def _save(self):
"""
"""
_name = str(self.ui.name_lineEdit.text())
# try:
_mass = float(self.ui.m_lineEdit.text())
_J_zz = float(self.ui.J_lineEdit.text())
_R = np.array(string2array(self.ui.R_lineEdit.text()), dtype="float32")
_theta = np.array(string2array(self.ui.theta_lineEdit.text()),
dtype="float32")
if self.ui.transformCS_comboBox.currentText() == "CAD":
__dR = self.item.CM_CAD_LCS - Ai_ui_P_vector(
self.item.CM_CAD_LCS, np.deg2rad(_theta[2]))
else:
__dR = np.zeros(3)
_dR = string2array(self.ui.dR_lineEdit.text())
_dtheta = string2array(self.ui.dtheta_lineEdit.text())
_color = string2array(self.ui.color_lineEdit.text())
_transparent = float(self.ui.transparent_lineEdit.text())
_display_style = str(
self.ui.display_style_comboBox.currentText()).lower()
# update data to selected object
if self.item is not None:
self.item._name = _name
self.item.mass = _mass
self.item.J_zz = _J_zz
self.item.R = _R - __dR
self.item.theta = np.deg2rad(_theta)
self.item.dR = _dR
self.item.dtheta = np.deg2rad(_dtheta)
self.item.display_style = _display_style
# update vbo if it is changed
if any(_color != self.item.color_GL
) or _transparent != self.item.transparent_GL:
self.item.color_GL = _color
self.item.transparent_GL = _transparent
self.item._update_VBO()
# create new object
else:
_item = Body(body_name=_name, parent=self.group_item)
pos = len(self.parent_node._children)
self.parent_node._parent.forces.append(_item)
self._parent.ui.treeView.model().insertRow(pos, _item,
self.parent_node)
# update dependent parameters
self.item.update()
self.close()
def _save(self, item=None):
"""
"""
# name
_name = self.ui.name_lineEdit.text()
# contact type
_type = self.ui.contactTypecomboBox.currentText()
# contact model type
_type = str(self.ui.contactModelTypecomboBox.currentText()).lower()
print "_type =", _type
self.item.contact_model._type = _type
print "self.item.contact_model._type =", self.item.contact_model._type
# distance tolerance
self.item.distance_TOL = float(self.ui.TOL_distance_lineEdit.text())
# try:
_body_id_i = int(self.ui.bodyIDi_lineEdit.text())
_body_id_j = int(self.ui.bodyIDj_lineEdit.text())
_coef_of_friction_static = self.ui.frictionCoefStatic_lineEdit.text().toDouble()
_coef_of_friction_dynamic = self.ui.frictionCoefDynamic_lineEdit.text().toDouble()
_coef_of_restitution = self.ui.restitution_coefficient_lineEdit.text().toDouble()
if self.item._type == "Revolute Clearance Joint":
_uPi = string2array(self.ui.uPi_lineEdit.text())
_uPj = string2array(self.ui.uPj_lineEdit.text())
_Ri = float(self.ui.Ri_lineEdit.text())
_Rj = float(self.ui.Rj_lineEdit.text())
if self.item._type == "General":
pass
if self.item is not None:
self.item.body_id_i = _body_id_i
self.item.body_id_j = _body_id_j
self.item.friction_model.coef_of_friction_static = _coef_of_friction_static
self.item.friction_model.coef_of_friction_dynamic = _coef_of_friction_dynamic
self.item.contact_model.coef_of_restitution = _coef_of_restitution
if self.item._type == "Revolute Clearance Joint":
self.item.u_iP = _uPi
self.item.u_jP = _uPj
self.item.R_i = _Ri
self.item.R_j = _Rj
else:
_item = Contact(body_id_i=_body_id_i, body_id_j=_body_id_j)
pos = len(self.parent_node._children)
self.parent_node._parent.forces.append(_item)
self._parent.ui.treeView.model().insertRow(pos, _item, self.parent_node)
self.close()
def _save(self):
"""
"""
_name = str(self.ui.name_lineEdit.text())
# try:
_mass = float(self.ui.m_lineEdit.text())
_J_zz = float(self.ui.J_lineEdit.text())
_R = np.array(string2array(self.ui.R_lineEdit.text()), dtype="float32")
_theta = np.array(string2array(self.ui.theta_lineEdit.text()), dtype="float32")
if self.ui.transformCS_comboBox.currentText() == "CAD":
__dR = self.item.CM_CAD_LCS - Ai_ui_P_vector(self.item.CM_CAD_LCS, np.deg2rad(_theta[2]))
else:
