def child(i, step, totalimage, prefs, kind, finalData, monitor, nOutstart):
Start = i*step;
End = (i+1)*step;
if(Start >= totalimage):
return 0
if(End > totalimage):
End = totalimage;
for iproj in range(Start,End):
nOut = nOutstart+iproj
# outfilename = "%s/%s_%s.hdf" % (prefs['out']['filePath'], prefs['projection']['Prefix'], Transform.paddingZero(nOut, int(prefs['out']['numberDigit'])))
dataArray = []
for i in prefs['series']:
i = i -1
filename = "%s/%s%s.%s" % ( prefs['filePath'], prefs[kind]['Prefix'][0], Transform.paddingZero(int(prefs[kind]['Num'][i][iproj]), prefs['numberDigit'] ), prefs[kind]['extension'] )
im = Image.open(filename)
imarray = np.array(im)
dataArray.append(0)
dataArray[i] = imarray[(prefs['ROIy'][i][0]-1):prefs['ROIy'][i][-1] , (prefs['ROIx'][i][0]-1):prefs['ROIx'][i][-1]] # corp the array
# if prefs['slits']['shouldCorr']: #comment out for this momoent, if need corr, need to initialize in the initialize script
# dataAve[iavg] = slitposcorr(dataAve[iavg], prefs, j, kind, iavg)
dataArray[i], _, _, aveint = Transform.preprocess(dataArray[i], prefs, i)
if prefs['vis']['intMonitor']:
monitor[iproj][i]=array('d', [aveint, prefs[kind]['Num'][i][iproj], nOut])
dataResutArray, sminx, smaxx = Transform.stitching(dataArray, prefs)
finalData[iproj] = dataResutArray
return 1
def redraw(self, rotation_x, rotation_y):
resize_width = 0
resize_height = 0
if (rotation_x + self.originalRotationX > 360):
resize_width = (rotation_x + self.originalRotationX * 1.0) % 90.0
resize_width = int(resize_width * 100)
Surface.__init__(self, self.get_size(), pygame.SRCALPHA)
Transform.skew_surface(self.originalImage, 0, -rotation_y), (0, 0)
self.blit(pygame.transform.scale(Transform.skew_surface(self.originalImage, 0, -rotation_y), (resize_width, self.get_size()[1])), (-rotation_x,0))
def transformFunc(self):
import Image as i, Transform
self.pic = i.Image("Resources/test.jpg")
if(self.radioButton.isChecked()):
self.pic.set_img(Transform.crop(self.pic.get_img(),self.spinBox_2.value(),self.spinBox_3.value()))
if(self.radioButton_9.isChecked()):
self.pic.set_img(Transform.rotate(self.pic.get_img(),self.spinBox.value()))
if(self.radioButton_10.isChecked()):
if(self.checkBox.isChecked()):
self.pic.set_img(Transform.flip(self.pic.get_img(),1))
if(self.checkBox_2.isChecked()):
self.pic.set_img(Transform.flip(self.pic.get_img(),2))
from scipy.misc import imsave
imsave("Resources/test2.jpg",self.pic.get_img())
self.imageUpdate("Resources/test2.jpg")
def savePeakListToFile(self,filename,initialGuess,qData,
numberOfChi,maskedPixelInfo,stddev):
peakList = Fit.getPeakList(self.theDiffractionData.data,qData,
initialGuess,numberOfChi,stddev)
# now, save to file
file = open(filename,"w")
file.write("# A list of diffraction peaks found.\n")
file.write("# Diffraction Data: %s\n" % self.theDiffractionData.filename)
file.write("# Calculated on "+time.asctime()+"\n")
file.write("# Calibration data used to find peaks:\n")
initialGuess.writeCommentString(file)
file.write("# Q data used to find peaks:\n")
file.write("# Peaks:\n")
qData.writeCommentString(file)
if maskedPixelInfo.doPolygonMask and maskedPixelInfo.numPolygons() > 0:
file.write("# All peaks inside of polygon mask(s) were ignored.\n")
file.write(maskedPixelInfo.writePolygonCommentString())
file.write("#%16s%21s%21s%21s%21s%21s%21s%21s\n" % \
("x","y","Real Q","Fit Q","chi","width","intensity","2theta"))
for peak in peakList.getMaskedPeakList(maskedPixelInfo):
x,y,realQ,fitQ,chi,width = peak
intensity=self.getPixelValueBilinearInterpolation(x,y)
twoTheta = Transform.convertQToTwoTheta(fitQ,initialGuess)
file.write("%17.10f %17.10f %17.10f %17.10f %17.10f %17.10f %17.10f %17.10f\n" % \
(x,y,realQ,fitQ,chi,width,intensity,twoTheta) )
file.close()
return peakList
def addConstantQLineCakeImage(image,Q,qOrTwoThetaLower,
qOrTwoThetaUpper,numQOrTwoTheta,chiLower,
chiUpper,numChi,color,calibrationData,type):
draw = ImageDraw.Draw(image)
if type == "Q":
if Q < qOrTwoThetaLower or Q > qOrTwoThetaUpper:
return
qIndex = (numQOrTwoTheta-1)*(Q-qOrTwoThetaLower)/ \
(qOrTwoThetaUpper-qOrTwoThetaLower)
draw.line( (qIndex,0)+(qIndex,numChi-1),fill=color)
elif type == "2theta":
twoTheta = Transform.convertQToTwoTheta(Q,calibrationData)
if twoTheta < qOrTwoThetaLower or \
twoTheta > qOrTwoThetaUpper:
return
twoThetaIndex = (numQOrTwoTheta-1)* \
(twoTheta-qOrTwoThetaLower)/ \
(qOrTwoThetaUpper-qOrTwoThetaLower)
draw.line( (twoThetaIndex,0)+(twoThetaIndex,numChi-1),
fill=color)
else:
raise Exception("Unable to add constant Q \
lines to the cake image. The function must be passed \
for the parameter type either 'Q', or '2theta'")
def _paint_block(self, position):
""" Creates vertexes for the block.
Parameters
----------
position : tuple of len 3
The (x, y, z) position of the block to show.
"""
x, y, z = position
try:
block = self.world.getBlock(position)
if block.getVertex():
return
vertex_data = Transform.cube_vertices(x, y, z, 0.5)
texture_data = list(block.getTexture())
# create vertex list
# FIXME Maybe `add_indexed()` should be used instead
block.setVertex(self.batch.add(24, GL_QUADS, self._materialFactory.getMaterial(block.getMaterial()).textureGroup,
('v3f/static', vertex_data),
('t2f/static', texture_data)))
#self.log.debug('Block at %s made visible' % (position,))
except Exception, e:
self.log.error("Painting block at %s failed: %s" % (position, e))
def remove_block(self, position, immediate=True):
""" Remove the block at the given `position`.
Parameters
----------
position : tuple of len 3
The (x, y, z) position of the block to remove.
immediate : bool
Whether or not to immediately remove block from canvas.
