def test_frame(self):
# Given
s = visual.sphere()
a = visual.arrow()
f = visual.frame(s, a)
# Then
axis = (1.0, 0, 0)
assert_allclose(s.axis, axis, rtol=0, atol=1e-15)
assert_allclose(a.axis, axis, rtol=0, atol=1e-15)
assert_allclose(f.axis, axis, rtol=0, atol=1e-15)
# When
axis = (0, 1.0, 0.0)
f.axis = axis
# Then
assert_allclose(s.axis, axis, rtol=0, atol=1e-15)
assert_allclose(a.axis, axis, rtol=0, atol=1e-15)
assert_allclose(f.axis, axis, rtol=0, atol=1e-15)
# When
pos = (1., 1.0, 1.0)
f.pos = pos
# Then
assert_allclose(s.pos, pos, rtol=0, atol=1e-15)
assert_allclose(a.pos, pos, rtol=0, atol=1e-15)
assert_allclose(f.pos, pos, rtol=0, atol=1e-15)
def test_frame(self):
# Given
s = visual.sphere()
a = visual.arrow()
f = visual.frame(s, a)
# Then
axis = (1.0, 0, 0)
assert_allclose(s.axis, axis, rtol=0, atol=1e-15)
assert_allclose(a.axis, axis, rtol=0, atol=1e-15)
assert_allclose(f.axis, axis, rtol=0, atol=1e-15)
# When
axis = (0, 1.0, 0.0)
f.axis = axis
# Then
assert_allclose(s.axis, axis, rtol=0, atol=1e-15)
assert_allclose(a.axis, axis, rtol=0, atol=1e-15)
assert_allclose(f.axis, axis, rtol=0, atol=1e-15)
# When
pos = (1., 1.0, 1.0)
f.pos = pos
# Then
assert_allclose(s.pos, pos, rtol=0, atol=1e-15)
assert_allclose(a.pos, pos, rtol=0, atol=1e-15)
assert_allclose(f.pos, pos, rtol=0, atol=1e-15)
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, hex_list, np_file='/tmp/magnetic_ground_truth.np', robot_height=40, width=800, height=600,
start_point=(0, 0, 0), message='experiment default message...'):
self.debug = False
self.animator = None
self.movement_mode = 0
self.start_point = start_point
self.robot_height = robot_height
self.message = message
self.start_time = int(time.time() * 1000)
self.width = width
self.height = height
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
v = mlab.view(270, 180)
#print v
engine = mlab.get_engine()
self.s = engine.current_scene
self.s.scene.interactor.add_observer('KeyPressEvent', self.keypress_callback)
self.robots = []
colors = list(PathBatterySimulator.color_codes)
for key, local_hex_list in sorted(hex_list['internal_routes'].items()):
color = colors.pop(0)
ball = visual.sphere(color=color, radius=PathBatterySimulator.ball_radius)
ball.x = self.start_point[0]
ball.y = self.start_point[1]
ball.z = self.start_point[2]
r, g, b = color
rt = r + (0.25 * (1 - r))
gt = g + (0.25 * (1 - g))
bt = b + (0.25 * (1 - b))
curve_color = (rt, gt, bt)
curve = visual.curve(color=curve_color, radius=PathBatterySimulator.curve_radius)
r_ball = RobotBall(key, local_hex_list, hex_list['external_routes'][key], ball, curve)
self.robots.append(r_ball)
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)
self.master_cmd = MasterCommand(self.robots)
def __init__(self,
hex_list,
np_file='/tmp/magnetic_ground_truth.np',
robot_height=40,
width=800,
height=600,
start_point=(0, 0, 0)):
self.debug = False
self.animator = None
self.movement_mode = 0
self.start_point = start_point
self.robot_height = robot_height
self.width = width
self.height = height
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
v = mlab.view(270, 180)
#print v
engine = mlab.get_engine()
s = engine.current_scene
s.scene.interactor.add_observer('KeyPressEvent',
self.keypress_callback)
self.robots = []
colors = list(PathRobustSimulator.color_codes)
for key, local_hex_list in sorted(hex_list['internal_routes'].items()):
color = colors.pop(0)
ball = visual.sphere(color=color,
radius=PathRobustSimulator.ball_radius)
ball.x = self.start_point[0]
ball.y = self.start_point[1]
ball.z = self.start_point[2]
curve = visual.curve(color=color,
radius=PathRobustSimulator.curve_radius)
r_ball = RobotBall(key, local_hex_list,
hex_list['external_routes'][key], ball, curve)
self.robots.append(r_ball)
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)
self.master_cmd = MasterCommand(self.robots)
def test_sphere(self):
# When
s = visual.sphere()
