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fc36e06 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 | from simulation.case_simulation.case_handler import CaseHandler, register_case
import numpy as np
import torch
import gstaichi as ti
import genesis as gs
import math
from simulation.utils import gs_to_pt3d
@register_case("tree")
class Tree(CaseHandler):
def __init__(self, config, all_obj_info, device):
super().__init__(config, all_obj_info, device)
def fix_particles(self):
############################ Fix Particles ###############################
# fix part of the object - only applied to particle cases
fixed_area_list = list(self.config['fixed_area'])[0]
sim_particles = torch.tensor(self.all_objs[0].init_particles).to(self.device)
x_left = self.all_obj_info[0]['min'][0] + self.all_obj_info[0]['size'][0] * fixed_area_list[0]
x_right = self.all_obj_info[0]['min'][0] + self.all_obj_info[0]['size'][0] * fixed_area_list[1]
z_top = self.all_obj_info[0]['max'][2] - self.all_obj_info[0]['size'][2] * fixed_area_list[2]
z_bottom = self.all_obj_info[0]['max'][2] - self.all_obj_info[0]['size'][2] * fixed_area_list[3]
fixed_area_idx = torch.where(
(sim_particles[:, 0] > x_left) & (sim_particles[:, 0] < x_right) &
(sim_particles[:, 2] > z_bottom) & (sim_particles[:, 2] < z_top)
)
is_free = torch.ones(sim_particles.shape[0], dtype=torch.bool).to(self.device)
is_free[fixed_area_idx] = False
self.all_objs[0].set_free(is_free)
def create_force_fields(self):
wind_force_center = (
self.all_obj_info[0]['min'][0].item(),
self.all_obj_info[0]['min'][1].item(),
self.all_obj_info[0]['min'][2].item()
)
wind_force_radius = ((self.all_obj_info[0]['max'][0] - self.all_obj_info[0]['min'][0]) * 1.5).item()
wind_force_direction = (
((self.all_obj_info[0]['max'][0] - self.all_obj_info[0]['min'][0]) * 0.3).item(),
((self.all_obj_info[0]['min'][1] - self.all_obj_info[0]['max'][1]) * 0.).item(),
((self.all_obj_info[0]['min'][2] - self.all_obj_info[0]['max'][2]) * 0.0).item()
)
force_field = gs.force_fields.Wind(
direction = wind_force_direction,
strength = 1,
radius = wind_force_radius,
center = wind_force_center,
)
force_field.activate()
self.scene.add_force_field(
force_field = force_field
)
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