def anim():
#Evolucion de la bola 1
bola1.t = bola1.t + bola1.dt
i = bola1.t
bola1.pos = visual.vector( x1_t[i], y1_t[i], r1 )
#Evolucion de la bola 2
bola2.t = bola2.t + bola2.dt
i = bola2.t
bola2.pos = visual.vector( x2_t[i], y2_t[i], r2 )
#Evolucion de la bola 3
bola3.t = bola3.t + bola3.dt
i = bola3.t
bola3.pos = visual.vector( x3_t[i], y3_t[i], r3 )
def anim():
#Evolucion de la bola 1
bola1.t = bola1.t + bola1.dt
i = bola1.t
bola1.pos = visual.vector(x1_t[i], y1_t[i], r1)
#Evolucion de la bola 2
bola2.t = bola2.t + bola2.dt
i = bola2.t
bola2.pos = visual.vector(x2_t[i], y2_t[i], r2)
#Evolucion de la bola 3
bola3.t = bola3.t + bola3.dt
i = bola3.t
bola3.pos = visual.vector(x3_t[i], y3_t[i], r3)
def anim():
global theta, phidot, alphadot, M, g, r, thetadot, phi, alpha, t
for step in range(Nsteps): # multiple calculation steps for accuracy
# Calculate accelerations of the Lagrangian coordinates:
atheta = (phidot**2 * sin(theta) * cos(theta) - 2. *
(alphadot + phidot * cos(theta)) * phidot * sin(theta) +
2. * M * g * r * sin(theta) / I)
aphi = 2. * thetadot * (alphadot - phidot * cos(theta)) / sin(theta)
aalpha = phidot * thetadot * sin(theta) - aphi * cos(theta)
# Update velocities of the Lagrangian coordinates:
thetadot = thetadot + atheta * dt
phidot = phidot + aphi * dt
alphadot = alphadot + aalpha * dt
# Update Lagrangian coordinates:
theta = theta + thetadot * dt
phi = phi + phidot * dt
alpha = alpha + alphadot * dt
gyro.axis = vector(
sin(theta) * sin(phi), cos(theta),
sin(theta) * cos(phi))
# Display approximate rotation of rotor and shaft:
gyro.rotate(axis=gyro.axis, angle=alphadot * dt * Nsteps, origin=gyro.pos)
trail.append(gyro.pos + gyro.axis * Lshaft)
t = t + dt * Nsteps
def __init__(self,
wp_list,
np_file='/tmp/magnetic_ground_truth.np',
width=800,
height=600):
self.debug = True
self.width = width
self.height = height
self.wp_list = wp_list
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
v = mlab.view(135, 180)
self.balls = []
self.trajectories = []
colors = list(RoiSimulator.color_codes)
color_black = colors.pop(0)
color_red = colors.pop(0)
wp_curve = visual.curve(color=color_red,
radius=RoiSimulator.curve_radius)
hist_pos = []
for i in xrange(len(self.wp_list)):
ball = visual.sphere(color=color_black,
radius=RoiSimulator.ball_radius)
wp = self.wp_list[i]
ball.x = wp[1]
ball.y = wp[0]
ball.z = wp[2]
self.balls.append(ball)
arr = visual.vector(float(wp[1]), float(wp[0]), float(wp[2]))
hist_pos.append(arr)
wp_curve.extend(hist_pos)
x = np.linspace(0, self.width, 1)
y = np.linspace(0, self.height, 1)
z = np.loadtxt(np_file)
z *= 255.0 / z.max()
# HARDCODED
# Todo: REMOVE THIS CODE ON THE FINAL RELEASE
for xx in xrange(0, 200):
for yy in xrange(400, 600):
z[yy][xx] = 0
mlab.surf(x, y, z)
def __init__(self, wp_list, np_file='/tmp/magnetic_ground_truth.np', width=800, height=600):
self.debug = True
self.width = width
self.height = height
self.wp_list = wp_list
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
self.balls = []
self.trajectories = []
colors = list(RoiSimulator.color_codes)
color_black = colors.pop(0)
color_red = colors.pop(0)
wp_curve = visual.curve(color=color_red, radius=RoiSimulator.curve_radius)
hist_pos = []
for i in xrange(len(self.wp_list)):
ball = visual.sphere(color=color_black, radius=RoiSimulator.ball_radius)
wp = self.wp_list[i]
ball.x = wp[1]
ball.y = wp[0]
ball.z = wp[2]
self.balls.append(ball)
arr = visual.vector(float(wp[1]), float(wp[0]), float(wp[2]))
