#
from siconos.mechanics.collision.tools import Contactor
from siconos.io.mechanics_io import Hdf5
import siconos.numerics as Numerics
edge_length = 0.1
plane_length = 2.0
velocity_init = 0.0
angular_velocity_init = 0.0
# Creation of the hdf5 file for input/output
with Hdf5() as io:
# # Definition of a cube as a convex shape
io.addConvexShape('CubeCS1', [(-edge_length, edge_length, -edge_length),
(-edge_length, -edge_length, -edge_length),
(-edge_length, -edge_length, edge_length),
(-edge_length, edge_length, edge_length),
(edge_length, edge_length, edge_length),
(edge_length, edge_length, -edge_length),
(edge_length, -edge_length, -edge_length),
(edge_length, -edge_length, edge_length)])
io.addConvexShape('CubeCS2', [(-edge_length, edge_length, -edge_length),
(-edge_length, -edge_length, -edge_length),
(-edge_length, -edge_length, edge_length),
(-edge_length, edge_length, edge_length),
bowl_mass = bowl_props.Mass()
bowl_com = bowl_props.CentreOfMass()
bowl_inertia = bowl_props.MatrixOfInertia()
bowl_I1 = bowl_props.MomentOfInertia(gp_Ax1(bowl_com, gp_Dir(1, 0, 0)))
bowl_I2 = bowl_props.MomentOfInertia(gp_Ax1(bowl_com, gp_Dir(0, 1, 0)))
bowl_I3 = bowl_props.MomentOfInertia(gp_Ax1(bowl_com, gp_Dir(0, 0, 1)))
print 'bowl mass:', bowl_mass
print 'bowl center of mass:', (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 Hdf5() as io:
io.addOccShape('Contact', bowl)
io.addOccShape('Ground', ground)
io.addOccShape('Ball', ball)
io.addObject('bowl', [
Contactor(
'Contact',
contact_type='Face',
contact_index=0,
),
Contactor(
'Contact',
#!/usr/bin/env python
#
# Example of one object under gravity with one contactor and a ground
#
from siconos.mechanics.collision.tools import Contactor
from siconos.io.mechanics_io import Hdf5
import siconos.numerics as Numerics
import pydoc
# Creation of the hdf5 file for input/output
with Hdf5() as io:
# Definition of a cube as a convex shape
io.addConvexShape('Cube', [(-1.0, 1.0, -1.0), (-1.0, -1.0, -1.0),
(-1.0, -1.0, 1.0), (-1.0, 1.0, 1.0),
(1.0, 1.0, 1.0), (1.0, 1.0, -1.0),
(1.0, -1.0, -1.0), (1.0, -1.0, 1.0)])
# Alternative to the previous convex shape definition.
# io.addPrimitiveShape('Cube1', 'Box', (2, 2, 2))
# Definition of the ground shape
io.addPrimitiveShape('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.addNewtonImpactFrictionNSL('contact', mu=0.3)
