.. _testmodels-raytracernoglfwtest: ********************** raytracerNOGLFWtest.py ********************** You can view and download this file on Github: `raytracerNOGLFWtest.py `_ .. code-block:: python :linenos: # -*- coding: utf-8 -*- #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ # This is an EXUDYN example # # Details: Create scissor-like chain of bodies and prismatic joints to test functionality # # Author: Johannes Gerstmayr # Date: 2020-01-14 # # Copyright:This file is part of Exudyn. Exudyn is free software. You can redistribute it and/or modify it under the terms of the Exudyn license. See 'LICENSE.txt' for more details. # #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ import exudyn as exu from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities import exudyn.graphics as graphics #only import if it does not conflict useGraphics = True #without test #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ #you can erase the following lines and all exudynTestGlobals related operations if this is not intended to be used as TestModel: try: #only if called from test suite from modelUnitTests import exudynTestGlobals #for globally storing test results useGraphics = exudynTestGlobals.useGraphics except: class ExudynTestGlobals: pass exudynTestGlobals = ExudynTestGlobals() #+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ useGraphics = False import numpy as np SC = exu.SystemContainer() mbs = SC.AddSystem() gBack = graphics.CheckerBoard(point=[0,0,0], size=10, nTiles=10, normal=[0.,0.,1], color=[0.9,0.9,0.9]+[graphics.material.indexChrome], alternatingColor=[0.8,0.8,0.8]+[graphics.material.indexChrome], addEdges=False) text = ''' !"#$%&'()*+,-./ 0123456789:;<=>? @ABCDEFGHIJKLMNO PQRSTUVWXYZ[\\]^_ `abcdefghijklmno pqrstuvwxyz{|}~ ΓΔΘΛΞΠΣΦΨΩαβγδεζ ηθικλμνξοπρστυφχ ψωϕϵ₀₁₂₃₄₅₆₇₈₉⁰¹ ²³⁴⁵⁶⁷⁸⁹∂∫♥√≈∞🙂😒 ÀÁÂÃÄÅÆÇÈÉÊËÌÍÎÏ ÐÑÒÓÔÕÖ×ØÙÚÛÜÝÞß àáâãäåæçèéêëìíîï ðñòóôõö÷øùúûüýþÿ''' gText = graphics.Text(point=[0,-5,1], text=text, color=[0.2,0.2,0.2,1], fontSize=12) mbs.CreateGround(referencePosition=[0,0,-1], graphicsDataList=[gBack]+[gText]*(1-useGraphics) ) gObjectsList = [] nMaterials = 10 nTiles = 16*2 for i in range(nMaterials//2): i0 = i*2 i1 = i*2+1 color0 = graphics.colorList[i0] color1 = graphics.colorList[i1] gBrick = graphics.Brick(size=[0.8,1.25,0.7], color=color0[:3]+[graphics.material.indexDefault+i0], addEdges=True,addNormals=True, ) gSphere = graphics.Sphere(radius=0.8, color=color1[:3]+[graphics.material.indexDefault+i1], nTiles=nTiles) gSphere = graphics.Move(gSphere, [0,0,0], np.diag([1.2,0.8,0.8]) ) gObjectsList.append( mbs.CreateGround(referencePosition=[0,0,0], graphicsDataList=[gBrick]) ) gObjectsList.append( mbs.CreateGround(referencePosition=[0,0,0], graphicsDataList=[gSphere]) ) #just to simulate something mbs.CreateRigidBody(referencePosition=[3,0.8,1], inertia=InertiaCuboid(1000, [2,1.2,1]), show=False) mbs.Assemble() import matplotlib.pyplot as plt mbs.variables['imageCounter'] = 0 #rotation matrix for view CTRL-7: A=RotationVector2RotationMatrix(52/180*pi*np.array([-0.82,0.25,0.5149])) def PreStepUserFunction(mbs, t): if t > 0: rot = RotationMatrix2RotationVector(A@RotationMatrixZ(0.5*t*0.5*pi)) SC.renderer.SetModelView(5.7,rot,[0,0,0]) if useGraphics: image = SC.renderer.RedrawAndGetImage(True) imageCounter = mbs.variables['imageCounter'] exu.Print(f'image: frame{imageCounter:05}.png:',image.shape) plt.imsave(f"images/frame{imageCounter:05}.png", image) mbs.variables['imageCounter'] += 1 fact = t if t < 1 else 1 #fact = 1 for i, obj in enumerate(gObjectsList): offset = 0.2*t*0.5*pi radius = 4*fact phi = offset + i/nMaterials * 2 * pi pos = [radius*sin(phi),radius*cos(phi),1.25] mbs.SetObjectParameter(obj, 'referencePosition', pos) rot = RotXYZ2RotationMatrix([5*phi, 2*phi,0]) mbs.SetObjectParameter(obj, 'referenceRotation', rot) return True