hist_pos.append(arr)
wp_curve.extend(hist_pos)
x = np.linspace(0, self.width, 1)
y = np.linspace(0, self.height, 1)
z = np.loadtxt(np_file)
z *= 255.0/z.max()
mlab.surf(x, y, z)
def anim():
global theta, phidot, alphadot, M, g, r, thetadot, phi, alpha, t
for step in range(Nsteps): # multiple calculation steps for accuracy
# Calculate accelerations of the Lagrangian coordinates:
atheta = (phidot**2*sin(theta)*cos(theta)
-2.*(alphadot+phidot*cos(theta))*phidot*sin(theta)
+2.*M*g*r*sin(theta)/I)
aphi = 2.*thetadot*(alphadot-phidot*cos(theta))/sin(theta)
aalpha = phidot*thetadot*sin(theta)-aphi*cos(theta)
# Update velocities of the Lagrangian coordinates:
thetadot = thetadot+atheta*dt
phidot = phidot+aphi*dt
alphadot = alphadot+aalpha*dt
# Update Lagrangian coordinates:
theta = theta+thetadot*dt
phi = phi+phidot*dt
alpha = alpha+alphadot*dt
gyro.axis = vector(sin(theta)*sin(phi),cos(theta),sin(theta)*cos(phi))
# Display approximate rotation of rotor and shaft:
gyro.rotate(axis = gyro.axis, angle=alphadot*dt*Nsteps, origin = gyro.pos)
trail.append(gyro.pos + gyro.axis * Lshaft)
t = t+dt*Nsteps
def main():
# Creating parameters for box size
side = 4.0
thk = 0.3
s2 = 2 * side - thk
s3 = 2 * side + thk
# Creating the 6 walls
wallR = box(pos=(side, 0, 0), size=(thk, s3, s2), color=(1, 0, 0))
wallL = box(pos=(-side, 0, 0), size=(thk, s3, s2), color=(1, 0, 0))
wallB = box(pos=(0, -side, 0), size=(s3, thk, s3), color=(0, 0, 1))
wallT = box(pos=(0, side, 0), size=(s3, thk, s3), color=(0, 0, 1))
wallBK = box(pos=(0, 0, -side), size=(s2, s2, thk), color=(0.7, 0.7, 0.7))
# Creating the ball
ball = sphere(radius=0.4, color=(0, 1, 0))
ball.vector = vector(-0.15, -0.23, 0.27)
side = side - thk * 0.5 - ball.radius
ball.t = 0.0
ball.dt = 0.5
def anim():
#Creating the animation function which will be called at
#uniform timeperiod through the iterate function
ball.t = ball.t + ball.dt
ball.pos = ball.pos + ball.vector * ball.dt
if not (side > ball.x > -side):
ball.vector.x = -ball.vector.x
if not (side > ball.y > -side):
ball.vector.y = -ball.vector.y
if not (side > ball.z > -side):
ball.vector.z = -ball.vector.z
a = iterate(20, anim)
show()
return a
def main():
# Creating parameters for box size
side = 4.0
thk = 0.3
s2 = 2*side - thk
s3 = 2*side + thk
# Creating the 6 walls
wallR = box( pos = (side, 0, 0), size = (thk, s3, s2), color = (1, 0, 0))
wallL = box( pos = (-side, 0, 0), size = (thk, s3, s2), color = (1, 0, 0))
wallB = box( pos = (0, -side, 0), size = (s3, thk, s3), color = (0, 0, 1))
wallT = box( pos = (0, side, 0), size = (s3, thk, s3), color = (0, 0, 1))
wallBK = box( pos = (0, 0, -side), size = (s2, s2, thk), color = (0.7,0.7,0.7))
# Creating the ball
ball = sphere(radius = 0.4, color = (0, 1, 0))
ball.vector = vector(-0.15, -0.23, 0.27)
side = side -thk*0.5 - ball.radius
ball.t = 0.0
ball.dt = 0.5
def anim():
#Creating the animation function which will be called at
#uniform timeperiod through the iterate function
ball.t = ball.t + ball.dt
ball.pos = ball.pos + ball.vector*ball.dt
if not (side > ball.x > -side):
ball.vector.x = -ball.vector.x
if not (side > ball.y > -side):
ball.vector.y = -ball.vector.y
if not (side > ball.z > -side):
ball.vector.z = -ball.vector.z
a = iterate(20, anim)
show()
return a
def update_pos(self):
self.print_message("Updating pos")
if self.status == RobotBall.STATUS_END or self.status == RobotBall.STATUS_DAMAGED:
self.print_message("End status!")
