def BodyGraph(G, Gs, Gseg, t, q, s):
H = {}
H['V'] = []
H['E'] = []
H['F'] = []
H['N'] = []
H['pts'] = []
degrees = 90
axis = [0, 1, 0]
q0 = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
A = Gseg['pts'][0]
Hf = ext.CubeObj(300, 5, 300, A, q0, s)
H = ext.GraphUnionS(H, Hf)
for e in Gseg['E']:
u, v = e
A, B = [Gseg['pts'][w] for w in e]
v1 = np.array(B) - np.array(A)
v1n = np.linalg.norm(v1)
epsilon = 1e-5
if abs(v1n) < epsilon:
continue
v1 = v1 / np.linalg.norm(v1)
axis1 = [1, 0, 0]
axis2 = list(v1)
q1 = ext.AimAxis(axis1, axis2)
q1 = q1 * q0
r = 10
h = d(A, B)
t0 = list(np.array(A) + h / 2. * v1)
s0 = [1, 1, 1]
He = bs.Cylinder(r, h, t0, q1, s0, n=10, m=10)
H = ext.GraphUnionS(H, He)
Hf = bs.Sphere(40, A, q1, s0, n=10, m=10)
H = ext.GraphUnionS(H, Hf)
#Hf = bs.Cone(60,150,B,q1,s0,n=10,m=10)
#H = ext.GraphUnionS(H,Hf)
degrees = 0 # 180
axis = [0, 0, 1]
q2 = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
q = q * q2
pts = H['pts']
C = Gseg['pts'][0]
pts = aff.Translate(pts, -C[0], -C[1], -C[2])
pts = aff.Rotate(pts, q)
pts = aff.Scale(pts, s[0], s[1], s[2])
pts = aff.Translate(pts, t[0], t[1], t[2])
H['pts'] = pts
return H
def SquareTable1():
G = {}
G['V'] = []
G['E'] = []
G['F'] = []
G['N'] = []
G['pts'] = []
w, h, d = [500, 500, 20]
degrees = 0
axis = [0, 1, 0]
q = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
scale = 1.
s = [scale, scale, scale] # the same scale as previous for caps
t = [-w / 2., -h / 2., -d / 2.]
H1 = ext.CubeObj(w, h, d, t, q, s)
G = ext.GraphUnionS(G, H1)
def Leg(t, q, s):
height = w * (3. / 5.)
r1 = 8.
r2 = 12.
H = TableLeg(height, r1, r2, n=10, m=10)
pts = H['pts']
C = aff.Center(pts)
pts = aff.Translate(pts, -C[0], -C[1], -C[2], align=False)
pts = aff.Rotate(pts, q, align=False)
pts = aff.Scale(pts, s[0], s[1], s[2], align=False)
pts = aff.Translate(pts, t[0], t[1], t[2], align=False)
H['pts'] = pts
return H
N1 = 2
N2 = 2
for j in range(N2):
for i in range(N1):
height = w * (3. / 5.)
t = [
2 * w * (1. * i / N1) - w / 2, 2 * h * (1. * j / N2) - h / 2,
-height * .4
]
degrees = 0
axis = [0, 1, 0]
q = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
scale = 1.
s = [scale, scale, scale] # the same scale as previous for caps
Hij = Leg(t, q, s)
G = ext.GraphUnionS(G, Hij)
return G
def CoffeeCup():
G = {}
G['V'] = []
G['E'] = []
G['F'] = []
G['N'] = []
G['pts'] = []
scale = 10.
w,h,d = [3.25*scale,3.25*scale,3.8*scale]
degrees = 0
axis = [0,1,0]
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
scale = 1.
s = [scale,scale,scale] # the same scale as previous for caps
t = [-w/2.,-h/2.,-d/2.]
