class Obj():
def __init__(self):
self.d0 = 0
self.v0 = 0
self.d = 0
self.v = 0
self.a = 0
self.F = 0
self.t = 0
self.dt = 0.001
self.m = 0.1
self.B = 0.1
self.d_array = []
self.v_array = []
self.a_array = []
self.f_array = []
self.t_array = []
self.fext_array = []
self._m_store_trajectory = False
self._f_array_set = False
self._compute_collision = False
self.Col_obj = Collision()
self._sim_finished = False
def set_sim_finished(self, bool):
self._sim_finished = bool
def dynamics(self):
pass
def apply_force(self, F):
self.F = F
def set_force_array(self, force_array):
self.fext_array = force_array
self._f_array_set = True
def set_collision_check(self, bool):
self._compute_collision = bool
def update_force(self):
if self._f_array_set:
Fext1 = np.interp(self.t, self.fext_array.ft,
self.fext_array.f_array[0])
if self._compute_collision:
Fext2 = self.Col_obj.compute_collision(self.d)
self.F = Fext1 - Fext2
def update(self, dt=0.001):
self.d0 = self.d
self.v0 = self.v
if self._m_store_trajectory:
self.trajectory()
self.update_force()
self.dt = dt
self.t += self.dt
return self.eom()
def eom(self):
self.a = (self.F - self.B * self.v) / self.m
self.v = self.v0 + self.a * self.dt
self.d = self.d0 + (0.5 * (self.v0 + self.v) * self.dt)
return self.d, self.v
def set_mass(self, m):
self.m = m
def store_trajectory(self, check):
self._m_store_trajectory = check
def trajectory(self):
self.d_array.append(self.d0)
self.v_array.append(self.v0)
self.a_array.append(self.a)
self.f_array.append(self.F)
self.t_array.append(self.t)
def get_pos_last(self):
while self.d_array.__len__() > 0 and not self._sim_finished:
x = self.d_array[-1]
y = 0.0
yield x, y
def plot_trajectory(self, data_type='Position'):
plt.figure()
if data_type == 'Position':
Y = [self.d_array]
if data_type == 'Velocity':
Y = [self.v_array]
if data_type == 'Acceleration':
Y = [self.a_array]
if data_type == 'Force':
Y = [self.f_array]
if data_type == 'All':
Y = [self.d_array, self.v_array]
for i in range(0, len(Y)):
plt.plot(self.t_array, Y[i])
plt.xlabel('Time')
plt.ylabel(data_type)
plt.grid('on')
plt.show()
def plot_time(self):
plt.plot(self.t_array)
plt.show()