return
if self.battery <= 0:
self.status = RobotBall.STATUS_END
self.print_message("No battery!")
return
if self.status == RobotBall.STATUS_GOING_HOME or self.status == RobotBall.STATUS_ENDING:
curr_wp = self.home_route[0]
self.print_message("Going to home!")
elif self.status == RobotBall.STATUS_GOING_TO_NEXT_HEX:
curr_wp = self.next_hexagon_route[0]
self.print_message("Going to next hexagon!")
elif self.status == RobotBall.STATUS_GOING_TO_ROUTE:
curr_wp = self.return_to_route[0]
self.print_message("Going to route!")
else:
self.print_message(
"Normal WP h_index {0} of {1} wp_index {2} of {3}".format(
self.hex_index, len(self.hex_internal_list), self.wp_index,
len(self.hex_internal_list[self.hex_index])))
curr_wp = self.hex_internal_list[self.hex_index][self.wp_index]
if self.check_need_to_go_home():
self.print_message("Need to go home!")
return
ball_pos = self.ball.pos.tolist()
if self.debug:
self.print_message("Current wp: {0} {1}".format(
self.wp_index, curr_wp))
self.print_message("Ball pos: {0}".format(ball_pos))
self.print_message("Current hexagon: {0} of {1}".format(
self.hex_index, len(self.hex_internal_list)))
py, px, pz = curr_wp
bx, by, bz = ball_pos
if self.last_position != ball_pos:
arr = visual.vector(float(bx), float(by), float(bz))
self.history.append(arr)
if len(self.history) > 2:
self.hist_curve.extend(self.history)
self.history[:] = []
self.last_position = ball_pos
dx = px - bx
dy = py - by
dz = pz - bz
if self.debug:
self.print_message("dx:{0} dy:{1} dz:{2}".format(dx, dy, dz))
if abs(dx) > self.max_delta or abs(dy) > self.max_delta or abs(
dz) > self.max_delta:
if self.movement_mode == 0:
err = self.step_p
self.ball.x += dx * err
self.ball.y += dy * err
self.ball.z += dz * err
else:
err = self.step_p
lim = 10
ddx = dx * err
ddy = dy * err
ddz = dz * err
if abs(ddx) > lim:
if cmp(ddx, 0) < 0:
self.ball.x += (lim * -1)
else:
self.ball.x += lim
else:
self.ball.x += ddx
if abs(ddy) > lim:
if cmp(ddy, 0) < 0:
self.ball.y += (lim * -1)
else:
self.ball.y += lim
else:
self.ball.y += ddy
if abs(ddz) > lim:
if cmp(ddz, 0) < 0:
self.ball.z += (lim * -1)
else:
self.ball.z += lim
else:
self.ball.z += ddz
else:
if self.status == RobotBall.STATUS_GOING_HOME:
if len(self.home_route) > 1:
self.home_route.pop(0)
else:
self.status = RobotBall.STATUS_GOING_TO_ROUTE
self.battery = self.base_battery
self.print_message("Battery reloaded: {0}".format(
self.battery))
elif self.status == RobotBall.STATUS_GOING_TO_ROUTE:
if len(self.return_to_route) > 1:
self.return_to_route.pop(0)
else:
self.status = RobotBall.STATUS_START
self.print_message("Starting route again...")
