mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 13:20:07 +00:00
254 lines
7.6 KiB
Python
254 lines
7.6 KiB
Python
from __future__ import print_function
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import numpy as np
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class Obj:
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def __init__(self, fn):
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self.ind_v = 0
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self.ind_vt = 0
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self.ind_vn = 0
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self.fn = fn
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self.out = open(fn + ".tmp", "w")
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self.out.write("mtllib dinnerware.mtl\n")
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def __del__(self):
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self.out.close()
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import shutil
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shutil.move(self.fn + ".tmp", self.fn)
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def push_v(self, v):
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self.out.write("v %f %f %f\n" % (v[0], v[1], v[2]))
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self.ind_v += 1
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return self.ind_v
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def push_vt(self, vt):
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self.out.write("vt %f %f\n" % (vt[0], vt[1]))
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self.ind_vt += 1
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return self.ind_vt
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def push_vn(self, vn):
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vn /= np.linalg.norm(vn)
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self.out.write("vn %f %f %f\n" % (vn[0], vn[1], vn[2]))
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self.ind_vn += 1
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return self.ind_vn
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def convex_hull(points, vind, nind, tind, obj):
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"super ineffective"
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cnt = len(points)
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for a in range(cnt):
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for b in range(a + 1, cnt):
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for c in range(b + 1, cnt):
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vec1 = points[a] - points[b]
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vec2 = points[a] - points[c]
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n = np.cross(vec1, vec2)
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n /= np.linalg.norm(n)
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C = np.dot(n, points[a])
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inner = np.inner(n, points)
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pos = (inner <= C + 0.0001).all()
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neg = (inner >= C - 0.0001).all()
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if not pos and not neg: continue
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obj.out.write("f %i//%i %i//%i %i//%i\n" %
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((vind[a], nind[a], vind[b], nind[b], vind[c], nind[c]) if
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(inner - C).sum() < 0 else
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(vind[a], nind[a], vind[c], nind[c], vind[b], nind[b])))
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#obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % (
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# (vind[a], tind[a], nind[a], vind[b], tind[b], nind[b], vind[c], tind[c], nind[c])
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# if (inner - C).sum() < 0 else
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# (vind[a], tind[a], nind[a], vind[c], tind[c], nind[c], vind[b], tind[b], nind[b]) ) )
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def test_convex_hull():
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obj = Obj("convex_test.obj")
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vlist = np.random.uniform(low=-0.1, high=+0.1, size=(100, 3))
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nlist = vlist.copy()
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tlist = np.random.uniform(low=0, high=+1, size=(100, 2))
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vind = [obj.push_v(xyz) for xyz in vlist]
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nind = [obj.push_vn(xyz) for xyz in nlist]
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tind = [obj.push_vt(uv) for uv in tlist]
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convex_hull(vlist, vind, nind, tind, obj)
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class Contour:
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def __init__(self):
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self.vprev_vind = None
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def f(self, obj, vlist_vind, vlist_tind, vlist_nind):
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cnt = len(vlist_vind)
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for i1 in range(cnt):
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i2 = i1 - 1
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obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % (
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vlist_vind[i2],
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vlist_tind[i2],
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vlist_nind[i2],
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vlist_vind[i1],
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vlist_tind[i1],
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vlist_nind[i1],
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self.vprev_vind[i1],
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self.vprev_tind[i1],
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self.vprev_nind[i1],
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))
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obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % (
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vlist_vind[i2],
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vlist_tind[i2],
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vlist_nind[i2],
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self.vprev_vind[i1],
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self.vprev_tind[i1],
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self.vprev_nind[i1],
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self.vprev_vind[i2],
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self.vprev_tind[i2],
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self.vprev_nind[i2],
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))
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def belt(self, obj, vlist, nlist, tlist):
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vlist_vind = [obj.push_v(xyz) for xyz in vlist]
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vlist_tind = [obj.push_vt(xyz) for xyz in tlist]
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vlist_nind = [obj.push_vn(xyz) for xyz in nlist]
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if self.vprev_vind:
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self.f(obj, vlist_vind, vlist_tind, vlist_nind)
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else:
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self.first_vind = vlist_vind
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self.first_tind = vlist_tind
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self.first_nind = vlist_nind
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self.vprev_vind = vlist_vind
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self.vprev_tind = vlist_tind
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self.vprev_nind = vlist_nind
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def finish(self, obj):
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self.f(obj, self.first_vind, self.first_tind, self.first_nind)
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def test_contour():
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RAD1 = 2.0
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RAD2 = 1.5
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obj = Obj("torus.obj")
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obj.out.write("usemtl porcelain\n")
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contour = Contour()
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for step in range(100):
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angle = step / 100.0 * 2 * np.pi
