraint(c))
recorder = None
# recorder = Recorder(DT, self.screen)
world = World(bodies, joints, dt=DT)
run_world(world, run_time=10, screen=self.screen, recorder=recorder)
def testRect(self):
r1 = Rect([0, 0], [1, 1], vel=[0, 0])
r2 = Rect([0, 0, 0], [1, 1])
r3 = Rect(torch.tensor([0, 0], dtype=DTYPE), [1, 1], vel=torch.tensor([0, 0], dtype=DTYPE))
r4 = Rect(torch.tensor([0, 0, 0], dtype=DTYPE), [1, 1], vel=torch.tensor([1, 1, 1], dtype=DTYPE))
r5 = Rect([0, 0, 0], [1, 1], [0, 0, 0], mass=torch.tensor(1, dtype=DTYPE))
r1.add_no_contact(r2)
r2.add_force(Gravity())
r2.apply_forces(1)
r3.set_p(r3.p.new_tensor([1, 1, 1]))
r4.move(0.1)
def testFric(self):
restitution = 0.75
fric_coeff = 1
bodies = []
joints = []
def timed_force(t):
if 1 < t < 2:
return ExternalForce.RIGHT
else:
return ExternalForce.ZEROS
r = Rect([400, 400], [900, 10],
restitution=restitution,
fric_coeff=fric_coeff)
bodies.append(r)
r.add_force(ExternalForce(timed_force, multiplier=100))
r.add_force(ExternalForce(down_force, multiplier=100))
c = Circle([200, 364],
30,
restitution=restitution,
fric_coeff=fric_coeff)
bodies.append(c)
c.add_force(ExternalForce(down_force, multiplier=100))
c = Circle([50, 436],
30,
restitution=restitution,
fric_coeff=fric_coeff)
bodies.append(c)
joints.append(XConstraint(c))
joints.append(YConstraint(c))
c = Circle([800, 436],
30,
restitution=restitution,
fric_coeff=fric_coeff)
bodies.append(c)
joints.append(XConstraint(c))
joints.append(YConstraint(c))
clock = Circle([975, 575], 20, vel=[1, 0, 0])
bodies.append(clock)
recorder = None
# recorder = Recorder(DT, screen)
world = World(bodies, joints, dt=DT)
run_world(world, run_time=10, screen=self.screen, recorder=recorder)
def testDemo(self):
bodies = []
joints = []
# Ball hitting object constrained by 1 joint
for i in range(1, 3):
c = Circle([150, 150 + 80 * (i - 1)], 20)
if i == 1:
c.add_force(ExternalForce(vert_impulse, multiplier=500))
bodies.append(c)
joints.append(Joint(bodies[-1], None, [140, 220]))
# Ball bouncing on body fixed in place
for i in range(1, 3):
c = Circle([300 + 1 * (i - 1), 150 + 80 * (i - 1)], 20)
if i == 1:
c.add_force(ExternalForce(down_force, multiplier=100))
bodies.append(c)
joints.append(TotalConstraint(bodies[-1]))
# 2 free ball collision angled
for i in range(1, 3):
c = Circle([225 - 10 * (i - 1), 300 + 80 * (i - 1)], 20)
if i == 1:
c.add_force(ExternalForce(down_force, multiplier=100))
bodies.append(c)
# 2 free ball collision straight
for i in range(1, 3):
c = Circle([375, 300 + 80 * (i - 1)], 20)
if i == 1:
c.add_force(ExternalForce(vert_impulse, multiplier=500))
bodies.append(c)
r = Rect([300, 500], [40, 40])
r.add_force(ExternalForce(down_force, multiplier=-100))
r.v[0] = -1
bodies.append(r)
r = Rect([300, 50], [40, 40])
r.add_force(ExternalForce(down_force, multiplier=100))
r.v[0] = -1
for b in bodies:
b.add_no_collision(r)
# bodies.append(r)
world = World(bodies, joints, dt=DT)
run_world(world, run_time=10, screen=self.screen)
def make_world(forces, controlT, controlU):
bodies = []
joints = []
# make chain of rectangles
r = Rect([0, 120, 240], [60, 60], mass=1)
r2 = Rect([0, 200, 240], [60, 60], mass=1)
#r.set_p(r.p.new_tensor([1, 1, 1]))
bodies.append(r)
bodies.append(r2)
#joints.append(Joint(r, None, [300, 30]))
r.add_force(Gravity(g=10))
r2.add_force(Gravity(g=10))
controlForceL = lambda t: controlForce(t, controlT, controlU)
cf = ExternalForce(controlForceL, multiplier=1)
controlForceL2 = lambda t: controlForce2(t, controlT, controlU)
cf2 = ExternalForce(controlForceL2, multiplier=1)
r.add_force(cf)
r2.add_force(cf2)
floor = Rect([0, 300], [1000, 30], mass=100)
floorStep = Rect([300, 240], [100, 89], mass=100)
floorStep2 = Rect([0, 240], [100, 89], mass=100)
joints.append(TotalConstraint(floor))
bodies.append(floor)
joints.append(TotalConstraint(floorStep))
bodies.append(floorStep)
joints.append(TotalConstraint(floorStep2))
bodies.append(floorStep2)
#joints.append(Joint(bodies[-1], bodies[-2], [300, 25 + 50 * i]))
#bodies[-1].add_no_contact(bodies[-2])
# make projectile
#m = 3
#c_pos = torch.tensor([50, bodies[-1].pos[1]]) # same Y as last chain link
#c = Circle(c_pos, 20, restitution=1.)