"""
# if block is dead hide it and remove it
if not self.world.getBlock(position).isAlive():
transparent = self._materialFactory.getMaterial(self.world.getBlock(position).getMaterial()).transparent
if immediate:
self.hide_block(position)
self.world.removeBlock(position)
self.sectors[Transform.sectorize(position, self.conf.getConfValue('sectorSize'))].remove(position)
# show newly exposed blocks
self.check_neighbors(position, transparent)
else:
self.world.getBlock(position).decreaseLife()
def hit_test(self, position, vector, max_distance=8):
""" Line of sight search from current position. If a block is
intersected it is returned, along with the block previously in the line
of sight. If no block is found, return None, None.
Parameters
----------
position : tuple of len 3
The (x, y, z) position to check visibility from.
vector : tuple of len 3
The line of sight vector.
max_distance : int
How many blocks away to search for a hit.
"""
m = 8
x, y, z = position
dx, dy, dz = vector
previous = None
for _ in xrange(max_distance * m):
key = Transform.normalize((x, y, z))
if key != previous and self.world.existsBlockAt(key):
return key, previous
previous = key
x, y, z = x + dx / m, y + dy / m, z + dz / m
return None, None
def get_bbox(pc, pose=None):
'''
get the bounding box for the point cloud
if a pose is provided then it will find the bbox
for the data aligned to that pose
return: bbox array
|xmin, xmax|
|ymin, ymax|
|zmin, zmax|
'''
pts = ru.to_array(pc);
if pose != None:
ps = ru.to_PoseStamped(pose);
ps_wrtPC = ru.transformPose(ru.get_frame_id(pc), ps);
T = tr.rospose2tr(ps_wrtPC.pose);
pts = np.dot(np.linalg.inv(T), np.vstack((pts.T, np.ones(pts.shape[0])))).T;
pmin = np.min(pts[:,:3], axis=0);
pmax = np.max(pts[:,:3], axis=0);
bbox = np.array([pmin, pmax]).T;
return bbox;
def __init__(self):
self.log = l.getLogger('model')
self.conf = EC.EngineConfig.Instance()
# A Batch is a collection of vertex lists for batched rendering.
self.batch = pyglet.graphics.Batch()
# Mapping from sector to a list of positions inside that sector.
self.sectors = {}
# Simple function queue implementation. The queue is populated with
# _show_block() and _hide_block() calls
self.queue = deque()
self._materialFactory = Materials.MaterialFactory.Instance()
# all shown blocks.
self.visibleWorld = {}
# This defines all the blocks that are currently in the world.
try:
(self.world, self.player) = Savegame.Savegame.load()
# make blocks visible after loading
for position in self.world.getBlockPositions():
# sectorize blocks
self.sectors.setdefault(Transform.sectorize(position, self.conf.getConfValue('sectorSize')), []).append(position)
self.show_sector(0)
except Exception, e:
self.log.debug("Couldn't load a savegame. Creating new world ...")
self.world = World.World()
self.player = Player.Player()
self.visibleWorld = {}
self._initialize()
def loadMaterials(self):
""" This method crawles the ressources for diffrent materials
and loads them for future use
"""
self.log.debug('loading materials from %s' % (self._materialPath, ))
textureFactory = TF.TextureFactory.Instance()
for file in os.listdir(self._materialPath):
absPath = os.path.join(self._materialPath, file)
""" if found new material, load metadata and textures """
if os.path.isdir(absPath):
self.log.debug('material found: %s' % (file, ))
# load json material definition
try:
defFile = open(os.path.join(absPath, "material.json"), 'r')
definition = "".join(defFile.readlines())
jsonObj = json.loads(definition)
except Exception, e:
self.log.error("Error loading material metadata %s: %s" %
(file, str(e)))
# create new Material object
self._materials[jsonObj['name']] = Material()
# load texture
try:
self._materials[jsonObj['name']].name = jsonObj['name']
self._materials[jsonObj['name']].sustain = int(jsonObj['sustain'])
self._materials[jsonObj['name']].clipping = bool(jsonObj['clipping'])
self._materials[jsonObj['name']].transparent = bool(jsonObj['transparent'])
self._materials[jsonObj['name']].texture['top'] = Transform.tex_coords(
tuple(jsonObj['texture']['mapping']['top']['top']),
tuple(jsonObj['texture']['mapping']['top']['bottom']),
tuple(jsonObj['texture']['mapping']['top']['sides']))
self._materials[jsonObj['name']].texture['middle'] = Transform.tex_coords(
tuple(jsonObj['texture']['mapping']['middle']['top']),
tuple(jsonObj['texture']['mapping']['middle']['bottom']),
tuple(jsonObj['texture']['mapping']['middle']['sides']))
# A TextureGroup manages an OpenGL texture.
self._materials[jsonObj['name']].textureGroup = textureFactory.loadTexture(
os.path.join(absPath,jsonObj['texture']['ressource']))
except Exception, e:
self.log.debug("Error loading material textures: %s" % (str(e), ))
def icp(data, model, thres=.001, maxIter=1000):
'''
compute icp on two point sets
matrix: DxN
return:
qr - quaterion rotation
qt - translation
'''
# augment if needed
if data.shape[0] == 3:
data = np.vstack((data, np.ones(data.shape[1])));
if model.shape[0] == 3:
model = np.vstack((model, np.ones(model.shape[1])));
# initialize registration
qr = np.array([1.0, 0.0, 0.0, 0.0]);
qt = np.array([0.0, 0.0, 0.0]);
dm = np.Inf;
count = 0;
# compute initial closest points
di = np.arange(data.shape[1]);
(imin, d) = closest_points(data, model);
dk = np.sum(d[di, imin]);
# loop until the change in error is below the threshold
while (dm > thres and count < maxIter):
# compute registration
(qr, qt) = compute_registration(data, model[:,imin]);
# transform data
T = np.dot(tr.trans(qt), tr.quat2rot(qr));
tdata = np.dot(T, data);
# compute closest points
(imin, d) = closest_points(tdata, model);
dk1 = np.sum(d[di, imin]);
dm = np.abs(dk1 - dk);
dk = dk1;
count += 1;
return (qr, qt, dk);
def getWavelength(self):
if self.energy['val'] == None or self.energy['fixed'] == None:
return UserInputException('Cannot get the wavelength because neither the wavelength nor the energy have been set.')