elif self.status == RobotBall.STATUS_GOING_TO_NEXT_HEX:
if len(self.next_hexagon_route) > 1:
self.next_hexagon_route.pop(0)
else:
self.status = RobotBall.STATUS_START
self.print_message("Starting new hex...")
elif self.status == RobotBall.STATUS_ENDING:
if len(self.home_route) > 1:
self.home_route.pop(0)
else:
self.status = RobotBall.STATUS_END
self.print_message("Ended!")
else:
self.print_message("WP reached")
if self.wp_index + 1 < len(
self.hex_internal_list[self.hex_index]):
self.print_message("Added one to index {0} {1}".format(
self.wp_index + 1,
len(self.hex_internal_list[self.hex_index])))
self.wp_index += 1
else:
self.wp_index = 0
if self.hex_index + 1 < len(self.hex_internal_list):
self.hex_index += 1
self.print_message(
"Increment index hexagon {0} of {1}".format(
self.hex_index,
len(self.hex_internal_list) - 1))
self.status = RobotBall.STATUS_GOING_TO_NEXT_HEX
next_wp = self.hex_internal_list[self.hex_index][
self.wp_index]
next_hex_route = math_helper.get_line_points(curr_wp,
next_wp,
step=20)
if len(next_hex_route) > 0:
go_hex_route = math_helper.get_3d_coverage_points(
next_hex_route,
self.height,
self.np_file,
np_mat=self.np_mat)
self.next_hexagon_route = go_hex_route
else:
self.next_hexagon_route = [next_wp]
self.print_message("Hexagon route: {0}".format(
self.next_hexagon_route))
else:
self.print_message("Ending")
self.hex_index = 0
self.status = RobotBall.STATUS_END
battery_spent = distance.euclidean(self.last_position,
self.ball.pos.tolist())
# self.print_message("Compare pos: {0} of {1} is {2}".format(
# self.last_position, self.ball.pos.tolist(), battery_spent))
self.battery -= battery_spent
self.print_message("Battery level {0} of {1}".format(
self.battery, self.base_battery))
pass
from tvtk.tools.visual import curve, box, vector, show
from numpy import arange, array
lorenz = curve(color=(1, 1, 1), radius=0.3)
# Draw grid
for x in xrange(0, 51, 10):
curve(points=[[x, 0, -25], [x, 0, 25]], color=(0, 0.5, 0), radius=0.3)
box(pos=(x, 0, 0), axis=(0, 0, 50), height=0.4, width=0.4, length=50)
for z in xrange(-25, 26, 10):
curve(points=[[0, 0, z], [50, 0, z]], color=(0, 0.5, 0), radius=0.3)
box(pos=(25, 0, z), axis=(50, 0, 0), height=0.4, width=0.4, length=50)
dt = 0.01
y = vector(35.0, -10.0, -7.0)
pts = []
for i in xrange(2000):
# Integrate a funny differential equation
dydt = vector(-8.0 / 3 * y[0] + y[1] * y[2], -10 * y[1] + 10 * y[2],
-y[1] * y[0] + 28 * y[1] - y[2])
y = y + dydt * dt
pts.append(y)
if len(pts) > 20:
lorenz.extend(pts)
pts[:] = []
show()
