.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "_auto_examples/visualizations/vis_pressure_field_collision.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        Click :ref:`here <sphx_glr_download__auto_examples_visualizations_vis_pressure_field_collision.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr__auto_examples_visualizations_vis_pressure_field_collision.py:


====================================
Physical Simulation of Bouncing Ball
====================================

.. GENERATED FROM PYTHON SOURCE LINES 6-105

.. code-block:: default

    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")


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** ( 0 minutes  0.000 seconds)


.. _sphx_glr_download__auto_examples_visualizations_vis_pressure_field_collision.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example


    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: vis_pressure_field_collision.py <vis_pressure_field_collision.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: vis_pressure_field_collision.ipynb <vis_pressure_field_collision.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_