def __init__(self, simulate_object_num, space_size, wall_depth):
self.simulate_object_num = simulate_object_num
self.space_size = space_size
self.wall_depth = wall_depth
self.simulate_object_list = []
for _ in range(simulate_object_num):
self.simulate_object_list.append(
Object_With_Bounding(
_vector(0, 0, 0),
[_vector(0, -1, -1), _vector(0, -1, 1), _vector(0, 1, -1), _vector(0, 1, 1), _vector(0, 0, 1)],
pyramid(pos=(0, 0, 0), size=(2, 2, 2)),
)
)
self.CreateSpaces(space_size, wall_depth, 0.1)
self.Rand_Pos_and_Velocity(10)
def Rand_Pos_and_Velocity(self, rand_section):
for i in range(self.simulate_object_num):
self.simulate_object_list[i].object_show.velocity = vector(
random.uniform(-rand_section, rand_section),
random.uniform(-rand_section, rand_section),
random.uniform(-rand_section, rand_section),
)
self.simulate_object_list[i].Move(
_vector(
self.simulate_object_list[i].object_show.velocity[0],
self.simulate_object_list[i].object_show.velocity[1],
self.simulate_object_list[i].object_show.velocity[2],
)
)
def Run(self):
dt = 0.03
index = 0
import time
checktime = []
runtime = []
while True:
rate(1 / dt)
index = index + 1
if index > 100:
return
start = time.time()
for i in range(self.simulate_object_num):
for j in range(i + 1, self.simulate_object_num):
if self.simulate_object_list[i].Is_Joint(self.simulate_object_list[j]) == True:
pass
# return
time1 = time.time()
self.simulate_object_list[i].Move(
_vector(
self.simulate_object_list[i].object_show.velocity[0],
self.simulate_object_list[i].object_show.velocity[1],
self.simulate_object_list[i].object_show.velocity[2],
)
)
self.Slove_rebound(i)
end = time.time()
checktime.append(end - start)
runtime.append(time1 - start)
import numpy as np
logging.info(">>total time(%d):" + str(np.mean(runtime)), index)
logging.info(">>check time(%d):" + str(np.mean(checktime)), index)
math.cos(math.radians(angle)) * self.vertex_pointList[i].vector_data_list[2]
self.object_show.rotate(angle=math.radians(angle), axis=(0,1,0), origin=self.object_show.pos)
def Rotate_Z(self,angle):
'''
@para: 1、angle:旋转的角度
@function: 旋转变换绕Z轴
'''
for i in range( len(self.vertex_pointList) ):
# x' = x*cos(angle)-y*sin(angle)
self.vertex_pointList[i].vector_data_list[0] = math.cos(math.radians(angle)) * self.vertex_pointList[i].vector_data_list[0]- \
math.sin(math.radians(angle)) * self.vertex_pointList[i].vector_data_list[1]
# y' = x*sin(angle)+y*cos(angle)
self.vertex_pointList[i].vector_data_list[1] = -math.sin(math.radians(angle)) * self.vertex_pointList[i].vector_data_list[0]+ \
math.cos(math.radians(angle)) * self.vertex_pointList[i].vector_data_list[1]
self.object_show.rotate(angle=math.radians(angle), axis=(0,0,1), origin=self.object_show.pos)
if __name__ == '__main__':
m = Object_With_Bounding(_vector(0,0,0),[_vector(1,2,1),_vector(2,1,5),_vector(4,1,1),_vector(4,4,1)])
m.Rotate_Z(90)
m.Update_Bounding()
for e in m.k_Dops.k_dops_bounding_box:
print e.min(),e.max()
for vertexe in m.vertex_pointList:
print vertexe.vector_data_list
pass
