def draw_forces(self, color=(255, 0, 0), scale=0.1, tol=0.001):
for edge in self.network.edges():
f = self.network.edge_attribute(edge, 'f')
l = self.network.edge_length(*edge) # noqa E741
radius = scale * f
if radius < tol:
continue
mp = self.network.edge_midpoint(*edge)
direction = self.network.edge_direction(*edge)
cylinder = Cylinder(((mp, direction), radius), l)
artist = CylinderArtist(cylinder, layer=self.layer, color=color)
artist.draw(u=16)
def cylinder_to_compas(cylinder):
"""Convert a Rhino cylinder to a COMPAS cylinder.
Parameters
----------
cylinder: :class:`Rhino.Geometry.Cylinder`
Returns
-------
:class:`compas.geometry.Cylinder`
"""
plane = plane_to_compas(cylinder.BasePlane)
height = cylinder.TotalHeight
plane.point += plane.normal * (0.5 * height)
return Cylinder(Circle(plane, cylinder.Radius), height)
from compas.datastructures import Mesh from compas.datastructures import mesh_quads_to_triangles from compas.datastructures import mesh_subdivide_quad from compas_viewers.multimeshviewer import MultiMeshViewer from compas_viewers.multimeshviewer.model import MeshObject import compas_libigl as igl origin = Point(0.0, 0.0, 0.0) cube = Box.from_width_height_depth(1.0, 1.0, 1.0) sphere = Sphere(origin, 0.95 * sqrt(0.5 ** 2 + 0.5 ** 2)) xcyl = Cylinder(Circle(Plane(origin, Vector(1.0, 0.0, 0.0)), 0.35), 2.0) ycyl = Cylinder(Circle(Plane(origin, Vector(0.0, 1.0, 0.0)), 0.35), 2.0) zcyl = Cylinder(Circle(Plane(origin, Vector(0.0, 0.0, 1.0)), 0.35), 2.0) a = Mesh.from_vertices_and_faces(cube.vertices, cube.faces) a = mesh_subdivide_quad(a, k=3) b = Mesh.from_vertices_and_faces(* sphere.to_vertices_and_faces(u=30, v=30)) c = Mesh.from_vertices_and_faces(* xcyl.to_vertices_and_faces(u=30)) d = Mesh.from_vertices_and_faces(* ycyl.to_vertices_and_faces(u=30)) e = Mesh.from_vertices_and_faces(* zcyl.to_vertices_and_faces(u=30)) mesh_quads_to_triangles(a) mesh_quads_to_triangles(b) mesh_quads_to_triangles(c) mesh_quads_to_triangles(d) mesh_quads_to_triangles(e)
# Rhino
from compas.datastructures import Mesh
from compas.geometry import Circle
from compas.geometry import Cylinder
from compas.geometry import Frame
from compas.geometry import Plane
from compas.geometry import Translation
from compas.robots import Joint
from compas.robots import RobotModel
from compas_fab.rhino import RobotArtist
from compas_fab.robots import Configuration
# create cylinder in yz plane
radius, length = 0.3, 5
cylinder = Cylinder(Circle(Plane([0, 0, 0], [1, 0, 0]), radius), length)
cylinder.transform(Translation([length / 2., 0, 0]))
# create robot
robot = RobotModel("robot", links=[], joints=[])
# add first link to robot
link0 = robot.add_link("world")
# add second link to robot
mesh = Mesh.from_shape(cylinder)
link1 = robot.add_link("link1", visual_mesh=mesh, visual_color=(0.2, 0.5, 0.6))
# add the joint between the links
axis = (0, 0, 1)
origin = Frame.worldXY()
robot.add_joint("joint1", Joint.CONTINUOUS, link0, link1, origin, axis)
layer = "ITA20::L5::FormFinding"
artist = NetworkArtist(network, layer=layer)
node_color = {node: (255, 0, 0) for node in network.nodes_where({'is_anchor': True})}
artist.draw_nodes(color=node_color)
artist.draw_edges()
# visualize the forces
height = 1.0
world = Frame.worldXY()
circle = [[0, 0, 0.5 * 0.7 * height], [0, 0, 1]], 0.05
cylinder = Cylinder(circle, 0.7 * height)
circle = [[0, 0, 0.7 * height], [0, 0, 1]], 0.1
cone = Cone(circle, 0.3 * height)
for node in network.nodes():
a = network.node_attributes(node, 'xyz')
for nbr in network.neighbors(node):
edge = node, nbr
if not network.has_edge(*edge):
edge = nbr, node
b = network.node_attributes(nbr, 'xyz')
force = network.edge_attribute(edge, 'f')
