Python Tools.scene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 scene [as 别名]
def createScene(node):
    scene = Tools.scene( node )

    ode = node.getObject('ode')

    ode.stabilization = False
    ode.warm_start = False

    # ode.debug = True
    # ode.propagate_lambdas = True

    node.gravity = '0 0 0'
    node.dt = 1e-2
    
    num = node.createObject('MinresSolver',
                            name = 'num',
                            iterations = 100,
                            precision = 0)

    # resp = node.createObject('DiagonalResponse')

    script = node.createObject('PythonScriptController',
                               filename = __file__,
                               classname = 'Controller')

    style = node.getObject('style')

    style.displayFlags = 'showCollisionModels'

    # parameters
    mass = 1.0
    stiff = 1e3 
    damping = 0.0

    # dofs
    p = insert_point(scene, 'p', [-1, 0, 0], mass) 
    

    sub = p.createChild('sub')
    sub.createObject('MechanicalObject',
                     name = 'dofs',
                     position = '0 0 0')
    
    sub.createObject('IdentityMapping',
                     template = 'Vec3d')

    compliance = 1/stiff

    sub.createObject('UniformCompliance',
                     template = 'Vec3d',
                     compliance = compliance,
                     damping = damping)
    
    shared.dofs = p.getObject('dofs')

    shared.mass = mass
    shared.stiff = stiff
    shared.damping = damping
    
    return node

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    scene = Tools.scene( node )

    ode = node.getObject('ode')

    ode.stabilization = "no stabilization"
    # ode.warm_start = False
    # ode.debug = True


    node.gravity = '0 0 0'
    node.dt = 1e-2
    
    num = node.createObject('MinresSolver',
                            name = 'num',
                            iterations = 10,
                            precision = 0)

    style = node.getObject('style')
    style.displayFlags = 'showCollisionModels showBehaviorModels'

    script = node.createObject('PythonScriptController',
                               filename = __file__,
                               classname = 'Controller')

    mass = 1
    
    p1 = insert_point(scene, 'p1', [-1, 1, 0], mass)
    p2 = insert_point(scene, 'p2', [3, 1, 0], mass)

    out = scene.createChild('out')
    out.createObject('MechanicalObject', 
                     name = 'dofs',
                     template = 'Vec1d', 
                     position = '0 0 0')

    alpha = 0.2
    shared.alpha = alpha

    matrix = vec([1 - alpha, 0, 0, alpha, 0, 0,
                  0, 1 - alpha, 0, 0, alpha, 0,
                  0, 0, 1 - alpha, 0, 0, alpha] )
    
    value = vec([0, 0,  0])
    
    out.createObject('AffineMultiMapping',
                     template = 'Vec3d,Vec1d',
                     input = '@../p1/dofs @../p2/dofs',
                     output = '@dofs',
                     matrix = str(matrix),
                     value = str(value))
    
    out.createObject('UniformCompliance',
                     template = 'Vec1d',
                     compliance = 1e-5)

    shared.p1 = p1.getObject('dofs')
    shared.p2 = p2.getObject('dofs')

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    scene = Tools.scene( node )

    ode = node.getObject('ode')

    ode.stabilization = True
    ode.warm_start = False
    ode.propagate_lambdas = True
    
    # ode.debug = True

    node.gravity = '0 -1 0'
    
    num = node.createObject('SequentialSolver',
                            name = 'num',
                            iterations = 200,
                            precision = 0)

    resp = node.createObject('DiagonalResponse')

    manager = node.getObject('manager')
    manager.response = 'CompliantContact'

    script = node.createObject('PythonScriptController',
                               filename = __file__,
                               classname = 'Controller')

    style = node.getObject('style')

    style.displayFlags = 'showBehaviorModels showCollisionModels'
    
    proximity = node.getObject('proximity')
    proximity.contactDistance = 0.01
    
    # dofs
    p1 = insert_point(scene, 'p1', [-1, 1, 0]) 
    p2 = insert_point(scene, 'p2', [1, 1, 0]) 

    rigid = Rigid.Body('rigid')
    rigid.collision = path + '/examples/mesh/ground.obj'

    rigid.node = rigid.insert( scene )

    ground = Rigid.Body('ground')
    ground.node = ground.insert( scene )
    ground.node.createObject('FixedConstraint', indices = '0')
    
