/
pendulum.py
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/
pendulum.py
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#known bugs
- you must wait for finish 2d painting
- magnets dont appear on second 3d paint
import math
import matplotlib
#matplotlib.use('TkAgg') #troche zwieksza wydajnosc matplotlib
import matplotlib.pyplot as plt
from scipy import integrate as inte
import tkinter as tk
import ast
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
import time
import numpy as np
from PyQt5 import QtCore, QtGui
import pyqtgraph as pg # http://pyqtgraph.org/
import sys
import pyqtgraph.opengl as gl #openGL by pyqtgraph 3D dzialalo http://pyopengl.sourceforge.net/
parametersLabels=("k","m","l","g","n","xi","yi","di","ai","x0","x1","y0","y1")
parametersEntry={}
parametersSample=[1,2,4,9.81,3,[-1,1,1],[1,1,-1],[0.1,0.1,0.1],[1,-1,1.5],-1,0,-1,0]
y0Arr=[]
x0Arr=[]
def wahadlo(t, input):
xi=ast.literal_eval(parametersEntry['xi'].get())
yi=ast.literal_eval(parametersEntry['yi'].get())
di=ast.literal_eval(parametersEntry['di'].get())
ai=ast.literal_eval(parametersEntry['ai'].get())
k = float(parametersEntry['k'].get())
m = float(parametersEntry['m'].get())
l = float(parametersEntry['l'].get())
n=int(parametersEntry['n'].get())
g = float(parametersEntry['g'].get())
x0, x1,y0,y1 = input
# najwyzsza pochodna
x2 = 0
y2 = 0
for i in range(0,n):
x2=x2+ai[i]*(xi[i]-x0)/(math.sqrt((xi[i]-x0)**2+(yi[i]-y0)**2+di[i]**2)**3)
y2=y2+ai[i]*(yi[i]-y0)/(math.sqrt((xi[i]-x0)**2+(yi[i]-y0)**2+di[i]**2)**3)
x2=x2-x1*k/m-g/l*x0
y2=y2-y1*k/m-g/l*y0
return [x1, x2,y1,y2]
window = tk.Tk() # Create a background window
window.title("Lab 7 GUI")
def integCompute():
global x0Arr
global y0Arr
y0Arr.clear()
x0Arr.clear()
x0 = float(parametersEntry['x0'].get())
x1 = float(parametersEntry['x1'].get())
y0 = float(parametersEntry['y0'].get())
y1 = float(parametersEntry['y1'].get())
t_min = 0
t_max = 15
max_st = 0.02
# tworzymy obiekt calkujacy (RK45 - Dormand–Prince)
integrator = inte.RK45(wahadlo, t_min, [x0, x1,y0,y1], t_max, max_step = max_st)
# listy zbierajace wyniki do wykresu
times = [t_min]
x0Arr = [x0]
y0Arr = [y0]
# kolejne kroki symulacji
while integrator.t < t_max:
integrator.step()
times.append(integrator.t)
x0Arr.append(integrator.y[0])
y0Arr.append(integrator.y[2])
'''
plot2d = tk.Toplevel(master=window) #Matplotlib ma bardzo mala wydajnosc
plot2d.grab_set()
plot2d.title("plot2d")
figure2 = plt.Figure(figsize=(4,4),dpi=80)
line2 = FigureCanvasTkAgg(figure2, plot2d)
for i in range(0,len(x0Arr)):
figure2.clear()
figure2.add_subplot(111).plot(x0Arr[0:(i+1)],y0Arr[0:(i+1)])
line2.get_tk_widget().pack()
line2.draw()
'''
def plotCreate():
xi=ast.literal_eval(parametersEntry['xi'].get())
yi=ast.literal_eval(parametersEntry['yi'].get())
integCompute()
plot=pg.plot(title="Plot 2D") #pg jest znacznie szybsze niz matplotlib, mozna pobrac stad - http://pyqtgraph.org/
for i in range(0,len(x0Arr)):
plot.plot(x0Arr[0:(i+1)],y0Arr[0:(i+1)],clear=True)
plot.plot(xi,yi,pen=None, symbol='o')
pg.QtGui.QApplication.processEvents()
def plotCreate3D():
#pg.mkQApp()
i=0
app = QtGui.QApplication(sys.argv)
def exitHandler():
global i
view.removeItem(magnets)
