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255 lines
9.2 KiB
255 lines
9.2 KiB
2 years ago
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import sys
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import os
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import pathlib
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import json
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import textwrap
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import argparse
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import numpy
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from scipy.spatial.transform import Rotation
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import pymesh
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sys.path.append(str(pathlib.Path(__file__).resolve().parents[2] / "tools" / "fixtures")) # noqa
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import fixture_utils
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def convert_to_ipc_msh(input_path, output_path, remesh=False):
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input_mesh = pymesh.load_mesh(str(input_path))
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if input_mesh.num_voxels == 0: # tetrahedralize the mesh
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tetgen = pymesh.tetgen()
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tetgen.points = input_mesh.vertices
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tetgen.triangles = input_mesh.faces
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tetgen.split_boundary = remesh
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tetgen.max_radius_edge_ratio = 2.0
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tetgen.min_dihedral_angle = 0.0
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tetgen.merge_coplanar = remesh
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tetgen.run()
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output_mesh = tetgen.mesh
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# Reorient faces
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faces = output_mesh.faces.copy()
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faces[:, [1, 2]] = faces[:, [2, 1]]
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output_mesh = pymesh.form_mesh(
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output_mesh.vertices, faces, output_mesh.voxels)
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else: # mesh is already a tet mesh, just convert to IPC compatible
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output_mesh = input_mesh
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if remesh:
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pymesh.save_mesh(
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str(output_path.with_suffix(".obj")), output_mesh, ascii=True)
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with open(output_path, mode='w') as f:
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f.write("$MeshFormat\n4 0 8\n$EndMeshFormat\n")
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f.write("$Entities\n0 0 0 1\n")
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f.write("0 {:g} {:g} {:g} {:g} {:g} {:g} 0 0\n".format(
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*output_mesh.nodes.min(axis=0), *output_mesh.nodes.max(axis=0)))
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f.write("$EndEntities\n")
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f.write("$Nodes\n")
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f.write("1 {0:d}\n0 3 0 {0:d}\n".format(output_mesh.num_nodes))
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for i, node in enumerate(output_mesh.nodes):
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f.write("{:d} {:g} {:g} {:g}\n".format(i + 1, *node))
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f.write("$EndNodes\n")
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f.write("$Elements\n")
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f.write("1 {0:d}\n0 3 4 {0:d}\n".format(output_mesh.num_elements))
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for i, element in enumerate(output_mesh.elements):
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f.write("{:d} {:d} {:d} {:d} {:d}\n".format(i + 1, *(element + 1)))
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f.write("$EndElements\n")
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f.write("$Surface\n")
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f.write("{:d}\n".format(output_mesh.num_faces))
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for face in output_mesh.faces:
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f.write("{:d} {:d} {:d}\n".format(*(face + 1)))
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f.write("$EndSurface\n")
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def convert_to_obj(input_path, output_path):
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pymesh.save_mesh(str(output_path), pymesh.load_mesh(str(input_path)))
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def fixture_to_ipc_script(fixture, output_path, remesh=False):
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timestep = fixture.get("timestep", 0.01)
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if "max_time" in fixture:
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max_time = fixture["max_time"]
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elif "max_iterations" in fixture:
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max_time = fixture["max_iterations"] * timestep
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else:
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max_time = 10
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dhat = fixture.get("distance_barrier_constraint", {}).get(
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"initial_barrier_activation_distance", 1e-3)
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bodies = fixture["rigid_body_problem"]["rigid_bodies"]
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is_remeshed = {}
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shapes = []
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disabled_shapes = []
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for body in bodies:
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if "type" in body:
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is_static = body["type"] == "static"
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elif "is_dof_fixed" in body:
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is_static = (body["is_dof_fixed"] if isinstance(
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body["is_dof_fixed"], bool) else all(body["is_dof_fixed"]))
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else:
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is_static = False
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is_kinematic = body.get("type", "dynamic") == "kinematic"
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surface_mesh_path = pathlib.Path(body["mesh"])
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if not surface_mesh_path.exists():
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surface_mesh_path = (
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fixture_utils.get_meshes_dir_path() / surface_mesh_path)
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if not is_static:
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try:
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msh_path = surface_mesh_path.with_suffix('.msh').resolve()
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msh_path = (
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pathlib.Path(__file__).resolve().parent / "meshes" /
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msh_path.relative_to(fixture_utils.get_meshes_dir_path()))
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msh_path.parent.mkdir(parents=True, exist_ok=True)
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except:
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msh_path = surface_mesh_path.with_suffix('.msh')
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if not msh_path.exists() or is_remeshed.get(surface_mesh_path, remesh):
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convert_to_ipc_msh(surface_mesh_path, msh_path, remesh)
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is_remeshed[surface_mesh_path] = remesh
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mesh_path = msh_path
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elif surface_mesh_path.suffix != ".obj":
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try:
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obj_path = surface_mesh_path.with_suffix('.obj').resolve()
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obj_path = (
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pathlib.Path(__file__).resolve().parent / "meshes" /
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obj_path.relative_to(fixture_utils.get_meshes_dir_path()))
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obj_path.parent.mkdir(parents=True, exist_ok=True)
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except:
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obj_path = surface_mesh_path.with_suffix('.obj')
