def createScene(rootNode):
scene = Scene(rootNode, gravity=[0.0, -9810.0, 0.0])
rootNode.dt = 0.025
scene.VisualStyle.displayFlags = "showBehavior"
scene.createObject("MeshSTLLoader", name="loader", filename="data/mesh/blueprint.stl")
scene.createObject("OglModel", src="@loader")
tripod = Tripod(rootNode)
for arm in tripod.actuatedarms:
arm.Constraint.BoxROI.drawBoxes = True
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.createObject("VisualStyle", displayFlags="showBehaviorModels")
# Use these components on top of the scene to solve the constraint "StopperConstraint".
rootNode.createObject("FreeMotionAnimationLoop")
rootNode.createObject("GenericConstraintSolver",
maxIterations=1e3,
tolerance=1e-5)
simulation = rootNode.createChild("Simulation")
simulation.createObject("EulerImplicitSolver",
rayleighStiffness=0.1,
rayleighMass=0.1)
simulation.createObject("CGLinearSolver", name="precond")
ServoMotor(simulation, showWheel=True)
animate(animation, {"target": simulation.ServoMotor},
duration=5.,
mode="loop")
return rootNode
def createScene(rootNode):
from splib.animation import animate
from stlib.scene import Scene
import math
scene = Scene(rootNode)
scene.VisualStyle.displayFlags = "showBehavior"
rootNode.dt = 0.003
rootNode.gravity = [0., -9810., 0.]
simulation = rootNode.createChild("Simulation")
simulation.createObject("EulerImplicitSolver",
rayleighStiffness=0.1,
rayleighMass=0.1)
simulation.createObject("CGLinearSolver", name="precond")
arm = ActuatedArm(simulation,
name="ActuatedArm",
translation=[0.0, 0.0, 0.0])
def myanimate(target, factor):
target.angle = math.cos(factor * 2 * math.pi)
target.setX(math.cos(factor * 2 * math.pi))
animate(myanimate, {"target": arm.servomotor}, duration=5, mode="loop")
def createScene(rootNode):
scene = Scene(rootNode, gravity=[0.0, -9810, 0.0])
rootNode.dt = 0.025
scene.VisualStyle.displayFlags = "showBehavior"
scene.createObject("MeshSTLLoader", name="loader", filename="../compoz/table_stand.stl")
scene.createObject("OglModel", src="@loader")
# Instanciating the prefab into the graph
body = ElasticBody(rootNode)
# Instanciating the FixingBox prefab into the graph, constraining the mechanical object of the ElasticBody.
fix = FixingBox(rootNode,
body.ElasticMaterialObject,
translation=[0.0, 0.0, 0.0],
scale=[30., 30., 30.])
# Changing the property of the Box ROI so that the constraint area appears on screen.
fix.boxroi.drawBoxes = True
def createScene(rootNode):
from splib.animation import animate
from splib.animation.easing import LinearRamp
from splib.scenegraph import get
from stlib.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(root):
from stlib.scene import Scene
Scene(root)
root.VisualStyle.displayFlags="showForceFields"
filename = tetmeshFromBrepAndSaveToFile(filepath='data/meshes/CapNoCavities.brep',
outputdir='data/meshes/autogen/',
Mesh_CharacteristicLengthFactor=0.4,
Mesh_CharacteristicLengthMax=3,
Mesh_CharacteristicLengthMin=0.1,
View_GeneralizedRaiseZ='v0')
root.createObject("MeshVTKLoader", name="loader", filename=filename)
root.createObject("TetrahedronSetTopologyContainer", name="container", src="@loader")
root.createObject("MechanicalObject", name="dofs", position="@loader.position")
root.createObject("TetrahedronFEMForceField", name="forcefield")
def createScene(rootNode):
scene = Scene(rootNode, gravity=[0.0, -9810.0, 0.0])
rootNode.dt = 0.025
scene.VisualStyle.displayFlags = "showBehavior"
scene.createObject("MeshSTLLoader",
name="loader",
filename="../data/mesh/blueprint.stl")
scene.createObject("OglModel", src="@loader")
tripod = Tripod(rootNode)
for arm in tripod.actuatedarms:
arm.Constraint.BoxROI.drawBoxes = True
def createScene(rootNode):
scene = Scene(rootNode, gravity=[0.0, -9810, 0.0])
scene.VisualStyle.displayFlags = "showBehavior"