# The cube object made with an unique Contactor : the cube shape.
elif o == '--output_filename':
out_filename = a
elif o == '--cf-scale':
scale_factor = float(a)
if len(args) > 0:
io_filename = args[0]
if output_filename == None:
out_filename = ''.join(io_filename.rsplit('.')[:-1]) + '-filtered.hdf5'
else:
usage()
exit(1)
with Hdf5(io_filename=io_filename, mode='r') as io:
with Hdf5(io_filename=out_filename, mode='w') as out:
hdf1 = io._out
hdf2 = out._out
# copy /data/input
hdf2.__delitem__('data/input')
h5py.h5o.copy(hdf1.id, "data/input", hdf2.id, "data/input")
# copy /data/nslaws
hdf2.__delitem__('data/nslaws')
h5py.h5o.copy(hdf1.id, "data/nslaws", hdf2.id, "data/nslaws")
# copy /data/ref
hdf2.__delitem__('data/ref')
h5py.h5o.copy(hdf1.id, "data/ref", hdf2.id, "data/ref")
vector1[0] * vector2[1] - vector1[1] * vector2[0]
]
a = cross_product[0]
b = cross_product[1]
c = cross_product[2]
d = -(cross_product[0] * x1 + cross_product[1] * y1 +
cross_product[2] * z1)
return numpy.array([a, b, c]) / numpy.linalg.norm([a, b, c])
#create some bodies
# Creation of the hdf5 file for input/output
with Hdf5(use_compression=True) as io:
######### left_up
id_plan = id_plan + 1
body_collection['plan_id']["left_up"] = id_plan
v1 = numpy.array([0, 0, box_height - 1.200])
v2 = numpy.array([4.370 - 4.370 * 1.200 / box_height, 0.0, 1.200])
v3 = numpy.array([6.900, 0, 1.200])
left_up_normal = normal_plane(v1, v2, v3)
print('left_up_normal=', left_up_normal)
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(
reader = vtk.vtkSTLReader()
reader.SetFileName(tmpf[1])
reader.Update()
return reader
refs = []
refs_attrs = []
shape = dict()
pos = dict()
instances = dict()
with Hdf5(io_filename=io_filename, mode='r') as io:
def load():
ispos_data = io.static_data()
idpos_data = io.dynamic_data()
ivelo_data = io.velocities_data()
icf_data = io.contact_forces_data()[:]
isolv_data = io.solver_data()
return ispos_data, idpos_data, ivelo_data, icf_data, isolv_data
spos_data, dpos_data, velo_data, cf_data, solv_data = load()
def list_contactors(io):
print('')
print('Contactors:')
print('')
print('{0:>5} {1:>15} {2:>9} {3:>9}'.format('Id', 'Name', 'Type',
'Primitive'))
print('{0:->5} {0:->15} {0:->9} {0:->9}'.format(''))
for name, obj in io.shapes().items():
print('{0:>5} {1:>15} {2:>9} {3:>9}'.format(
obj.attrs['id'], name, obj.attrs['type'],
obj.attrs['primitive'] if 'primitive' in obj.attrs else ''))
if __name__ == '__main__':
try:
with Hdf5(mode='r', io_filename=args.file[0]) as io:
if io.dynamic_data() is None or len(io.dynamic_data()) == 0:
print 'Empty simulation found.'
else:
print('')
print('Filename: "{0}"'.format(args.file[0]))
summarize(io)
if args.list_objects:
list_objects(io)
if args.list_contactors:
list_contactors(io)
except IOError, e:
print('Error reading "{0}"'.format(args.file[0]))
print(e)
#!/usr/bin/env python
from siconos.io.mechanics_io import Hdf5
# 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 Hdf5(mode='r+', io_filename='cube_scene.hdf5') as io:
# By default earth gravity is applied and the units are those
# of the International System of Units.
# Because of fixed collision margins used in the collision detection,
# sizes of small objects may need to be expressed in cm or mm.
io.run(output_frequency=100)
fn = 'chute_con_rocas_y_vibradores-{0}-mu-{1}.hdf5'.format(dist, mu)
random.seed(0)
numpy.random.seed(0)
cube_size = 0.1
plan_thickness = cube_size
density = 2500
box_height = 3.683
box_length = 6.900
box_width = 3.430
plane_thickness = 0.2
with Hdf5(mode='w', io_filename=fn) as io:
io.addNewtonImpactFrictionNSL('contact_rocas',
mu=float(mu),
e=0.01,
collision_group1=0,
collision_group2=0)
io.addNewtonImpactFrictionNSL('contact_chute_rocas',
mu=float(mu),
e=0.01,
collision_group1=1,
collision_group2=0)
io.addNewtonImpactFrictionNSL('contact_vibratores_rocas',
mu=float(mu),
e=0.01,
collision_group1=2,