    # blocked joint between ground/rigid
    joint = Rigid.Joint('joint')
    joint.absolute(Rigid.Frame(), ground.node, rigid.node)
    
    joint.node = joint.insert( scene )
    
    shared.joint = joint
    shared.body = rigid
    
    return node

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    # controller
    node.createObject('PythonScriptController', filename = __file__, classname = 'Controller' )


    # friction coefficient
    shared.mu = float( random.randint(0,10) ) / 10.0 # a random mu in [0,1] with 0.1 step

    scene = Tools.scene( node )
    node.dt = 0.005

    style = node.getObject('style')
    style.findData('displayFlags').showMappings = True

    manager = node.getObject('manager')
    manager.response = 'FrictionCompliantContact'
    manager.responseParams = 'mu=' + str(shared.mu) +"&horizontalConeProjection=1"

    ode = node.getObject('ode')
    ode.stabilization = "pre-stabilization"
    
    num = node.createObject('SequentialSolver',
                            name = 'num',
                            iterations = 1000,
                            precision = 1e-20)
    node.createObject('LDLTResponse')
    
    proximity = node.getObject('proximity')

    proximity.alarmDistance = 0.5
    proximity.contactDistance = 0.1


    # plane
    plane = StructuralAPI.RigidBody( node, 'plane' )
    plane.setManually( [0,0,0,0,0,0,1], 1, [1,1,1] )
    plane.node.createObject('FixedConstraint')
    cm = plane.addCollisionMesh( "mesh/cube.obj", [10,1,10] )
    cm.addVisualModel()
    
    # box
    box = StructuralAPI.RigidBody( node, 'box' )
    box.setFromMesh( 'mesh/cube.obj', 50, [0,2.5,0,0,0,0,1] )
    #box.setManually( [0,2.5,0,0,0,0,1], 1, [1,1,1] )
    box.dofs.showObject=True
    box.dofs.showObjectScale=5
    cm = box.addCollisionMesh( "mesh/cube.obj" )
    cm.addVisualModel()

    # keep an eye on dofs
    shared.plane = plane.dofs
    shared.box = box.dofs

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    scene = Tools.scene( node )

    style = node.getObject('style')
    style.findData('displayFlags').showMappings = True

    manager = node.getObject('manager')
    manager.response = 'FrictionCompliantContact'
    
    node.createObject('CompliantAttachButton')
    
    
    globalMu = 0 # per object friction coefficient (the friction coef between 2 objects is approximated as the product of both coefs)
    manager.responseParams = 'mu='+str(globalMu)+"&horizontalConeProjection=1"  # perfom an horizontal Coulomb cone projection
                            

    ode = node.getObject('ode')
    ode.stabilization = "pre-stabilization"
    ode.debug = False

    num = node.createObject('SequentialSolver',
                            name = 'num',
                            iterations = 100,
                            precision = 1e-14)
    node.createObject( "LDLTResponse" )
    
    proximity = node.getObject('proximity')

    proximity.alarmDistance = 0.5
    proximity.contactDistance = 0.2
    proximity.useLineLine = True

  
    # plane
    mesh = dir + '/../mesh/ground.obj'
    plane = StructuralAPI.RigidBody( node, "plane" )
    plane.setManually( [0,0,0,0,0,0,1], 1, [1,1,1] )
    #body3.setFromMesh( mesh, 1 )
    cm = plane.addCollisionMesh( mesh )
    cm.addVisualModel()
    plane.node.createObject('FixedConstraint', indices = '0')
    cm.triangles.contactFriction = 0.5 # per object friction coefficient
    