# Then
# The discrete representation of the sphere makes the bounds a bit
# smaller than one would expect.
assert_allclose(s.polydata.bounds, (-0.5, 0.5, -0.5, 0.5, -0.5, 0.5), rtol=1e-2)
self.assertEqual(s.radius, 0.5)
# When
s = visual.sphere(pos=(1.0, 1.0, 1.0))
# Then
assert_allclose(s.polydata.bounds, (0.5, 1.5, 0.5, 1.5, 0.5, 1.5), rtol=1e-2)
# When
s = visual.sphere(x=1.0)
# Then
assert_allclose(s.polydata.bounds, (0.5, 1.5, -0.5, 0.5, -0.5, 0.5), rtol=1e-2)
def test_sphere(self):
# When
s = visual.sphere()
# Then
# The discrete representation of the sphere makes the bounds a bit
# smaller than one would expect.
assert_allclose(s.polydata.bounds,
(-0.5, 0.5, -0.5, 0.5, -0.5, 0.5), rtol=1e-2)
self.assertEqual(s.radius, 0.5)
# When
s = visual.sphere(pos=(1.0, 1.0, 1.0))
# Then
assert_allclose(s.polydata.bounds,
(0.5, 1.5, 0.5, 1.5, 0.5, 1.5), rtol=1e-2)
# When
s = visual.sphere(x=1.0)
# Then
assert_allclose(s.polydata.bounds,
(0.5, 1.5, -0.5, 0.5, -0.5, 0.5), rtol=1e-2)
def __init__(self,
wp_list,
hex_list,
robot_height=40,
np_file='/tmp/magnetic_ground_truth.np',
width=800,
height=600,
start_point=(0, 0, 0)):
self.debug = True
self.movement_mode = 0
self.start_point = start_point
self.robot_height = robot_height
self.width = width
self.height = height
self.wp_list = wp_list
self.index_list = []
self.history = []
self.last_positions = []
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
self.balls = []
self.trajectories = []
colors = list(PathSimulator.color_codes)
for i in xrange(len(self.wp_list)):
color = colors.pop(0)
ball = visual.sphere(color=color, radius=PathSimulator.ball_radius)
ball.x = self.start_point[0]
ball.y = self.start_point[1]
ball.z = self.start_point[2]
self.balls.append(ball)
self.trajectories.append(
visual.curve(color=color, radius=PathSimulator.curve_radius))
self.index_list.append(0)
self.history.append([])
self.last_positions.append(self.start_point)
x = np.linspace(0, self.width, 1)
y = np.linspace(0, self.height, 1)
self.z = np.loadtxt(np_file)
self.z *= 255.0 / self.z.max()
mlab.surf(x, y, self.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 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
box (pos = (xx,yy,zz), length=x, height=y, width=z,
color=(red,green,blue))
def wirecube(s):
c = curve(color = (1,1,1), radius=1)
pts = [(-s, -s, -s),(-s, -s, s), (-s, s, s),
(-s, s, -s), (-s, -s, -s), (s, -s, -s),
(s, s, -s), (-s, s, -s), (s, s, -s),
(s, s, s), (-s, s, s), (s, s, s),
(s, -s, s), (-s, -s, s), (s, -s, s),(s, -s, -s)]
for pt in pts:
c.append(pt)
side = 150.0
cube = box(size = (side,side,side), representation = 'w' )
i = 0
while i < 100:
random_box()
i = i + 1
arrow(axis=(0,12,0), radius_shaft=3.5, color = (1,0,0))
ball = sphere(pos=(-side/2.,-side/2.,-side/2.),color=(1,1,0),radius=3)
disk = cylinder(pos=(side/2.,side/2.,-side/2.),color=(.3,.3,1),axis=(1,1,0),radius=5)
xx = arange(0,4*pi,pi/10.)