val = Transform.convertEnergyToWavelength(self.energy['val'])
lower,upper=None,None
if self.energy['lower'] != None: lower = hc/self.energy['upper']
if self.energy['upper'] != None: upper = hc/self.energy['lower']
return {'val':val,'fixed':self.energy['fixed'],'lower':lower,'upper':upper}
def draw(self, surface):
self.fill((0,0,0))
self.cubeSide.update(self.rotation, 0)
self.cubeSide.redraw(self.rotation, 0)
print ("Equation = %s" % (-33 + int(((self.rotation * 1.0) % 90)/ 90.0 * 66)))
if self.rotation <= 90:
self.blit(pygame.transform.scale(Transform.skew_surface(self.originalImage, 0, -33 + int(((self.rotation * 1.0) % 90)) ), (int((self.rotation%90.0)/90*100), 100)), self.imageLocation)
else:
self.blit(pygame.transform.scale(Transform.skew_surface(self.originalImage, 0, -33 + int(((self.rotation * 1.0) % 90))),
(100 - int((self.rotation % 90.0) / 90 * 100), 100)), self.imageLocation)
if (self.rotation == 90):
self.rotation = 0
self.rotation += 1
self.imageLocation = (100 - int((self.rotation % 90.0) / 90 * 100), self.imageLocation[1])
surface.blit(self, (200, 200))
def addConstantQLineDiffractionImage(image,Q,calibrationData,color):
draw = ImageDraw.Draw(image)
polygon = []
for chi in frange(0,360,3):
x,y = Transform.getXY(calibrationData,Q,chi)
polygon += [x,y]
draw.polygon(polygon, outline=color)
def __init__(self, size, images):
Surface.__init__(self, images[0].get_size(), pygame.SRCALPHA)
self.location = (0, 34)
self.blit(images[0], (0, 0))
self.xChange = 100
self.rotationX = 45
self.rotationY = 33
self.surfaces = [CubeSide(images[x], images[0].get_size(), x) for x in range(6)]
self.surfaces[0].blit(images[0], (0, 0))
self.surfaces[1].blit(images[1], (0, 0))
self.ORIGINAL_SURFACES = [pygame.Surface((100, 100), pygame.SRCALPHA) for _ in range(6)]
self.ORIGINAL_SURFACES[0].blit(images[0], (0, 0))
self.testingSurf = Transform.skew_surface(pygame.transform.scale(self.surfaces[0], (self.xChange, 100)), 0, 33)
self.testingSurf2 = Transform.skew_surface(pygame.transform.scale(self.surfaces[4], (self.xChange, 100)), 0, -33)
def __init__(self):
self.cairoContext = None
self.RGB = "rgb"
self.HSB = "hsb"
self.CMYK = "cmyk"
self._colormode = self.RGB
self._fillState = 1
self._lineWidth = 1
self._autoclosepath = True
self._transform = Transform()
self._fontsize = 10
def child(i, procs, step, totalimage, prefs, kind, j, dataAve, monitor, nOut):
Start = i*step;
End = (i+1)*step;
if(Start >= totalimage):
return 0
if(End > totalimage):
End = totalimage;
for iavg in range(Start, End ):
filename = "%s/%s%s.%s" % ( prefs['filePath'], prefs[kind]['Prefix'][0], Transform.paddingZero(int(prefs[kind]['Num'][j][iavg]), prefs['numberDigit'] ), prefs[kind]['extension'] )
im = Image.open(filename)
imarray = np.array(im)
dataAve[iavg] = imarray[(prefs['ROIy'][j][0]-1):prefs['ROIy'][j][-1] , (prefs['ROIx'][j][0]-1):prefs['ROIx'][j][-1]] # corp the array
# if prefs['slits']['shouldCorr']: #comment out for this momoent, if need corr, need to initialize in the initialize script
# dataAve[iavg] = slitposcorr(dataAve[iavg], prefs, j, kind, iavg)
# print iavg
if prefs['vis']['intMonitor']:
_, _, _, aveint = Transform.preprocess(dataAve[iavg], prefs, j)
monitor[iavg][j] = array('d', [aveint, prefs[kind]['Num'][j][iavg], nOut])
return 1
def collide(self, position, height):
""" Checks to see if the player at the given `position` and `height`
is colliding with any blocks in the world.
Parameters
----------
position : tuple of len 3
The (x, y, z) position to check for collisions at.
height : int or float
The height of the player.
Returns
-------
position : tuple of len 3
The new position of the player taking into account collisions.
"""
# How much overlap with a dimension of a surrounding block you need to
# have to count as a collision. If 0, touching terrain at all counts as
# a collision. If .49, you sink into the ground, as if walking through
# tall grass. If >= .5, you'll fall through the ground.
pad = 0.25
p = list(position)
np = Transform.normalize(position)
for face in Block.FACES: # check all surrounding blocks
for i in xrange(3): # check each dimension independently
if not face[i]:
continue
# How much overlap you have with this dimension.
d = (p[i] - np[i]) * face[i]
if d < pad:
continue
for dy in xrange(height): # check each height
op = list(np)
op[1] -= dy
op[i] += face[i]
if not self.model.world.existsBlockAt(tuple(op)):
continue
# check for non resiting block (no colision)
if not self._materialFactory.getMaterial(
self.model.world.getBlock(tuple(op)).getMaterial()).clipping:
continue
p[i] -= (d - pad) * face[i]
if face == (0, -1, 0) or face == (0, 1, 0):
# You are colliding with the ground or ceiling, so stop
# falling / rising.
self.dy = 0
break
return tuple(p)
def createControl( name, args ):
"""
Creates a default control
"""
functArgs = {"shape":"circle", "size":1, "match":""}
functArgs = dict(functArgs.items() + args.items())
#create control
if(functArgs["shape"] == "circle"):
ctl = circleCtl( name, functArgs["size"] )
elif(functArgs["shape"] == "arrow"):
ctl = arrowCtl( name, functArgs )
elif(functArgs["shape"] == "locator"):
ctl = locatorCtl( name, functArgs )
else:
print "Shape not supported...\n"
return 0
if cmds.objExists(functArgs["match"]):
Transform.match(ctl[1],functArgs["match"],{"all":1})
#create control variable
"""for c in ctl:
storeString(c, "control", "")"""
return ctl
def setWavelength(self,val,fixed=0,lower=None,upper=None):
if fixed != 0 and fixed != 1:
raise UserInputException("Cannot set the wavelength because fixed must be set to 0 or 1.")
if lower != None and lower >= val:
raise UserInputException("Cannot set the wavelength because the lower bound on wavelength must be less then the value.")
if upper != None and upper <= val:
raise UserInputException("Cannot set the wavelength because the upper bound on wavelength must be greater then the value.")
if val <= 0:
raise UserInputException("Cannot set the wavelength because it must be a positive quantity.")
val = Transform.convertWavelengthToEnergy(val)
if lower != None: lower=hc/upper
if upper != None: upper=hc/lower
# note that a low wavelength is the same as a high energy and vice versa!
self.energy = {'val':val,'fixed':fixed,'lower':upper,'upper':lower}
def draw_focused_block(self):
""" Draw black edges around the block that is currently under the
crosshairs.
