def plotlist_xyz(self, face: Face):
"""Return a list of lists with the xyz coordinates of each vertex."""
# If object has no parent, return plot list in terms of global frame:
plotlist_xyz = []
for vertex in face.vertices():
plotlist_xyz.append(list(self.vertex_xyz_global(vertex)))
return plotlist_xyz
def face_centroid(self, face: Face):
"""Find the vertex centroid of the face."""
xc = 0
yc = 0
zc = 0
for vertex in face.vertices():
(dx, dy, dz) = self.vertex_xyz_global(vertex)
xc += 0.25*dx
yc += 0.25*dy
zc += 0.25*dz
return np.array([xc, yc, zc])
def plot_face(axes,
face: Face,
fill=0,
alpha=0.2,
linecolour='black',
linealpha=1,
illumination=False,
ill_value=0):
""" Plots an individual Face object. Check source code for kwargs.
"""
(xlist, ylist, zlist) = face.plotlist()
# Plot individual vertices:
axes.scatter(xlist, ylist, zlist, c=linecolour, s=10)
# Plot edges that connect vertices:
for i in range(-1, len(xlist) - 1):
axes.plot3D([xlist[i], xlist[i + 1]], [ylist[i], ylist[i + 1]],
[zlist[i], zlist[i + 1]],
linecolour,
alpha=linealpha,
lw=2)
# Plot the face surface:
if fill == 1:
fs = mp3d.art3d.Poly3DCollection([face.plotlist2()], linewidth=0)
# If illumination functionality is turned on, face is coloured
# based on its illumination value.
if illumination == True:
# No illumination: rgb = [0.1, 0.1, 0.1] (dark gray)
# Total illumination: [1, 1, 1] (white)
value = round(0.1 + 0.9 / 1.6 * ill_value, 2)
fs.set_facecolor((value, value, value, alpha))
else:
fs.set_facecolor((0.1, 0.1, 0.1, alpha))
axes.add_collection3d(fs)
def plotlist(self, face: Face):
"""Return three lists with the x, y, and z-components of all four
vertices in the face."""
xlist = []
ylist = []
zlist = []
for vertex in face.vertices():
xg, yg, zg = self.vertex_xyz_global(vertex)
xlist.append(xg)
ylist.append(yg)
zlist.append(zg)
return xlist, ylist, zlist
def project_face(self, face: Face, plane='xy', new_frame=None):
"""Project a copy of the face onto a plane that is spanned by two
axes. The projection is orthographic. Coordinates will be in terms
of the GLOBAL frame.
TODO: A "new_frame" can be specified, which will make the
projection elements children of this frame. Otherwise, the
elements will be children of the global coordinate frame.
TODO: Generalize this function for arbitrary projection plane.
"""
# Eliminate minus sign in front of the plane:
if plane[0] == '-':
plane = plane[1:]
pj_xyz = []
for vertex in [face.p1, face.p2, face.p3, face.p4]:
global_coords = self.vertex_xyz_global(vertex)
if plane == 'xy':
pj_x = global_coords[0]
pj_y = global_coords[1]
pj_z = 0
elif plane == 'xz':
pj_x = global_coords[0]
pj_y = 0
pj_z = global_coords[2]
elif plane == 'yz':
pj_x = 0
pj_y = global_coords[1]
pj_z = global_coords[2]
else:
raise ValueError("No valid projection plane given to "
"projection method! "
"Valid options: 'xy', 'xz', 'yz'")
pj_xyz.append(Vertex([pj_x, pj_y, pj_z], parenttype="face"))
# Create the projected face using the projected vertices.
if not new_frame:
pj = Face(pj_xyz[0], pj_xyz[1], pj_xyz[2], pj_xyz[3],
parenttype="global")
else:
raise TypeError("new_frame functionality is not yet implemented.")