    
    # box
    mesh = dir + '/../mesh/cube.obj'
    box = StructuralAPI.RigidBody( node, "box" )
    box.setFromMesh( mesh, 50, [0, 3, 0, 0,0,0,1] )
    cm = box.addCollisionMesh( mesh )
    cm.addVisualModel()
    cm.triangles.contactFriction = 1 # per object friction coefficient

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    scene = Tools.scene( node )

    style = node.getObject('style')
    style.findData('displayFlags').showMappings = True

    manager = node.getObject('manager')
    manager.response = 'FrictionCompliantContact'
    manager.responseParams = 'mu=0' # per object friction coefficient (the friction coef between 2 objects is approximated as the product of both coefs)

    ode = node.getObject('ode')
    ode.stabilization = True
    ode.debug = False

    num = node.createObject('SequentialSolver',
                            name = 'num',
                            iterations = 100,
                            precision = 1e-14)
    
    proximity = node.getObject('proximity')

    proximity.alarmDistance = 0.5
    proximity.contactDistance = 0.2

  
    # plane
    plane = Rigid.Body('plane')
    plane.visual = dir + '/../mesh/ground.obj'
    plane.collision = plane.visual
    plane.mass_from_mesh( plane.visual, 10 )
    plane.mu = 0.8 # per object friction coefficient
    plane.node = plane.insert( scene )
    plane.node.createObject('FixedConstraint', indices = '0')
    
    # box
    box = Rigid.Body('box')
    box.visual = dir + '/../mesh/cube.obj'
    box.collision = box.visual
    box.dofs.translation = [0, 3, 0]
    box.mass_from_mesh( box.visual, 50 )
    box.mu = 1 # per object friction coefficient
    box.node = box.insert( scene )

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    scene = Tools.scene( node )

    style = node.getObject('style')
    style.findData('displayFlags').showMappings = False
    style.findData('displayFlags').showVisual = False
    style.findData('displayFlags').showCollision = True    

    manager = node.getObject('manager')
    manager.response = 'PenalityCompliantContact'

    manager.responseParams="stiffness=1e5"

    node.dt = 2.5e-3
    # node.createObject('CompliantAttachButton')
                            
    ode = node.getObject('ode')
    node.removeObject(ode)
    ode = node.createObject("EulerImplicitSolver", rayleighStiffness = 0, rayleighMass = 0)
    
    num = node.createObject('CGLinearSolver',
                            name = 'num',
                            iterations = 100,
                            tolerance = 1e-7, threshold = 0)
    num.printLog = 1
    # num = node.createObject('CgSolver', name = 'num', iterations = 100, precision = 1e-7 )
    
    proximity = node.getObject('proximity')

    proximity.alarmDistance = 0.1
    proximity.contactDistance = 0
    proximity.useLineLine = True

  
    # planes
    for i in xrange(4):
        mesh = dir + '/../mesh/ground.obj'
        plane = StructuralAPI.RigidBody( node, "plane-{}".format(i) )

        g = Rigid3()

        n = np.zeros(3)
        n[:] = [0, 1, 0]

        r = Quaternion.exp( math.pi / 8 * np.array([1.0, 0.0, 0.0]))
        
        q = Quaternion.exp(i * math.pi / 2 * np.array([0.0, 1.0, 0.0]))

        g.orient = q * r
        
        plane.setManually( g, 1, [1,1,1] )
        
        #body3.setFromMesh( mesh, 1 )
        cm = plane.addCollisionMesh( mesh, [10, 1, 10] )
        cm.triangles.group = "0"
        
        cm.addVisualModel()
        plane.node.createObject('FixedConstraint', indices = '0')
        cm.triangles.contactFriction = 0.5 # per object friction coefficient
        
    # box

    particles = node.createChild('particles')
    n = 400
    dofs = particles.createObject('MechanicalObject', template = "Vec3d")

    pos = np.zeros( (n, 3) )
    vel = np.zeros( (n, 3) )    

    for i in xrange(n):
        pos[i, 1] = 2 + i / 1.5
        vel[i, 1] = -1        

    dofs.position = pos.tolist()
    dofs.velocity = vel.tolist()
    
    mass = particles.createObject('UniformMass', template = 'Vec3d')
    model = particles.createObject('SphereModel', template = 'Vec3d',
                                   selfCollision = True,
                                   radius = 0.1)

