def add_triedron(self,
length=10,
width=1,
arrlen=1,
xcolor=pyservoce.red,
ycolor=pyservoce.green,
zcolor=pyservoce.blue):
self.xaxis = pyservoce.draw_arrow(pyservoce.point3(0, 0, 0),
pyservoce.vector3(length, 0, 0),
clr=xcolor,
arrlen=arrlen,
width=width)
self.yaxis = pyservoce.draw_arrow(pyservoce.point3(0, 0, 0),
pyservoce.vector3(0, length, 0),
clr=ycolor,
arrlen=arrlen,
width=width)
self.zaxis = pyservoce.draw_arrow(pyservoce.point3(0, 0, 0),
pyservoce.vector3(0, 0, length),
clr=zcolor,
arrlen=arrlen,
width=width)
self.dispobjects.append(self.xaxis)
self.dispobjects.append(self.yaxis)
self.dispobjects.append(self.zaxis)
def __init__(self, axis, mul=1, **kwargs):
super().__init__(**kwargs)
self.coord = 0
self.axis = pyservoce.vector3(axis)
self.axis = self.axis.normalize()
self.mul = mul
self.axmul = self.axis * self.mul
def vector3(*args):
args = [evalcache.unlazy_if_need(a) for a in args]
if len(args) == 1:
if args[0] is None:
return vector3(0, 0, 0)
return vector3(*args[0])
return pyservoce.vector3(*args)
def to_halfspace_if_need(x):
if isinstance(x, (tuple, list, pyservoce.vector3)):
vec = pyservoce.vector3(x)
return (
zencad.transform.translate(*vec) *
zencad.transform.short_rotate(fromvec=(0, 0, 1), tovec=vec))(
pyservoce.halfspace())
elif isinstance(x, (int, float)):
return pyservoce.halfspace().up(x)
return x
def __init__(self,
rigid_bodies,
constraits,
workspace_scale=1,
gravity=pyservoce.vector3(0, 0, 0),
world_dempher=0,
closing_compensation=True):
self.rigid_bodies = rigid_bodies
self.constraits = constraits
self.workspace_scale = workspace_scale
self.gravity = gravity
self.world_dempher = world_dempher
self.closing_compensation = closing_compensation
def active_forces(self):
NR = len(self.rigid_bodies)
N = NR * 6
S = numpy.zeros((N, 1))
gravs = []
if self.gravity != pyservoce.vector3(0, 0, 0):
for i, r in enumerate(self.rigid_bodies):
arm = -r.reference_inertia.radius
scr = screw(lin=self.gravity, ang=(
0, 0, 0)).force_carry(arm) * r.reference_inertia.mass
gravs.append(scr.npvec_lin_first())
P = np.concatenate(gravs).reshape((N, 1))
return S + P
def __init__(self, mass=1, matrix=pyservoce.matrix33(1,1,1), radius=pyservoce.vector3(0,0,0)): self.radius = pyservoce.vector3(radius) self.matrix = matrix self.invmatrix = self.matrix.inverse() self.mass = mass
def set_coords(self, coords, **kwargs):
self.x = coord[0]
self.y = coord[1]
self.output.relocate(
pyservoce.translate(pyservoce.vector3(self.x, self.y, 0)),
**kwargs)
def senses(self):
return ((pyservoce.vector3(1, 0, 0), pyservoce.vector3()),
(pyservoce.vector3(0, 1, 0), pyservoce.vector3()))
def sensivity(self):
"""Возвращает тензор производной по положению
в собственной системе координат в формате (w, v)"""
return (pyservoce.vector3(), self.axmul)
def vector3(*arg):
if isinstance(arg[0], pyservoce.vector3):
return arg[0]
return pyservoce.vector3(*arg)