H1 = ext.CubeObj(w,h,d, t,q,s)
G = ext.GraphUnionS(G,H1)
return G
def CoffeeCup0(n=30,m=20,r0=20.):
flag_cup = True
flag_handle = True
H1 = {}
H1['V'] = []
H1['E'] = []
H1['pts'] = []
H1['F'] = []
H1['N'] = []
H2 = {}
H2['V'] = []
H2['E'] = []
H2['pts'] = []
H2['F'] = []
H2['N'] = []
if flag_cup:
# polygon curve of surface of revolution
# Create Cup. At present, its imperfect recreating
# a cover to coffee cup.
curve1a = [[406, 388], [441, 384], [469, 378], [489, 363], [506, 347],
[518, 330], [520, 314], [522, 297], [525, 276], [528, 258],
[530, 228], [528, 182], [528, 150], [527, 113], [527, 91],
[532, 73], [540, 68]]
curve1b = [[554, 70], [554, 86], [549, 108],
[550, 136], [546, 181], [547, 214], [544, 249], [544, 268],
[538, 281], [540, 288], [539, 300], [531, 312], [532, 329],
[526, 350], [513, 362], [502, 378], [482, 393], [446, 406],
[417, 409]]
curve1 = curve1a + curve1b
x0 = curve1[0][0]
x_min = min(map(lambda pt: pt[0]-x0,curve1))
x_max = max(map(lambda pt: pt[0]-x0,curve1))
y_min = min(map(lambda pt: pt[1],curve1))
y_max = max(map(lambda pt: pt[1],curve1))
degrees = 0
axis = [0,1,0]
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
scale = 1.
s = [scale,scale,scale] # the same scale as previous for caps
t = [0,0,0]
H1 = rc.RevolveCurve(curve1,t,q,s, n, bcap=False, ecap=False)
if flag_handle:
# Create Handle
curve2 = [[203, 130], [189, 114], [165, 102], [149, 100], [132, 101],
[116, 106], [106, 113], [107, 128], [112, 152], [118, 169],
[127, 184], [138, 201], [149, 208], [165, 209], [186, 214],
[207, 213]]
# Assume curve has symmetry y-axis
x0 = curve2[0][0]
x_min = min(map(lambda pt: pt[0]-x0,curve2))
x_max = max(map(lambda pt: pt[0]-x0,curve2))
y_min = min(map(lambda pt: pt[1],curve2))
y_max = max(map(lambda pt: pt[1],curve2))
poly_wb = deepcopy(curve2)
pts = map(lambda pt: [0,pt[1],0], poly_wb)
y_min = min(map(lambda pt: pt[1],poly_wb))
y_max = max(map(lambda pt: pt[1],poly_wb))
doc = g.Cn(m)
cx,cy,cz = [0,0,0]
doc1 = rc.CreateCircleGeometry(doc,cx,cy,cz,r0)
spath = []
path = []
pti = poly_wb[0]
xi,yi = pti
yi_last = yi
dx = x_max-x_min
dy = y_max-y_min
for i in range(len(poly_wb)):
pti = poly_wb[i]
xi,yi = pti
r = abs(xi - x0)
dy = yi-yi_last
epsilon = .1
if abs(dy) > epsilon:
spath.append(1.)
path.append([xi,yi,0])
degrees = 90+180
axis = [1,0,0]
q0 = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
q = q0
t = [-184,0,100]
s = [1,1,1]
C = aff.Center(path)
pts = aff.Translate(path,-C[0],-C[1],-C[2],align=False)
pts = aff.Rotate(pts,q,align=False)
pts = aff.Scale(pts, s[0],s[1],s[2],align=False)
pts = aff.Translate(pts,t[0],t[1],t[2],align=False)
path = pts
H2 = ext.Extrusion0(doc1,path,spath)
H = ext.GraphUnionS(H1,H2)
return H
degrees = 0
axis = [0,1,0]
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
scale = 1.
s = [scale,scale,scale] # the same scale as previous for caps
t = [-80,0,50.]
pts = H0['pts']
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
C = aff.Center(pts)
pts = aff.Translate(pts,-C[0],-C[1],-C[2],align=False)
pts = aff.Rotate(pts,q,align=False)
pts = aff.Scale(pts, s[0],s[1],s[2],align=False)
pts = aff.Translate(pts,t[0],t[1],t[2],align=False)
H0['pts'] = pts
Gs = ext.Append(Gs,H0)
G = ext.GraphUnionS(G,H0)
# square table
H1 = SquareTable1()
Gs = ext.Append(Gs,H1)
G = ext.GraphUnionS(G,H1)
# N1 x N2 water bottles
N1 = 1
N2 = 1
for j in range(N2):
for i in range(N1):
H2 = rc.WaterBottle(n=10)
degrees = -90
axis = [0,1,0]
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
G = {}
G['V'] = []
G['E'] = []
G['F'] = []
G['N'] = []
G['pts'] = []
Gs = []
# Ellipsoid Object
r = 10 # radius of cross section
a = 50 # radius of helix, must be big enough
b = 10 # pitch
t = [-80., 0., 50.]