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    scene = Tools.scene( node )

    ode = node.getObject('ode')

    ode.stabilization = "pre-stabilization"
    ode.warm_start = False
    ode.propagate_lambdas = True
    
    # ode.debug = True

    node.gravity = '0 -1 0'
    
    num = node.createObject('SequentialSolver',
                            name = 'num',
                            iterations = 200,
                            precision = 0,
                            iterateOnBilaterals = True)

    resp = node.createObject('DiagonalResponse')

    # NB: either iterateOnBilaterals or use a non-diagonal Response


    manager = node.getObject('manager')
    manager.response = 'CompliantContact'


    style = node.getObject('style')

    style.displayFlags = 'showBehaviorModels showCollisionModels'
    
    proximity = node.getObject('proximity')
    proximity.contactDistance = 0.01
    
    # dofs
    p1 = insert_point(scene, 'p1', [-1, 1, 0]) 
    p2 = insert_point(scene, 'p2', [1, 1, 0]) 
    
    
    rigid = StructuralAPI.RigidBody( scene, 'rigid' )
    rigid.setManually( [0,0,0,0,0,0,1], 1, [1,1,1] )
    rigid.addCollisionMesh( path + '/examples/mesh/ground.obj' )
    
    
    ground = StructuralAPI.RigidBody( scene, 'ground' )
    ground.setManually( [0,0,0,0,0,0,1], 1, [1,1,1] )
    ground.node.createObject('FixedConstraint')
    
    
    
    # blocked joint between ground/rigid
    joint = StructuralAPI.FixedRigidJoint( "joint", ground.node, rigid.node )
    
   
    
    script = node.createObject('PythonScriptController',
                               filename = __file__,
                               classname = 'Controller')
    
    return node

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    # controller
    node.createObject('PythonScriptController', 
                      filename = __file__,
                      classname = 'Controller' )

    node.dt = 0.005

    # friction coefficient
    shared.mu = 0.5

    scene = Tools.scene( node )

    style = node.getObject('style')
    style.findData('displayFlags').showMappings = True

    manager = node.getObject('manager')
    manager.response = 'FrictionCompliantContact'
    manager.responseParams = 'mu=' + str(shared.mu)+"&horizontalConeProjection=1"

    ode = node.getObject('ode')
    node.removeObject(ode)

    node.createObject('RequiredPlugin',
                      pluginName = 'pouf')

    ode = node.createObject('pouf_solver')

    num = node.createObject('pouf.pgs',
                            name = 'num',
                            iterations = 100,
                            homogenize =  True,
                            precision = 1e-14)
    
    proximity = node.getObject('proximity')

    proximity.alarmDistance = 0.5
    proximity.contactDistance = 0.1

    # ground
    ground = Rigid.Body('ground');
    ground.node = ground.insert( scene );

    # plane
    plane = Rigid.Body('plane')
    plane.visual = path + '/share/mesh/ground.obj'
    plane.collision = plane.visual
    plane.mass_from_mesh( plane.visual, 10 )
    plane.node = plane.insert( scene )
    
    ground.node.createObject('FixedConstraint', 
                             indices = '0')

    # ground-plane joint
    frame = Rigid.Frame()
    frame.translation = [8, 0, 0]

    joint = Rigid.RevoluteJoint(2)
    joint.absolute(frame, ground.node, plane.node)
    joint.upper_limit = 0

    joint.node = joint.insert( scene )
    
    # box
    box = Rigid.Body('box')
    box.visual = path + '/share/mesh/cube.obj'
    box.collision = box.visual
    box.dofs.translation = [0, 3, 0]
    box.mass_from_mesh( box.visual, 50 )
    box.node = box.insert( scene )

    shared.plane = plane.node.getObject('dofs')
    shared.box = box.node.getObject('dofs')
    shared.joint = joint.node.getObject('dofs')