#bodies.append(c)
#for f in forces:
# c.add_force(ExternalForce(f, multiplier=500 * m))
world = World(bodies,
joints,
dt=DT,
post_stab=True,
strict_no_penetration=True)
return world, r
def debug_demo(screen):
bodies = []
joints = []
# Ball hitting object constrained by 1 joint
for i in range(1, 3):
c = Circle([150, 150 + 80 * (i - 1)], 20)
if i == 1:
c.add_force(ExternalForce(vert_impulse, multiplier=500))
bodies.append(c)
joints.append(Joint(bodies[-1], None, [140, 220]))
# Ball bouncing on body fixed in place
for i in range(1, 3):
c = Circle([300 + 1 * (i - 1), 150 + 80 * (i - 1)], 20)
if i == 1:
c.add_force(Gravity(g=100))
# else:
# c.add_force(ExternalForce(neg_gravity, multiplier=100))
bodies.append(c)
joints.append(TotalConstraint(bodies[-1]))
# 2 free ball collision angled
for i in range(1, 3):
c = Circle([225 - 10 * (i - 1), 300 + 80 * (i - 1)], 20)
if i == 1:
c.add_force(Gravity(g=100))
bodies.append(c)
# 2 free ball collision straight
for i in range(1, 3):
c = Circle([375, 300 + 80 * (i - 1)], 20)
if i == 1:
c.add_force(ExternalForce(vert_impulse, multiplier=500))
bodies.append(c)
r = Rect([300, 500], [40, 40], vel=[-1, 0, 0])
r.add_force(Gravity(g=-100))
bodies.append(r)
clock = Circle([975, 575], 20, vel=[1, 0, 0])
bodies.append(clock)
world = World(bodies, joints, dt=DT, post_stab=True)
run_world(world, run_time=10, screen=screen)
def slide_demo(screen):
bodies = []
joints = []
restitution = Defaults.RESTITUTION
fric_coeff = 0.15
inclination = math.pi / 32
r = Rect([inclination, 500, 300], [900, 10],
restitution=restitution, fric_coeff=fric_coeff)
bodies.append(r)
joints.append(TotalConstraint(r))
r = Rect([100, 100], [60, 60],
restitution=restitution, fric_coeff=fric_coeff)
# r = Hull([100, 100], [[30, 30], [-30, 30], [-30, -30], [30, -30]])
bodies.append(r)
r.add_force(Gravity(g=100))
recorder = None
# recorder = Recorder(DT, screen)
world = World(bodies, joints, dt=DT)
run_world(world, run_time=TIME, screen=screen, recorder=recorder)
def testSlide(self):
bodies = []
joints = []
r = Rect([500, 300], [900, 10])
r.v[0] = math.pi / 32
r.move(1)
r.v[0] = 0.
bodies.append(r)
joints.append(TotalConstraint(r))
r = Rect([100, 100], [60, 60])
r.v[0] = -math.pi / 8 * 0
r.move(1)
r.v[0] = 0.
bodies.append(r)
r.add_force(ExternalForce(down_force, multiplier=100))
# r.add_force(ExternalForce(hor_impulse, multiplier=-100))
# c = Circle([100, 150], 30)
# bodies.append(c)
# c.add_force(ExternalForce(gravity, multiplier=100))
# c = Circle([50, 550], 30)
# c.add_force(ExternalForce(rot_impulse, multiplier=1000))
# bodies.append(c)
# XXX
# c = Circle([875, 100], 30)
# bodies.append(c)
# c.add_force(ExternalForce(gravity, multiplier=100))
recorder = None
# recorder = Recorder(DT, self.screen)
world = World(bodies, joints, dt=DT)
run_world(world, run_time=TIME, screen=self.screen, recorder=recorder)