direction = normalize_vector(subtract_vectors(b, a))
from compas_vol.combinations import *
from compas_rhino.artists import PointArtist
import rhinoscriptsyntax as rs
import Rhino.Geometry as rg
import math
frame = Frame([10, 0, 0], [1, 0, 0], [0, 1, 0])
# box = Box(Frame.worldXY(), 150, 90, 200)
box = Box(frame, 150, 90, 200)
volbox = VolBox(box)
plane = Plane([0, 0, 0], [0, 0, 1])
circle = Circle(plane, 50)
cylinder = Cylinder(circle, 90)
volcylinder = VolCylinder(cylinder)
sphere = Sphere((40, 20, 0), 50)
volshpere = VolSphere(sphere)
sphere_big = Sphere((40, 20, 0), 100)
volshpere_big = VolSphere(sphere_big)
union = Union(volbox, volshpere)
substract = Subtraction(volshpere_big, volshpere)
class FuckYouBernhardFunction:
X_SCALE = 5.0
def from_data(cls, data):
cylinder = Cylinder.from_data(data)
vcylinder = cls(cylinder)
return vcylinder
from compas.utilities import pairwise
from compas.utilities import linspace
from compas.utilities import remap_values
import compas_rhino
from compas_rhino.artists import FrameArtist, LineArtist, CylinderArtist
from compas_rhino.artists import RobotModelArtist
robot = RobotModel('tom')
# ==============================================================================
# Links
# ==============================================================================
cylinder = Cylinder(Circle(Plane(Point(0, 0, 0), Vector(0, 0, 1)), 0.5), 0.02)
mesh = Mesh.from_shape(cylinder, u=32)
base = robot.add_link('base',
visual_meshes=[mesh],
visual_color=(0.1, 0.1, 0.1))
cylinder = Cylinder(Circle(Plane(Point(0, 0, 0), Vector(0, 0, 1)), 0.2), 0.5)
cylinder.transform(Translation.from_vector([0, 0, 0.25]))
mesh = Mesh.from_shape(cylinder, u=24)
shoulder = robot.add_link('shoulder',
visual_meshes=[mesh],
visual_color=(0, 0, 1.0))
cylinder = Cylinder(Circle(Plane(Point(0, 0, 0), Vector(0, 0, 1)), 0.08), 1.0)
cylinder.transform(Translation.from_vector([0, 0, 0.5]))
mesh = Mesh.from_shape(cylinder)
from compas.geometry import Polyline from compas.geometry import Box, Cylinder from compas_occ.brep import BRep from compas_view2.app import App R = 1.4 P = Point(0, 0, 0) X = Vector(1, 0, 0) Y = Vector(0, 1, 0) Z = Vector(0, 0, 1) YZ = Plane(P, X) ZX = Plane(P, Y) XY = Plane(P, Z) box = Box.from_width_height_depth(2 * R, 2 * R, 2 * R) cx = Cylinder((YZ, 0.7 * R), 4 * R) cy = Cylinder((ZX, 0.7 * R), 4 * R) cz = Cylinder((XY, 0.7 * R), 4 * R) A = BRep.from_box(box) B1 = BRep.from_cylinder(cx) B2 = BRep.from_cylinder(cy) B3 = BRep.from_cylinder(cz) # C = BRep.from_boolean_difference( # A, # BRep.from_boolean_union( # BRep.from_boolean_union(B1, B2), # B3 # ) # )
mesh_quads_to_triangles(a)
mesh_quads_to_triangles(b)
A = a.to_vertices_and_faces()
B = b.to_vertices_and_faces()
# ==============================================================================
# Booleans
# ==============================================================================
D = igl.mesh_intersection(A, B)
for n in ([1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]):
circle = Circle((point, n), 0.6 * R)
cylinder = Cylinder(circle, 2.1 * R)
mesh = Mesh.from_shape(cylinder, u=30)
mesh_quads_to_triangles(mesh)
C = mesh.to_vertices_and_faces()
D = igl.mesh_difference(D, C)
mesh = Mesh.from_vertices_and_faces(*D)
# ==============================================================================
# Visualization
# ==============================================================================
# c_union.transform(Translation([7.5, 0, 0]))
# c_intersection.transform(Translation([15, 0, 0]))
# c_diff.transform(Translation([22.5, 0, 0]))
# ==============================================================================
R = 1.4
P = Point(0, 0, 0)
