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69 lines
1.5 KiB
69 lines
1.5 KiB
2 years ago
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import json
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import pathlib
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import copy
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import math
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import itertools
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import numpy
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import context
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from fixture_utils import save_fixture, get_fixture_dir_path
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link_thickness = 0.3 # padded_link_thickness (actual thickness: 0.190211)
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link_height = 1.5
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link_width = 1
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scene = {
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"scene_type": "distance_barrier_rb_problem",
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"solver": "ipc_solver",
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"timestep": 0.01,
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"max_time": 10.0,
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"rigid_body_problem": {
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"gravity": [0, -9.8, 0],
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"rigid_bodies": []
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}
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}
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link = {
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"mesh": "wrecking-ball/link.obj",
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"position": [0, 0, 0],
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"rotation": [0, 0, 0],
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"density": 7680
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}
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bodies = scene["rigid_body_problem"]["rigid_bodies"]
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spool = {
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"mesh": "anchor/spool.obj",
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"position": [0, link_height / 1.9, 0],
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"rotation": [0, 0, 0],
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"density": 7680,
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"is_dof_fixed": [True, True, True, False, True, True],
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"angular_velocity": [-1e3, 0, 0],
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"torque": [-1e6, 0, 0],
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"type": "kinematic",
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"enabled": True
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}
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bodies.append(spool)
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chain_length = 20
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# Generate the chain
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for i in range(chain_length):
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new_link = copy.deepcopy(link)
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new_link["rotation"] = [0, ((i + 1) % 2) * 90, 0]
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new_link["position"] = [0, -i * link_height / 1.9, 0]
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bodies.append(new_link)
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anchor = {
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"mesh": "wrecking-ball/ball.obj",
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"position": [0, -chain_length * link_height / 1.9, 0],
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"rotation": [0, ((chain_length + 1) % 2) * 90, 0],
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"density": 7680,
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"enabled": True
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}
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bodies.append(anchor)
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save_fixture(scene, get_fixture_dir_path() / "3D" / "anchor.json")
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