def createScene(rootNode):
import math
def animation(target, factor):
target.angleIn = math.cos(factor * 2 * math.pi)
Scene(rootNode)
rootNode.dt = 0.003
rootNode.gravity = [0., -9810., 0.]
rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels')
# Use these components on top of the scene to solve the constraint 'StopperConstraint'.
rootNode.addObject('FreeMotionAnimationLoop')
rootNode.addObject('GenericConstraintSolver',
maxIterations=1e3,
tolerance=1e-5)
simulation = rootNode.addChild('Simulation')
simulation.addObject('EulerImplicitSolver',
rayleighStiffness=0.1,
rayleighMass=0.1)
simulation.addObject('CGLinearSolver', name='precond')
ServoMotor(simulation, showWheel=True)
animate(animation, {'target': simulation.ServoMotor},
duration=5.,
mode='loop')
return rootNode
def creteScene(rootNode):
import math
def animation(target, factor):
target.angle = math.cos(factor * 2 * math.pi)
target.setX(math.cos(factor * 2 * math.pi))
Scene(rootNode)
rootNode.dt = 0.003
rootNode.gravity = [0., -9810., 0.]
rootNode.addObject("VisualStyle", displayFlags="showBehaviorModels")
# Use these components on top of the scene to solve the constraint "StopperConstraint".
rootNode.addObject("FreeMotionAnimationLoop")
rootNode.addObject("GenericConstraintSolver",
maxIterations=1e3,
tolerance=1e-5)
simulation = rootNode.addChild("Simulation")
simulation.addObject("EulerImplicitSolver",
rayleighStiffness=0.1,
rayleighMass=0.1)
simulation.addObject("CGLinearSolver", name="precond")
servomotor = ServoMotor(simulation, showWheel=True)
animate(animation, {"target": servomotor}, duration=5., mode="loop")
return rootNode
def createScene(root):
from stlib3.scene import Scene
scene = Scene(root)
scene.addSettings()
scene.addModelling()
scene.addSimulation()
visu = VisualModel(visualMeshPath="mesh/smCube27.obj")
visu.showGrid()
scene.Modelling.addChild(visu)
def createScene(rootNode):
from stlib3.scene import Scene
scene = Scene(rootNode,
gravity=[0., -9810., 0.],
dt=0.025,
plugins=["SofaSparseSolver"])
scene.addMainHeader()
scene.VisualStyle.displayFlags = "showBehavior"
tripod = scene.Modelling.addChild(Tripod())
scene.Simulation.addChild(tripod.RigidifiedStructure)
motors = scene.Simulation.addChild("Motors")
motors.addChild(tripod.ActuatedArm0)
motors.addChild(tripod.ActuatedArm1)
motors.addChild(tripod.ActuatedArm2)
def createScene(rootNode):
scene = Scene(rootNode, gravity=[0.0, -9810.0, 0.0])
rootNode.dt = 0.025
scene.VisualStyle.displayFlags = "showBehavior"
scene.addObject("MeshSTLLoader",
name="loader",
filename="../../data/mesh/blueprint.stl")
scene.addObject("OglModel", src="@loader")
tripod = Tripod(rootNode)
for arm in tripod.actuatedarms:
arm.Constraint.BoxROI.drawBoxes = True
def createScene(rootNode):
from splib3.animation import animate
from splib3.animation.easing import LinearRamp
from splib3.scenegraph import get
from stlib3.scene import MainHeader
scene = Scene(rootNode)
s = DefaultSolver(rootNode)
# Test a assembly that also implements a KinematicMotorController
# The angle of the KinematicMotorController is dynamically changed using a
# animation function
servomotor = ServoMotor(rootNode, translation=[2, 0, 0])
def myAnimation(motorctrl, factor):
motorctrl.angle = LinearRamp(-3.14 / 2, 3.14 / 2, factor)
animate(myAnimation, {"motorctrl": servomotor.node},
duration=1.0,
mode="pingpong")
def createScene(rootNode):
from splib3.animation import animate
from stlib3.scene import Scene
scene = Scene(rootNode)
scene.addObject("EulerImplicitSolver")
scene.addObject("SparseLDLSolver")
scene.VisualStyle.displayFlags = "showBehavior"
arm1 = ActuatedArm(scene, name="arm1", translation=[-2.0, 0.0, 0.0])
arm1.addObject("FixedConstraint")
def myanimate(target, factor):
target.angle = factor
animate(myanimate, {"target": arm1.ServoMotor},
duration=0.5,
mode="pingpong")
def createScene(rootNode):
from splib3.animation import animate
from stlib3.scene import Scene
import math
scene = Scene(rootNode)
scene.VisualStyle.displayFlags = 'showBehavior'
rootNode.dt = 0.003
rootNode.gravity = [0., -9810., 0.]
simulation = rootNode.addChild('Simulation')
simulation.addObject('EulerImplicitSolver',
rayleighStiffness=0.1,
rayleighMass=0.1)
simulation.addObject('CGLinearSolver', name='precond')
arm = ActuatedArm(simulation,
name='ActuatedArm',
translation=[0.0, 0.0, 0.0])
def myanimate(target, factor):
target.angleIn = math.cos(factor * 2 * math.pi)
animate(myanimate, {'target': arm.ServoMotor}, duration=5, mode='loop')