.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "_auto_examples/visualizations/vis_youngs_modulus.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_youngs_modulus.py>`
        to download the full example code

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

.. _sphx_glr__auto_examples_visualizations_vis_youngs_modulus.py:


=======================================================
Visualize pressure fields with different young's moduli
=======================================================

.. GENERATED FROM PYTHON SOURCE LINES 6-73

.. code-block:: default

    print(__doc__)

    import numpy as np
    import pytransform3d.visualizer as pv
    from distance3d import visualization, hydroelastic_contact, benchmark

    rigid_body1 = hydroelastic_contact.RigidBody.make_sphere(np.array([0.5, 0, 0]), 0.15, 2)
    rigid_body2 = hydroelastic_contact.RigidBody.make_sphere(np.array([0.5, 0.12, 0]), 0.15, 2)

    rigid_body1.youngs_modulus = 10
    rigid_body2.youngs_modulus = 0.1

    rigid_body3 = hydroelastic_contact.RigidBody.make_sphere(np.array([0, 0, 0]), 0.15, 2)
    rigid_body4 = hydroelastic_contact.RigidBody.make_sphere(np.array([0, 0.12, 0]), 0.15, 2)

    rigid_body3.youngs_modulus = 10
    rigid_body4.youngs_modulus = 15

    rigid_body5 = hydroelastic_contact.RigidBody.make_sphere(np.array([-0.5, 0, 0]), 0.15, 2)
    rigid_body6 = hydroelastic_contact.RigidBody.make_sphere(np.array([-0.5, 0.12, 0]), 0.15, 2)

    rigid_body5.youngs_modulus = 0.1
    rigid_body6.youngs_modulus = 0.2

    timer = benchmark.Timer()
    timer.start("contact_forces")

    intersection1, _, _, details1 = hydroelastic_contact.contact_forces(rigid_body1, rigid_body2, return_details=True)
    intersection2, _, _, details2 = hydroelastic_contact.contact_forces(rigid_body3, rigid_body4, return_details=True)
    intersection3, _, _, details3 = hydroelastic_contact.contact_forces(rigid_body5, rigid_body6, return_details=True)

    print(f"time: {timer.stop('contact_forces')}")

    fig = pv.figure()
    fig.plot_transform(np.eye(4), s=0.1)


    def vis_mesh(rigid_body):
        visualization.RigidBodyTetrahedralMesh(
            rigid_body.body2origin_, rigid_body.vertices_, rigid_body.tetrahedra_).add_artist(fig)


    vis_mesh(rigid_body1)
    vis_mesh(rigid_body2)
    vis_mesh(rigid_body3)
    vis_mesh(rigid_body4)
    vis_mesh(rigid_body5)
    vis_mesh(rigid_body6)


    def vis_contact_surface(details):
        contact_surface = visualization.ContactSurface(
            np.eye(4), details["contact_polygons"],
            details["contact_polygon_triangles"], details["pressures"])
        contact_surface.add_artist(fig)


    vis_contact_surface(details1)
    vis_contact_surface(details2)
    vis_contact_surface(details3)

    fig.view_init()

    if "__file__" in globals():
        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_youngs_modulus.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_youngs_modulus.py <vis_youngs_modulus.py>`

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

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


.. only:: html

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

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