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,
 30                                color=graphics.color.lightgrey[0:3]+[graphics.material.indexChrome],
 31                                alternatingColor=graphics.color.lightgrey2[0:3]+[graphics.material.indexChrome] )]
 32gList += [graphics.Arrow(pAxis=[-2,-2,-1], vAxis=[0,0,2], radius=0.04, color=graphics.color.yellow)]
 33gList += [graphics.Basis(origin=[-2,-1,-1], length=0.5)]
 34gList += [graphics.Cylinder(pAxis=[-2,0,-1], vAxis=[0,0,2], radius=0.3, addEdges=4, color=graphics.color.white, nTiles=32)]
 35gList += [graphics.Sphere(point=[-2,1,0], radius=0.5, color=graphics.color.white, nTiles=16,
 36                                        addEdges=6, addFaces=True)]
 37gList += [graphics.Brick(centerPoint=[-2,-3,-1], size=[0.4,0.5,0.6], color=graphics.color.dodgerblue)]
 38
 39#for hollow solid, use closed contour list:
 40contour=[[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()
 41gList += [graphics.SolidOfRevolution(pAxis=[0,-2,-1], vAxis=[0,0,1],
 42        contour=contour, color=[0.8,0.1,0.1,1], nTiles = 40, addEdges=5)]
 43
 44#the next two graphics lists are merged into a single list:
 45contour=[[0,0.1],[0.,0.2],[1.5,0.3],[1.5,0.15],[0,0.1]]
 46#contour.reverse()
 47g1 = graphics.SolidOfRevolution(pAxis=[0,0,-1], vAxis=[0,0,1],
 48        contour=contour, color=[0.8,0.1,0.1,1], nTiles = 6, smoothContour=False, addEdges=6)
 49
 50g2 = graphics.SolidExtrusion(vertices=[[-0.4,-0.4], [0.4,-0.4], [ 0.4,0.4], [0.1,0.4],
 51                                               [0.1,  0.2], [-0.1,0.2], [-0.1,0.4], [-0.4,0.4]],
 52                                     segments=[[0,1], [1,2], [2,3], [3,4], [4,5], [5,6], [6,7], [7,0]],
 53                                     pOff = [0,2,-1], height=1.5,
 54                                     color=graphics.color.steelblue, addEdges=2)
 55g3 = graphics.MergeTriangleLists(g1,g2)
 56#now move and rotate graphicsData:
 57g3 = graphics.Move(g3, pOff=[0.25,0,1], Aoff=RotationMatrixX(0.125*pi))
 58
 59gList+=[g3]
 60
 61for i, gData in enumerate(gList):
 62    exu.Print(f'gData{i}:')
 63    if 'type' in gData:
 64        exu.Print('  graphicsData type=',gData['type'])
 65        if gData['type'] == 'TriangleList' and 'normals' in gData:
 66            nWrong = graphics.InconsistentTriangles(gData)
 67            exu.Print('  inconsistent trigs=',nWrong,'of',len(gData['triangles']//3))
 68
 69
 70oGround=mbs.AddObject(ObjectGround(referencePosition= [0,0,0], visualization=VObjectGround(graphicsData= gList)))
 71
 72# graphicsCube = graphics.Brick(size= [L,b,b], color= graphics.color.dodgerblue, addEdges=True)
 73# 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)
 74
 75mbs.CreateRigidBody(inertia = InertiaSphere(1, 0.5),
 76             referencePosition = [1,1,0],
 77             initialAngularVelocity =[1,0,0],
 78             graphicsDataList = [graphics.Sphere(radius=0.5, color=graphics.color.orange, nTiles=32,
 79                                                    addEdges=4, addFaces=True)])
 80
 81
 82mbs.Assemble()
 83print(mbs)
 84
 85simulationSettings = exu.SimulationSettings() #takes currently set values or default values
 86
 87simulationSettings.timeIntegration.numberOfSteps = 100000
 88simulationSettings.timeIntegration.endTime = 2000
 89simulationSettings.timeIntegration.verboseMode = 1
 90simulationSettings.timeIntegration.simulateInRealtime = True
 91
 92SC.visualizationSettings.openGL.multiSampling = 4
 93SC.visualizationSettings.openGL.lineWidth = 1
 94# SC.visualizationSettings.openGL.drawVertexNormals = True
 95# SC.visualizationSettings.openGL.drawFaceNormals = True
 96SC.visualizationSettings.general.graphicsUpdateInterval = 0.02
 97SC.visualizationSettings.window.renderWindowSize=[1920,1200]
 98
 99SC.renderer.Start()
100mbs.SolveDynamic(simulationSettings)
101
102SC.renderer.DoIdleTasks()
103SC.renderer.Stop() #safely close rendering window!