spring=curve(color=(1,.7,.1), radius=0.4)
for y in xx:
spring.append([20+cos(2*y), y/2.-30, -20+sin(2*y)+30])
show()
#CONSTANTES #Ancho de la mesa ancho = 1.2 #Largo de la mesa largo = 2.4 #Grosor de los muros del billar grosor = 0.1 #Radio bola 1 r1 = 0.05 #Radio bola 2 r2 = 0.05 #Radio bola 3 r3 = 0.05 #Creando bola 1 bola1 = visual.sphere(radius=r1, color=(1.0, 1.0, 1.0)) bola1.pos = [0., 0., 0.] bola1.t = 0 bola1.dt = 1 #Creando bola 2 bola2 = visual.sphere(radius=r2, color=(1.0, 1.0, 1.0)) bola2.pos = [0., 0., 0.] bola2.t = 0 bola2.dt = 1 #Creando bola 1 bola3 = visual.sphere(radius=r3, color=(1.0, 1.0, 1.0)) bola3.pos = [0., 0., 0.] bola3.t = 0 bola3.dt = 1
def __init__(self,Dlist): # czerwony + , niebieski - self.VisPoints = [ [visual.sphere(x=D.r1[0],y=D.r1[1],z=D.r1[2],color=visual.color.red,radius=D.l/2**0.5),visual.sphere(x=D.r2[0],y=D.r2[1],z=D.r2[2],color=visual.color.blue,radius=D.l/2**0.5)] for D in Dlist]
pts = [(-s, -s, -s), (-s, -s, s), (-s, s, s), (-s, s, -s), (-s, -s, -s),
(s, -s, -s), (s, s, -s), (-s, s, -s), (s, s, -s), (s, s, s),
(-s, s, s), (s, s, s), (s, -s, s), (-s, -s, s), (s, -s, s),
(s, -s, -s)]
for pt in pts:
c.append(pt)
side = 150.0
cube = box(size=(side, side, side), representation='w')
i = 0
while i < 100:
random_box()
i = i + 1
arrow(axis=(0, 12, 0), radius_shaft=3.5, color=(1, 0, 0))
ball = sphere(pos=(-side / 2., -side / 2., -side / 2.),
color=(1, 1, 0),
radius=3)
disk = cylinder(pos=(side / 2., side / 2., -side / 2.),
color=(.3, .3, 1),
axis=(1, 1, 0),
radius=5)
xx = arange(0, 4 * pi, pi / 10.)
spring = curve(color=(1, .7, .1), radius=0.4)
for y in xx:
spring.append([20 + cos(2 * y), y / 2. - 30, -20 + sin(2 * y) + 30])
show()
def __init__(self,
hex_list,
np_file='/tmp/magnetic_ground_truth.np',
robot_height=40,
width=800,
height=600,
start_point=(0, 0, 0),
message='experiment default message...',
battery=99999):
self.debug = False
self.animator = None
self.movement_mode = 0
self.start_point = start_point
self.robot_height = robot_height
self.message = message
self.start_time = int(time.time() * 1000)
self.timestep = 0
self.width = width
self.height = height
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
v = mlab.view(270, 180)
#print v
engine = mlab.get_engine()
self.s = engine.current_scene
self.s.scene.interactor.add_observer('KeyPressEvent',
self.keypress_callback)
self.robots = []
colors = list(PathBatterySimulator.color_codes)
for key, local_hex_list in sorted(hex_list['internal_routes'].items()):
color = colors.pop(0)
ball = visual.sphere(color=color,
radius=PathBatterySimulator.ball_radius)
ball.x = self.start_point[0]
ball.y = self.start_point[1]
ball.z = self.start_point[2]
r, g, b = color
rt = r + (0.25 * (1 - r))
gt = g + (0.25 * (1 - g))
bt = b + (0.25 * (1 - b))
curve_color = (rt, gt, bt)
curve = visual.curve(color=curve_color,
radius=PathBatterySimulator.curve_radius)
r_ball = RobotBall(key,
local_hex_list,
hex_list['external_routes'][key],
ball,
curve,
battery=battery)
self.robots.append(r_ball)
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)
self.master_cmd = MasterCommand(self.robots)
self.robot_pos = open('/tmp/robot_log.txt', 'a')
