Source code for woo.tests.ellipsoid

# encoding: utf-8
# 2013 © Václav Šmilauer <eu@doxos.eu>

from __future__ import print_function
import unittest
from minieigen import *
import woo._customConverters
import woo.core
import woo.dem
import woo.utils
import math
from woo.dem import *

[docs]class TestEllipsoid(unittest.TestCase): 'Test :obj:`Cg2_Ellipsoid_Ellipsoid_L6Geom`.'
[docs] def setUp(self): S=self.S=woo.core.Scene(fields=[woo.dem.DemField()]) self.mat=FrictMat(density=1e3,young=1e8,ktDivKn=.2,tanPhi=.5) S.dtSafety=0.7 S.engines=[Leapfrog(reset=True,damping=.4),InsertionSortCollider([Bo1_Ellipsoid_Aabb()],verletDist=0.),ContactLoop([Cg2_Ellipsoid_Ellipsoid_L6Geom()],[Cp2_FrictMat_FrictPhys()],[Law2_L6Geom_FrictPhys_IdealElPl(noBreak=True)])]
#,DynDt(stepPeriod=1000)] #woo.utils.defaultEngines(damping=.0,cp2=Cp2_FrictMat_HertzPhys(gamma=0,en=0,label='cp2',poisson=.2),law=Law2_L6Geom_HertzPhys_DMT(),dynDtPeriod=10)+[ # -123 is replaced by v0 before actually used # LawTester(ids=(0,1),abWeight=.5,stages=[LawTesterStage(values=(-123,0,0,0,0,0),whats='ivv...',until='stage.rebound',done='S.stop(); tester.dead=True')],label='tester') #]
[docs] def testNormalDisplacementEllipsoid(self): 'Ellipsoid: normal displacement on contact with ellipsoid.' self.S.saveTmp() # try the same thing with different sizes of ellipsoids # divide by 3. so that number are nice (initial distance is .1+.2=.3) for scale in [.5/3.,1./3.,10./3.,100./3.,1000/3.]: S=woo.core.Scene.loadTmp() # two ellipsoids exteranlly touching perpendicularly; the whole setup it rotated by gOri gOri=Quaternion((.1,1,.3),math.pi/3.) # some rather random orientation gOri.normalize() # important; axis is normalized automatically in minieigen newly, but not yet always S.dem.par.add([ woo.dem.Ellipsoid.make((0,0,0),semiAxes=scale*Vector3(.1,.2,.1),ori=gOri,mat=self.mat,fixed=True), woo.dem.Ellipsoid.make(gOri*(scale*Vector3(.3,0,0)),semiAxes=scale*Vector3(.2,.1,.1),ori=gOri,mat=self.mat,fixed=True) ],nodes=True) # velocity is assigned to the second ellipsoid below, nodes=True needed e0,e1=S.dem.par[0],S.dem.par[1] d0,d1=e0.shape.nodes[0].dem,e1.shape.nodes[0].dem e1.vel=gOri*Vector3(-.1,0,0) S.dt=.1 if 0: # debugging stuff l0=scale*(.1+.2) print() print('distance',(S.dem.par[0].pos-S.dem.par[1].pos).norm()) print('distance',l0) S.one() C=S.dem.con[0] if 0: # debugging stuff print(C, C.geom.uN) l=(S.dem.par[0].pos-S.dem.par[1].pos).norm() print('distance after',l) print(S.dem.par[0].pos, S.dem.par[1].pos, 'dist',l0,l) print('displacement',l-l0) print('displacement',C.geom.uN) # e1 should move by -.1×.1 = .01 towards the first one, which should be the overlap distance self.assertAlmostEqual(C.geom.uN,-.01,delta=1e-5*0.01)
[docs] def testNormalDisplacementWall(self): 'Ellipsoid: normal displacement on contact with wall' pass
#self.S.saveTmp() #for scale in [.1,1.,10.]: # gOri=Quaternion((1,2,3),math.pi/4.) # some random orientation
[docs] def testMassInertia(self): 'Ellipsoid: mass and inertia computation' a,b,c=1,2,3 rho=1 e=Ellipsoid.make(center=(0,0,0),semiAxes=(a,b,c),mat=FrictMat(density=rho)) m=rho*(4/3.)*math.pi*a*b*c I=(1/5.)*m*Vector3(b**2+c**2,a**2+c**2,a**2+b**2) self.assertAlmostEqual(e.mass,m) self.assertAlmostEqual(e.inertia,I)