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84 lines
2.2 KiB
84 lines
2.2 KiB
2 years ago
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#!/usr/bin/env python
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import argparse
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import os
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from pathlib import Path
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import numpy as np
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import meshio
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import json
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from fixture_utils import *
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def link(a, b, c, d, e):
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# e
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# _____
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# b| |c
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# a|_____| |__'__
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# | d | | ,
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# |_____|
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# f
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V = np.array([[0.0, -a], [0.0, 0.0], [0.0, a], [d, -b], [d, 0.0], [d, b],
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[d + e, -b], [d + e, -b + c], [d + e, +b - c], [d + e, +b]],
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dtype=np.float64)
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E = np.array([[0, 1], [1, 2], [3, 4], [4, 5], [6, 7], [8, 9], [1, 4],
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[3, 6], [5, 9]],
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dtype=np.int32)
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return V, E
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def main(args=None):
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parser = argparse.ArgumentParser(args)
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parser.add_argument("output", type=str, help="path to the output folder")
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parser.add_argument("--num-links", "-n", type=int, default=2)
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parser.add_argument("--iterations", "-m", type=int, default=20)
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args = parser.parse_args()
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output = args.output
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a = 0.4
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b = 0.5
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c = 0.40
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d = 0.4
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e = 0.5
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f = 0.25
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V, E = link(a, b, c, d, e)
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dx = np.array([d + e - f, 0.0], dtype=np.float64)
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rigid_bodies = []
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for i in range(0, args.num_links):
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dof_fixed = [False, False, False] if i != 0 else [True, True, True]
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rigid_bodies.append(
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dict(vertices=(V + dx * i).tolist(),
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edges=E.tolist(),
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velocity=[0.0, 0.0, 0.0],
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is_dof_fixed=dof_fixed))
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data = {
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"max_iterations": args.iterations,
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"timestep": 0.1,
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"scene_type": "rigid_body_problem",
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"distance_barrier_constraint": {
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"initial_barrier_activation_distance": 0.1,
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"detection_method": "hash_grid",
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"use_distance_hashgrid": True,
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"custom_hashgrid_cellsize": -1
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},
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"barrier_solver": {
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"inner_solver": "newton_solver"
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},
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"rigid_body_problem": {
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"coefficient_restitution": 1.0,
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"gravity": [0.0, -0.5, 0.0],
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"rigid_bodies": rigid_bodies
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}
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}
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save_fixture(fixture, args.output)
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if __name__ == "__main__":
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main()
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