def validateInertiaData(obj, *args, adjust=False):
"""Validates an inertia dictionary or object.
This checks for the *inertia* and *mass* values in the dictionary (*inertial/inertia* and
*inertial/mass* for an object respectively).
Also, the inertia values are checked to be positive definite (for diagonal, determinant and
eigenvalues).
If adjust is set, values are adjusted/fixed for the returned dict/object. E.g. this sets a
negative mass to 1e-3.
Args:
obj(dict/bpy.types.Object): inertia dictionary or object to validate
*args: other arguments
adjust: if True, bad values will be fixed/complemented (Default value = False)
Returns:
tuple: list of :class:`ValidateMessage`\ s and the fixed dictionary/object
"""
from phobos.model.inertia import inertiaListToMatrix, inertiaMatrixToList
from phobos.utils.io import getExpSettings
import numpy
errors = []
expsetting = 10**(-getExpSettings().decimalPlaces)
# check dictionary parameters (most of the time pre object creation)
if isinstance(obj, dict):
missing = []
if 'inertia' not in obj:
missing.append('inertia')
if 'mass' not in obj:
missing.append('mass')
if missing:
errors.append(
ValidateMessage(
"Inertia dictionary not fully defined!",
'WARNING',
None,
None,
{
'log_info':
"Missing: " +
' '.join(["'{0}'".format(miss) for miss in missing]) +
" Set to default 1e-3."
},
))
if 'inertia' in missing:
obj['inertia'] = (1e-3, 0., 0., 1e-3, 0., 1e-3)
if 'mass' in missing:
obj['mass'] = 1e-3
inertia = obj['inertia']
mass = obj['mass']
# check existing object properties
elif isinstance(obj, bpy.types.Object):
if 'inertial/inertia' not in obj:
errors.append(
ValidateMessage(
"Inertia not defined!",
'WARNING',
obj,
'phobos.generate_inertial_objects',
{'log_info': "Set to default 1e-3."},
))
obj['inertial/inertia'] = (1e-3, 0., 0., 1e-3, 0., 1e-3)
if 'inertial/mass' not in obj:
errors.append(
ValidateMessage(
"Mass is not defined!",
'WARNING',
obj,
'phobos.generate_inertial_objects',
{'log_info': "Set to default 1e-3."},
))
obj['inertial/mass'] = 1e-3
inertia = obj['inertial/inertia']
mass = obj['inertial/mass']
# Check inertia vector for various properties, round to export precision
inertia = numpy.around(numpy.array(inertiaListToMatrix(inertia)),
decimals=getExpSettings().decimalPlaces)
if any(element <= expsetting for element in inertia.diagonal()):
errors.append(
ValidateMessage(
"Negative semidefinite main diagonal in inertia data!",
'WARNING',
None if isinstance(obj, dict) else obj,
None,
{'log_info': "Diagonal: " + str(inertia.diagonal())},
))
# Calculate the determinant if consistent, quick check
if numpy.linalg.det(inertia) <= expsetting:
errors.append(
ValidateMessage(
"Negative semidefinite determinant in inertia data! Checking singular values.",
'WARNING',
None if isinstance(obj, dict) else obj,
None,
{'log_info': "Determinant: " + str(numpy.linalg.det(inertia))},
))
# Calculate the eigenvalues if not consistent
if any(element <= expsetting
for element in numpy.linalg.eigvals(inertia)):
# Apply singular value decomposition and correct the values
S, V = numpy.linalg.eig(inertia)
S[S <= expsetting] = expsetting
inertia = V.dot(numpy.diag(S).dot(V.T))
errors.append(
ValidateMessage(
"Negative semidefinite eigenvalues in inertia data!",
'WARNING',
None if isinstance(obj, dict) else obj,
None,
{
'log_info':
"Eigenvalues: " + str(numpy.linalg.eigvals(inertia))
},
))
if mass <= 0.:
errors.append(
ValidateMessage(
"Mass is {}!".format('zero' if mass == 0. else 'negative'),
'WARNING',
None if isinstance(obj, dict) else obj,
None,
{} if not adjust else {'log_info': "Adjusted to 1e-3."},
))
mass = expsetting
inertia = inertiaMatrixToList(inertia)
if adjust and isinstance(obj, bpy.types.Object):
obj['inertial/inertia'] = inertia
obj['inertial/mass'] = mass
elif adjust:
obj['inertia'] = inertia
obj['mass'] = mass
return errors, obj
def validateInertiaData(obj, *args, adjust=False):
"""Validates an inertia dictionary or object.
