Python Tools.cat方法代码示例

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import cat [as 别名]
def createScene(root):
  
    ##### global parameters
    root.createObject('VisualStyle', displayFlags="showBehavior showWireframe showCollisionModels" )
    root.dt = 0.01
    root.gravity = [0, -10, 0]
    
    root.createObject('RequiredPlugin', pluginName = 'Compliant')
    root.createObject('CompliantAttachButtonSetting')
    
    ##### SOLVER
    root.createObject('CompliantImplicitSolver', stabilization=0, neglecting_compliance_forces_in_geometric_stiffness=0)
    root.createObject('SequentialSolver', iterations=100, precision=0)
    #root.createObject('LUResponse')
    root.createObject('LDLTResponse')
    
    
    bodies = []
    points = []
    
    N = 10
   
    for i in xrange(N):
        body = StructuralAPI.RigidBody( root, "body_"+str(i) )
        body.setManually( [i,0,0,0,0,0,1], 1, [1,1,1] )
        body.dofs.showObject = True
        body.dofs.showObjectScale = .5
        bodies.append( body )
        
    bodies[0].node.createObject('FixedConstraint')
    bodies[N-1].mass.mass = 10
    bodies[N-1].mass.inertia = "10 10 10"
    
        
    for i in xrange(N-1):
        p0 = bodies[i].addMappedPoint( "right", [0.5, 0, 0] )
        p0.dofs.showObject = True
        p0.dofs.showObjectScale = .1
        p0.dofs.drawMode=1
        p1 = bodies[i+1].addMappedPoint( "left", [-0.5, 0, 0] )
        p1.dofs.showObject = True
        p1.dofs.showObjectScale = .1
        p1.dofs.drawMode=2
        d = p0.node.createChild( "d"+str(i) )
        d.createObject('MechanicalObject', template = 'Vec3'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
        input = [] # @internal
        input.append( '@' + Tools.node_path_rel(root,p0.node) + '/dofs' )
        input.append( '@' + Tools.node_path_rel(root,p1.node) + '/dofs' )
        d.createObject('DifferenceMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 0" )
        p1.node.addChild( d )
        d.createObject('UniformCompliance', name = 'compliance', compliance="0" )

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import cat [as 别名]
def run():

    ok = True

    info = SofaPython.mass.RigidMassInfo()

# testing axis-aligned known geometric shapes
    for m in xrange(len(meshes)):
        mesh = meshes[m]
        mesh_path = path + meshes[m]

        for s in xrange(len(scales)):
            scale = scales[s]

            if mesh=="cylinder.obj" and scale[0]!=scale[1]:
                continue
        
            for d in xrange(len(densities)):
                density=densities[d]

                info.setFromMesh( mesh_path, density, scale )

                error = " ("+meshes[m]+", s="+Tools.cat(scale)+" d="+str(density)+")"

                ok &= EXPECT_TRUE( almostEqualReal(info.mass, masses[m][s][d]), "mass"+error+" "+str(info.mass)+"!="+str(masses[m][s][d]) )
                ok &= EXPECT_TRUE( almostEqualLists(info.com,[x*0.5 for x in scale]), "com"+error+" "+Tools.cat(info.com)+"!="+Tools.cat([x*0.5 for x in scale]) )
                ok &= EXPECT_TRUE( almostEqualLists(info.diagonal_inertia,inertia[m][s][d]), "inertia"+error+" "+str(info.diagonal_inertia)+"!="+str(inertia[m][s][d]) )

# testing diagonal inertia extraction from a rotated cuboid
    mesh = "cube.obj"
    mesh_path = path + mesh
    scale = scales[3]
    density = 1
    theory = sorted(inertia[0][3][0])
    for r in rotations:
        info.setFromMesh( mesh_path, density, scale, r )
        local = sorted(info.diagonal_inertia)
        ok &= EXPECT_TRUE( almostEqualLists(local,theory), "inertia "+str(local)+"!="+str(theory)+" (rotation="+str(r)+")" )

# testing extracted inertia rotation
    mesh = "rotated_cuboid_12_35_-27.obj"
    mesh_path = path + mesh
    density = 1
    info.setFromMesh( mesh_path, density )

    # theoretical results
    scale = [2,3,1]
    mass = density * scale[0]*scale[1]*scale[2]
    inertiat = numpy.empty(3)
    inertiat[0] = 1.0/12.0 * mass * (scale[1]*scale[1]+scale[2]*scale[2]) # x
    inertiat[1] = 1.0/12.0 * mass * (scale[0]*scale[0]+scale[2]*scale[2]) # y
    inertiat[2] = 1.0/12.0 * mass * (scale[0]*scale[0]+scale[1]*scale[1]) # z