    # pid
    shared.pid = Control.PID(shared.joint)
    shared.pid.pos = -math.atan( shared.mu ) # target should trigger slide
    shared.pid.basis = [0, 0, 0, 0, 0, 1]

    # shared.pid.dofs.externalForce = '-1e7'

    scale = 2e5

    shared.pid.kp = - 5 * scale
    shared.pid.kd =  - 100 * scale
    shared.pid.ki = - 1e-1 * scale

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    scene = Tools.scene( node )

    style = node.getObject('style')
    style.findData('displayFlags').showMappings = True

    manager = node.getObject('manager')
    manager.response = 'FrictionCompliantContact'
    
    # node.createObject('CompliantAttachButton')
    
    
    globalMu = 0.7 # per object friction coefficient (the friction coef between 2 objects is approximated as the product of both coefs)
    
    manager.responseParams = 'mu={0}&compliance={1}&horizontalConeProjection=1'.format(globalMu,
                                                                                       1e-8)  
                            

    ode = node.getObject('ode')
    ode.stabilization = "pre-stabilization"
    ode.debug = 2


    # (un)comment these to see anisotropy issues with sequential solver
    solver = 'ModulusSolver'
    solver = 'SequentialSolver'
    
    num = node.createObject(solver,
                            name = 'num',
                            iterations = 100,
                            precision = 1e-14,
                            anderson = 4)
    num.printLog = True
    
    proximity = node.getObject('proximity')

    proximity.alarmDistance = 0.5
    proximity.contactDistance = 0.2
    proximity.useLineLine = True

  
    # plane
    plane = Rigid.Body('plane')
    plane.dofs.translation = [0, 5, -15]

    alpha = math.pi / 5
    mu = math.tan( alpha )

    print "plane mu:", mu, 
    if mu < globalMu: print '(should stick)'
    else: print '(should slide)'

    q = Quaternion.exp( [alpha, 0.0, 0.0] )

    plane.dofs.rotation = q
    s = 6
    plane.scale = [s, s, s]
    
    plane.visual = path + '/../mesh/ground.obj'
    plane.collision = plane.visual
    plane.mass_from_mesh( plane.visual, 10 )
    plane.mu = 0.5 # per object friction coefficient
    plane.node = plane.insert( scene )
    plane.node.createObject('FixedConstraint', indices = '0')

    # box
    box = Rigid.Body('box')
    box.visual = path + '/../mesh/cube.obj'
    box.collision = box.visual
    box.dofs.translation = [0, 3, 0]
    box.mass_from_mesh( box.visual, 50 )
    box.mu = 1 # per object friction coefficient

    box.dofs.rotation = q


    box.node = box.insert( scene )

# 需要导入模块: from Compliant import Tools [as 别名]
# 或者: from Compliant.Tools import scene [as 别名]
def createScene(node):
    # controller
    node.createObject('PythonScriptController', 
                      filename = __file__,
                      classname = 'Controller' )

    node.dt = 0.005

    # friction coefficient
    shared.mu = 0.5

    scene = Tools.scene( node )

    style = node.getObject('style')
    style.findData('displayFlags').showMappings = True

    manager = node.getObject('manager')
    manager.response = 'FrictionCompliantContact'
    manager.responseParams = 'mu=' + str(shared.mu)

    ode = node.getObject('ode')
    ode.stabilization = True
    
    num = node.createObject('SequentialSolver',
                            name = 'num',
                            iterations = 100,
                            precision = 1e-14)
    
    proximity = node.getObject('proximity')

    proximity.alarmDistance = 0.5
    proximity.contactDistance = 0.1

    # ground
    ground = Rigid.Body('ground');
    ground.node = ground.insert( scene );

    # plane
    plane = Rigid.Body('plane')
    plane.visual = dir + '/mesh/ground.obj'
    plane.collision = plane.visual
    plane.mass_from_mesh( plane.visual, 10 )
    plane.node = plane.insert( scene )
    
    ground.node.createObject('FixedConstraint', 
                             indices = '0')

