# Definition of the front shape
#io.addPrimitiveShape('Front', 'Box', (100, 0.5, 50.))
# 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.
# As a mass is given, it is a dynamic system involved in contact
# detection and in the simulation. With no group id specified the
# Contactor belongs to group 0
for i in range(n_row):
for j in range(n_col):
for n in range(n_cube):
io.addObject('cubeCS' + str(n) + '_' + str(i) + '_' + str(j), [
Contactor('CubeCS' + str(n) + '_' + str(i) + '_' + str(j))
],
translation=[3.0 * i, 3.0 * j, 2.05 * (n + 1)],
velocity=[
10 * (1.0 + 2.0 *
(random.random() - 1.0) / 2.0), 10 *
(1.0 + 2.0 * (random.random() - 1.0) / 2.0),
0, 1, 1, 1
],
mass=1)
# io.addObject('cube2', [Contactor('CubePrim')], translation=[0, 3, 2],
# velocity=[10, 0, 0, 1, 1, 1],
# mass=1)
# the ground object made with the ground shape. As the mass is
# Alternative to the previous convex shape definition.
io.addPrimitiveShape('CubePrim', '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.
# As a mass is given, it is a dynamic system involved in contact
# detection and in the simulation. With no group id specified the
# Contactor belongs to group 0
io.addObject('cube1', [Contactor('CubeCS')], translation=[0, 0, 2],
velocity=[10, 0, 0, 1, 1, 1],
mass=1)
io.addObject('cube2', [Contactor('CubePrim')], translation=[0, 3, 2],
velocity=[10, 0, 0, 1, 1, 1],
mass=1)
# the ground object made with the ground shape. As the mass is
# not given, it is a static object only involved in contact
# detection.
io.addObject('ground', [Contactor('Ground')],
translation=[0, 0, 0])
# Run the simulation from the inputs previously defined and add
io.addPrimitiveShape('Mass2', 'Sphere', (r2, ))
# Definition of the ground shape
io.addPrimitiveShape('Ground', 'Box', (100, 100, .5))
# the brick shape
io.addPrimitiveShape('Brick', 'Box', (bx, by, bz))
# Definition of a non smooth law. As no group ids are specified it
# is between contactors of group id 0.
io.addNewtonImpactFrictionNSL('contact', mu=0.1)
# first branch + first mass the center of gravity is at the center of the
# Mass1
io.addObject('arm1', [
Contactor('Mass1'),
Contactor('Arm1', relative_translation=[0, r1 + l1 / 2., 0])
],
translation=[0, 0, r2 + gap + r2 + l2 + r1 + hgap],
orientation=((1, 0, 0), pi / 2),
mass=m1)
# second branch + second mass
io.addObject('arm2', [
Contactor('Mass2'),
Contactor('Arm2', relative_translation=[0, r2 + l2 / 2., 0])
],
translation=[0, 0, r2 + gap],
orientation=((1, 0, 0), pi / 2),
velocity=[0, 20, 0, 0, 0, 0],
mass=m2)
io.addNewtonImpactFrictionNSL('contact2',
mu=0.7,
collision_group1=1,
collision_group2=1)
# Definition of a non smooth law between groups 0 and 0
io.addNewtonImpactFrictionNSL('contact3',
mu=0.1,
collision_group1=0,
collision_group2=0)
# A 'two boxes object made with two Contactors.
# As a mass is given, it is a dynamic system involved in contact
# detection and in the simulation.
io.addObject('twoboxes', [
Contactor('BigBox', collision_group=0, relative_translation=[0, 0, 0]),
Contactor('LongBox', collision_group=1, relative_translation=[0, 0, 0])
],
translation=[0, 0, 3],
velocity=[10, 0, 0, 1, 1, 1],
mass=1)
# the ground object made with the ground shape. As the mass is
# not given, it is a static object only involved for contact
# detection.
io.addObject('ground', [Contactor('Ground', collision_group=1)],
translation=[0, 0, 0])
# 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.
ground_slope = 0.29
ground_size = (100., 400, 2.)
io.addPrimitiveShape('Ground', 'Box', ground_size)
io.addPrimitiveShape('Ground2', 'Box', ground_size)
block_size = (50., 20., 20.)
io.addPrimitiveShape('Block', 'Box', block_size)
# 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)
#first branch + first mass the center of gravity is at the center of the
#Mass1
ppos = [0, -10., 15]
io.addObject(
'arm1', [Contactor('Mass1'),
Contactor('Arm1', relative_translation=[0, r1 + l1 / 2., 0])],
translation=ppos,
orientation=((1, 0, 0), pi / 2),
velocity=[0, -5, 0, 0, 0, 0],
mass=m1)
io.addJoint('joint2', 'arm1',
pivot_point=[ppos[0], ppos[1], ppos[2] + l1],
axis=[1, 0, 0],
joint_class='PivotJointR')
# the ground object made with the ground shape. As the mass is
# not given, it is a static object only involved in contact
# detection.
shift = -0.5 * ground_size[2] - sin(ground_slope) * ground_size[1] * 0.5
# 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.
# As a mass is given, it is a dynamic system involved in contact
# detection and in the simulation. With no group id specified the
# Contactor belongs to group 0
io.addObject('cube', [Contactor('Cube')],
translation=[0, 0, 2],
velocity=[10, 0, 0, 1, 1, 1],
mass=1)
# the ground object made with the ground shape. As the mass is
# not given, it is a static object only involved in contact
# detection.
io.addObject('ground', [Contactor('Ground')], translation=[0, 0, 0])
# 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+') as io:
# By default earth gravity is applied and the units are those
left_up_vertices=numpy.array([v1,v2,v3,v1_extruded,v2_extruded,v3_extruded])
print left_up_vertices
v1 = numpy.array([0, 0 , box_height])
v2 = numpy.array([4.370-4.370*1.200/box_height,0.0, 1.200])
v3 = numpy.array([ box_length, 0,1.200])
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([v1,v2,v3,v1_extruded,v2_extruded,v3_extruded])
print left_up_vertices
io.addConvexShape('Left_up',left_up_vertices )
io.addObject('left_up', [Contactor('Left_up')],
translation=[0, 0, 0])
######### left_middle
id_plan=id_plan+1
body_collection['plan_id']["left_middle"]=id_plan
v4 = numpy.array([4.370,1.280, 0.0])
v5 = numpy.array([ 6.900-1.770, 1.280,0.0])
left_middle_normal = normal_plane(v2,v4,v3)
print('left_middle_normal=', left_middle_normal)
v4_extruded = v4 + numpy.dot(plan_thickness,left_middle_normal)
v5_extruded = v5 + numpy.dot(plan_thickness,left_middle_normal)
io.addPrimitiveShape('CubePrim2', 'Box',
(2 * edge_length, 2 * edge_length, 2 * edge_length))
# Definition of the ground shape
io.addPrimitiveShape('Ground', 'Box',
(plane_length, plane_length, plane_length / 10.0))
# 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, e=0.5)
# The cube object made with an unique Contactor : the cube shape.
# As a mass is given, it is a dynamic system involved in contact
# detection and in the simulation. With no group id specified the
# Contactor belongs to group 0
io.addObject('cube1', [Contactor('CubeCS1')],
translation=[0, 0, 2],
velocity=[
velocity_init, 0, 0, angular_velocity_init,
angular_velocity_init, angular_velocity_init
],
mass=1)
io.addObject('cube2', [Contactor('CubeCS2')],
translation=[0, 0, 2 + 3 * edge_length],
velocity=[
velocity_init, 0, 0, angular_velocity_init,
angular_velocity_init, angular_velocity_init
],
mass=1)