scene.createObject("MeshSTLLoader", name="loader", filename="data/mesh/blueprint.stl")
scene.createObject("OglModel", src="@loader")
model = scene.createChild("Model")
tripod = Tripod(model)
MyController(rootNode, tripod.actuatedarms)
Interaction(rootNode, targets=[tripod.ActuatedArm0,
tripod.ActuatedArm1,
tripod.ActuatedArm2])
def createScene(rootNode):
from splib.animation import animate
from stlib.scene import Scene
scene = Scene(rootNode)
scene.createObject("EulerImplicitSolver")
scene.createObject("SparseLDLSolver")
scene.VisualStyle.displayFlags = "showBehavior"
arm1 = ActuatedArm(scene, name="arm1", translation=[-2.0, 0.0, 0.0])
arm1.createObject("FixedConstraint")
def myanimate(target, factor):
target.angle = factor
animate(myanimate, {"target": arm1.ServoMotor},
duration=0.5,
mode="pingpong")
def createSceneReal(rootNode):
#print sys.argv
#sys.exit()
length_scale = sys.argv[1]
#length_scale = ""
disk_msh = 'disk_' + length_scale + '.msh'
disk_inside_msh = 'disk_inside' + length_scale + '.msh'
# find point closest to zero (with positive z valu)
vector, mid_ind = nth_smallest_point(disk_msh, 0)
i = 0
while vector[-1] < 0:
i += 1
vector, mid_ind = nth_smallest_point(disk_msh, i)
print(vector, mid_ind)
sys.exit()
rootNode = Scene(rootNode, gravity=[0.0, -0.0, 0.0], dt=0.001)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('GenericConstraintSolver',
maxIterations='100',
tolerance='0.0000001')
# bunny
bunny = rootNode.createChild('bunny')
bunny.createObject('EulerImplicit', name='odesolver')
bunny.createObject('ShewchukPCGLinearSolver',
iterations='15',
name='linearsolver',
tolerance='1e-5',
preconditioners='preconditioner',
use_precond='true',
update_step='1')
bunny.createObject('MeshGmshLoader',
name='loader',
rotation="90 0 0",
filename=path + disk_msh)
bunny.createObject('TetrahedronSetTopologyContainer',
src='@loader',
name='container')
bunny.createObject('TetrahedronSetTopologyModifier')
bunny.createObject('TetrahedronSetTopologyAlgorithms', template='Vec3d')
bunny.createObject('TetrahedronSetGeometryAlgorithms', template='Vec3d')
bunny.createObject('MechanicalObject',
name='tetras',
template='Vec3d',
showIndices='false',
showIndicesScale='4e-5',
rx='0',
dz='0')
bunny.createObject('UniformMass', totalMass='0.5')
bunny.createObject('TetrahedronFEMForceField',
template='Vec3d',
name='FEM',
method='large',
poissonRatio='0.3',
youngModulus='180')
#bunny.createObject('BoxROI', name='boxROI', box='-3 -3 -3 3 3 3', drawBoxes='true',
# position="@tetras.rest_position", tetrahedra="@container.tetrahedra")
#bunny.createObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness='1e12')
bunny.createObject('SparseLDLSolver', name='preconditioner')
bunny.createObject('LinearSolverConstraintCorrection',
solverName='preconditioner')
# bunny.createObject('UncoupledConstraintCorrection')
# bunny/cavity
cavity = bunny.createChild('cavity')
cavity.createObject('MeshGmshLoader',
name='loader',
rotation="90 0 0",
filename=path + disk_inside_msh)
cavity.createObject('Mesh', src='@loader', name='topo')
cavity.createObject('MechanicalObject', name='cavity')
cavity.createObject('SurfacePressureConstraint',
triangles='@topo.triangles',
value='4000',
valueType="1")
cavity.createObject('BarycentricMapping',
name='mapping',
mapForces='false',
mapMasses='false')
# bunny/bunnyVisu
bunnyVisu = bunny.createChild('visu')
bunnyVisu.createObject('TriangleSetTopologyContainer', name='container')
bunnyVisu.createObject('TriangleSetTopologyModifier')
bunnyVisu.createObject('TriangleSetTopologyAlgorithms', template='Vec3d')
bunnyVisu.createObject('TriangleSetGeometryAlgorithms', template='Vec3d')
bunnyVisu.createObject('Tetra2TriangleTopologicalMapping',
name='Mapping',
input="@../container",
output="@container")
bunnyVisu.createObject('OglModel',
template='ExtVec3f',
color='0.3 0.2 0.2 0.8')