__dR = np.zeros(3)
_dR = string2array(self.ui.dR_lineEdit.text())
_dtheta = string2array(self.ui.dtheta_lineEdit.text())
_color = string2array(self.ui.color_lineEdit.text())
_transparent = float(self.ui.transparent_lineEdit.text())
_display_style = str(self.ui.display_style_comboBox.currentText()).lower()
# update data to selected object
if self.item is not None:
self.item._name = _name
self.item.mass = _mass
self.item.J_zz = _J_zz
self.item.R = _R - __dR
self.item.theta = np.deg2rad(_theta)
self.item.dR = _dR
self.item.dtheta = np.deg2rad(_dtheta)
self.item.display_style = _display_style
# update vbo if it is changed
if any(_color != self.item.color_GL) or _transparent != self.item.transparent_GL:
self.item.color_GL = _color
self.item.transparent_GL = _transparent
self.item._update_VBO()
# create new object
else:
_item = Body(body_name=_name, parent=self.group_item)
pos = len(self.parent_node._children)
self.parent_node._parent.forces.append(_item)
self._parent.ui.treeView.model().insertRow(pos, _item, self.parent_node)
self.close()
def _save(self, item=None):
"""
"""
_name = self.ui.name_lineEdit.text()
_type = self.ui.jointTypecomboBox.currentText()
# try:
if self.ui.bodyIDi_lineEdit.text() == "ground":
pass
else:
_body_id_i = int(self.ui.bodyIDi_lineEdit.text())
if self.ui.bodyIDj_lineEdit.text() == "ground":
_body_id_j = self.ui.bodyIDj_lineEdit.text()
else:
_body_id_j = int(self.ui.bodyIDj_lineEdit.text())
_uPi = string2array(self.ui.uPi_lineEdit.text())
_uPj = string2array(self.ui.uPj_lineEdit.text())
# update data to selected object
if self.item is not None:
self.item._name = _name
self.item.body_id_i = _body_id_i
self.item.body_id_j = _body_id_j
# update position of marker if vector uP is changed
for _uP, _u_P, _id, body_id in zip(
[_uPi, _uPj], [self.item.u_iP, self.item.u_jP], [0, 1],
self.item.body_id_list):
if (_uP != _u_P).any() and (body_id != "ground"):
self.item.markers[_id]._update_node(
np.array(np.append(_uP, self.item.z_dim),
dtype='float32'))
else:
_type = str(_type).lower()
_item = Joint(_type, _body_id_i, _body_id_j)
pos = len(self.parent_node._children)
self.parent_node._parent.forces.append(_item)
self._parent.ui.treeView.model().insertRow(pos, _item,
self.parent_node)
self.close()
def _save(self, item=None):
"""
"""
_name = self.ui.name_lineEdit.text()
_type = self.ui.jointTypecomboBox.currentText()
# try:
if self.ui.bodyIDi_lineEdit.text() == "ground":
pass
else:
_body_id_i = int(self.ui.bodyIDi_lineEdit.text())
if self.ui.bodyIDj_lineEdit.text() == "ground":
_body_id_j = self.ui.bodyIDj_lineEdit.text()
else:
_body_id_j = int(self.ui.bodyIDj_lineEdit.text())
_uPi = string2array(self.ui.uPi_lineEdit.text())
_uPj = string2array(self.ui.uPj_lineEdit.text())
# update data to selected object
if self.item is not None:
self.item._name = _name
self.item.body_id_i = _body_id_i
self.item.body_id_j = _body_id_j
# update position of marker if vector uP is changed
for _uP, _u_P, _id, body_id in zip([_uPi, _uPj], [self.item.u_iP, self.item.u_jP], [0, 1], self.item.body_id_list):
if (_uP != _u_P).any() and (body_id != "ground"):
self.item.markers[_id]._update_node(np.array(np.append(_uP, self.item.z_dim), dtype='float32'))
else:
_type = str(_type).lower()
_item = Joint(_type, _body_id_i, _body_id_j)
pos = len(self.parent_node._children)
self.parent_node._parent.forces.append(_item)
self._parent.ui.treeView.model().insertRow(pos, _item, self.parent_node)
self.close()
def _save(self, item=None):
"""
"""
_force_name = self.ui.name_lineEdit.text()
# try:
_body_id = int(self.ui.bodyID_lineEdit.text())
try:
_Fx = float(self.ui.Fx_lineEdit.text())
except:
_Fx = self.ui.Fx_lineEdit.text()
try:
_Fy = float(self.ui.Fy_lineEdit.text())
except:
_Fy = self.ui.Fy_lineEdit.text()
try:
_Mz = float(self.ui.Mz_lineEdit.text())
