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Physical Simulation of Bouncing BallΒΆ
print(__doc__)
import numpy as np
import pytransform3d.visualizer as pv
from distance3d import visualization, hydroelastic_contact
dt = 0.001
g = np.array([0, -9.81, 0])
fig = pv.figure()
fig.plot_transform(np.eye(4), s=0.1)
p_objects = []
class PhysicsObject:
def __init__(self, rigid_body, artist, mass, velocity, fixed=False):
self.rigid_body = rigid_body
self.fixed = fixed
self.mass = mass
self.acceleration = np.zeros(3, dtype=float)
self.velocity = velocity
self.artist_ = artist
def step(self, forces=[]):
if self.fixed:
return
gravity_force = g * self.mass
forces.append(gravity_force)
self.acceleration = np.add.reduce(forces) / self.mass
self.velocity += dt * self.acceleration
self.rigid_body.body2origin_[:3, 3] += self.velocity * dt
self.artist_.set_data(self.rigid_body.body2origin_, self.rigid_body.vertices_,
self.rigid_body.tetrahedra_)
class AnimationCallback:
def __init__(self, p_object1, p_object2):
self.p_object1 = p_object1
self.p_object2 = p_object2
self.contact_surfaces = []
contact_surface = hydroelastic_contact.find_contact_surface(
self.p_object1.rigid_body, self.p_object2.rigid_body)
self.contact_surface = visualization.ContactSurface(
contact_surface.frame2world,
contact_surface.contact_polygons,
contact_surface.contact_polygon_triangles,
contact_surface.pressures)
self.contact_surface.add_artist(fig)
def __call__(self, step):
intersection, wrench12, wrench21, details = hydroelastic_contact.contact_forces(
self.p_object1.rigid_body, self.p_object2.rigid_body, return_details=True)
if intersection:
self.contact_surface.set_data(
np.eye(4),
details["contact_polygons"],
details["contact_polygon_triangles"],
details["pressures"])
self.p_object1.step([wrench21[:3]])
self.p_object2.step([wrench12[:3]])
return [self.p_object1.artist_, self.p_object2.artist_, self.contact_surface]
def make_object(rigid_body, mass, acc, fixed):
artist = visualization.RigidBodyTetrahedralMesh(
rigid_body.body2origin_, rigid_body.vertices_, rigid_body.tetrahedra_)
artist.add_artist(fig)
return PhysicsObject(rigid_body, artist, mass, acc, fixed)
rb1 = hydroelastic_contact.RigidBody.make_box(np.eye(4), np.array([0.5, 0.5, 0.5]))
rb2 = hydroelastic_contact.RigidBody.make_sphere(np.array([0.0, 1.0, 0.0]), 0.15, 2)
GPa = 100000000
rb1.youngs_modulus = 100 * GPa
rb2.youngs_modulus = 0.1 * GPa
p_object1 = make_object(rb1, 100, np.array([0.0, 0.0, 0.0]), True)
p_object2 = make_object(rb2, 1, np.array([-0.1, 0.0, 0.0]), False)
fig.view_init()
if "__file__" in globals():
fig.animate(AnimationCallback(p_object1, p_object2), 500, loop=True)
fig.show()
else:
fig.save_image("__open3d_rendered_image.jpg")
Total running time of the script: ( 0 minutes 0.000 seconds)