"""
vector = self.get_sight_vector()
block = self.model.hit_test(self._player.position, vector)[0]
if block:
x, y, z = block
self.focusedBlock = block
vertex_data = Transform.cube_vertices(x, y, z, 0.51)
glColor3d(0, 0, 0)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
pyglet.graphics.draw(24, GL_QUADS, ('v3f/static', vertex_data))
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
def get_blob_pose(pts):
'''
computes the pose of the point cloud
arr is expected to be Nx3
return Pose
'''
pts = ru.to_array(pts);
cent = get_centroid(pts);
(x, y, z) = get_ev(pts);
pose = geometry_msgs.Pose();
pose.position = geometry_msgs.Point(*cent);
pose.orientation = tr.ev2rosq((x,y,z));
return pose;
def addPeaksCakeImage(image,qLower,qUpper,numQ,chiLower,chiUpper,
numChi,peakList,calibrationData,color,
smallestRangeQLower,smallestRangeQUpper,smallestRangeChiLower,smallestRangeChiUpper):
draw = ImageDraw.Draw(image)
unZoomWidth = 2.5
# scale the length of the xs. For example, zoomed in to 50% means will
# cause the xs to be drawn with double the length.
numTimesZoomInQ = abs((smallestRangeQUpper-smallestRangeQLower)/ \
(qUpper-qLower))
numTimesZoomInChi = abs((smallestRangeChiUpper-smallestRangeChiLower)/ \
(chiUpper-chiLower))
scalingFactor = min(numTimesZoomInQ,numTimesZoomInChi)
halflength = unZoomWidth*scalingFactor
for x,y,qReal,qFit,chi,width in peakList:
# for each peak, we want to take the true x,y value of
# where the peak is on the image and figure out where
# it belongs on the cake data.
qTemp,chiTemp = Transform.getQChi(calibrationData,x,y)
# if our chi range begins in the negative, we might have to place
# our chi values in their 360 degree rotated values. Note that
# getQChi always returns chi between 0 and 360
if (chiTemp-360) > chiLower and \
(chiTemp-360) < chiUpper:
chiTemp -= 360
cakeX = (numQ-1)*(qTemp-qLower)/(qUpper-qLower)
cakeY = (numChi-1)*(chiTemp-chiLower)/(chiUpper-chiLower)
# add in new lines if they would be visible
if cakeX >= 0 and cakeX < numQ and \
cakeY >= 0 and cakeY < numChi:
draw.line( (cakeX-halflength,cakeY-halflength) +
(cakeX+halflength,cakeY+halflength),fill=color)
draw.line( (cakeX+halflength,cakeY-halflength) +
(cakeX-halflength,cakeY+halflength),fill=color)
def get_chessboard_pose(img, info, ncol=5, nrow=4, squareSize=0.045, useSubPix=True, publishDetection=True, isRect=True):
'''
compute the pose of the chessboard in the camera frame
'''
(success, chessboard_wrtImage) = find_chessboard(img, ncol=ncol, nrow=nrow, useSubPix=useSubPix);
if (len(chessboard_wrtImage) == 0):
rospy.logwarn(__name__ + ': no chessboard found');
return None;
if (publishDetection):
chessboardCV = draw_chessboard(img, chessboard_wrtImage, ncol=ncol, nrow=nrow);
chessboardMsg = cvmat2msg(chessboardCV, img.encoding, frame_id=img.header.frame_id, stamp=rospy.Time().now());
chessboardDetectionPub.publish(chessboardMsg);
# compute pose
chessboard_wrtBoard = cv.CreateMat(ncol*nrow, 1, cv.CV_32FC3);
for i in range(ncol*nrow):
chessboard_wrtBoard[i,0] = ((i % ncol) * squareSize, (i / ncol) * squareSize, 0);
# get camera intrinsics
(cameraMatrix, distCoeffs, projectionMatrix, rotationMatrix) = info2cvmat(info);
# extrinsic outputs
rot = cv.CreateMat(3, 1, cv.CV_32FC1)
trans = cv.CreateMat(3, 1, cv.CV_32FC1)
# find chessboard pose
if isRect:
distCoeffs = cv.CreateMat(1, 4, cv.CV_32FC1);
distCoeffs[0,0] = 0; distCoeffs[0,1] = 0; distCoeffs[0,2] = 0; distCoeffs[0,3] = 0;
cv.FindExtrinsicCameraParams2(chessboard_wrtBoard, chessboard_wrtImage, projectionMatrix[:,:3], distCoeffs, rot, trans);
else:
cv.FindExtrinsicCameraParams2(chessboard_wrtBoard, chessboard_wrtImage, cameraMatrix, distCoeffs, rot, trans);
# get transform from rot, trans
rot = np.asarray(rot);
trans = np.asarray(trans);
th = np.linalg.norm(rot);
r = rot / th;
R = np.cos(th)*np.eye(3) + (1 - np.cos(th))*np.dot(r, r.T) + np.sin(th)*np.array([[0, -r[2], r[1]], [r[2], 0, -r[0]], [-r[1], r[0], 0]]);
if not isRect:
Trect = tr.trans(-projectionMatrix[0,3]/cameraMatrix[0,0],-projectionMatrix[1,3]/cameraMatrix[1,1], 0)
Rcam = tr.rot2tr(np.asarray(rotationMatrix));
Tmodel2cam = np.dot(Trect, np.dot(Rcam, np.dot(tr.trans(trans), tr.rot2tr(R))));
else:
Tmodel2cam = np.dot(tr.trans(trans), tr.rot2tr(R));
return ru.to_PoseStamped(Tmodel2cam, frame_id=info.header.frame_id, stamp=info.header.stamp);
def savePeakListToFile(self,filename,initialGuess,qData,numberOfChi,stddev):
peakList = Fit.getPeakList(self.theDiffractionData.data,qData,
initialGuess,numberOfChi,stddev)
# now, save to file
file = open(filename,'w')
file.write("# A list of peaks found in the diffraction image.\n")
file.write("# Calculated on "+time.asctime()+"\n")
file.write("# Calibration data used to find peaks:\n")
initialGuess.writeCommentString(file)
file.write("#\tx\ty\tRealQ\tFitQ\tchi\twidth\tintensity\t2theta\n")
for peak in peakList:
x,y,realQ,fitQ,chi,width = peak
intensity=self.getPixelValueBilinearInterpolation(x,y)
twoTheta = Transform.convertQToTwoTheta(fitQ,initialGuess)
file.write("%f\t%f\t%f\t%f\t%f\t%f\t%f\t%f\n" % \
(x,y,realQ,fitQ,chi,width,intensity,twoTheta) )
file.close()
return peakList
def saveShapes(filePath, module, objects):
"""
Will store shape data in file
"""
# objects = self.getRegisteredObjects(module , regAttr)
writeData = ""
for object in objects:
writeLine = object + " "
# Get shape
shape = Transform.getShape(object)
# Get CV number
cvNum = Curve.getCurveCVNumber(shape)
for x in xrange(cvNum):
pos = cmds.xform((object + ".cv[" + x + "]"), q=True, ws=True, t=True)
writeLine += pos[0] + " " + pos[1] + " " + pos[2] + " "
writeData += writeLine + "\n"
FILE = open(filePath, "wb")
blueprintData = FILE.write(writeData)
FILE.close()
print ("Saved shape data to : " + filePath)
def update(self, dt):
""" This method is scheduled to be called repeatedly by the pyglet
clock.
Parameters
----------
dt : float
The change in time since the last call.
