def testCircle(self):
c1 = Circle([0, 0], 1, vel=[0, 0])
c2 = Circle([0, 0, 0], 1)
c3 = Circle(torch.tensor([0, 0], dtype=DTYPE), torch.tensor(1, dtype=DTYPE), vel=torch.tensor([0, 0], dtype=DTYPE))
c4 = Circle(torch.tensor([0, 0, 0], dtype=DTYPE), torch.tensor(1, dtype=DTYPE), vel=torch.tensor([1, 1, 1], dtype=DTYPE))
c5 = Circle([0, 0, 0], 1, [0, 0, 0], mass=torch.tensor(1, dtype=DTYPE))
c1.add_no_contact(c2)
c2.add_force(Gravity())
c2.apply_forces(1)
c3.set_p(c3.p.new_tensor([1, 1, 1]))
c4.move(0.1)
def make_world(learned_force):
bodies = []
joints = []
target = Circle([500, 300], 30)
bodies.append(target)
c1 = Circle([250, 210], 30)
bodies.append(c1)
c1.add_force(ExternalForce(learned_force))
c1.add_no_contact(target)
c2 = Circle([400, 250], 30)
bodies.append(c2)
# joints.append(Joint(c2, None, [500, 275]))
c2.add_no_contact(target)
world = World(bodies, joints, dt=DT)
return world, c2, target