except:
_Mz = self.ui.Mz_lineEdit.text()
_u_iP_f = string2array(self.ui.uPi_lineEdit.text())
# save tzo existing object
if self.item is not None:
self.item.body_id = _body_id
self.item.force_name = _force_name
self.item.Fx = _Fx
self.item.Fy = _Fy
self.item.Mz = _Mz
self.item.u_iP_f = _u_iP_f
self.item._scale_GL, status = self.ui.scale_lineEdit.text(
).toFloat()
# create new object with user specified properties
else:
_force = Force(body_id=_body_id,
force_name=_force_name,
Fx=_Fx,
Fy=_Fy,
Mz=_Mz,
u_iP_f=_u_iP_f)
pos = len(self.parent_node._children)
self.parent_node._parent.forces.append(_force)
self._parent.ui.treeView.model().insertRow(pos, _force,
self.parent_node)
self.close()
def _save(self, item=None):
"""
"""
_force_name = self.ui.name_lineEdit.text()
# try:
_body_id = int(self.ui.bodyID_lineEdit.text())
try:
_Fx = float(self.ui.Fx_lineEdit.text())
except:
_Fx = self.ui.Fx_lineEdit.text()
try:
_Fy = float(self.ui.Fy_lineEdit.text())
except:
_Fy = self.ui.Fy_lineEdit.text()
try:
_Mz = float(self.ui.Mz_lineEdit.text())
except:
_Mz = self.ui.Mz_lineEdit.text()
_u_iP_f = string2array(self.ui.Mz_lineEdit.text())
if self.item is not None:
self.item.body_id = _body_id
self.item.force_name = _force_name
self.item.Fx = _Fx
self.item.Fy = _Fy
self.item.Mz = _Mz
self.item.u_iP_f = _u_iP_f
else:
_force = Force(body_id=_body_id, force_name=_force_name, Fx=_Fx, Fy=_Fy, Mz=_Mz, u_iP_f=_u_iP_f)
pos = len(self.parent_node._children)
self.parent_node._parent.forces.append(_force)
self._parent.ui.treeView.model().insertRow(pos, _force, self.parent_node)
self.close()
def read_data(filename):
"""
method reads geometry data file of a body
in:
filename of the body data file
out:
_dict - dictionary of attributes to assgin to body object
"""
# predefine empty dictionary
dict_ = OrderedDict([])
with open(filename, 'r') as file_:
# 'r' - read
# 'w' - write
# 'a' - append
# 'r+' - read and write
# # predefined values
# name = []
# body_geometry_filename = []
#
# density = 0.
# volume = 0.
# mass = 0.
# J_zz = 0.
# CM_LCS = np.zeros(3, dtype="float32")
# R_GCS = np.zeros(3, dtype="float32")
# theta_GCS = np.zeros(3, dtype="float32")
# dR_GCS = np.zeros(3, dtype="float32")
# dtheta_GCS = np.zeros(3, dtype="float32")
#
# color_GL = np.ones(3, dtype="float32")
# transparent_GL = 1
# display_style = "filled"
# ln = "name = actuating_lever"
# print ln[ln.index("=")]
for line in file_:
if "#" in line:
line = line[:line.index("#")].strip()
# if line is empty or begins with #-comment, skip it
if len(line.strip()) == 0 or line.startswith("#"):
pass
else:
# attribute name
key = line[0:line.find("=")].strip()
# if vasriable name includes units, remove it
if "[" in key:
key = key[0:line.find("[")].strip()
val = line[line.find("=")+1:].strip()
# if string has commas, then convert to array
if "," in val:
val = string2array(val)
else:
try:
# try covnert string to integer
val = int(val)
except:
try:
# try convert string to float
val = float(val)
except:
# # check if string is bool and convert it to bool
if val.lower() == "true":
val = True
elif val.lower() == "false":
val = False
# add dict item to dict with value
# print key," = ", val, type(val)
dict_[key] = val
# if line.startswith("name="):
# line_ = file_.next()
# match_newline = re.search(r"\n", line_)
# name = line_[:match_newline.start()]
#
# elif line.startswith("density"):
# density = float(file_.next().strip())
#
# elif line.startswith("volume"):
# volume = float(file_.next().strip())
#
# elif line.startswith("mass"):
# mass = float(file_.next().strip())
#
# elif line.startswith("J_zz"):
# J_zz = float(file_.next().strip())
#
# elif line.startswith("CM in CAD LCS"):
# CM_CAD_LCS = np.array(file_.next().split(','), dtype="float32")
#
# elif line.startswith("CAD LCS in GCS"):
# CAD_LCS_GCS = np.array(file_.next().split(','), dtype="float32")
#
# elif line.startswith("theta"):
# theta_GCS = np.deg2rad(np.array(file_.next().split(','), dtype="float32"))
#
# elif line.startswith("dR"):
# dR_GCS = np.array(file_.next().split(','), dtype="float32")
#
# elif line.startswith("angular"):
# dtheta_GCS = np.deg2rad(np.array(file_.next().split(','), dtype="float32"))
#
# elif line.startswith("body geometry filename"):
# line_ = file_.next()
# match_newline = re.search(r"\n", line_)
# body_geometry_filename = line_[:match_newline.start()]
#
# elif line.startswith("color"):
# color_GL = np.array(file_.next().split(','), dtype="float32")
#
# elif line.startswith("transparent"):
# transparent_GL = float(file_.next().strip())
#
# elif line.startswith("display style"):
# line_ = file_.next()
# match_newline = re.search(r"\n", line_)
# display_style = line_.translate(None, '\n')
#
# elif line.startswith("material"):
# line_ = file_.next()
# match_newline = re.search(r"\n", line_)
# material = line_[0:match_newline.start()]
# calculate mass from volume and density
# if (volume != 0) and (density != 0):
# mass = density * volume
# close opened file
file_.closed
return dict_
def read_body_data_file(filename):
"""
method reads geometry data file of a body
in:
filename of the body data file
out:
_dict - dictionary of attributes to assgin to body object
"""
# predefine empty dictionary
dict_ = OrderedDict([])
if os.path.isfile(filename):
# 'r' - read
# 'w' - write
# 'a' - append
# 'r+' - read and write
with open(filename, 'r') as file_:
for line in file_:
if "#" in line:
line = line[:line.index("#")].strip()
# if line is empty or begins with #-comment, skip it
if len(line.strip()) == 0 or line.startswith("#"):
pass
else:
# attribute name
key = line[0:line.find("=")].strip()
# if vasriable name includes units, remove it
if "[" in key:
key = key[0:line.find("[")].strip()
val = line[line.find("=")+1:].strip()
# if string has commas, then convert to array
if "," in val:
val = string2array(val)
else:
try:
# try convert string to integer
val = int(val)
except:
try:
# try convert string to float
val = float(val)
except:
# check if string is bool and convert it to bool
if val.lower() == "true":
val = True
elif val.lower() == "false":
val = False
# add dict item to dict with value
dict_[key] = val
# close opened file
file_.close()
else:
print "Body data file not found! Check filename %s"%filename
return dict_
def _save(self, item=None):
"""
"""
# name
_name = self.ui.name_lineEdit.text()
# contact type
_type = self.ui.contactTypecomboBox.currentText()
# contact model type
_type = str(self.ui.contactModelTypecomboBox.currentText()).lower()
print "_type =", _type
self.item.contact_model._type = _type
print "self.item.contact_model._type =", self.item.contact_model._type
# distance tolerance
self.item.distance_TOL = float(self.ui.TOL_distance_lineEdit.text())
# try:
_body_id_i = int(self.ui.bodyIDi_lineEdit.text())
_body_id_j = int(self.ui.bodyIDj_lineEdit.text())
_coef_of_friction_static = self.ui.frictionCoefStatic_lineEdit.text(
).toDouble()
_coef_of_friction_dynamic = self.ui.frictionCoefDynamic_lineEdit.text(
).toDouble()
_coef_of_restitution = self.ui.restitution_coefficient_lineEdit.text(
).toDouble()
if self.item._type == "Revolute Clearance Joint":
_uPi = string2array(self.ui.uPi_lineEdit.text())
_uPj = string2array(self.ui.uPj_lineEdit.text())
_Ri = float(self.ui.Ri_lineEdit.text())
_Rj = float(self.ui.Rj_lineEdit.text())
if self.item._type == "General":
pass
if self.item is not None:
self.item.body_id_i = _body_id_i
self.item.body_id_j = _body_id_j
self.item.friction_model.coef_of_friction_static = _coef_of_friction_static
self.item.friction_model.coef_of_friction_dynamic = _coef_of_friction_dynamic