"""
self.model.process_queue()
sector = Transform.sectorize(self._player.position, self.conf.getConfValue('sectorSize'))
if sector != self.sector:
self.model.change_sectors(self.sector, sector)
if self.sector is None:
self.model.process_entire_queue()
self.sector = sector
m = 8
dt = min(dt, 0.2)
for _ in xrange(m):
self._update(dt / m)
def view_test(self, source, target):
""" Check if plock at position has a line of sight to character.
Parameters
----------
source : tuple of len 3
The (x, y, z) position to check visibility from.
target :tuple of len 3
The (x, y, z) position to check visibility to.
"""
m = 8
x, y, z = source
dx, dy, dz = target
previous = None
for _ in xrange(max_distance * m):
key = Transform.normalize((x, y, z))
if key != previous and self.world.existsBlockAt(key):
return key, previous
previous = key
x, y, z = x + dx / m, y + dy / m, z + dz / m
return None, None
def compute_registration(P, X):
'''
compute the registration between the two data sets
Pi should correspond to Xi (distance)
matrix: 4xN
return:
qr - quaterion rotation
qt - translation
'''
# compute mean
uP = np.array([np.sum(P, axis=1)/P.shape[1]]);
uX = np.array([np.sum(X, axis=1)/X.shape[1]]);
# cross-covariance matrix
cc = np.dot(P[:3,:], X[:3,:].T)/P.shape[1] - np.dot(uP[:,:3].T, uX[:,:3]);
A = cc - cc.T;
delta = np.array([[A[1,2], A[2,0], A[0,1]]]).T;
trace = np.trace(cc);
t0 = np.hstack(([[trace]], delta.T));
t1 = np.hstack((delta, cc + cc.T - trace * np.eye(3)));
Q = np.vstack((t0, t1));
# comute quaternion
# main eigenvector of Q
(U, s, Vh) = np.linalg.svd(Q);
qr = Vh[0];
# compute translation
R = tr.quat2rot(qr);
qt = uX - np.dot(R,uP.T).T;
return (qr, qt[0,:3]);
# - maskXRay (array) - import Converter as C import Connector as X import Generator as G import Geom as D import Transform as T surf = D.sphere((0,0,0), 0.5, 20) surf = T.rotate(surf,(0.,0.,0.),(0.,1.,0.), 90.) res = X.maskXRay__([surf]) C.convertArrays2File([res], "out.plt")
# - projectAllDirs (array) - import Geom as D import Converter as C import Generator as G import Transform as T import KCore.test as test # Structure a = D.sphere((0, 0, 0), 1., 20) a = C.initVars(a, 'F', 1) b = G.cart((1.1, -0.1, -0.1), (0.1, 0.1, 0.1), (1, 5, 5)) n = G.getNormalMap(b) n = C.center2Node(n) b = C.addVars([b, n]) b = C.initVars(b, 'F', 1) c = T.projectAllDirs([b], [a], ['sx', 'sy', 'sz']) test.testA(c, 1) # Non structure a = D.sphere((0, 0, 0), 1., 20) a = C.initVars(a, 'F', 1) b = G.cartTetra((1.1, -0.1, -0.1), (0.1, 0.1, 0.1), (1, 5, 5)) n = G.getNormalMap(b) n = C.center2Node(n) b = C.addVars([b, n]) b = C.initVars(b, 'F', 1) c = T.projectAllDirs([b], [a], ['sx', 'sy', 'sz']) test.testA(c, 2) a = C.convertArray2Tetra(a) b = G.cartTetra((1.1, -0.1, -0.1), (0.1, 0.1, 0.1), (1, 5, 5))
# - makeCartesian (array) - import Generator as G import Transform as T import Converter as C import KCore.test as test a = G.cart((0.,0.,0.),(1.,1.,1.),(10,10,10)) a = T.reorder(a, (3,2,-1)) a = T.makeCartesianXYZ(a) test.testA([a])
def TFIHalfO__(a1, a2, weight, offset=0):
import Transform as T
import Geom as D
Nt1 = a1[2]
Nt2 = a2[2]
if Nt1 > Nt2:
ap = a2
a2 = a1
a1 = ap
Np = Nt2
Nt2 = Nt1
Nt1 = Np
# le plus long est toujours Nt2
# Check
P0 = (a1[1][0, 0], a1[1][1, 0], a1[1][2, 0])
P00 = (a2[1][0, 0], a2[1][1, 0], a2[1][2, 0])
if abs(P0[0] - P00[0]) > 1.e-6: a2 = T.reorder(a2, (-1, 2, 3))
elif abs(P0[1] - P00[1]) > 1.e-6: a2 = T.reorder(a2, (-1, 2, 3))
elif abs(P0[2] - P00[2]) > 1.e-6: a2 = T.reorder(a2, (-1, 2, 3))
# Round
w1 = C.array('weight', Nt1, 1, 1)
w1 = C.initVars(w1, 'weight', 1.)
w = C.array('weight', Nt2, 1, 1)
w = C.initVars(w, 'weight', 1.)
w[1][0, 0:Nt2 / 2 + 1] = weight
P3 = G.barycenter([a2, a1], [w, w1])
w = C.initVars(w, 'weight', 1.)