# The Lagrangian variables are polar angle theta,
# azimuthal angle phi, and spin angle alpha.
Lshaft = 1. # length of gyroscope shaft
Rshaft = 0.03 # radius of gyroscope shaft
M = 1. # mass of gyroscope (massless shaft)
Rrotor = 0.4 # radius of gyroscope rotor
Drotor = 0.1 # thickness of gyroscope rotor
Dsquare = 1.4 * Drotor # thickness of square that turns with rotor
I = 0.5 * M * Rrotor**2. # moment of inertia of gyroscope
hpedestal = Lshaft # height of pedestal
wpedestal = 0.1 # width of pedestal
tbase = 0.05 # thickness of base
wbase = 3. * wpedestal # width of base
g = 9.8
Fgrav = vector(0, -M * g, 0)
top = vector(0, 0, 0) # top of pedestal
theta = pi / 3. # initial polar angle of shaft (from vertical)
thetadot = 0 # initial rate of change of polar angle
alpha = 0 # initial spin angle
alphadot = 15 # initial rate of change of spin angle (spin ang. velocity)
phi = -pi / 2. # initial azimuthal angle
phidot = 0 # initial rate of change of azimuthal angle
# Comment in following line to get pure precession
##phidot = (-alphadot+sqrt(alphadot**2+2*M*g*r*cos(theta)/I))/cos(theta)
pedestal = box(pos=top - vector(0, hpedestal / 2., 0),
height=hpedestal,
length=wpedestal,
width=wpedestal,
from math import sqrt
from tvtk.tools.visual import sphere, iterate, show, vector, curve
#Creating the actors for the scene
giant = sphere(pos=(-1.0e11, 0, 0),
radius=2e10,
color=(1, 0, 0),
mass=2e30)
dwarf = sphere(pos=(1.5e11, 0, 0),
radius=1e10,
color=(1, 1, 0),
mass=1e30)
giant.p = vector(0, 0, -1e4) * giant.mass
dwarf.p = -1*giant.p
# creating the curve which will trace the paths of actors
for a in [giant, dwarf]:
a.orbit = curve(radius=2e9, color=a.color)
dt = 86400
def anim():
#Creating the animation function which will be called at
#uniform timeperiod through the iterate function
dist = dwarf.pos - giant.pos
force = 6.7e-11 * giant.mass * dwarf.mass * \
dist/(sqrt(dist[0]**2 + dist[1]**2 + dist[2]**2))**3
giant.p = giant.p + force*dt
L2 = 1.0 # physical length of lower bar
L2display = L2 + d / 2. # show lower bar a bit longer than physical, to overlap axle
# Coefficients used in Lagrangian calculation
A = (1. / 4.) * M1 * L1**2 + (1. / 12.) * M1 * L1**2 + M2 * L1**2
B = (1. / 2.) * M2 * L1 * L2
C = g * L1 * (M1 / 2. + M2)
D = M2 * L1 * L2 / 2.
E = (1. / 12.) * M2 * L2**2 + (1. / 4.) * M2 * L2**2
F = g * L2 * M2 / 2.
hpedestal = 1.3 * (L1 + L2) # height of pedestal
wpedestal = 0.1 # width of pedestal
tbase = 0.05 # thickness of base
wbase = 8. * gap # width of base
offset = 2. * gap # from center of pedestal to center of U-shaped upper assembly
top = vector(0, 0, 0) # top of inner bar of U-shaped upper assembly
theta1 = 1.3 * pi / 2. # initial upper angle (from vertical)
theta1dot = 0 # initial rate of change of theta1
theta2 = 0 # initial lower angle (from vertical)
theta2dot = 0 # initial rate of change of theta2
pedestal = box(pos=(top - vector(0, hpedestal / 2.0, offset)),
size=(wpedestal, 1.1 * hpedestal, wpedestal),
color=(0.4, 0.4, 0.5))
base = box(pos=(top - vector(0, hpedestal + tbase / 2.0, offset)),
size=(wbase, tbase, wbase),
color=(0.4, 0.4, 0.5))
bar1 = box(pos=(L1display / 2.0 - d / 2.0, 0, -(gap + d) / 2.0),
def anim(self):
end_counter = 0
for i in xrange(len(self.balls)):
wp_index = self.index_list[i]
ball = self.balls[i]
curr_wp = list(self.wp_list[i][wp_index])
ball_pos = ball.pos.tolist()
last_pos = self.last_positions[i]
if self.debug:
print "Ball:", i
print "Current waypoint index:", wp_index, curr_wp
print "Ball position:", ball_pos
px, py, pz = curr_wp
bx, by, bz = ball_pos
if last_pos != ball_pos:
arr = visual.vector(float(bx), float(by), float(bz))
self.history[i].append(arr)
if len(self.history[i]) > 10:
self.trajectories[i].extend(self.history[i])
self.history[i][:] = []
self.last_positions[i] = ball_pos
dx = px - bx
dy = py - by
dz = pz - bz
if self.debug:
print "dx:", '{0:.3g}'.format(dx), "dy:", '{0:.3g}'.format(
dy), "dz:", '{0:.3g}'.format(dz)
if abs(dx) > 0.2 or abs(dy) > 0.2 or abs(dz) > 0.2:
if self.movement_mode == 0:
err = 0.1
ball.x += dx * err
ball.y += dy * err
ball.z += dz * err
else:
err = 0.06
lim = 1.5
ddx = dx * err
ddy = dy * err
ddz = dz * err
if abs(ddx) > lim:
if cmp(ddx, 0) < 0:
ball.x += (lim * -1)
else:
ball.x += lim
else:
ball.x += ddx
if abs(ddy) > lim:
if cmp(ddy, 0) < 0:
ball.y += (lim * -1)
else:
ball.y += lim
else:
ball.y += ddy
if abs(ddz) > lim:
if cmp(ddz, 0) < 0:
ball.z += (lim * -1)
else:
ball.z += lim
else:
ball.z += ddz
else:
if self.debug:
print "Increment index (", wp_index, 'of', len(
self.wp_list[i]), ')'
if wp_index + 1 < len(self.wp_list[i]):
self.index_list[i] += 1
else:
print 'Ball ', i, 'ended...'
