graphicsDataExample.py

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 1#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 2# This is an EXUDYN example
 3#
 4# Details:  Example for graphicsData
 5#
 6# Author:   Johannes Gerstmayr
 7# Date:     2023-03-26
 8#
 9# 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.
10#
11#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
12
13import exudyn as exu
14from exudyn.utilities import * #includes itemInterface and rigidBodyUtilities
15import exudyn.graphics as graphics #only import if it does not conflict
16
17SC = exu.SystemContainer()
18mbs = SC.AddSystem()
19
20
21#+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
22#rigid pendulum:
23# L = 1    #x-dim of pendulum
24# b = 0.1  #y-dim of pendulum
25
26#create list of graphics data for background
27gList = []
28
29gList += [graphics.CheckerBoard(point=[0,0,-2], normal=[0,0,1], size=5)]
30gList += [graphics.Arrow(pAxis=[-2,-2,-1], vAxis=[0,0,2], radius=0.04, color=graphics.color.yellow)]
31gList += [graphics.Basis(origin=[-2,-1,-1], length=0.5)]
32gList += [graphics.Cylinder(pAxis=[-2,0,-1], vAxis=[0,0,2], radius=0.3, addEdges=4, color=graphics.color.white, nTiles=32)]
33gList += [graphics.Sphere(point=[-2,1,0], radius=0.5, color=graphics.color.white, nTiles=16,
34                                       addEdges=6, addFaces=True)]
35gList += [graphics.Brick(centerPoint=[-2,-3,-1], size=[0.4,0.5,0.6], color=graphics.color.dodgerblue)]
36
37#for hollow solid, use closed contour list:
38contour=[[0,0.],[0,0.1],[0.4,0.1],[0.4,0.2],[0.8,0.3],[1.2,0.]] #if wrong orientation (check normals): contour.reverse()
39gList += [graphics.SolidOfRevolution(pAxis=[0,-2,-1], vAxis=[0,0,1],
40        contour=contour, color=[0.8,0.1,0.1,1], nTiles = 40, addEdges=5)]
41
42#the next two graphics lists are merged into a single list:
43contour=[[0,0.1],[0.,0.2],[1.5,0.3],[1.5,0.15],[0,0.1]]
44g1 = graphics.SolidOfRevolution(pAxis=[0,0,-1], vAxis=[0,0,1],
45        contour=contour, color=[0.8,0.1,0.1,1], nTiles = 6, smoothContour=False, addEdges=6)
46g2 = graphics.SolidExtrusion(vertices=[[-0.4,-0.4], [0.4,-0.4], [ 0.4,0.4], [0.1,0.4],
47                                               [0.1,  0.2], [-0.1,0.2], [-0.1,0.4], [-0.4,0.4]],
48                                     segments=[[0,1], [1,2], [2,3], [3,4], [4,5], [5,6], [6,7], [7,0]],
49                                     pOff = [0,2,-1], height=1.5,
50                                     color=graphics.color.steelblue, addEdges=2)
51g3 = graphics.MergeTriangleLists(g1,g2)
52#now move and rotate graphicsData:
53g3 = graphics.Move(g3, pOff=[0.25,0,1], Aoff=RotationMatrixX(0.125*pi))
54
55gList+=[g3]
56
57oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0], visualization=VObjectGround(graphicsData= gList)))
58
59# graphicsCube = graphics.Brick(size= [L,b,b], color= graphics.color.dodgerblue, addEdges=True)
60# graphicsJoint = graphics.Cylinder(pAxis=[-0.5*L,0,-0.6*b], vAxis= [0,0,1.2*b], radius = 0.55*b, color=graphics.color.darkgrey, addEdges=True)
61
62mbs.CreateRigidBody(inertia = InertiaSphere(1, 0.5),
63             referencePosition = [1,1,0],
64             initialAngularVelocity =[1,0,0],
65             graphicsDataList = [graphics.Sphere(radius=0.5, color=graphics.color.orange, nTiles=32,
66                                                    addEdges=4, addFaces=True)])
67
68
69mbs.Assemble()
70print(mbs)
71
72simulationSettings = exu.SimulationSettings() #takes currently set values or default values
73
74simulationSettings.timeIntegration.numberOfSteps = 100000
75simulationSettings.timeIntegration.endTime = 2000
76simulationSettings.timeIntegration.verboseMode = 1
77simulationSettings.timeIntegration.simulateInRealtime = True
78
79SC.visualizationSettings.openGL.multiSampling = 4
80SC.visualizationSettings.openGL.lineWidth = 2
81SC.visualizationSettings.general.graphicsUpdateInterval = 0.02
82SC.visualizationSettings.window.renderWindowSize=[1920,1200]
83
84exu.StartRenderer()
85mbs.SolveDynamic(simulationSettings)
86
87SC.WaitForRenderEngineStopFlag()
88exu.StopRenderer() #safely close rendering window!