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92 lines
2.9 KiB
92 lines
2.9 KiB
2 years ago
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#!/usr/local/bin/python3
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"""Script to generate a fixture of a box falling on a saw."""
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import argparse
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import json
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import pathlib
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import sys
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import numpy
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from fixture_utils import *
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def generate_fixture(args):
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"""Generate a fixture of a N boxes stacked on top of each other."""
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fixture = generate_custom_fixture(args)
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rigid_bodies = fixture["rigid_body_problem"]["rigid_bodies"]
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# Generate tower
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radius = 1 / numpy.sqrt(2)
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box_vertices = [[0.5, -0.5], [0.5, 0.5], [-0.5, 0.5], [-0.5, -0.5]]
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box_edges = [[0, 1], [1, 2], [2, 3], [3, 0]]
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for i in range(args.num_blocks):
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x = args.x_offset if i % 2 else 0
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y = (2 if i == args.num_blocks - 1 and args.falling else
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1) * 2 * radius * i + 1.25 * radius
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theta = 0 if not args.rotated or i % 2 else 45
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rigid_bodies.append({
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"vertices": box_vertices,
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"polygons": [box_vertices],
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"edges": box_edges,
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"oriented": True,
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"position": [x, y],
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"theta": theta,
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"velocity": [0.0, 0.0, 0.0],
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"is_dof_fixed": [False, False, False],
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"masses": numpy.full(4, 0.25).tolist(),
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"density": 1
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})
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# Add the walls around tower
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y += 2
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rigid_bodies.append(
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generate_walls_body(5, y / 2, numpy.array([0, y / 2]), 0.1))
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return fixture
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def main():
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"""Parse command-line arguments to generate the desired fixture."""
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print(sys.argv)
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parser = create_argument_parser(description="generate a tower of blocks",
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default_initial_epsilon=1e-2,
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default_gravity=[0, -9.81, 0])
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parser.add_argument("--num-blocks",
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type=int,
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default=2,
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help="number of blocks in the tower")
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parser.add_argument("--x-offset",
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type=float,
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default=0,
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help="offset alternating blocks in x")
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parser.add_argument("--rotated",
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action="store_true",
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help="rotate alternating blocks")
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parser.add_argument("--falling",
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action="store_true",
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help="last block falling from high")
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args = parser.parse_args()
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if args.out_path is None:
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directory = (pathlib.Path(__file__).resolve().parents[1] / "fixtures" /
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"stacking")
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args.out_path = (
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directory /
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"tower-num_blocks={:d}-cor={:g}-x_offset={:g}{}{}.json".format(
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args.num_blocks, args.restitution_coeff, args.x_offset,
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"-rotated" if args.rotated else "",
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"-falling" if args.falling else ""))
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args.out_path.parent.mkdir(parents=True, exist_ok=True)
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print_args(args)
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fixture = generate_fixture(args)
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save_fixture(fixture, args.out_path)
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if __name__ == "__main__":
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main()
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