self.item.contact_model.coef_of_restitution = _coef_of_restitution
if self.item._type == "Revolute Clearance Joint":
self.item.u_iP = _uPi
self.item.u_jP = _uPj
self.item.R_i = _Ri
self.item.R_j = _Rj
else:
_item = Contact(body_id_i=_body_id_i, body_id_j=_body_id_j)
pos = len(self.parent_node._children)
self.parent_node._parent.forces.append(_item)
self._parent.ui.treeView.model().insertRow(pos, _item,
self.parent_node)
self.close()
def _save(self, item=None):
"""
"""
_name = self.ui.name_lineEdit.text()
_type = self.ui.springType_comboBox.currentText()
try:
if self.ui.bodyIDi_lineEdit.text() == "ground":
pass
else:
_body_id_i = int(self.ui.bodyIDi_lineEdit.text())
if self.ui.bodyIDj_lineEdit.text() == "ground":
_body_id_j = self.ui.bodyIDj_lineEdit.text()
else:
_body_id_j = int(self.ui.bodyIDj_lineEdit.text())
_uPi = string2array(self.ui.uPi_lineEdit.text())
_uPj = string2array(self.ui.uPj_lineEdit.text())
_k = float(self.ui.K_lineEdit.text())
_d = float(self.ui.D_lineEdit.text())
_l0 = float(self.ui.L0_lineEdit.text())
# color
# force scale
# save attributes to an existing object
if self.item is not None:
self.item._name = _name
self.item.body_id_i = _body_id_i
self.item.body_id_j = _body_id_j
self.item.k = _k
self.item.c = _d
self.item.l_0 = _l0
# spring force
for Fn in self.item._Fn_list:
# scale
Fn._scale_GL = float(self.ui.scale_lineEdit.text())
# color
Fn._color_GL = string2array(self.ui.color_lineEdit.text())
# create new object
else:
_type = str(_type).lower()
self.item = Spring(_name,
_type,
_body_id_i,
_body_id_j,
_uPi,
_uPj,
parent=self.parent_node)
pos = len(self.parent_node._children)
self.parent_node._parent.springs.append(self.item)
self._parent.ui.treeView.model().insertRow(
pos, self.item, self.parent_node)
print "self.item =", self.item
pprint(vars(self.item))
self.item = None
self.close()
except:
QtGui.QMessageBox.warning(self, "Warning!", "Input not correct!",
QtGui.QMessageBox.Cancel,
QtGui.QMessageBox.NoButton,
QtGui.QMessageBox.NoButton)
def load_contact_profile(self, filename):
"""
Load geometry nodes from text file
"""
# print "Contact_profile", filename, 'loaded for body', self.body._name, 'with id', self.body_id,'.'
# load data from file
data = []
arc_ = False
with open(filename, 'r') as file_:
for line in file_:
if "#" in line:
line = line[:line.index("#")].strip()
if len(line.strip()) == 0 or line.startswith("#"):
pass
else:
# if string has commas, then convert to array
if "," in line and not "arc" in line:
line = string2array(line)
if data == []:
data = np.append(data, line)
else:
data = np.vstack((data, line))
if "arc" in line:
arc_ = True
if line.startswith("arc R ="):
R = float(line[line.find("=") + 1:].strip())
elif line.startswith("arc x0 ="):
x0 = float(line[line.find("=") + 1:].strip())
elif line.startswith("arc y0 ="):
y0 = float(line[line.find("=") + 1:].strip())
elif line.startswith("arc n ="):
n = float(line[line.find("=") + 1:].strip())
if arc_ is True:
theta = np.arccos(x0 / R)
arcpoints = np.linspace((np.pi + theta), (np.pi - theta), n)
arcx = np.cos(arcpoints) * R + x0
arcy = np.sin(arcpoints) * R + y0
arc = np.vstack((arcx, arcy)).T
data = np.concatenate((data, arc), axis=0)
# data = np.array(np.loadtxt(filename, delimiter=','))
# if self.body_id == 0:
# print data
# check size and if normals are included in file
n, cols = np.shape(data)
# cols - number of columns
# options (data shape):
# 2 cols (x, y)
# 4 cols (x, y, nx, ny)
# 6 cols (x, y, nx, nz, tx, ty)
if cols == 2:
self.nodes = data * self.scale
self.tangents = self._evaluate_tangents(self.nodes)
self.normals = self._evaluate_normals(self.tangents)
logging.getLogger("DyS_logger").info(
"Profile geometry from file %s read successfully!" % filename)
if cols == 4:
self.nodes = data[:, 0:3]
print "todo"
if cols == 6:
print "todo"