w[1][0, Nt2 / 2:Nt2] = weight
P4 = G.barycenter([a2, a1], [w, w1])
# Projection
b = C.convertArray2Hexa(a2)
b = G.close(b)
PP = C.array('x,y,z', 2, 1, 1)
C.setValue(PP, 0, (P3[0], P3[1], P3[2]))
C.setValue(PP, 1, (P4[0], P4[1], P4[2]))
PPP = T.projectOrtho(PP, [b])
PPP = PPP[1]
PP3 = (PPP[0, 0], PPP[1, 0], PPP[2, 0])
PP4 = (PPP[0, 1], PPP[1, 1], PPP[2, 1])
indexPP3 = D.getNearestPointIndex(a2, PP3)[0] + offset
if ((Nt1 - Nt2) / 2 - (Nt1 - Nt2) * 0.5 == 0
and (indexPP3 + 1) / 2 - (indexPP3 + 1) * 0.5 != 0):
indexPP3 += 1
if ((Nt1 - Nt2) / 2 - (Nt1 - Nt2) * 0.5 != 0
and (indexPP3 + 1) / 2 - (indexPP3 + 1) * 0.5 == 0):
indexPP3 += 1
#if (indexPP3 == 0): indexPP3 = 1
#elif (indexPP3 == (Nt2-1)/2): indexPP3 += -1
PP3 = (a2[1][0, indexPP3], a2[1][1, indexPP3], a2[1][2, indexPP3])
N1 = indexPP3 + 1
indexPP4 = Nt2 - N1
PP4 = (a2[1][0, indexPP4], a2[1][1, indexPP4], a2[1][2, indexPP4])
N2 = Nt2 - 2 * N1 + 2
# Straight
N3 = (Nt1 - N2 + 2) / 2
ind = N3 - 1
P1 = (a1[1][0, ind], a1[1][1, ind], a1[1][2, ind])
P2 = (a1[1][0, Nt1 - ind - 1], a1[1][1,
Nt1 - ind - 1], a1[1][2,
Nt1 - ind - 1])
# Lines
l1 = D.line(P1, P3, N=N1)
l2 = D.line(P3, P4, N=N2)
l3 = D.line(P4, P2, N=N1)
p1 = D.line(P3, PP3, N=N3)
p2 = D.line(P4, PP4, N=N3)
# subzones
s1 = T.subzone(a1, (1, 1, 1), (ind + 1, 1, 1))
s2 = T.subzone(a1, (ind + 1, 1, 1), (Nt1 - ind, 1, 1))
s3 = T.subzone(a1, (Nt1 - ind, 1, 1), (Nt1, 1, 1))
s4 = T.subzone(a2, (1, 1, 1), (indexPP3 + 1, 1, 1))
s5 = T.subzone(a2, (indexPP3 + 1, 1, 1), (indexPP4 + 1, 1, 1))
s6 = T.subzone(a2, (indexPP4 + 1, 1, 1), (Nt2, 1, 1))
#C.convertArrays2File([l1,l2,l3,p1,p2,s1,s2,s3,s4,s5,s6], 'lines.plt')
# TFIs
m = G.TFI([l1, l2, l3, s2])
m1 = G.TFI([s1, s4, p1, l1])
m2 = G.TFI([s5, p1, p2, l2])
m3 = G.TFI([s6, p2, s3, l3])
return [m, m1, m2, m3]
# - refine (array) - import Geom as D import Transform as T import Converter as C import KCore.test as test # broken line (STRUCT) a = D.line((0,0,0), (1,0,0), N=10) b = D.line((1,0,0), (2,1,0), N=30) a = T.join([a,b]) a = D.refine(a, N=30) test.testA([a], 1) #C.convertArrays2File(a, 'out.plt') # fourche (BAR) a = D.line((0,0,0), (1,0,0), N=10) b = D.line((1,0,0), (2,1,0), N=50) c = D.line((1,0,0), (2,-1,0), N=100) A = [a,b,c] A = C.convertArray2Hexa(A) a = T.join(A) a = D.refine(a, N=50) test.testA([a], 2) #C.convertArrays2File(a, 'out.plt') # Circle (STRUCT) a = D.circle((0,0,0), 1, N=120) a = D.refine(a, N=120) test.testA([a], 3) #C.convertArrays2File(a, 'out.plt')
# - send (array) -
import Converter as C
import Generator as G
import Transform as T
a = G.cart((0,0,0), (1,1,1), (100,100,300))
C.send(a, 'localhost')
for i in range(30):
a = T.rotate(a, (0,0,0), (0,0,1), 10.)
C.send(a, 'localhost')
# - display (array) -
import Generator as G
import CPlot
import Transform as T
a = G.cart((0, 0, 0), (1, 1, 1), (18, 28, 3))
CPlot.display(a, mode='mesh')
for i in range(360):
a = T.rotate(a, (9, 14, 3.5), (0, 0, 1), 1.)
CPlot.display(a)
# - blankIntersectingCells (array) import Converter as C import Generator as G import Transform as T import Connector as X a1 = G.cart((0., 0., 0.), (1., 1., 1.), (11, 11, 11)) a2 = T.rotate(a1, (0., 0., 0.), (0., 0., 1.), 10.) a2 = T.translate(a2, (7., 5., 5.)) A = [a1, a2] Ac = C.node2Center(A) Ac = C.initVars(Ac, 'cellN', 1.) Ac = X.blankIntersectingCells(A, Ac, tol=1.e-10) C.convertArrays2File(Ac, "out.plt")
# - getSmoothNormalMap (array) - import Converter as C import Generator as G import Transform as T a = G.cart((0.,0.,0.),(1.,1.,1.),(10,10,1)) b = G.cart((0.,0.,0.),(1.,1.,1.),(1,10,10)) b = T.rotate(b,(0.,0.,0.),(0.,1.,0.),45.) c = C.convertArray2Hexa([a,b]) c = T.join(c); c = T.reorder(c,(1,)) c = T.rotate(c,(0.,0.,0.),(0.,1.,0.),15.) s = G.getSmoothNormalMap(c, niter=4) c = C.addVars([c,s]) C.convertArrays2File(c, "out.plt")
# - CEBBIntersection (array) - import Generator as G import Converter as C import Transform as T ni = 11 nj = 3 nk = 11 a1 = G.cart((0., 0., 0.), (0.1, 0.1, 0.2), (ni, nj, nk)) a2 = G.cart((1., 0., 0.), (0.1, 0.1, 0.2), (ni, nj, nk)) a2 = T.rotate(a2, (0, 0, 0), (0, 0, 1), 12.) print G.CEBBIntersection(a1, a2)
# - addkplane (array) - import Geom as D import Transform as T import Converter as C a = D.naca(12., 501) a = T.addkplane(a) C.convertArrays2File(a, "out.plt")
# - stack (array) - import Generator as G import Converter as C import Transform as T import KCore.test as test a = G.cylinder((0, 0, 0), 1, 1.3, 360, 0, 1., (50, 10, 1)) b = T.rotate(a, (0, 0, 0), (1, 0, 0), 5.) b = T.translate(b, (0, 0, 0.5)) c = G.stack(a, b) test.testA([c], 1)
# - plot (array) - import Generator as G import Transform as T import Converter as C # Create a cartesian grid a = G.cart((0, 0, 0), (1, 1, 1), (10, 10, 10)) # plot mesh C.plot(a) a = T.translate(a, (0.5 * 1, 0, 0)) C.plot(a) a = T.translate(a, (0.5 * 1, 0, 0)) C.plot(a)
# - snapFront (array) -
import Generator as G
import Converter as C
import Geom as D
import Connector as X
import Transform as T
s = D.circle((0, 0, 0), 1., N=100)
s = T.addkplane(s)
# Grille cartesienne (reguliere)
BB = G.bbox([s])
ni = 100
nj = 100
nk = 3
xmin = BB[0]
ymin = BB[1]
zmin = BB[2] - 0.5
xmax = BB[3]
ymax = BB[4]
zmax = BB[5] + 0.5
hi = (xmax - xmin) / (ni - 1)
hj = (ymax - ymin) / (nj - 1)
h = min(hi, hj)
ni = int((xmax - xmin) / h) + 7
nj = int((ymax - ymin) / h) + 7
b = G.cart((xmin - 3 * h, ymin - 3 * h, zmin), (h, h, 1.), (ni, nj, nk))
celln = C.array('cellN', ni, nj, nk)
# - oneovern (array) - import Transform as T import Converter as C import Generator as G a = G.cart((0, 0, 0), (1, 1, 1), (10, 10, 1)) a2 = T.oneovern(a, (2, 2, 2)) C.convertArrays2File([a2], "out.plt")
# - projectDir (array) - import Geom as D import Converter as C import Generator as G import Transform as T a = D.sphere((0, 0, 0), 1., 20) b = G.cart((1.1, -0.1, -0.1), (0.03, 0.03, 0.03), (1, 50, 50)) c = T.projectDir(b, [a], (1., 0, 0)) d = T.projectDir([b], [a], (1., 0, 0), smooth=1) C.convertArrays2File([a, b, c] + d, 'out.plt')
def TFITri(a1, a2, a3):
import Transform as T
import Generator as G
import Geom as D
N1 = a1[2]
N2 = a2[2]
N3 = a3[2]
# Verif de N
Nt = N3 - N2 + N1 + 1
if (Nt / 2 - Nt * 0.5 != 0):
raise ValueError("TFITri: N3-N2+N1 must be odd.")