end_counter += 1
pass
print "\n"
if end_counter >= len(self.balls):
print "Exiting path simulation..."
mlab.close(all=True)
from tvtk.tools.visual import curve, box, vector, show
from numpy import arange, array
lorenz = curve( color = (1,1,1), radius=0.3 )
# Draw grid
for x in xrange(0,51,10):
curve(points = [[x,0,-25],[x,0,25]], color = (0,0.5,0), radius = 0.3 )
box(pos=(x,0,0), axis=(0,0,50), height=0.4, width=0.4, length = 50)
for z in xrange(-25,26,10):
curve(points = [[0,0,z], [50,0,z]] , color = (0,0.5,0), radius = 0.3 )
box(pos=(25,0,z), axis=(50,0,0), height=0.4, width=0.4, length = 50)
dt = 0.01
y = vector(35.0, -10.0, -7.0)
pts = []
for i in xrange(2000):
# Integrate a funny differential equation
dydt = vector( -8.0/3*y[0] + y[1]*y[2],
- 10*y[1] + 10*y[2],
- y[1]*y[0] + 28*y[1] - y[2])
y = y + dydt * dt
pts.append(y)
if len(pts) > 20:
lorenz.extend(pts)
pts[:] = []
show()
# The Lagrangian variables are polar angle theta,
# azimuthal angle phi, and spin angle alpha.
Lshaft = 1. # length of gyroscope shaft
Rshaft = 0.03 # radius of gyroscope shaft
M = 1. # mass of gyroscope (massless shaft)
Rrotor = 0.4 # radius of gyroscope rotor
Drotor = 0.1 # thickness of gyroscope rotor
Dsquare = 1.4*Drotor # thickness of square that turns with rotor
I = 0.5*M*Rrotor**2. # moment of inertia of gyroscope
hpedestal = Lshaft # height of pedestal
wpedestal = 0.1 # width of pedestal
tbase = 0.05 # thickness of base
wbase = 3.*wpedestal # width of base
g = 9.8
Fgrav = vector(0,-M*g,0)
top = vector(0,0,0) # top of pedestal
theta = pi/3. # initial polar angle of shaft (from vertical)
thetadot = 0 # initial rate of change of polar angle
alpha = 0 # initial spin angle
alphadot = 15 # initial rate of change of spin angle (spin ang. velocity)
phi = -pi/2. # initial azimuthal angle
phidot = 0 # initial rate of change of azimuthal angle
# Comment in following line to get pure precession
##phidot = (-alphadot+sqrt(alphadot**2+2*M*g*r*cos(theta)/I))/cos(theta)
pedestal = box(pos=top-vector(0,hpedestal/2.,0),
height=hpedestal, length=wpedestal, width=wpedestal,
color=(0.4,0.4,0.5))
base = box(pos=top-vector(0,hpedestal+tbase/2.,0),
#!/usr/bin/env python
"""A simple example demonstrating the creation of actors and animating
the in a scene using visual modeule."""