#CONSTANTES #Ancho de la mesa ancho = 1.2 #Largo de la mesa largo = 2.4 #Grosor de los muros del billar grosor = 0.1 #Radio bola 1 r1 = 0.05 #Radio bola 2 r2 = 0.05 #Radio bola 3 r3 = 0.05 #Creando bola 1 bola1 = visual.sphere( radius=r1, color=(1.0, 1.0, 1.0) ) bola1.pos = [ 0., 0., 0. ] bola1.t = 0 bola1.dt = 1 #Creando bola 2 bola2 = visual.sphere( radius=r2, color=(1.0, 1.0, 1.0) ) bola2.pos = [ 0., 0., 0. ] bola2.t = 0 bola2.dt = 1 #Creando bola 1 bola3 = visual.sphere( radius=r3, color=(1.0, 1.0, 1.0) ) bola3.pos = [ 0., 0., 0. ] bola3.t = 0 bola3.dt = 1
#!/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
#!/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():
def __init__(self,random_minerals=True,random_location=True, mineral_location= Location.CENTER,
reward = Reward.RELATIVE, grayscale = False, flat = False,
mineral_scale = 1.5, start_shift = 0, camera_height = 4,
actions = [Action.LEFT,Action.RIGHT,Action.FORWARDS,Action.BACKWARDS,Action.CW,Action.CCW],
decorations = False, camera_tilt = 0,start_pos=-23.5,
width = 900, height = (500-46),resize_scale=15,
x_collision_scale = 1,y_collision_scale = 1,k=5,silver=(.5,.5,.7), random_colors = False,random_lighting=False):
self.random_minerals = random_minerals
self.random_location = random_location
self.mineral_location = mineral_location
self.reward = reward
self.grayscale = grayscale
self.flat = flat
self.actions = actions.copy()
self.actions_index_dict = self.get_action_index_dictionary()
self.camera_height = camera_height
self.decorations = decorations
self.camera_tilt = camera_tilt
self.start_pos = start_pos
self.resize_scale = resize_scale
mlab.close(all=True)
self.width = width
self.height = height + 46
self.f = mlab.figure(size=(self.width,self.height),bgcolor = (1,1,1))
self.f.scene._lift()
self.square_width = 23.5
self.start_shift = start_shift
self.x_collision_scale = x_collision_scale
self.y_collision_scale = y_collision_scale
self.k = k
self.k_max_iterations = 10
self.silver = silver
self.random_colors = random_colors
self.random_lighting = random_lighting
visual.set_viewer(self.f)
a_side = 34.5
tape_height = .2
#distance between minerals
self.d = 14.5 / np.sqrt(2)
#color for silver
#silver = (.8,.8,.8)
floor_color = (.4,.4,.4)
#reate field
self.floor_3_3 = visual.box(x=0,y=0,z=-1, length = 23.5*3,height = 23.5*3,width = 2,color = floor_color)
#get mineral location
locations = self.get_mineral_locations()
#self.gold_mineral = visual.box(x=locations[0][0],y=locations[0][1],z=1, length=4,height=4,width=4, color = (1,1,0))
mineral_radius = 2.75 * mineral_scale
self.gold_mineral = visual.sphere(x=locations[0][0],y=locations[0][1],z=mineral_radius,radius =mineral_radius,color = (1,1,0) )
self.silver_mineral_1 = visual.sphere(x=locations[1][0],y=locations[1][1],z=mineral_radius,radius =mineral_radius,color = self.silver)
self.silver_mineral_2 = visual.sphere(x=locations[2][0],y=locations[2][1],z=mineral_radius,radius =mineral_radius,color = self.silver)
#randomly pick the red or blue side
r = np.round(np.random.random(1)[0])
b = 1 - r
tape_color = (r,0,b)
#23.5 is the diameter of a square
#place the crater tape
self.vertical_lander_tape = visual.box(x=-self.square_width*3/2 + 1,y=a_side/2 - self.square_width*3/2,z=tape_height,length = 2, height = a_side, width = tape_height,color=tape_color)
