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98 lines
2.3 KiB
98 lines
2.3 KiB
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": 5.0,
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"distance_barrier_constraint": {
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"trajectory_type": "screwing"
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},
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"rigid_body_problem": {
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"gravity": [0, -9.81, 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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"is_dof_fixed": False
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}
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ball = {
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"mesh": "wrecking-ball/ball.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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"is_dof_fixed": False
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}
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# This includes the top fixed link and the bottom ball link
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num_links = 14
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assert(num_links >= 2)
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inclination = math.radians(30) # Angle of inclination
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# Generate the wrecking ball chain
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bodies = scene["rigid_body_problem"]["rigid_bodies"]
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for i in range(num_links):
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y = (num_links - i) * (link_height - 2 * link_thickness)
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if i < num_links - 1:
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bodies.append(copy.deepcopy(link))
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else:
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bodies.append(copy.deepcopy(ball))
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bodies[-1]["position"] = [
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y * math.cos(inclination), y * math.sin(inclination) + 12, 0.0]
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bodies[-1]["rotation"] = [
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0.0, 90.0 if i % 2 == 1 else 0.0, math.degrees(inclination) - 90]
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if i == 0:
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bodies[-1]["is_dof_fixed"] = True
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# Add a ground plane
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ground = {
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"mesh": "plane.obj",
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"position": [bodies[0]["position"][0], -1, 0],
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"scale": 2.0,
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"is_dof_fixed": True
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}
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bodies.append(ground)
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origin = numpy.array(ground["position"])
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# Add block of cubes
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cube = {
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"mesh": "cube.obj",
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"position": [0, 0, 0],
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"density": 2800,
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"is_dof_fixed": False
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}
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width, height, depth = 8, 7, 10
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# width, height, depth = 1, 3, 1
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shift = origin + [0.5 - width / 2, 0.55, 0.5 - depth / 2]
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for w, h, d in itertools.product(range(width), range(height), range(depth)):
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bodies.append(copy.deepcopy(cube))
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bodies[-1]["position"] = ([1.05 * w, 1.05 * h, 1.05 * d] + shift).tolist()
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save_fixture(scene, get_fixture_dir_path() / "3D" / "wrecking-ball.json")
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