degrees = 0
axis = [0, 1, 0]
q = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
scale = 1.
s = [scale, scale, scale] # the same scale as previous for caps
# n is length
H0 = he.Helix(r, a, b, t, q, s, m=10, n=20, N=10)
Gs = ext.Append(Gs, H0)
G = ext.GraphUnionS(G, H0)
#################################
# Save Scene 1
ext.Graphs2OBJ(BIGDATA + "Helix2.obj", Gs, "scene")
# Double-Click on OBJ file
import os
os.system(BIGDATA + "Helix2.obj")
degrees = 0 axis = [0,1,0] q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2]) scale = 1. s = [scale,scale,scale] # the same scale as previous for caps t = [-80,0,50.] pts = H0['pts'] q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2]) C = aff.Center(pts) pts = aff.Translate(pts,-C[0],-C[1],-C[2],align=False) pts = aff.Rotate(pts,q,align=False) pts = aff.Scale(pts, s[0],s[1],s[2],align=False) pts = aff.Translate(pts,t[0],t[1],t[2],align=False) H0['pts'] = pts Gs = ext.Append(Gs,H0) G = ext.GraphUnionS(G,H0) # square table H1 = SquareTable1() Gs = ext.Append(Gs,H1) G = ext.GraphUnionS(G,H1) # coffee cup Hcc = CoffeeCup() degrees = 0 axis = [0,1,0] q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2]) scale = 1. s = [scale,scale,scale] # the same scale as previous for caps t = [100,0,30.] pts = Hcc['pts']
BIGDATA = r"C:/_BigData/_3D/my_scenes/"
G = {}
G['V'] = []
G['E'] = []
G['F'] = []
G['N'] = []
G['pts'] = []
Gs = []
w, h, d = 10, 10, 10
degrees = 90
axis = [0, 0, 1]
q = ext.aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
t = [-50, 0, 0]
s = [1, 1, 1]
G2 = ext.CubeObj(w, h, d, t, q, s)
Gs = ext.Append(Gs, G2)
G = ext.GraphUnionS(G, G2)
#H = Parabola()
H = ext.TrefoilKnot()
Gs = ext.Append(Gs, H)
G = ext.GraphUnionS(G, H)
ext.Graph2OBJ(BIGDATA + "extrude-1.obj", G, "scene")
import os
print("Open extrude-1.obj with 3D Viewer by double-clicking on it")
os.system(BIGDATA + "extrude-1.obj")
t = deepcopy(goal)
degrees = 90
axis = [0, 0, 1]
q = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
scale = 3.
s = [scale, scale, scale] # the same scale as previous for caps
H1 = rc.WaterBottle(n=30)
pts = H1['pts']
C = aff.Center(pts)
pts = aff.Translate(pts, -C[0], -C[1], -C[2], align=False)
pts = aff.Rotate(pts, q, align=False)
pts = aff.Scale(pts, s[0], s[1], s[2], align=False)
pts = aff.Translate(pts, t[0], t[1], t[2], align=False)
H1['pts'] = pts
Gs = ext.Append(Gs, H1)
G = ext.GraphUnionS(G, H1)
N = 10
degrees = 0
axis = [0, 1, 0]
qp = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
scale = 1.
sp = [scale, scale, scale] # the same scale as previous for caps
for i in range(N):
Puma560.P, flag = Puma560.Reach(Puma560.P, goal)
print(i, flag, Puma560.P.Start())
G1 = Puma560.P.Graph()
H2 = BodyGraph(G, Gs, G1, Puma560.P.pt, qp, sp)
Gs = ext.Append(Gs, H2)
G = ext.GraphUnionS(G, H2)
