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erwincoumanserwincoumans
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Merge pull request #962 from erwincoumans/master
VR recording, URDF importer, manyspheres.py etc
2 parents 67b0c89 + 65deeee commit 904a1b5

40 files changed

+4006
-68
lines changed

‎data/dinnerware/dinnerware.mtl

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newmtl porcelain
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Ka 0.000000 0.000000 0.000000
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Kd 1.000000 1.000000 1.000000
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Ks 0.200000 0.200000 0.200000
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d 1.000000
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illum 2
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Ns 0.000000
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newmtl solid_color
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Ka 0.000000 0.000000 0.000000
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Kd 1.000000 1.000000 1.000000
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Ks 0.200000 0.200000 0.200000
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d 1.000000
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illum 2
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Ns 0.000000
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newmtl pan_tefal
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Ka 0.000000 0.000000 0.000000
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Kd 0.609804 0.494118 0.486275
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Ks 0.330000 0.330000 0.330000
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map_Kd pan_tefal.jpg

‎data/dinnerware/generate.py

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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])
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if (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], vlist_tind[i2], vlist_nind[i2],
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vlist_vind[i1], vlist_tind[i1], vlist_nind[i1],
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self.vprev_vind[i1], self.vprev_tind[i1], 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], vlist_tind[i2], vlist_nind[i2],
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self.vprev_vind[i1], self.vprev_tind[i1], self.vprev_nind[i1],
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self.vprev_vind[i2], self.vprev_tind[i2], 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( [
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np.cos(angle)*r,
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np.sin(angle)*r,
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z] ) )
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belt_n.append( np.array( [
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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( [
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np.cos(angle)*x*1.06,
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np.sin(angle)*x*1.06,
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y
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] )
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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( [
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np.cos(angle)*x,
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np.sin(angle)*x,
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y
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] ) )
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belt_n.append( np.array( [
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np.cos(angle)*nx,
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np.sin(angle)*nx,
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ny
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] ) )
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if ny-nx >= 0:
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belt_t.append( (
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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( (
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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():
191+
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 = [
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(p.RAD_HIGH-p.THICK, p.H),
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(p.RAD_HIGH+p.THICK, p.H),
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(p.RAD_LOW , 0),
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(p.RAD_LOW-p.THICK , 0)
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]
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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():
221+
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 = [
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(p.RAD_HIGH-p.THICK, p.H),
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(p.RAD_HIGH+p.THICK, p.H),
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(p.RAD_LOW , 0),
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(p.RAD_LOW-p.THICK , 0)
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]
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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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‎data/dinnerware/pan_tefal-collision01.obj

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mtllib dinnerware.mtl
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usemtl pan_tefal
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v 0.066236 0.112453 0.075000
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v 0.070225 0.121633 0.075000
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v 0.063600 0.110158 0.000000
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v 0.060950 0.105568 0.000000
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v 0.131811 0.001125 0.075750
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v 0.141855 0.000000 0.075750
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v 0.128472 0.000000 0.000000
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v 0.123119 0.000000 0.000000
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vn 0.166577 -0.705775 0.688573
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vn -0.727212 0.200240 0.656556
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vn 0.637357 -0.756451 -0.146827
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vn -0.340753 -0.711716 0.614286
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vn 0.122979 0.860640 0.494141
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vn 0.770289 -0.238643 0.591358
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vn -0.635571 -0.120420 0.762594
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vn -0.070367 0.649517 -0.757084
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f 1//1 2//2 4//4
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f 1//1 5//5 2//2
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f 1//1 6//6 2//2
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f 1//1 4//4 5//5
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f 1//1 4//4 8//8
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f 1//1 5//5 6//6
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f 1//1 8//8 5//5
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f 2//2 3//3 4//4
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f 2//2 7//7 3//3
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f 2//2 5//5 6//6
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f 2//2 6//6 7//7
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f 3//3 7//7 4//4
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f 3//3 8//8 4//4
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f 3//3 7//7 8//8
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f 4//4 8//8 5//5
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f 4//4 7//7 8//8
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f 5//5 8//8 6//6
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f 6//6 8//8 7//7

‎data/dinnerware/pan_tefal-collision02.obj

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mtllib dinnerware.mtl
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usemtl pan_tefal
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v -0.064269 0.113589 0.075000
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v -0.070225 0.121633 0.075000
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v -0.063600 0.110158 0.000000
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v -0.060950 0.105568 0.000000
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v 0.064932 0.114714 0.075750
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v 0.070927 0.122850 0.075750
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v 0.064236 0.111260 0.000000
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v 0.061560 0.106624 0.000000
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vn -0.693799 -0.019731 0.719898
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vn -0.782132 -0.410509 0.468776
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vn 0.057085 0.837906 0.542821
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vn 0.549444 0.695908 -0.462410
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vn -0.488898 0.761278 -0.425951
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vn 0.527121 -0.833525 0.165465
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vn 0.764499 0.413217 0.494766
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vn -0.190845 -0.280421 -0.940714
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f 1//1 2//2 4//4
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f 1//1 5//5 2//2
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f 1//1 6//6 2//2
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f 1//1 4//4 5//5
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f 1//1 4//4 8//8
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f 1//1 5//5 6//6
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f 1//1 8//8 5//5
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f 2//2 3//3 4//4
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f 2//2 7//7 3//3
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f 2//2 5//5 6//6
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f 2//2 6//6 7//7
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f 3//3 7//7 4//4
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f 3//3 8//8 4//4
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f 3//3 7//7 8//8
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f 4//4 8//8 5//5
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f 4//4 7//7 8//8
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f 5//5 8//8 6//6
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f 6//6 8//8 7//7

‎data/dinnerware/pan_tefal-collision03.obj

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mtllib dinnerware.mtl
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usemtl pan_tefal
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v -0.130506 0.001136 0.075000
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v -0.140450 0.000000 0.075000
5+
v -0.127200 0.000000 0.000000
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v -0.121900 0.000000 0.000000
7+
v -0.066879 0.113589 0.075750
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v -0.070927 0.122850 0.075750
9+
v -0.064236 0.111260 0.000000
10+
v -0.061559 0.106624 0.000000
11+
vn -0.005755 -0.840864 -0.541216
12+
vn -0.393829 -0.423425 0.815849
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vn 0.855454 0.357218 -0.374959
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vn -0.535483 -0.042852 -0.843458
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vn 0.593436 -0.341238 0.728966
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vn -0.684303 -0.643863 0.342301
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vn -0.543719 -0.112982 0.831628
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vn -0.432322 -0.733068 0.525080
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f 1//1 2//2 4//4
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f 1//1 5//5 2//2
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f 1//1 6//6 2//2
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f 1//1 4//4 5//5
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f 1//1 4//4 8//8
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f 1//1 5//5 6//6
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f 1//1 8//8 5//5
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f 2//2 3//3 4//4
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f 2//2 7//7 3//3
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f 2//2 5//5 6//6
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f 2//2 6//6 7//7
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f 3//3 7//7 4//4
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f 3//3 8//8 4//4
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f 3//3 7//7 8//8
33+
f 4//4 8//8 5//5
34+
f 4//4 7//7 8//8
35+
f 5//5 8//8 6//6
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f 6//6 8//8 7//7

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