def build_demo_game_engine_old():
robot = RobotConfiguration()
boxes = [
robot.add_box(
physics.Box(
extents=[0.5, 0.5, 0.5],
state=physics.State(
position=[1.1 * (i - 4.5), 0.5,
math.sin(i) * 0.5], ),
mass=1,
)) for i in xrange(10)
]
for b in boxes:
robot.add_inner_ear(b)
# Add a muscle connecting each box to the box two down the line.
for b1, b2 in zip(boxes, boxes[2:]):
robot.add_muscle(b1, b2, 2.2)
engine = GameEngine(robot, max_time=100)
# Connect each box to the next.
for b1, b2 in zip(boxes, boxes[1:]):
engine.world.physics_world_pointer.add_constraint(
b1.pointer,
b2.pointer,
physics.simulation.Vec(+1.1 / 2.0, 0, 0),
physics.simulation.Vec(-1.1 / 2.0, 0, 0),
)
return engine
def start_anim(self, colourList, lineConfigList, objConfigList, gui):
for i in range(0, 3):
Obj = Object(gui.mass_list[i] * phys.MASS_SCALING, phys.State(gui.xy[2 * i], \
gui.xy[2 * i + 1], gui.vel_list[2 * i], gui.vel_list[2 * i+1], i+1))
self.objectList.append(Obj)
traceLine, = self.ax.plot([], [], lineConfigList[i], lw=1)
self.traceLineList.append(traceLine)
particleDiameter = Obj.get_radius(
) * 2 * phys.PLOT_DPI * phys.PLOT_SIZE / phys.GRID_SIZE
particleLine, = self.ax.plot([], [],
objConfigList[i],
ms=particleDiameter)
self.particleList.append(particleLine)
from time import time
t0 = time()
self.animate(0)
t1 = time()
interval = (10**5) * self.dt - (t1 - t0)
animFig = plt.figure(num=1, figsize=(phys.PLOT_SIZE, phys.PLOT_SIZE))
animFig.set_size_inches(phys.PLOT_SIZE, phys.PLOT_SIZE, forward=True)
ani = animation.FuncAnimation(animFig, self.animate, frames=ANIMATION_FRAMES, \
interval=interval, blit=True, init_func=self.init)
plt.show()
return ani
def new(x, y, z):
b = physics.Box(
extents=[0.5, 0.5, 0.5],
state=physics.State(position=[x - 2 * S, 0.5 + y, z], ),
mass=1,
)
world.add_box(b)
robot.add_box(b)
boxes.append(b)
return b
def iterate(self):
if self.rt == 1:
self.iter_list = np.zeros(
(self.num_pts, self.err_pts * np.power(2, (self.num_pts - 1))))
for i in range(0, self.num_pts):
self.dt.append(self.dt_start)
self.dt_start = self.dt_start / 2
for p in range(0, self.num_pts):
objectList = []
for i in range(0, 3):
Obj = Object(self.mass_list[i] * phys.MASS_SCALING, \
phys.State(self.xy[2 * i], self.xy[2 * i + 1], self.vel_list[2 * i], self.vel_list[2 * i+1], i+1))
objectList.append(Obj)
# Only saves the data for Object 1's x-velocity
for j in range(0, self.err_pts * np.power(2, p)):
self.iter_list[p, j] = objectList[0].state.get_vel()[1]
for k in range(0, len(objectList)):
objectList[k].state = phys.iterate(
objectList[k].get_state(), self.dt[p], self.method)
phys.G_OBJECTS.clear()
else:
self.iter_list = np.zeros((self.num_pts, self.err_pts))
for i in range(0, self.num_pts):
dt.append(self.dt_start)
self.dt_start = self.dt_start / self.stepsize
for p in range(0, self.num_pts):
objectList = []
for i in range(0, 3):
Obj = Object(self.mass_list[i] * phys.MASS_SCALING, \
phys.State(self.xy[2 * i], self.xy[2 * i + 1], self.vel_list[2 * i], self.vel_list[2 * i+1], i+1))
objectList.append(Obj)
for j in range(0, self.err_pts):
self.iter_list[p, j] = objectList[0].state.get_vel()[1]
for k in range(0, len(objectList)):
objectList[k].state = phys.iterate(
objectList[k].get_state(), self.dt[p], self.method)
phys.G_OBJECTS.clear()
self.iter_flag = 1
def iterate_methods(self):
for p in range(0, 3):
objectList = []
for i in range(0, 3):
Obj = Object(self.mass_list[i] * phys.MASS_SCALING, \
phys.State(self.xy[2 * i], self.xy[2 * i + 1], self.vel_list[2 * i], self.vel_list[2 * i+1], i+1))
objectList.append(Obj)
for j in range(0, self.err_pts):
self.methods_list[p, j] = objectList[0].state.get_vel()[1]
for k in range(0, len(objectList)):
objectList[k].state = phys.iterate(
objectList[k].get_state(), self.dt_start1, p)
phys.G_OBJECTS.clear()
self.meth_flag = 1
def __init__(self, initial_pos, atmosphere):
# setup physical properties
radius = .05 # meters
mass = 0.8384 # kg (rocks are 1600kg/m**3)
area = math.pi * radius**2
moment = 2 / 5 * mass * radius**2
state = physics.State(position=initial_pos)
flight.FlyingObject.__init__(self, mass, moment, state, atmosphere)
# setup aerodynamic properties
drag_curve = drag.Parasitic(drag.Parasitic.ShapeCoefficients.SPHERE)
surface = flight.Surface("rock",
atmosphere=atmosphere,
drag_curve=drag_curve,
area=area)
self._surfaces = [surface]
def __init__(self, initial_pos, initial_vel, atmosphere):
# setup physical properties
radius = 3.66 / 2 # meters
# ignore the side boosters for now - and use fins with a drag and lift
# curve
area = math.pi * radius**2
# I'm not sure about these numbers. Not sure why thrust is ~20x weight
# fully loaded. For now set throttle to 5 or 6% to get realistic
# acceleration
mass = 1420000 / 9.8 # kg
thrust = 22241102 # N
length = 70 # m
# cylinder
# 1/12 * mass * length^2 + 1/4 * mass * radius^2
moment = 1 / 12 * mass * length**2 + 1 / 4 * mass * radius**2
state = physics.State(position=initial_pos,
velocity=initial_vel,
orientation=Angle(90))
Airplane.__init__(self, state, mass, moment, atmosphere)
# setup aerodynamic properties
drag_curve = drag.Parasitic(.35)
surface = flight.Surface("rocket",
atmosphere=atmosphere,
drag_curve=drag_curve,
area=area)
stab_lift_curve = lift.LiftingLine(3.62)
stab_drag_curve = drag.LiftingLine(3.62, efficiency_factor=0.6)
stab = Surface("stabilizer", Vector2D(-33, 0), 0, Angle(0), 136,
stab_lift_curve, stab_drag_curve, atmosphere)
self._surfaces = [surface, stab]
engine = Engine("1d merlin", Vector2D(-21, 0), Angle(0), 0, thrust)
engine.set_throttle(100)
self._engines = [engine]