mbs.SetPreStepUserFunction(PreStepUserFunction) #sizeFactor=1, nTiles=128, lightVariations=71, multisampling=1: #OLD: approx 0.7s / image windowSize = [1200,1000] if not useGraphics: windowSize = [400,300] #3 SC.visualizationSettings.view0.window.renderWindowSize = windowSize SC.visualizationSettings.general.useMultiThreadedRendering = False #SC.visualizationSettings.view0.window.showComputationInfo = False SC.visualizationSettings.nodes.showNumbers = True SC.visualizationSettings.nodes.show = True # SC.visualizationSettings.general.textAlwaysInFront = False SC.visualizationSettings.openGL.multiSampling = 2 SC.visualizationSettings.openGL.light1.enable = False SC.visualizationSettings.openGL.light0.position = [0,0,15,1] SC.visualizationSettings.openGL.light1.position = [-3,-3,-10,1] SC.visualizationSettings.openGL.light1.diffuse = SC.visualizationSettings.openGL.light0.diffuse #SC.visualizationSettings.openGL.light1.specular = SC.visualizationSettings.openGL.light0.specular SC.visualizationSettings.openGL.light0.shadow = 0.2 SC.visualizationSettings.raytracer.numberOfThreads = 8+32*useGraphics SC.visualizationSettings.openGL.light0.lightRadius = 0.5 SC.visualizationSettings.raytracer.lightRadiusVariations = 13 SC.visualizationSettings.raytracer.advanced.shadowSmoothingSteps = 2 SC.visualizationSettings.raytracer.advanced.shadowScalingFactor = 3 SC.visualizationSettings.raytracer.verbose = useGraphics+1 SC.visualizationSettings.raytracer.maxReflectionDepth = 2 SC.visualizationSettings.raytracer.maxTransparencyDepth = 2 #SC.visualizationSettings.view0.camera.useRaytracer = True SC.visualizationSettings.raytracer.imageSizeFactor = 1 SC.visualizationSettings.raytracer.keepWindowActive = True SC.visualizationSettings.view0.camera.clippingPlaneNormal = [0,1*0,0] SC.visualizationSettings.view0.camera.clippingPlaneDistance = 2. SC.visualizationSettings.view0.camera.perspective = 1 SC.visualizationSettings.view0.scene.drawCoordinateSystem = 2 SC.visualizationSettings.general.useGradientBackground = True m = SC.renderer.materials.Get("chrome") m.reflectivity = 0.12 SC.renderer.materials.Set("chrome", m) if False: import matplotlib.pyplot as plt exu.Print('get image...') SC.renderer.SetState({'displayScaling':1.5}) SC.renderer.SetModelView(9,[0,0,1],[1,0,0]) image = SC.renderer.RedrawAndGetImage(True) exu.Print('image:',image.shape) plt.imshow(image) plt.show(block=True) tEnd = 4 stepSize = 2e-2 simulationSettings = exu.SimulationSettings() simulationSettings.solutionSettings.writeSolutionToFile = False #simulationSettings.timeIntegration.simulateInRealtime = True #simulationSettings.timeIntegration.realtimeFactor = 0.2 simulationSettings.timeIntegration.numberOfSteps = int(tEnd/stepSize) simulationSettings.timeIntegration.endTime = tEnd if useGraphics: SC.renderer.Start() #start graphics visualization SC.renderer.SetModelView(5.7,52/180*pi*np.array([-0.82,0.25,0.5149]),[0,0,0]) mbs.SolveDynamic(simulationSettings) if useGraphics: SC.renderer.DoIdleTasks() SC.renderer.Stop() if not useGraphics: #this example shows how to retrieve a single image: import matplotlib.pyplot as plt exu.Print('get image...') #rotation matrix for view CTRL-7: SC.renderer.SetState({'displayScaling':1.5}) SC.renderer.SetModelView(5.7,52/180*pi*np.array([-0.82,0.25,0.5149]),[0,0,0]) image = SC.renderer.RedrawAndGetImage(True)[0:int(windowSize[1]*0.9),:,:] #cut out version info! if False: #save image for manual check exu.Print('image:',image.shape, ', save as images/test.jpg') plt.imsave("images/test.jpg", image) plt.imshow(image) plt.show(block=False) #compute checksum for image: flat_pixels = image.ravel().astype(np.int64) n = flat_pixels.size counters = np.arange(n, 2*n, dtype=np.int64) #start at n, so pixels are weighted different, but similar checksum = np.sum(flat_pixels * counters)/np.int64(1e14) exu.Print('raytracerNOGLFWtest: image checksum=', checksum) exudynTestGlobals.testResult = checksum