This checks for the *inertia* and *mass* values in the dictionary (*inertial/inertia* and
*inertial/mass* for an object respectively).
Also, the inertia values are checked to be positive definite (for diagonal, determinant and
eigenvalues).
If adjust is set, values are adjusted/fixed for the returned dict/object. E.g. this sets a
negative mass to 1e-3.
Args:
obj(dict/bpy.types.Object): inertia dictionary or object to validate
*args: other arguments
adjust: if True, bad values will be fixed/complemented (Default value = False)
Returns:
tuple: list of :class:`ValidateMessage`\ s and the fixed dictionary/object
"""
from phobos.model.inertia import inertiaListToMatrix, inertiaMatrixToList
from phobos.utils.io import getExpSettings
import numpy
errors = []
# check dictionary parameters (most of the time pre object creation)
if isinstance(obj, dict):
missing = []
if 'inertia' not in obj:
missing.append('inertia')
if 'mass' not in obj:
missing.append('mass')
if missing:
errors.append(
ValidateMessage(
"Inertia dictionary not fully defined!",
'WARNING',
None,
None,
{
'log_info': "Missing: "
+ ' '.join(["'{0}'".format(miss) for miss in missing])
+ " Set to default 1e-3."
},
)
)
if 'inertia' in missing:
obj['inertia'] = (1e-3, 0., 0., 1e-3, 0., 1e-3)
if 'mass' in missing:
obj['mass'] = 1e-3
inertia = obj['inertia']
mass = obj['mass']
# check existing object properties
elif isinstance(obj, bpy.types.Object):
if 'inertial/inertia' not in obj:
errors.append(
ValidateMessage(
"Inertia not defined!",
'WARNING',
obj,
'phobos.generate_inertial_objects',
{'log_info': "Set to default 1e-3."},
)
)
obj['inertial/inertia'] = (1e-3, 0., 0., 1e-3, 0., 1e-3)
if 'inertial/mass' not in obj:
errors.append(
ValidateMessage(
"Mass is not defined!",
'WARNING',
obj,
'phobos.generate_inertial_objects',
{'log_info': "Set to default 1e-3."},
)
)
obj['inertial/mass'] = 1e-3
inertia = obj['inertial/inertia']
mass = obj['inertial/mass']
# Check inertia vector for various properties, round to export precision
inertia = numpy.around(
numpy.array(inertiaListToMatrix(inertia)), decimals=getExpSettings().decimalPlaces
)
if any(element <= 0.0 for element in inertia.diagonal()):
errors.append(
ValidateMessage(
"Negative semidefinite main diagonal in inertia data!",
'WARNING',
None if isinstance(obj, dict) else obj,
None,
{'log_info': "Diagonal: " + str(inertia.diagonal())},
)
)
# Calculate the determinant if consistent, quick check
if numpy.linalg.det(inertia) <= 0.0:
errors.append(
ValidateMessage(
"Negative semidefinite determinant in inertia data! Checking singular values.",
'WARNING',
None if isinstance(obj, dict) else obj,
None,
{'log_info': "Determinant: " + str(numpy.linalg.det(inertia))},
)
)
# Calculate the eigenvalues if not consistent
if any(element <= 0.0 for element in numpy.linalg.eigvals(inertia)):
# Apply singular value decomposition and correct the values
S, V = numpy.linalg.eig(inertia)
S[S <= 0.0] = 1e-3
inertia = V.dot(numpy.diag(S).dot(V.T))
errors.append(
ValidateMessage(
"Negative semidefinite eigenvalues in inertia data!",
'WARNING',
None if isinstance(obj, dict) else obj,
None,
{'log_info': "Eigenvalues: " + str(numpy.linalg.eigvals(inertia))},
)
)
if mass <= 0.:
errors.append(
ValidateMessage(
"Mass is {}!".format('zero' if mass == 0. else 'negative'),
'WARNING',
None if isinstance(obj, dict) else obj,
None,
{} if not adjust else {'log_info': "Adjusted to 1e-3."},
)
)
mass = 1e-3
inertia = inertiaMatrixToList(inertia)
if adjust and isinstance(obj, bpy.types.Object):
obj['inertial/inertia'] = inertia
obj['inertial/mass'] = mass
elif adjust:
obj['inertia'] = inertia
obj['mass'] = mass
return errors, obj