view.destroy()
i=0
app.aboutToQuit.connect(exitHandler)
xi=ast.literal_eval(parametersEntry['xi'].get())
yi=ast.literal_eval(parametersEntry['yi'].get())
di=ast.literal_eval(parametersEntry['di'].get())
integCompute()
view = gl.GLViewWidget()
view.show()
## create three grids, add each to the view
xgrid = gl.GLGridItem()
ygrid = gl.GLGridItem()
zgrid = gl.GLGridItem()
view.addItem(xgrid)
view.addItem(ygrid)
view.addItem(zgrid)
## rotate x and y grids to face the correct direction
xgrid.rotate(90, 0, 1, 0)
ygrid.rotate(90, 1, 0, 0)
xgrid.translate(-4,0,4)
ygrid.translate(0,-10,4)
l = float(parametersEntry['l'].get())
## scale each grid differently
xgrid.scale(0.4, 1, 0.1)
ygrid.scale(0.4, 0.4, 1)
zgrid.scale(0.4, 1, 0.1)
# first line
zFound=-(math.sqrt(l**2-x0Arr[0]**2-y0Arr[0]**2)-l) #ze wzoru na odleglosc punktu w 3d
p=np.array([[0,x0Arr[0]],[0,y0Arr[0]],[l,zFound]])
p=p.transpose()
C=pg.glColor('b')
plt = gl.GLLinePlotItem(pos=p,color=C) #dodaje linke wahadla
view.addItem(plt)
pBall=np.array([[x0Arr[0]],[y0Arr[0]],[zFound]])
pBall=pBall.transpose()
cBall=pg.glColor('r')
ball = gl.GLScatterPlotItem(pos=pBall,color=cBall,size=0.3,pxMode=False) #dodaje linke wahadla
view.addItem(ball)
Zm=np.zeros(len(xi))
pM=np.array([np.add(xi,di),np.add(yi,di),Zm])
pM=pM.transpose()
Cm=pg.glColor('w')
magnets = gl.GLScatterPlotItem(pos=pM,color=Cm,size=0.25,pxMode=False)
view.addItem(magnets)
def update():
global i
if i==len(x0Arr):
i=0
return
zFound=-(math.sqrt(l**2-x0Arr[i]**2-y0Arr[i]**2)-l) #ze wzoru na odleglosc punktu w 3d
p=np.array([[0,x0Arr[i]],[0,y0Arr[i]],[l,zFound]])
p=p.transpose()
plt.setData(pos=p,color=C)
pBall=np.array([[x0Arr[i]],[y0Arr[i]],[zFound]]) #aktualizuje wspolrzedne linki
pBall=pBall.transpose()
cBall=pg.glColor('r')
ball.setData(pos=pBall,color=cBall,size=0.3,pxMode=False) #aktualizuje wspolrzedne kulki
i=i+1
timer = QtCore.QTimer()
timer.timeout.connect(update)
timer.start(20) #predkosc symulacji (mniej - szybciej)
app.exec()
'''
xi=ast.literal_eval(parametersEntry['xi'].get())
yi=ast.literal_eval(parametersEntry['yi'].get())
integCompute()
plot=pg.plot(title="Plot 3D") #pg jest znacznie szybsze niz matplotlib, mozna pobrac stad - http://pyqtgraph.org/
for i in range(0,len(x0Arr)):
plot.plot(x0Arr[0:(i+1)],y0Arr[0:(i+1)],clear=True)
plot.plot(xi,yi,pen=None, symbol='o')
pg.QtGui.QApplication.processEvents()
'''
def quitHandler():
sys.exit()
for i in range(0,len(parametersLabels)):
tk.Label(window, text=parametersLabels[i]).grid(row=i)
temp=tk.Entry(window)
temp.insert(i,str(parametersSample[i]))
temp.grid(row=i,column=1)
window.grid_rowconfigure(i,weight=1)
parametersEntry[parametersLabels[i]]=temp
btnPaint2D = tk.Button(window, text="Paint2D", padx=4,command = plotCreate)
btnPaint3D = tk.Button(window, text="Paint3D", padx=4,command = plotCreate3D)
btnQuit = tk.Button(window, text="Quit", padx=4,command = quitHandler)
btnPaint2D.grid(row=i+1,column=0,columnspan=2)
btnPaint3D.grid(row=i+2,column=0,columnspan=2)
btnQuit.grid(row=i+3,column=0,columnspan=2)
window.protocol("WM_DELETE_WINDOW", quitHandler)
window.grid_columnconfigure(0, minsize=50,weight=1)
window.grid_columnconfigure(1, minsize=100,weight=1)
window.mainloop()