    # used quaternion in mesh

    q = Quaternion.normalized( Quaternion.from_euler( [12*math.pi/180.0, 35*math.pi/180.0, -27*math.pi/180.0] ) )

    # corresponding rotation matrices (ie frame defined by columns)
    mt = Quaternion.to_matrix( q )
    m  = Quaternion.to_matrix( info.inertia_rotation )

    # matching inertia
    idxt = numpy.argsort(inertiat)
    idx  = numpy.argsort(info.diagonal_inertia)

    # checking if each axis/column are parallel (same or opposite for unitary vectors)
    for i in xrange(3):
        ok &= EXPECT_TRUE( almostEqualLists(mt[:,idxt[i]].tolist(),m[:,idx[i]].tolist(),1e-5) or almostEqualLists(mt[:,idxt[i]].tolist(),(-m[:,idx[i]]).tolist(),1e-5), "wrong inertia rotation" )


#    print mt[:,idxt]
#    print m [:,idx ]


    return ok

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import cat [as 别名]
def createScene(root):
  
    ##### global parameters
    root.createObject('VisualStyle', displayFlags="showBehavior showCollisionModels" )
    root.dt = 0.01
    root.gravity = [0, -10, 0]
    
    root.createObject('RequiredPlugin', pluginName = 'Compliant')
    root.createObject('CompliantAttachButton')
    
    
    root.createObject('DefaultPipeline', name='DefaultCollisionPipeline', depth="6")
    root.createObject('BruteForceDetection')
    root.createObject('DiscreteIntersection')
    root.createObject('DefaultContactManager', name="Response", response="CompliantContact", responseParams="compliance=0&restitution=0" )
    
    
    
    
    
    ##### SOLVER
    root.createObject('CompliantImplicitSolver', stabilization=1, neglecting_compliance_forces_in_geometric_stiffness=1)
    root.createObject('SequentialSolver', iterations=100, precision=0)
    #root.createObject('LUResponse')
    root.createObject('LDLTResponse')
    
    
    
    
    
    ##### GEAR
    
    gearNode = root.createChild( "GEAR" )
    
    r0 = 0.33
    r1 = 0.66
    
    body0 = StructuralAPI.RigidBody( gearNode, "body_0" )
    body0.setManually( [0,0,0,0,0,0,1], 1, [1,1,1] )
    body0.dofs.showObject = True
    body0.dofs.showObjectScale = r0*1.1
    body0.dofs.velocity="0 0 0 0 1 0"
    body0.node.createObject('Sphere', radius=r0)
        
    body1 = StructuralAPI.RigidBody( gearNode, "body_1" )
    body1.setManually( [1,0,0,0,0,0,1], 1, [1,1,1] )
    body1.dofs.showObject = True
    body1.dofs.showObjectScale = r1*1.1
    body1.node.createObject('Sphere', radius=r1)
    
   
    body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
    body1.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
    
    
    d = body0.node.createChild( "d" )
    d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
    input = [] # @internal
    input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
    input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
    d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 4 0 4", ratio = -r0/r1 )
    body1.node.addChild( d )
    d.createObject('UniformCompliance', name = 'compliance', compliance="0" )
    
    
    
    
    #####  driving belt / chain
    
    
    beltNode = root.createChild( "BELT" )
    
    r0 = 0.7
    r1 = 0.3
    
    body0 = StructuralAPI.RigidBody( beltNode, "body_0" )
    body0.setManually( [0,-2,0,0,0,0,1], 1, [1,1,1] )
    body0.dofs.showObject = True
    body0.dofs.showObjectScale = r0*1.1
    body0.dofs.velocity="0 0 0 0 1 0"
    body0.node.createObject('Sphere', radius=r0)
        
    body1 = StructuralAPI.RigidBody( beltNode, "body_1" )
    body1.setManually( [1.5,-2,0,0,0,0,1], 1, [1,1,1] )
    body1.dofs.showObject = True
    body1.dofs.showObjectScale = r1*1.1
    body1.node.createObject('Sphere', radius=r1)
    
   
    body0.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
    body1.node.createObject('PartialFixedConstraint', fixedDirections="1 1 1 1 0 1")
    
    
    d = body0.node.createChild( "d" )
    d.createObject('MechanicalObject', template = 'Vec1'+StructuralAPI.template_suffix, name = 'dofs', position = '0 0 0' )
    input = [] # @internal
    input.append( '@' + Tools.node_path_rel(root,body0.node) + '/dofs' )
    input.append( '@' + Tools.node_path_rel(root,body1.node) + '/dofs' )
    d.createObject('GearMultiMapping', name = 'mapping', input = Tools.cat(input), output = '@dofs', pairs = "0 4 0 4", ratio = r0/r1 )
    body1.node.addChild( d )
#.........这里部分代码省略.........