N = Nt / 2
if (N < 2):
raise ValueError(
"TFITri: invalid number of points for this operation.")
if (N > N1 - 1):
raise ValueError(
"TFITri: invalid number of points for this operation.")
if (N > N2 - 1):
raise ValueError(
"TFITri: invalid number of points for this operation.")
# Assure la continuite
P0 = (a1[1][0, N1 - 1], a1[1][1, N1 - 1], a1[1][2, N1 - 1])
P00 = (a2[1][0, 0], a2[1][1, 0], a2[1][2, 0])
P01 = (a2[1][0, N2 - 1], a2[1][1, N2 - 1], a2[1][2, N2 - 1])
if (abs(P0[0] - P00[0]) + abs(P0[1] - P00[1]) + abs(P0[2] - P00[2]) > 1.e-6
and abs(P0[0] - P01[0]) + abs(P0[1] - P01[1]) + abs(P0[2] - P01[2])
> 1.e-6):
t = a2
a2 = a3
a3 = t
N2 = a2[2]
N3 = a3[2]
P00 = (a2[1][0, 0], a2[1][1, 0], a2[1][2, 0])
if abs(P0[0] - P00[0]) > 1.e-6: a2 = T.reorder(a2, (-1, 2, 3))
elif abs(P0[1] - P00[1]) > 1.e-6: a2 = T.reorder(a2, (-1, 2, 3))
elif abs(P0[2] - P00[2]) > 1.e-6: a2 = T.reorder(a2, (-1, 2, 3))
P0 = (a2[1][0, N2 - 1], a2[1][1, N2 - 1], a2[1][2, N2 - 1])
P00 = (a3[1][0, 0], a3[1][1, 0], a3[1][2, 0])
if abs(P0[0] - P00[0]) > 1.e-6: a3 = T.reorder(a3, (-1, 2, 3))
elif abs(P0[1] - P00[1]) > 1.e-6: a3 = T.reorder(a3, (-1, 2, 3))
elif abs(P0[2] - P00[2]) > 1.e-6: a3 = T.reorder(a3, (-1, 2, 3))
#C.convertArrays2File([a1,a2,a3], 'order.plt')
# Center
w1 = C.array('weight', N1, 1, 1)
w1 = C.initVars(w1, 'weight', 1)
w2 = C.array('weight', N2, 1, 1)
w2 = C.initVars(w2, 'weight', 1)
w3 = C.array('weight', N3, 1, 1)
w3 = C.initVars(w3, 'weight', 1)
CC = G.barycenter([a1, a2, a3], [w1, w2, w3])
# Subzones
s1 = T.subzone(a1, (1, 1, 1), (N1 - N + 1, 1, 1))
s2 = T.subzone(a1, (N1 - N + 1, 1, 1), (N1, 1, 1))
s3 = T.subzone(a2, (1, 1, 1), (N2 - N1 + N, 1, 1))
s4 = T.subzone(a2, (N2 - N1 + N, 1, 1), (N2, 1, 1))
s5 = T.subzone(a3, (1, 1, 1), (N, 1, 1))
s6 = T.subzone(a3, (N, 1, 1), (N3, 1, 1))
# Lines
index = N1 - N
P01 = (a1[1][0, index], a1[1][1, index], a1[1][2, index])
index = N2 - N1 + N - 1
P12 = (a2[1][0, index], a2[1][1, index], a2[1][2, index])
index = N - 1
P23 = (a3[1][0, index], a3[1][1, index], a3[1][2, index])
l1 = D.line(CC, P01, N=N2 - N1 + N)
l2 = D.line(CC, P12, N=N)
l3 = D.line(CC, P23, N=N1 - N + 1)
# TFIs
m1 = G.TFI([s1, l1, l3, s6])
m2 = G.TFI([l1, s2, s3, l2])
m3 = G.TFI([l2, s4, s5, l3])
#return [l1,l2,l3,s1,s2,s3,s4,s5,s6]
#return [s1,l1,l3,s6,m1]
return [m1, m2, m3]
return x*x + 2.*y*y + 3*z
elif deg == 3 :
return x*x*y + 2.*y*y*y + 3*z
elif deg == 4 :
return x*x*x*x + 2.*y*y*y*y +z*z
elif deg == 5 :
return 2*x*x*x*x*x + 2.*y*y*z + z*z
else :
print 'Error : unknown degree of polynomials'
import sys
sys.exit()
# Maillage en noeuds
ni = 101; nj = 101; nk = 11
m = G.cylinder((0,0,0), 1., 10.,45., 145., 1., (ni,nj,nk))
m = T.reorder(m, (-1,2,3))
#
as=[]
as.append(m)
# init by function
m = C.addVars(m, 'F')
m = C.initVars(m, 'F', F, ['x','y','z'])
# Cree un maillage d'extraction
ni2 = 30; nj2 = 30
a = G.cart( (-1.,2.,0.4), (1./(ni2-1),1./(nj2-1),0.1), (ni2,nj2,2))
as.append(a)
C.convertArrays2File(as,"out.plt","bin_tp")
#
# Extrait la solution sur le maillage d'extraction
ordret = [2,3,5]
def TFIO__(a, weight, offset=0):
import Transform as T
import Geom as D
Nt = a[2]
# Calcul des points P1, P2, P3, P4
w = C.array('weight', Nt, 1, 1)
w = C.initVars(w, 'weight', 1.)
w[1][0, 0:Nt / 4 + 1] = weight
P1 = G.barycenter(a, w)
w = C.initVars(w, 'weight', 1.)
w[1][0, Nt / 4:Nt / 2 + 1] = weight
P2 = G.barycenter(a, w)
w = C.initVars(w, 'weight', 1.)
w[1][0, Nt / 2:3 * Nt / 4 + 1] = weight
P3 = G.barycenter(a, w)
w = C.initVars(w, 'weight', 1.)