self.h_lander_tape = visual.box(x=-self.square_width*3/2 + a_side/2,y=-a_side/2,z=tape_height,length = 2, height = a_side * np.sqrt(2), width = tape_height,color=tape_color)
self.h_lander_tape.rotate(45,axis = [0,0,1],origin = [self.h_lander_tape.x,self.h_lander_tape.y,self.h_lander_tape.z])
self.marker_left = visual.box(x=self.square_width/2 + 1, y =self.square_width,z=tape_height,length=2,height = self.square_width,width=tape_height,color=tape_color)
self.marker_right = visual.box(x=3*self.square_width/2 -1, y =self.square_width,z=tape_height,length=2,height = self.square_width,width=tape_height,color=tape_color)
self.marker_bottom = visual.box(x=self.square_width,y=self.square_width/2 + 1, z = tape_height,length=self.square_width,height=2,width=tape_height,color=tape_color)
self.marker_top = visual.box(x=self.square_width,y=3*self.square_width/2 - 1, z = tape_height,length=self.square_width,height=2,width=tape_height,color=tape_color)
#add bars
if self.decorations:
bar_width = 1.5
bar_height = 1
middle_height = 12 - bar_height*2
middle_color = floor_color
bar_length = self.square_width * 3
bar_color = (0,0,0)
self.bar1 = visual.box(x=self.square_width*1.5-bar_width/2,y=0,z=tape_height, width= bar_width, height=bar_height,length=bar_length, color = bar_color)
self.bar1.rotate(90,axis=[0,0,1],origin=self.bar1.pos)
self.bar1m = visual.box(x=self.square_width*1.5-bar_width/2,y=0,z=bar_height+middle_height/2, width= middle_height, height=bar_width,length=bar_length, color = middle_color)
self.bar1m.rotate(90,axis=[0,0,1],origin=self.bar1m.pos)
self.bar1t = visual.box(x=self.square_width*1.5-bar_width/2,y=0,z=bar_height+middle_height, width= bar_height, height=bar_width,length=bar_length, color = bar_color)
self.bar1t.rotate(90,axis=[0,0,1],origin=self.bar1t.pos)
self.bar2 = visual.box(x=-self.square_width*1.5+bar_width/2,y=0,z=tape_height, width= bar_width, height=bar_height,length=bar_length, color = bar_color)
self.bar2.rotate(90,axis=[0,0,1],origin=self.bar2.pos)
self.bar2m = visual.box(x=-self.square_width*1.5+bar_width/2,y=0,z=bar_height+middle_height/2, width= middle_height, height=bar_width,length=bar_length, color = middle_color)
self.bar2m.rotate(90,axis=[0,0,1],origin=self.bar2m.pos)
self.bar2t = visual.box(x=-self.square_width*1.5+bar_width/2,y=0,z=bar_height+middle_height, width= bar_height, height=bar_width,length=bar_length, color = bar_color)
self.bar2t.rotate(90,axis=[0,0,1],origin=self.bar2t.pos)
self.bar3 = visual.box(x=0,y=self.square_width*1.5-bar_width/2,z=tape_height, width= bar_width, height=bar_height,length=bar_length, color = bar_color)
self.bar3m = visual.box(x=0,y=self.square_width*1.5-bar_width/2,z=bar_height+middle_height/2, width= middle_height, height=bar_width,length=bar_length, color = middle_color)
self.bar3t = visual.box(x=0,y=self.square_width*1.5-bar_width/2,z=bar_height+middle_height, width= bar_height, height=bar_width,length=bar_length, color = bar_color)
self.bar4 = visual.box(x=0,y=-self.square_width*1.5+bar_width/2,z=tape_height, width= bar_width, height=bar_height,length=bar_length, color = bar_color)
self.bar4m = visual.box(x=0,y=-self.square_width*1.5+bar_width/2,z=bar_height+middle_height/2, width= middle_height, height=bar_width,length=bar_length, color = middle_color)
