:py:mod:`synthpic2.recipe.synth_chain.feature_generation_steps.relax_collisions`
================================================================================

.. py:module:: synthpic2.recipe.synth_chain.feature_generation_steps.relax_collisions

.. autoapi-nested-parse::

   Module for RelaxCollisions synth chain step.



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   synthpic2.recipe.synth_chain.feature_generation_steps.relax_collisions.RelaxCollisions



Functions
~~~~~~~~~

.. autoapisummary::

   synthpic2.recipe.synth_chain.feature_generation_steps.relax_collisions._convert_to_mesh_recursively
   synthpic2.recipe.synth_chain.feature_generation_steps.relax_collisions._apply_transforms_recursively



.. py:function:: _convert_to_mesh_recursively(blender_object: bpy.types.Object) -> None

   Recursively iterate through a tree of blender objects, and starting from
   the leaves and working up to the root, convert the objects to meshes. Unfortunately,
   this breaks parent/child relations, so we have an option to restore them _and_ it
   also breaks the references to blender objects, so we set the context object to the
   ultimate parent.

   Args:
       blender_object (bpy.types.Object): Blender object (potentially with children) to
           convert to mesh.


.. py:class:: RelaxCollisions


   Bases: :py:obj:`synthpic2.recipe.synth_chain.feature_generation_steps.set_based_mixin.SetBasedMixin`, :py:obj:`synthpic2.recipe.synth_chain.feature_generation_steps.base.FeatureGenerationStep`

   SynthChainStep to relax collisions between objects of a set, using Blenders
   bullet physics engine.

   .. py:attribute:: damping
      :type: Optional[float]

      

   .. py:attribute:: angular_damping
      :type: Optional[float]

      

   .. py:attribute:: linear_damping
      :type: Optional[float]

      

   .. py:attribute:: friction
      :type: float
      :value: 1

      

   .. py:attribute:: restitution
      :type: float
      :value: 1

      

   .. py:attribute:: mass
      :type: float
      :value: 1.0

      

   .. py:attribute:: collision_shape
      :type: str
      :value: 'MESH'

      

   .. py:attribute:: mesh_source
      :type: str
      :value: 'FINAL'

      

   .. py:attribute:: num_frames
      :type: int
      :value: 100

      

   .. py:attribute:: use_gravity
      :type: bool
      :value: False

      

   .. py:attribute:: gravity
      :type: Tuple[float, float, float]
      :value: (0, 0)

      

   .. py:attribute:: collision_margin
      :type: float
      :value: 1e-06

      

   .. py:attribute:: time_scale
      :type: float
      :value: 1.0

      

   .. py:attribute:: substeps_per_frame
      :type: int
      :value: 10

      

   .. py:attribute:: solver_iterations
      :type: int
      :value: 10

      

   .. py:attribute:: dry_run
      :type: bool
      :value: False

      

   .. py:method:: __call__(runtime_state: synthpic2.recipe.synth_chain.state.RuntimeState) -> synthpic2.recipe.synth_chain.state.RuntimeState

      NotImplemented



.. py:function:: _apply_transforms_recursively(blender_object: bpy.types.Object, transforms: dict[str, mathutils.Matrix]) -> None

   Recursively apply a transform to a Blender object and all its children.

   Args:
       blender_object (bpy.types.Object): Blender object to apply the transform to.
       transform (np.ndarray): Transform to apply.