return pj
def remove_face(self, face: Face):
self.faces.remove(face)
face.set_parenttype="global"
def add_face(self, face: Face):
self.faces.append(face)
face.set_parenttype="frame"
angle_step = d2r(360 / steps)
frame1 = Frame()
frame1.translate(0.5, 0.5, 0.5)
frame1.rotate(0, 0, d2r(1 * 360 / 12))
p1 = Vertex(-0.05, -0.05, -0.1, frame1)
p2 = Vertex(-0.05, -0.05, 0.1, frame1)
p3 = Vertex(0.05, -0.05, 0.1, frame1)
p4 = Vertex(0.05, -0.05, -0.1, frame1)
p5 = Vertex(-0.05, 0.05, -0.1, frame1)
p6 = Vertex(-0.05, 0.05, 0.1, frame1)
p7 = Vertex(0.05, 0.05, 0.1, frame1)
p8 = Vertex(0.05, 0.05, -0.1, frame1)
fA = Face(p4, p3, p2, p1, frame1)
fB = Face(p2, p3, p7, p6, frame1)
fC = Face(p3, p4, p8, p7, frame1)
fD = Face(p4, p1, p5, p8, frame1)
fE = Face(p1, p2, p6, p5, frame1)
fF = Face(p5, p6, p7, p8, frame1)
cubesat = Geometry(frame1)
cubesat.add_faces([fA, fB, fC, fD, fE, fF])
def update(i):
# Transforming frame1
cubesat.rotate(angle_step, 0, 0, cor=cubesat.make_cuboid_centroid())
projection_frame = Frame()
ax.view_init(elev=20, azim=-60)
steps = 24
angle_step = d2r(360 / steps)
p0 = Vertex([0.5, 0.5, 0.5])
p1 = Vertex([-0.05, -0.05, -0.1])
p2 = Vertex([-0.05, -0.05, 0.1])
p3 = Vertex([0.05, -0.05, 0.1])
p4 = Vertex([0.05, -0.05, -0.1])
p5 = Vertex([-0.05, 0.05, -0.1])
p6 = Vertex([-0.05, 0.05, 0.1])
p7 = Vertex([0.05, 0.05, 0.1])
p8 = Vertex([0.05, 0.05, -0.1])
fA = Face(p4, p3, p2, p1)
fB = Face(p2, p3, p7, p6)
fC = Face(p3, p4, p8, p7)
fD = Face(p4, p1, p5, p8)
fE = Face(p1, p2, p6, p5)
fF = Face(p5, p6, p7, p8)
cubesat = Geometry([fA, fB, fC, fD, fE, fF])
frame1 = Frame()
frame1.add_geometry(cubesat)
frame1.translate(0.5, 0.5, 0.5)
frame1.rotate(0, 0, d2r(1 * 360 / 12))
# cubesat.rotate(d2r(-45),0,0,cor=list(cubesat.find_cuboid_centroid()))
from cp_frame import Frame
from cp_utilities import d2r #, r2d
from cp_plotting import plot_global_tripod, plot_frame, \
plot_vertex, plot_face, plot_geometry_perpendiculars, plot_illumination
p0 = Vertex([0.5, 0.5, 0.5])
p1 = Vertex([-0.05, -0.05, -0.1])
p2 = Vertex([-0.05, -0.05, 0.1])
p3 = Vertex([0.05, -0.05, 0.1])
p4 = Vertex([0.05, -0.05, -0.1])
p5 = Vertex([-0.05, 0.05, -0.1])
p6 = Vertex([-0.05, 0.05, 0.1])
p7 = Vertex([0.05, 0.05, 0.1])
p8 = Vertex([0.05, 0.05, -0.1])
fA = Face(p4, p3, p2, p1)
fB = Face(p2, p3, p7, p6)
fC = Face(p3, p4, p8, p7)
fD = Face(p4, p1, p5, p8)
fE = Face(p1, p2, p6, p5)
fF = Face(p5, p6, p7, p8)
cubesat = Geometry([fA, fB, fC, fD, fE, fF])
frame1 = Frame()
frame1.add_geometry(cubesat)
frame1.translate(0.5, 0.5, 0.5)
frame1.rotate(0, 0, d2r(1 * 360 / 12))
cubesat.rotate(d2r(-45), 0, 0, cor=list(cubesat.find_cuboid_centroid()))
def add_face(self, face: Face):
"""Add a singular face to the geometry."""