w[1][0, 3 * Nt / 4:Nt] = weight
P4 = G.barycenter(a, w)
# Calcul de P'1: projete de P1 sur le cercle
b = C.convertArray2Hexa(a)
b = G.close(b)
PP = C.array('x,y,z', 4, 1, 1)
C.setValue(PP, 0, (P1[0], P1[1], P1[2]))
C.setValue(PP, 1, (P2[0], P2[1], P2[2]))
C.setValue(PP, 2, (P3[0], P3[1], P3[2]))
C.setValue(PP, 3, (P4[0], P4[1], P4[2]))
PPP = T.projectOrtho(PP, [b])
PPP = PPP[1]
PP1 = (PPP[0, 0], PPP[1, 0], PPP[2, 0])
PP2 = (PPP[0, 1], PPP[1, 1], PPP[2, 1])
indexPP1 = D.getNearestPointIndex(a, PP1)[0] + offset
if (indexPP1 < 0): indexPP1 = Nt + indexPP1 - 1
if (indexPP1 > Nt - 1): indexPP1 = indexPP1 - Nt - 1
# Renumerote a a partir de PP1
b = T.subzone(a, (1, 1, 1), (indexPP1 + 1, 1, 1))
c = T.subzone(a, (indexPP1 + 1, 1, 1), (Nt, 1, 1))
a = T.join(c, b)
indexPP1 = 0
PP1 = (a[1][0, indexPP1], a[1][1, indexPP1], a[1][2, indexPP1])
indexPP2 = D.getNearestPointIndex(a, PP2)[0] - offset
PP2 = (a[1][0, indexPP2], a[1][1, indexPP2], a[1][2, indexPP2])
indexPP3 = indexPP1 + Nt / 2
PP3 = (a[1][0, indexPP3], a[1][1, indexPP3], a[1][2, indexPP3])
N1 = indexPP2 - indexPP1 + 1
N2 = Nt / 2 - N1 + 2
indexPP4 = indexPP3 + N1 - 1
PP4 = (a[1][0, indexPP4], a[1][1, indexPP4], a[1][2, indexPP4])
# Lines
l1 = D.line(P1, P2, N=N1)
l2 = D.line(P2, P3, N=N2)
l3 = D.line(P3, P4, N=N1)
l4 = D.line(P4, P1, N=N2)
dist1 = D.getLength(l1)
p1 = D.line(P1, PP1, N=10)
dist2 = D.getLength(p1)
Np = int(dist2 / dist1 * N1) + 1
p1 = D.line(P1, PP1, N=Np)
p2 = D.line(P2, PP2, N=Np)
p3 = D.line(P3, PP3, N=Np)
p4 = D.line(P4, PP4, N=Np)
# subzones
s1 = T.subzone(a, (indexPP1 + 1, 1, 1), (indexPP2 + 1, 1, 1))
s2 = T.subzone(a, (indexPP2 + 1, 1, 1), (indexPP3 + 1, 1, 1))
s3 = T.subzone(a, (indexPP3 + 1, 1, 1), (indexPP4 + 1, 1, 1))
s4 = T.subzone(a, (indexPP4 + 1, 1, 1), (Nt, 1, 1))
# TFIs
m = G.TFI([l1, l2, l3, l4])
m1 = G.TFI([s1, p1, p2, l1])
m2 = G.TFI([s2, p2, p3, l2])
m3 = G.TFI([s3, p3, p4, l3])
m4 = G.TFI([s4, p4, p1, l4])
return [m, m1, m2, m3, m4]
# - conformizeNGon (array) - import Generator as G import Converter as C import Transform as T a = G.cartNGon((0, 0, 0), (0.1, 0.1, 1), (11, 11, 1)) b = G.cartNGon((1., 0, 0), (0.1, 0.2, 1), (11, 6, 1)) a = G.cartNGon((0, 0, 0), (1, 1, 1), (3, 3, 1)) b = G.cartNGon((2., 0, 0), (2, 2, 1), (2, 2, 1)) res = T.join(a, b) res2 = C.conformizeNGon(res) C.convertArrays2File(res2, 'out.plt')
def update(self, dt):
for ent, (transform, motion, mcontrol,
bcontrol) in self.world.get_components(
Transform, Motion, MovementControl, BoostControl):
particles = self.world.get_entity_component(ent, Particles)
if bcontrol.ic.get_amt(
) > 0 and bcontrol.recovery_time_left == 0 and bcontrol.disabled == 0:
if mcontrol.is_moving and (motion.velocity.x != 0
or motion.velocity.y != 0):
bcontrol.recovery_time_left = bcontrol.recovery_time
bcontrol.boost_time_left = bcontrol.boost_time
bcontrol.accel_time_left = bcontrol.accel_time
mcontrol.disabled += 1
target_accel = motion.velocity.with_length(
bcontrol.accel_speed)
diff = mathutils.rot_diff(motion.velocity.to_rot(),
mcontrol.rot)
if diff > bcontrol.back_boost_rot_diff or diff < -bcontrol.back_boost_rot_diff:
target_accel.mul_scalar(-1)
motion.acceleration = target_accel
if particles:
# calculations
d = motion.acceleration.normalized()
offset = d.rotated(mathutils.HALF_PI).mul_scalar(
bcontrol.particle_offset)
# paramaters
name = "boost_particle"
pos = transform.pos #.added_to(d.multed_by_scalar(bcontrol.particle_offset))
rot = mathutils.HALF_PI - d.to_rot()
vel = d.mul_scalar(-bcontrol.particle_speed)
lifetime = bcontrol.particle_lifetime
opacity_func = lambda x: x
# creation
particles.add(name,
Transform(pos.added_to(offset),
rot + 0.1),
lifetime=lifetime,
velocity=vel.rotated(-0.2),
opacity_func=opacity_func)
particles.add(name,
Transform(pos.subbed_by(offset),
rot - 0.1),
lifetime=lifetime,
velocity=vel.rotated(0.2),
opacity_func=opacity_func)
if bcontrol.recovery_time_left > 0:
bcontrol.recovery_time_left = max(
0, bcontrol.recovery_time_left - dt)
if bcontrol.boost_time_left > 0:
bcontrol.boost_time_left = max(0,
bcontrol.boost_time_left - dt)
if bcontrol.boost_time_left == 0:
mcontrol.disabled -= 1
if bcontrol.accel_time_left > 0:
bcontrol.accel_time_left = max(0,
bcontrol.accel_time_left - dt)
motion.velocity.set_max_length(bcontrol.max_speed)
# - integNormProduct (array) -
import Generator as G
import Converter as C
import Transform as T
import Post as P
from numpy import *
import math
res1 = math.pi*10.
res1c = (math.pi-math.pi/25.)*10.
res2 = 2.
res2c = 1.62
# Lit le fichier et le met dans arrays
a = G.cylinder((0.,0.,0.), 0.5, 1., 360., 0., 10., (50,2,30))
a2 = T.subzone(a, (1,1,1), (50,1,30))
#C.convertArrays2File([a], "new.plt", "bin_tp")
# integNormProd node2center, nj = 1
ni = a[2]-1
nj = a[3]-1
nk = a[4]-1
dens = C.array('tx,ty,tz', ni, nj, nk)
densa = C.initVars(dens,'tx', 0.)
densa = C.initVars(densa,'ty', 1.)
densa = C.initVars(densa,'tz', 0.)
res = P.integNormProduct([a2],[densa],[])
if math.fabs(res) > 1.e-1:
print "pb in integNormProdNodeCenter, nj=1"
# integNormProd, nj = 1
ni = a[2]
