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='volumeGrowth',
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
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, 0.0])
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 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 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, 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