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if not obj_path.exists():
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convert_to_obj(surface_mesh_path, obj_path)
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mesh_path = obj_path
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else:
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mesh_path = surface_mesh_path
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mesh_path = os.path.relpath(
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mesh_path.resolve(), output_path.parent.resolve())
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if "dimensions" in body:
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vertices = pymesh.load_mesh(str(surface_mesh_path)).vertices
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initial_dimensions = abs(
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vertices.max(axis=0) - vertices.min(axis=0))
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initial_dimensions[initial_dimensions == 0] = 1
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scale = numpy.array(body["dimensions"], dtype=float)
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scale /= initial_dimensions
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else:
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scale = body.get("scale", [1, 1, 1])
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if isinstance(scale, int) or isinstance(scale, float):
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scale = [scale] * 3
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if "rotation" in body:
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rotation = Rotation.from_euler(
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"xyz", body["rotation"], degrees=True).as_euler("zyx", degrees=True)[::-1]
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else:
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rotation = [0, 0, 0]
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linear_velocity = body.get("linear_velocity", [0, 0, 0])
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angular_velocity = body.get("angular_velocity", [0, 0, 0])
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force = body.get("force", [0, 0, 0])
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if "force" in body:
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nbc = (" NBC -1e300 -1e300 -1e300 1e300 1e300 1e300 "
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" {:g} {:g} {:g}".format(*body["force"]))
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else:
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nbc = ""
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if "torque" in body:
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print("External torque is not supported in IPC! Dropping it!")
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if is_static:
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velocity_str = "linearVelocity 0 0 0"
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elif is_kinematic:
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velocity_str = (
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"linearVelocity {:g} {:g} {:g} angularVelocity {:g} {:g} {:g}".format(
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*linear_velocity, *angular_velocity))
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else:
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velocity_str = (
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"initVel {:g} {:g} {:g} {:g} {:g} {:g}".format(
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*linear_velocity, *angular_velocity))
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body_line = "{} {:g} {:g} {:g} {:g} {:g} {:g} {:g} {:g} {:g} material {:g} 2e11 0.3 {}{}".format(
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mesh_path, *body.get("position", [0, 0, 0]),
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*rotation, *scale, body.get("density", 1000), velocity_str, nbc)
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is_enabled = (body.get("enabled", True) or body.get(
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"ipc_comparison_enabled", False))
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if is_enabled:
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shapes.append(body_line)
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else:
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disabled_shapes.append(f"# {body_line}")
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epsv = fixture.get("friction_constraints", {}).get(
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"static_friction_speed_bound", 1e-3)
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friction_iterations = fixture.get(
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"friction_constraints", {}).get("iterations", 1)
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gravity = ""
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if sum(fixture["rigid_body_problem"].get("gravity", [0, 0, 0])) == 0:
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gravity = "turnOffGravity"
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# velocity_conv_tol = fixture.get(
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# "newton_solver", {}).get("velocity_conv_tol", 1e-2)
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velocity_conv_tol = fixture.get(
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"ipc_solver", {}).get("velocity_conv_tol", 1e-2)
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return textwrap.dedent(f"""\
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energy NH
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warmStart 0
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time {max_time} {timestep}
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{gravity}
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shapes input {len(shapes)}
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{{}}
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{{}}
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selfCollisionOn
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selfFric {fixture["rigid_body_problem"].get("coefficient_friction", 0)}
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constraintSolver interiorPoint
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dHat {dhat}
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epsv {epsv}
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useAbsParameters
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fricIterAmt {friction_iterations}
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tol 1
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{velocity_conv_tol}
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# useAbsTol
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""").format("\n".join(shapes), "\n".join(disabled_shapes))
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def main():
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parser = argparse.ArgumentParser(
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description="Convert a rigid fixture to a IPC script")
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parser.add_argument(
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"-i", "--input", metavar="path/to/input", type=pathlib.Path,
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dest="input", default=None, help="path to input json(s)", nargs="+")
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parser.add_argument(
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"--remesh", action="store_true", default=False, help="remesh meshes")
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args, _ = parser.parse_known_args()
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for input in args.input:
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print(f"Converting {input}")
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try:
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output = input.with_suffix(".txt").resolve()
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output = (
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pathlib.Path(__file__).resolve().parent / "scripts" /
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output.relative_to(fixture_utils.get_fixture_dir_path()))
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output.parent.mkdir(parents=True, exist_ok=True)
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except:
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output = input.with_suffix(".txt")
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with open(input) as input_file:
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fixture = json.load(input_file)
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ipc_script = fixture_to_ipc_script(fixture, output, args.remesh)
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with open(output, 'w') as ipc_script_file:
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ipc_script_file.write(ipc_script)
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if __name__ == "__main__":
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main()
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