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belt_v = []
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belt_n = []
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belt_t = []
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for b in range(50):
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beta = b / 50.0 * 2 * np.pi
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r = RAD2 * np.cos(beta) + RAD1
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z = RAD2 * np.sin(beta)
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belt_v.append(np.array([np.cos(angle) * r, np.sin(angle) * r, z]))
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belt_n.append(
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np.array([np.cos(angle) * np.cos(beta),
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np.sin(angle) * np.cos(beta),
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np.sin(beta)]))
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belt_t.append((0, 0))
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contour.belt(obj, belt_v, belt_n, belt_t)
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contour.finish(obj)
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#test_convex_hull()
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#test_contour()
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class RotationFigureParams:
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pass
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def generate_plate(p, obj, collision_prefix):
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contour = Contour()
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belt_vlist_3d_prev = None
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for step in range(p.N_VIZ + 1):
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angle = step / float(p.N_VIZ) * 2 * np.pi
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if step % p.COLLISION_EVERY == 0:
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vlist_3d = []
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for x, y in p.belt_simple:
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vlist_3d.append([np.cos(angle) * x * 1.06, np.sin(angle) * x * 1.06, y])
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if belt_vlist_3d_prev:
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obj2 = Obj(collision_prefix % (step / p.COLLISION_EVERY))
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obj2.out.write("usemtl pan_tefal\n")
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vlist = np.array(vlist_3d + belt_vlist_3d_prev)
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vlist[len(vlist_3d):] *= 1.01 # break points on one plane
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vlist[0, 0:2] += 0.01 * vlist[len(vlist_3d), 0:2]
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vlist[len(vlist_3d), 0:2] += 0.01 * vlist[0, 0:2]
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nlist = np.random.uniform(low=-1, high=+1, size=vlist.shape)
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tlist = np.random.uniform(low=0, high=+1, size=(len(vlist), 2))
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vind = [obj2.push_v(xyz) for xyz in vlist]
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nind = [obj2.push_vn(xyz) for xyz in nlist]
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convex_hull(vlist, vind, nind, None, obj2)
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belt_vlist_3d_prev = vlist_3d
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if step == p.N_VIZ: break
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belt_v = []
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belt_n = []
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belt_t = []
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for x, y, nx, ny in p.belt:
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belt_v.append(np.array([np.cos(angle) * x, np.sin(angle) * x, y]))
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belt_n.append(np.array([np.cos(angle) * nx, np.sin(angle) * nx, ny]))
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if ny - nx >= 0:
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belt_t.append((127.0 / 512 + np.cos(angle) * x / p.RAD_HIGH * 105 / 512,
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(512 - 135.0) / 512 + np.sin(angle) * x / p.RAD_HIGH * 105 / 512))
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else:
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belt_t.append((382.0 / 512 + np.cos(angle) * x / p.RAD_HIGH * 125 / 512,
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(512 - 380.0) / 512 + np.sin(angle) * x / p.RAD_HIGH * 125 / 512))
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contour.belt(obj, belt_v, belt_n, belt_t)
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contour.finish(obj)
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def tefal():
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p = RotationFigureParams()
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p.RAD_LOW = 0.240 / 2
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p.RAD_HIGH = 0.255 / 2
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p.H = 0.075
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p.THICK = 0.005
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p.N_VIZ = 30
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p.COLLISION_EVERY = 5
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p.belt = [
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(p.RAD_HIGH - p.THICK, p.H, -1, 0), # x y norm
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(p.RAD_HIGH, p.H, 0, 1),
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(p.RAD_HIGH + p.THICK, p.H, +1, 0),
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(p.RAD_LOW + p.THICK, p.THICK, +1, 0),
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(p.RAD_LOW, 0, 0, -1),
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(0, 0, 0, -1),
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(0, p.THICK, 0, 1),
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(p.RAD_LOW - p.THICK, p.THICK, 0, 1),
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(p.RAD_LOW - p.THICK, 3 * p.THICK, -1, 0),
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]
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p.belt.reverse()
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p.belt_simple = [(p.RAD_HIGH - p.THICK, p.H), (p.RAD_HIGH + p.THICK, p.H), (p.RAD_LOW, 0),
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(p.RAD_LOW - p.THICK, 0)]
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obj = Obj("pan_tefal.obj")
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obj.out.write("usemtl pan_tefal\n")
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generate_plate(p, obj, "pan_tefal-collision%02i.obj")
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def plate():
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p = RotationFigureParams()
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p.RAD_LOW = 0.110 / 2
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p.RAD_HIGH = 0.190 / 2
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p.H = 0.060
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p.THICK = 0.003
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p.N_VIZ = 30
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p.COLLISION_EVERY = 5
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p.belt = [
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(p.RAD_HIGH - p.THICK, p.H, -0.9, 0.5), # x y norm
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(p.RAD_HIGH, p.H, 0, 1),
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(p.RAD_HIGH + p.THICK, p.H, +1, 0),
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(p.RAD_LOW + p.THICK, p.THICK, +1, 0),
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(p.RAD_LOW, 0, 0, -1),
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(0, 0, 0, -1),
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(0, p.THICK, 0, 1),
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(p.RAD_LOW - 3 * p.THICK, p.THICK, 0, 1),
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(p.RAD_LOW - p.THICK, 3 * p.THICK, -0.5, 1.0),
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]
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p.belt.reverse()
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p.belt_simple = [(p.RAD_HIGH - p.THICK, p.H), (p.RAD_HIGH + p.THICK, p.H), (p.RAD_LOW, 0),
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(p.RAD_LOW - p.THICK, 0)]
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obj = Obj("plate.obj")
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obj.out.write("usemtl solid_color\n")
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generate_plate(p, obj, "plate-collision%02i.obj")
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plate()
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