cylinder = Cylinder(circle, 0.7 * height)
circle = [[0, 0, 0.7 * height], [0, 0, 1]], 0.1
cone = Cone(circle, 0.3 * height)
for node in network.nodes():
a = network.node_attributes(node, 'xyz')
for nbr in network.neighbors(node):
edge = node, nbr
if not network.has_edge(*edge):
edge = nbr, node
b = network.node_attributes(nbr, 'xyz')
force = network.edge_attribute(edge, 'f')
direction = normalize_vector(subtract_vectors(b, a))
frame = Frame.from_plane([a, direction])
X = Transformation.from_frame_to_frame(world, frame)
S = Scale.from_factors([force, 1, 1])
X = X * S
shaft = cylinder.transformed(X)
tip = cone.transformed(X)
artist = CylinderArtist(shaft, layer=layer, color=(255, 0, 0))
artist.draw(u=16)
artist = ConeArtist(tip, layer=layer, color=(255, 0, 0))
artist.draw(u=16)
for frame in frames:
artist = FrameArtist(frame,
scale=0.3,
layer="Frames::{}".format(frame.name))
artist.clear_layer()
artist.draw()
for a, b in pairwise(frames):
line = Line(a.point, b.point)
artist = LineArtist(line, layer="Links::{}".format(a.name))
artist.draw()
tpl = Cylinder(Circle(Plane(Point(0, 0, 0), Vector(0, 0, 1)), 0.05), 0.2)
for frame, axis in zip(frames, axes):
point = frame.point
normal = Vector(axis.x, axis.y, axis.z)
plane = Plane(point, normal)
frame = Frame.from_plane(plane)
X = Transformation.from_frame(frame)
cylinder = tpl.transformed(X)
artist = CylinderArtist(cylinder, layer="Axes::{}".format(axis.name))
artist.clear_layer()
artist.draw()
artist = RobotModelArtist(robot, layer="Robot")
artist.clear_layer()
artist.update(state, collision=False)
artist.draw()
compas_rhino.wait()