self.bar4t = visual.box(x=0,y=-self.square_width*1.5+bar_width/2,z=bar_height+middle_height, width= bar_height, height=bar_width,length=bar_length, color = bar_color)
if self.random_colors:
height_scale = 40
new_height = bar_height * height_scale
self.bar1t.width= new_height
self.bar1t.rotate(90,axis=[0,0,1],origin=self.bar1t.pos)
self.bar2t.width= new_height
self.bar2t.rotate(90,axis=[0,0,1],origin=self.bar2t.pos)
self.bar3t.width = new_height
self.bar4t.width = new_height
self.randomize_colors()
self.x, self.y, self.pos_angle = self.get_start_position()
self.init_position()
if self.random_lighting:
self.randomize_lighting()
self.move_distance = 2
self.turn_angle = 5
def __init__(self):
mlab.close(all=True)
self.width = 900
self.height = 500
self.f = mlab.figure(size=(self.width, self.height), bgcolor=(1, 1, 1))
self.f.scene._lift()
visual.set_viewer(self.f)
self.square_width = 23.5
a_side = 34.5
tape_height = .2
#distance between minerals
d = 14.5 / np.sqrt(2)
#color for silver
silver = (.8, .8, .8)
#reate field
self.floor_3_3 = visual.box(x=0,
y=0,
z=-1,
length=23.5 * 3,
height=23.5 * 3,
width=2,
color=(.4, .4, .4))
#randomize starting locations
locations = [[-d, d], [0, 0], [d, -d]]
#np.random.shuffle(locations)
#place minerals
#self.gold_mineral = visual.box(x=locations[0][0],y=locations[0][1],z=1, length=4,height=4,width=4, color = (1,1,0))
mineral_radius = 2.75 * 2
self.gold_mineral = visual.sphere(x=locations[0][0],
y=locations[0][1],
z=mineral_radius,
radius=mineral_radius,
color=(1, 1, 0))
self.silver_mineral_1 = visual.sphere(x=locations[1][0],
y=locations[1][1],
z=mineral_radius,
radius=mineral_radius,
color=silver)
self.silver_mineral_2 = visual.sphere(x=locations[2][0],
y=locations[2][1],
z=mineral_radius,
radius=mineral_radius,
color=silver)
#randomly pick the red or blue side
r = np.round(np.random.random(1)[0])
b = 1 - r
tape_color = (r, 0, b)
#23.5 is the diameter of a square
#place the crater tape
self.vertical_lander_tape = visual.box(
x=-self.square_width * 3 / 2 + 1,
y=a_side / 2 - self.square_width * 3 / 2,
z=tape_height,
length=2,
height=a_side,
width=tape_height,
color=tape_color)
self.h_lander_tape = visual.box(x=-self.square_width * 3 / 2 +
a_side / 2,
y=-a_side / 2,
z=tape_height,
length=2,
height=a_side * np.sqrt(2),
width=tape_height,
color=tape_color)
self.h_lander_tape.rotate(45,
axis=[0, 0, 1],
origin=[
self.h_lander_tape.x,
self.h_lander_tape.y,
self.h_lander_tape.z
])
self.marker_left = visual.box(x=self.square_width / 2 + 1,
y=self.square_width,
z=tape_height,
length=2,
height=self.square_width,
width=tape_height,
color=tape_color)
self.marker_right = visual.box(x=3 * self.square_width / 2 - 1,
y=self.square_width,
z=tape_height,
length=2,
height=self.square_width,
width=tape_height,
color=tape_color)
self.marker_bottom = visual.box(x=self.square_width,
y=self.square_width / 2 + 1,
z=tape_height,
length=self.square_width,
height=2,
width=tape_height,
color=tape_color)
self.marker_top = visual.box(x=self.square_width,
y=3 * self.square_width / 2 - 1,
z=tape_height,
length=self.square_width,
height=2,
width=tape_height,
color=tape_color)
#mlab.view(focalpoint=[d,d,0],distance=64, elevation=-80)
self.x = -(self.square_width - 5) * np.random.random() - 5
self.y = -(self.square_width - 5) * np.random.random() - 5
self.update_position()
self.move_distance = 2.5