self.faces.append(face)
face.set_parenttype("geometry")
# |
p1 = Vertex([-0.05, -0.05, -0.1]) # 2 ___ 6
p2 = Vertex([-0.05, -0.05, 0.1]) # |\3__\7
p3 = Vertex([ 0.05, -0.05, 0.1]) # | | | Y
p4 = Vertex([ 0.05, -0.05, -0.1]) # 1| | 5| -------->
p5 = Vertex([-0.05, 0.05, -0.1]) # \|__|
p6 = Vertex([-0.05, 0.05, 0.1]) # 4 8
p7 = Vertex([ 0.05, 0.05, 0.1]) # \
p8 = Vertex([ 0.05, 0.05, -0.1]) # v X
# Assembling the side panels of the Cubesat. Note that the order in which
# the points is specified DOES matter! (see definition of Face class)
# ^ Z
# |
fA = Face(p4, p3, p2, p1) # E ___
fB = Face(p2, p3, p7, p6) # |\ B_\
fC = Face(p3, p4, p8, p7) # A | | | F Y
fD = Face(p4, p1, p5, p8) # | | C| -------->
fE = Face(p1, p2, p6, p5) # \|__|
fF = Face(p5, p6, p7, p8) # D
# \
# v X
# Assembling a Geometry instance named 'cubesat', and add all the faces
# we just defined to the geometry.
cubesat = Geometry([fA, fB, fC, fD, fE, fF])
# Define a reference frame which will be attached to the centre of gravity
# of the CubeSat. If you move/rotate this frame, the 'cubesat'
# Geometry will move/rotate along with it (if it is attached of course).
frame2 = Frame()
# p1 = Vertex(0,0,0,frame1)
# p2 = Vertex(1,0,0)
# p3 = Vertex(1,1,0)
# p4 = Vertex(0,1,0)
# p5 = Vertex(0,1,1)
# p6 = Vertex(0,0,1)
# f1 = Face(p1, p2, p3, p4, frame1)
# f2 = Face(p1, p4, p5, p6, frame1)
frame1.readout()
f1 = Face(Vertex(0, 0, 0), Vertex(1, 0, 0), Vertex(1, 1, 0), Vertex(0, 1, 0),
frame1)
frame1.readout()
del (f1)
frame1.readout()
#%% ==== Plotting ====
# Toggle plotting functionality:
if False:
# Setting up the plot:
fig = plt.figure(figsize=(8, 8))
ax = mp3d.Axes3D(fig)
ax.view_init(elev=20, azim=-50)
steps = 64
angle_step = d2r(360 / steps)
p0 = Vertex([0.5, 0.5, 0.5])
p1 = Vertex([-0.05, -0.05, -0.1])
p2 = Vertex([-0.05, -0.05, 0.1])
p3 = Vertex([0.05, -0.05, 0.1])
p4 = Vertex([0.05, -0.05, -0.1])
p5 = Vertex([-0.05, 0.05, -0.1])
p6 = Vertex([-0.05, 0.05, 0.1])
p7 = Vertex([0.05, 0.05, 0.1])
p8 = Vertex([0.05, 0.05, -0.1])
fA = Face(p4, p3, p2, p1)
fB = Face(p2, p3, p7, p6)
fC = Face(p3, p4, p8, p7)
fD = Face(p4, p1, p5, p8)
fE = Face(p1, p2, p6, p5)
fF = Face(p5, p6, p7, p8)
cubesat = Geometry([fA, fB, fC, fD, fE, fF])
frame1 = Frame()
frame1.add_geometry(cubesat)
frame1.translate(0.3, 0.3, 0.25)
frame1.rotate(0, 0, d2r(1.5 * 360 / 12))