# Author: Raashid Baig <*****@*****.**>
# License: BSD Style.
from math import sqrt
from tvtk.tools.visual import sphere, iterate, show, vector, curve
#Creating the actors for the scene
giant = sphere(pos=(-1.0e11, 0, 0), radius=2e10, color=(1, 0, 0), mass=2e30)
dwarf = sphere(pos=(1.5e11, 0, 0), radius=1e10, color=(1, 1, 0), mass=1e30)
giant.p = vector(0, 0, -1e4) * giant.mass
dwarf.p = -1 * giant.p
# creating the curve which will trace the paths of actors
for a in [giant, dwarf]:
a.orbit = curve(radius=2e9, color=a.color)
dt = 86400
def anim():
#Creating the animation function which will be called at
#uniform timeperiod through the iterate function
dist = dwarf.pos - giant.pos
force = 6.7e-11 * giant.mass * dwarf.mass * \
dist/(sqrt(dist[0]**2 + dist[1]**2 + dist[2]**2))**3
L2 = 1.0 # physical length of lower bar L2display = L2+d/2. # show lower bar a bit longer than physical, to overlap axle # Coefficients used in Lagrangian calculation A = (1./4.)*M1*L1**2+(1./12.)*M1*L1**2+M2*L1**2 B = (1./2.)*M2*L1*L2 C = g*L1*(M1/2.+M2) D = M2*L1*L2/2. E = (1./12.)*M2*L2**2+(1./4.)*M2*L2**2 F = g*L2*M2/2. hpedestal = 1.3*(L1+L2) # height of pedestal wpedestal = 0.1 # width of pedestal tbase = 0.05 # thickness of base wbase = 8.*gap # width of base offset = 2.*gap # from center of pedestal to center of U-shaped upper assembly top = vector(0,0,0) # top of inner bar of U-shaped upper assembly theta1 = 1.3*pi/2. # initial upper angle (from vertical) theta1dot = 0 # initial rate of change of theta1 theta2 = 0 # initial lower angle (from vertical) theta2dot = 0 # initial rate of change of theta2 pedestal = box(pos = (top - vector(0, hpedestal/2.0, offset)),size = (wpedestal, 1.1*hpedestal, wpedestal), color = (0.4,0.4,0.5)) base = box(pos = (top - vector(0,hpedestal + tbase/2.0, offset)),size=(wbase, tbase, wbase),color = (0.4,0.4,0.5)) bar1 = box(pos=(L1display/2.0 - d/2.0, 0, -(gap+d)/2.0), size=(L1display, d, d), color=(1,0,0)) bar1b = box(pos=(L1display/2.0 - d/2.0, 0, (gap+d)/2.0), size=(L1display, d, d), color=(1,0,0)) frame1 = frame(bar1, bar1b) frame1.pos = (0.0, 0.0, 0.0)
#!/usr/bin/env python
# Author: Raashid Baig <*****@*****.**>
# License: BSD Style.
# Gyroscope hanging from a spring
from math import atan, cos, sin, pi
from tvtk.tools.visual import vector, MVector, Box, Helix, Frame, \
Cylinder, curve, color, iterate, show
top = vector(0,1.,0) # where top of spring is held
ks = 100. # spring stiffness
Lspring = 1. # unstretched length of spring
Rspring = 0.03 # radius of spring
Dspring = 0.03 # thickness of spring wire
Lshaft = 1. # length of gyroscope shaft
Rshaft = 0.03 # radius of gyroscope shaft
M = 1. # mass of gyroscope (massless shaft)
Rrotor = 0.4 # radius of gyroscope rotor
Drotor = 0.1 # thickness of gyroscope rotor
Dsquare = 1.4*Drotor # thickness of square that turns with rotor
I = 0.5*M*Rrotor**2. # moment of inertia of gyroscope
omega = 40.0 # angular velocity of rotor along axis
g = 9.8
Fgrav = MVector(0,-M*g,0)
precession = M*g*(Lshaft/2.)/(I*abs(omega)) # exact precession angular velocity
phi = atan(precession**2*(Lshaft/2.)/g) # approximate angle of spring to vertical
s = M*g/(ks*cos(phi)) # approximate stretch of spring
# Refine estimate of angle of spring to vertical:
