I want to simulate the effect of industrial robot painting using IsaacSim.
Currently, my idea is to generate a UV-mapped image from a point on the workpiece model and change the color of the corresponding pixel, or directly change the color of the pixel on the existing material.This should make it easier to calculate the paint coverage. If there is a better way, please let me know.
I am not very familiar with this area. Is there a way to achieve this through programming? If so, could you tell me the steps or which resources I should refer to?
One way you could do it is to make one painted and one unpainted part. Have both parts a child of the parent.
You could then use a cone shape (the paint sprayer) to reveal the painted prim. I would need to think about the code but I think that would be the simplest way to do it to reduce overheads.
Thank you for your reply. Currently, I found a function in the OpenUSD documentation called static GfRange3f GetIntersection (const GfRange3f &a, const GfRange3f &b). However, the input is the bounding boxes of the models, and the return is some information about the intersection of these two bounding boxes, which might not meet the expectations. I look forward to receiving more information from you.
This is quite a tough problem to solve. Also I need to understand your final objectives for this. Is this purely a visual simulation for the sake of making the animation look real to potential decision makers? Or is this needing to physically accurate to actual use for real engineering calculations? The reason I am asking is there are several approaches, but some are “tricks” and some require real solutions done in code.
The way I would do this myself, to be both satisfying and physically quite accurate is to use “sticky particles”, like real paint. You could make the paint nozzle a particle emitter, and actually “spray” particles of paint down on to the geometry. Then program the particles to freeze in place on collision with the object, just like real paint. This way you could run the particle emitter over any geometry and the paint would travel out in a straight line until it intersects with the geometry and then it stops. It would effectively coat the object in particles and give the illusion of a real paint effect. You could vary the density, size, color of the particles to make any color paint, thickness and coverage.
As to how to actually do this, I would have to ask for help from our physics expert, but I am sure is it easy to use particles and additional code to get them to freeze on collision.
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Thank you for your reply. While a purely visual simulation might be sufficient for my needs, having a physically accurate model would be more beneficial for my academic project. I will attempt to use ray casting to generate spray paint markings on the workpiece to continue my work.
Hi @huangjunhua233 ,
Yes, one could use physx particles for this, but honestly unless you need to simulate flow, which I don’t think is the case here, if you can, I would also use raycasts and modify texture pixels. This gives you greater flexibility for saturation effects etc, and should offer better performance too.
Cheers,
Simon
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