bunnyVisu.createObject('IdentityMapping')
#FixedBox(bunny, doVisualization=True, atPositions=BoxROICoordinates)
#bunny.FixedBox.BoxROI.show = True
return rootNode
def createSceneReal(rootNode, dt):
length_scale = "0.500"
disk_msh = 'disk_' + length_scale + '.msh'
disk_inside_stl = 'disk_inside' + length_scale + '.stl'
rootNode = Scene(rootNode, gravity=[0.0, -0.0, 9.8], dt=dt)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('GenericConstraintSolver',
name='gencs',
maxIterations='500',
printLog='0',
tolerance='0.0000001')
rootNode.createObject('BackgroundSetting', color='0 0.168627 0.211765')
YoungModulus = 1800
InitialValue = 1000.0
Translation = "0 0 0"
Bunny = ElasticMaterialObject(name="disk",
attachedTo=rootNode,
volumeMeshFileName=meshpath + disk_msh,
surfaceMeshFileName=meshpath +
disk_inside_stl,
youngModulus=YoungModulus,
withConstrain=True,
totalMass=1.0,
translation="0 0 0")
fixed_const_str = ""
fixed_const_lst = [274, 309, 344, 345, 770, 783, 807]
for i in fixed_const_lst:
fixed_const_str = fixed_const_str + " " + str(i)
print "Fixed stuff", fixed_const_lst, fixed_const_str
Bunny.createObject("FixedConstraint", indices=fixed_const_str)
'''
cavity = PneumaticCavity(name='cavity', attachedAsAChildOf=Bunny,
surfaceMeshFileName=meshpath + disk_inside_stl, valueType='pressure',
initialValue=0.0, translation=Translation)
'''
cavity = Bunny.createChild('cavity')
cavity.createObject('MeshSTLLoader',
name='loader',
filename=meshpath + disk_inside_stl,
translation="0 0 0")
cavity.createObject('Mesh', src='@loader', name='topo')
cavity.createObject('MechanicalObject', name='cavity')
cavity.createObject('SurfacePressureConstraint',
name="SurfacePressureConstraint",
template='Vec3d',
value="0.0001",
triangles='@topo.triangles',
visualization='0',
showVisuScale='0.0002',
valueType="pressure")
cavity.createObject('BarycentricMapping',
name='mapping',
mapForces='false',
mapMasses='false')
BunnyVisu = Bunny.createChild('visu')
BunnyVisu.createObject('TriangleSetTopologyContainer', name='container')
BunnyVisu.createObject('TriangleSetTopologyModifier')
BunnyVisu.createObject('TriangleSetTopologyAlgorithms', template='Vec3d')
BunnyVisu.createObject('TriangleSetGeometryAlgorithms', template='Vec3d')
BunnyVisu.createObject('Tetra2TriangleTopologicalMapping',
name='Mapping',
input="@../container",
output="@container")
BunnyVisu.createObject('OglModel',
template='ExtVec3f',
color='0.3 0.2 0.2 0.6',
translation=Translation)
BunnyVisu.createObject('IdentityMapping')
return Bunny
def createSceneReal(rootNode, dt, fixed_const_lst, moving_const_lst):
length_scale = sys.argv[1]
block_msh = 'block_' + length_scale + '.msh'
rootNode = Scene(rootNode, gravity=[0.0, -0.0, 1000.0], dt=dt)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.dt = dt
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('GenericConstraintSolver',
name='gencs',
maxIterations='500',
printLog='0',
tolerance='0.0000001')
rootNode.createObject('BackgroundSetting', color='0 0.168627 0.211765')
YoungModulus = 1800
InitialValue = 0.01
Translation = None
Block = ElasticMaterialObject(name="block",
attachedTo=rootNode,
volumeMeshFileName=meshpath + block_msh,
surfaceMeshFileName=None,
youngModulus=YoungModulus,
withConstrain=True,
totalMass=1.0,
translation=None)
fixed_const_str = ""
for i in fixed_const_lst:
fixed_const_str = fixed_const_str + " " + str(i)
moving_const_str = ""
for i in moving_const_lst:
moving_const_str = moving_const_str + " " + str(i)
print 'moving', moving_const_str
print 'fixed ', fixed_const_str
Block.createObject("FixedConstraint", indices=fixed_const_str)
inds = "7 63 62 60 5 254 240 206 236 47 68 69 253"
Block.createObject('PartialLinearMovementConstraint',
indices=moving_const_str,
keyTimes='0 ' + str(dt) + " 10",
template='Vec3d',
movements='0. 0. 0. 0. -1 0. 0. -1 0.')
