def draw_dual(self, tube):
self.cone_handles = []
self.trans = com_target.p
apex = [0., 0., self.acc_scale * -9.81] + self.trans
colors = [(0.5, 0.5, 0., 0.3), (0., 0.5, 0.5, 0.3)]
if tube.start_stance.label.startswith('SS'):
colors.reverse()
for (stance_id, cone_vertices) in enumerate(tube.dual_vrep):
color = colors[stance_id]
vscale = [self.acc_scale * array(v) + self.trans
for v in cone_vertices]
self.cone_handles.extend(draw_cone(
apex=apex, axis=[0, 0, 1], section=vscale[1:], combined='r-#',
color=color))
def draw(self, acc_scale=0.05):
from pymanoid.gui import draw_cone, draw_polyhedron
handles = []
cyan, yellow = (0., 0.5, 0.5, 0.3), (0.5, 0.5, 0., 0.3)
handles.extend(draw_polyhedron(self.primal_vrep, '*.-#', color=cyan))
origin = self.primal_vrep[0]
apex = origin + [0., 0., acc_scale * -9.81]
vscale = [acc_scale * array(v) + origin for v in self.dual_vrep]
handles.extend(
draw_cone(apex=apex,
axis=[0, 0, 1],
section=vscale[1:],
combined='r-#',
color=yellow))
return handles