    # ground-plane joint
    frame = Rigid.Frame()
    frame.translation = [5, 0, 0]

    joint = Rigid.RevoluteJoint(2)
    joint.absolute(frame, ground.node, plane.node)

    joint.node = joint.insert( scene )

    # joint limit 
    limit = joint.node.createChild("limit")
    limit.createObject('MechanicalObject', template = 'Vec1d', position = '0')
    projection = limit.createObject('ProjectionMapping', template = 'Vec6d, Vec1d' )
    projection.set = '0   0 0 0 0 0 -1'
    limit.createObject('UniformCompliance', template = 'Vec1d', compliance = '0' )
    limit.createObject('UnilateralConstraint');
    limit.createObject('Stabilization');
    
    # box
    box = Rigid.Body('box')
    box.visual = dir + '/mesh/cube.obj'
    box.collision = box.visual
    box.dofs.translation = [0, 3, 0]
    box.mass_from_mesh( box.visual, 50 )
    box.node = box.insert( scene )

    shared.plane = plane.node.getObject('dofs')
    shared.box = box.node.getObject('dofs')
    shared.joint = joint.node.getObject('dofs')

    # pid
    shared.pid = Control.PID(shared.joint)
    shared.pid.ref_pos = -math.atan( shared.mu ) # target should trigger slide

    shared.pid.basis = [0, 0, 0, 0, 0, 1]

    scale = 1e6

    shared.pid.kp = - 1 * scale
    shared.pid.kd =  - 5 * scale
    shared.pid.ki = - 0.05 * scale

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

    # controller
    node.createObject('PythonScriptController', 
                      filename = __file__,
                      classname = 'Controller' )

    # time step
    node.dt = 0.005

    # scene node
    scene = Tools.scene( node )

    # display flags
    style = node.getObject('style')
    style.findData('displayFlags').showMappings = True

    # collision detection
    proximity = node.getObject('proximity')
    proximity.alarmDistance = 0.5
    proximity.contactDistance = 0.1

    # contat manager
    manager = node.getObject('manager')
    manager.response = 'CompliantContact'
    manager.responseParams = 'compliance=0'
    
    # integrator
    ode = node.getObject('ode',)
    ode.stabilization = True
    ode.stabilization_damping = 0

    # main solver
    num = node.createObject('BenchmarkSolver', name = 'num')

    response = node.createObject('LDLTResponse', name = 'response')
    
    iterations = 300
    precision = 1e-8

    
    # we need compliantdev for qpsolver
    node.createObject('RequiredPlugin', 
                      pluginName = 'CompliantDev')

    # benchmarks
    shared.pgs = node.createObject('Benchmark', name = 'bench-pgs')
    shared.qp = node.createObject('Benchmark', name = 'bench-qp')

    # solvers
    pgs = node.createObject('SequentialSolver',
                            name = 'pgs',
                            iterations = iterations,
                            precision = precision,
                            bench = '@./bench-pgs')

    qp = node.createObject('QPSolver',
                           name = 'qp',
                           iterations = iterations,
                           precision = precision,
                           bench = '@./bench-qp',
                           schur = True)


    # plane
    plane = Rigid.Body('plane')
    plane.visual = dir + '/mesh/ground.obj'
    plane.collision = plane.visual
    plane.mass_from_mesh( plane.visual, 10 )
    plane.node = plane.insert( scene )
    
    plane.node.createObject('FixedConstraint', 
                             indices = '0')

    # boxes
    n_boxes = 10

    for i in xrange(n_boxes):
        box = Rigid.Body('box-{0}'.format(i))
        box.visual = dir + '/mesh/cube.obj'
        box.collision = box.visual
        box.dofs.translation = [0, 2.5 * (i + 1), 0]
        box.mass_from_mesh( box.visual, 50 )
        box.node = box.insert( scene )