#cavity = PneumaticCavity(name='Cavity', attachedAsAChildOf=Block,
# surfaceMeshFileName=meshpath + block_inside_stl, valueType='pressureGrowth',
# initialValue=InitialValue, translation=Translation)
BlockVisu = Block.createChild('visu')
BlockVisu.createObject('TriangleSetTopologyContainer', name='container')
BlockVisu.createObject('TriangleSetTopologyModifier')
BlockVisu.createObject('TriangleSetTopologyAlgorithms', template='Vec3d')
BlockVisu.createObject('TriangleSetGeometryAlgorithms', template='Vec3d')
BlockVisu.createObject('Tetra2TriangleTopologicalMapping',
name='Mapping',
input="@../container",
output="@container")
BlockVisu.createObject('OglModel',
template='ExtVec3f',
color='0.3 0.2 0.2 0.6',
translation=Translation)
BlockVisu.createObject('IdentityMapping')
return Block
def createSceneReal(rootNode, dt, L):
length_scale = L
disk_msh = 'disk_' + length_scale + '.msh'
disk_inside_stl = 'disk_inside' + length_scale + '.stl'
'''
# find point closest to zero (with positive z valu)
vector, mid_ind = point_finder.nth_smallest_point(disk_msh, 0)
i = 0
while vector[-1] < 1.0:
i += 1
vector, mid_ind = point_finder.nth_smallest_point(disk_msh, i)
print(vector, mid_ind)'''
rootNode = Scene(rootNode, gravity=[0.0, -0.0, 9.8], dt=dt)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.createObject('RequiredPlugin', pluginName='SoftRobots')
rootNode.createObject(
'VisualStyle',
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe'
)
rootNode.dt = 0.001
rootNode.createObject('FreeMotionAnimationLoop')
rootNode.createObject('GenericConstraintSolver',
name='gencs',
maxIterations='500',
printLog='0',
tolerance='0.0000001')
#disksolver = rootNode.add('SparseLDLSolver', name="solver")
rootNode.createObject('BackgroundSetting', color='0 0.168627 0.211765')
YoungModulus = 1800
InitialValue = 0.01
Translation = None
Bunny = ElasticMaterialObject(name="disk",
attachedTo=rootNode,
volumeMeshFileName=meshpath + disk_msh,
surfaceMeshFileName=meshpath +
disk_inside_stl,
youngModulus=YoungModulus,
withConstrain=True,
totalMass=1.0,
translation=None)
fixed_const_str = ""
fixed_const_lst = point_finder.all_nodes_within_and_below_zero(
disk_msh, 2.0)
for i in fixed_const_lst:
fixed_const_str = fixed_const_str + " " + str(i)
print "hell", fixed_const_lst, fixed_const_str
Bunny.createObject("FixedConstraint", indices=fixed_const_str)
cavity = PneumaticCavity(name='Cavity',
attachedAsAChildOf=Bunny,
surfaceMeshFileName=meshpath + disk_inside_stl,
valueType='pressureGrowth',
initialValue=InitialValue,
translation=Translation)
BunnyVisu = Bunny.createChild('visu')
BunnyVisu.createObject('TriangleSetTopologyContainer', name='container')
BunnyVisu.createObject('TriangleSetTopologyModifier')
BunnyVisu.createObject('TriangleSetTopologyAlgorithms', template='Vec3d')
BunnyVisu.createObject('TriangleSetGeometryAlgorithms', template='Vec3d')
BunnyVisu.createObject('Tetra2TriangleTopologicalMapping',
name='Mapping',
input="@../container",
output="@container")
BunnyVisu.createObject('OglModel',
template='ExtVec3f',
color='0.3 0.2 0.2 0.6',
translation=Translation)
BunnyVisu.createObject('IdentityMapping')
return Bunny
