from woo import log, utils, pack, timing
#log.setLevel('FlatGridCollider',log.TRACE)
#O.bodies.append([ utils.sphere((0.2,0,0),.5,dynamic=False), utils.sphere((0.2,0.0,1.01),.5), ])
O.bodies.append(
pack.regularHexa(pack.inAlignedBox((0, 0, 0), (10, 10, 1)),
radius=.5,
gap=0,
dynamic=False))
O.bodies.append(
pack.regularOrtho(pack.inAlignedBox((3, 3, 3), (7, 7, 4)),
radius=.05,
gap=0))
O.engines = [
ForceResetter(),
FlatGridCollider(step=.2,
aabbMin=(0, 0, 0),
aabbMax=(10, 10, 5),
verletDist=0.005),
# InsertionSortCollider([Bo1_Sphere_Aabb()],sweepLength=0.005),
InteractionLoop(
[Ig2_Sphere_Sphere_Dem3DofGeom()],
[Ip2_FrictMat_FrictMat_FrictPhys()],
[Law2_Dem3DofGeom_FrictPhys_CundallStrack()],
),
GravityEngine(gravity=[0, 0, -10]),
NewtonIntegrator(damping=0.4),
]
O.dt = .6 * utils.PWaveTimeStep()
O.saveTmp()
#O.step()
#while True:
kwMeshes={'color':[1,1,0],'wire':True,'dynamic':False,'material':0}
O.bodies.append(
pack.regularHexa(
(pack.inSphere((0,0,4),2)-pack.inSphere((0,-2,5),2)) & pack.notInNotch(centerPoint=(0,0,4),edge=(0,1,0),normal=(-1,1,-1),aperture=.2)
,radius=rad,gap=gap,color=(0,1,0),material=0) # head
+[utils.sphere((.8,1.9,5),radius=.2,color=(.6,.6,.6),material=0),utils.sphere((-.8,1.9,5),radius=.2,color=(.6,.6,.6),material=0),utils.sphere((0,2.4,4),radius=.4,color=(1,0,0),material=0)] # eyes and nose
+pack.regularHexa(pack.inCylinder((-1,2.2,3.3),(1,2.2,3.3),2*rad),radius=rad,gap=gap/3,color=(0.929,0.412,0.412),material=0) #mouth
)
groundId=O.bodies.append(utils.facet([(12,0,-6),(0,12,-6,),(-12,-12,-6)],dynamic=False)) # ground
for part in [
pack.regularHexa (
pack.inAlignedBox((-2,-2,-2),(2,2,2))-pack.inCylinder((0,-2,0),(0,2,0),1),
radius=1.5*rad,gap=2*gap,color=(1,0,1),**kw), # body,
pack.regularOrtho(pack.inEllipsoid((-1,0,-4),(1,1,2)),radius=rad,gap=0,color=(0,1,1),**kw), # left leg
pack.regularHexa (pack.inCylinder((+1,1,-2.5),(0,3,-5),1),radius=rad,gap=gap,color=(0,1,1),**kw), # right leg
pack.regularHexa (pack.inHyperboloid((+2,0,1),(+6,0,0),1,.5),radius=rad,gap=gap,color=(0,0,1),**kw), # right hand
pack.regularOrtho(pack.inCylinder((-2,0,2),(-5,0,4),1),radius=rad,gap=gap,color=(0,0,1),**kw) # left hand
]: O.bodies.appendClumped(part)
# Example of geom.facetBox usage
oriBody = Quaternion(Vector3(0,0,1),(math.pi/3))
O.bodies.append(geom.facetBox((12,0,-6+0.9),(1,0.7,0.9),oriBody,**kwBoxes))
oriBody = Quaternion(Vector3(0,0,1),(math.pi/2))
O.bodies.append(geom.facetBox((0,12,-6+0.9),(1,0.7,0.9),oriBody,**kwBoxes))
oriBody = Quaternion(Vector3(0,0,1),(math.pi))
O.bodies.append(geom.facetBox((-12,-12,-6+0.9),(1,0.7,0.9),oriBody,**kwBoxes))
from woo import log,utils,pack,timing
#log.setLevel('FlatGridCollider',log.TRACE)
#O.bodies.append([ utils.sphere((0.2,0,0),.5,dynamic=False), utils.sphere((0.2,0.0,1.01),.5), ])
O.bodies.append(pack.regularHexa(pack.inAlignedBox((0,0,0),(10,10,1)),radius=.5,gap=0,dynamic=False))
O.bodies.append(pack.regularOrtho(pack.inAlignedBox((3,3,3),(7,7,4)),radius=.05,gap=0))
O.engines=[
ForceResetter(),
FlatGridCollider(step=.2,aabbMin=(0,0,0),aabbMax=(10,10,5),verletDist=0.005),
# InsertionSortCollider([Bo1_Sphere_Aabb()],sweepLength=0.005),
InteractionLoop(
[Ig2_Sphere_Sphere_Dem3DofGeom()],
[Ip2_FrictMat_FrictMat_FrictPhys()],
[Law2_Dem3DofGeom_FrictPhys_CundallStrack()],
),
GravityEngine(gravity=[0,0,-10]),
NewtonIntegrator(damping=0.4),
]
O.dt=.6*utils.PWaveTimeStep()
O.saveTmp()
#O.step()
#while True:
# O.step()
# if len(O.interactions)>0 or O.bodies[1].state.pos[2]<.97: break
O.timingEnabled=True
O.run(5000,True)
timing.stats()
import sys
#sys.exit(0)