# DO A BARN DOOR!
def plot_face(
axes: plt.matplotlib.axes,
face: Face,
plotlist: list = None,
# Face plotting properties:
linefill=True, # If False, does not plot face lines
linecolour="#000", # Colour of face lines
linewidth=2, # Thickness of face lines
linealpha=1, # Opacity of face lines
facefill=True, # If False, does not shade the face area
facecolour="#555", # Colour of the face area shading
facealpha=1, # Opacity of the face area shading
# Vertex plotting properties:
vertexfill=True, # If False, vertex will not be plotted
vertexcolour="#000", # Specifies the vertex colour
vertexsize=10, # Size of the plotted vertex
vertexalpha=1, # Opacity of the plotted vertex
# Illumination:
illumination=False, # If True, plots illumination intensity
ill_value=0 # Used to plot illumination intensity
):
""" Plots an individual Face object. Check source code for kwargs.
"""
def plotlist2plotlist_xyz(plotlist: tuple):
"""Return a list of lists with the xyz coordinates of each vertex."""
# If object has no parent, return plot list in terms of global frame:
p1_xyz = []
p2_xyz = []
p3_xyz = []
p4_xyz = []
for coordinate_row in plotlist:
p1_xyz.append(coordinate_row[0])
p2_xyz.append(coordinate_row[1])
p3_xyz.append(coordinate_row[2])
p4_xyz.append(coordinate_row[3])
return [p1_xyz, p2_xyz, p3_xyz, p4_xyz]
# Situations:
# 1. Face is an orphan (parent == "global") and so it has to use
# local coordinates only
# 2. Face is part of a geometry, which we will assume has a frame underlying
# it
# print("[DEBUG] Plotting {}".format(face))
# Case 1: Face is an orphan:
if face.parenttype == "global":
(xlist, ylist, zlist) = face.plotlist_local()
# Plot individual vertices:
if vertexfill:
for vertex in face.vertices():
plot_vertex(axes, vertex)
# Plot edges that connect vertices:
for i in range(-1, len(xlist) - 1):
axes.plot3D([xlist[i], xlist[i + 1]], [ylist[i], ylist[i + 1]],
[zlist[i], zlist[i + 1]],
linecolour,
alpha=linealpha,
lw=linewidth)
# Plot the face surface:
if facefill:
plotlist_xyz = plotlist2plotlist_xyz(face.plotlist_local())
fs = mp3d.art3d.Poly3DCollection([plotlist_xyz], linewidth=0)
(nR, nG, nB) = hex2nRGB(facecolour)
fs.set_facecolor((nR, nG, nB, facealpha))
axes.add_collection3d(fs)
# Case 2: Face is in a frame
else:
(xlist, ylist, zlist) = plotlist
# Plot individual vertices:
# if vertexfill:
# for vertex in face.vertices():
# plot_vertex(axes, vertex)
# Plot edges that connect vertices:
for i in range(-1, len(xlist) - 1):
axes.plot3D([xlist[i], xlist[i + 1]], [ylist[i], ylist[i + 1]],
[zlist[i], zlist[i + 1]],
linecolour,
alpha=linealpha,
lw=linewidth)
# Plot the face surface:
if facefill:
plotlist_xyz = plotlist2plotlist_xyz(plotlist)
fs = mp3d.art3d.Poly3DCollection([plotlist_xyz], linewidth=0)
if not illumination:
(nR, nG, nB) = hex2nRGB(facecolour)
fs.set_facecolor((nR, nG, nB, facealpha))
axes.add_collection3d(fs)
else:
value = round(0.1 + 0.9 / 1.6 * ill_value, 2)
fs.set_facecolor((value, value, value, facealpha))
axes.add_collection3d(fs)