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