X = Vector(1, 0, 0)
Y = Vector(0, 1, 0)
Z = Vector(0, 0, 1)
YZ = Plane(P, X)
ZX = Plane(P, Y)
XY = Plane(P, Z)
box = Box.from_width_height_depth(2 * R, 2 * R, 2 * R)
sphere = Sphere(P, 1.25 * R)
cylx = Cylinder((YZ, 0.7 * R), 3 * R)
cyly = Cylinder((ZX, 0.7 * R), 3 * R)
cylz = Cylinder((XY, 0.7 * R), 3 * R)
# ==============================================================================
# CSG Model
# ==============================================================================
model = ShapeModel(name="booleans")
model.mesh_lmin = 0.2
model.mesh_lmax = 0.2
model.boolean_difference(
model.boolean_intersection([model.add_sphere(sphere)],
[model.add_box(box)]),
mesh = Mesh.from_off(compas.get('tubemesh.off'))
start = random.choice(list(mesh.edges()))
loop = mesh.edge_loop(start)
strip = [mesh.edge_faces(*edge) for edge in mesh.edge_strip(start)]
strip[:] = list(set(flatten(strip)))
edgecolor = {}
for edge in loop:
edgecolor[edge] = (0, 255, 0)
edgecolor[start] = (255, 0, 0)
facecolor = {}
for face in strip:
facecolor[face] = (255, 200, 200)
artist = MeshArtist(mesh, layer='Tubemesh')
artist.clear_layer()
artist.draw_faces(color=facecolor)
# artist.draw_edges(color=edgecolor)
for edge in edgecolor:
o = mesh.edge_midpoint(*edge)
n = mesh.edge_direction(*edge)
h = mesh.edge_length(*edge)
cylinder = Cylinder([(o, n), 0.02], h)
artist = CylinderArtist(cylinder, color=(0, 255, 0), layer='Tubemesh')
artist.draw(show_vertices=False)
frame = joint.origin.transformed(transformations[joint.name])
frame.name = joint.name
frames.append(frame)
axis = joint.axis.transformed(transformations[joint.name])
axis.name = joint.name
axes.append(axis)
for frame in frames:
artist = FrameArtist(frame,
scale=0.3,
layer="Frames::{}".format(frame.name))
artist.clear_layer()
artist.draw()
tpl = Cylinder(Circle(Plane(Point(0, 0, 0), Vector(0, 0, 1)), 0.05), 0.2)
for frame, axis in zip(frames, axes):
point = frame.point
normal = Vector(axis.x, axis.y, axis.z)
plane = Plane(point, normal)
frame = Frame.from_plane(plane)
X = Transformation.from_frame(frame)
cylinder = tpl.transformed(X)
artist = CylinderArtist(cylinder, layer="Axes::{}".format(axis.name))
artist.clear_layer()
artist.draw()
for a, b in pairwise(frames):
line = Line(a.point, b.point)
artist = LineArtist(line, layer="Links::{}".format(a.name))
artist.draw()
from compas.geometry import Box
from compas.geometry import Circle
from compas.geometry import Cylinder
from compas.geometry import Frame
from compas.geometry import Plane
from compas.geometry import Sphere
from compas.geometry import Vector
from compas_rhino.artists import RobotModelArtist
model = RobotModel('drinking_bird')
foot_1 = Box(Frame([2, .5, .25], [1, 0, 0], [0, 1, 0]), 1, 2, .5)
foot_2 = Box(Frame([-2, .5, .25], [1, 0, 0], [0, 1, 0]), 1, 2, .5)
leg_1 = Box(Frame([2, 0, 4], [1, 0, 0], [0, 1, 0]), .5, 1, 7)
leg_2 = Box(Frame([-2, 0, 4], [1, 0, 0], [0, 1, 0]), .5, 1, 7)
axis = Cylinder(Circle(Plane([0, 0, 7], [1, 0, 0]), .01), 4)
legs_link = model.add_link('legs',
visual_meshes=[foot_1, foot_2, leg_1, leg_2, axis])
torso = Cylinder(Circle(Plane([0, 0, 0], [0, 0, 1]), .5), 8)
torso_link = model.add_link('torso', visual_meshes=[torso])
legs_joint_origin = Frame([0, 0, 7], [1, 0, 0], [0, 1, 0])
joint_axis = Vector(1, 0, 0)
model.add_joint('torso_base_joint', Joint.CONTINUOUS, legs_link, torso_link,
legs_joint_origin, joint_axis)
head = Sphere([0, 0, 0], 1)
beak = Cylinder(Circle(Plane([0, 1, -.3], [0, 1, 0]), .3), 1.5)
head_link = model.add_link('head', visual_meshes=[head, beak])
neck_joint_origin = Frame([0, 0, 4], [1, 0, 0], [0, 1, 0])
from compas.geometry import Box
from compas.geometry import Circle
from compas.geometry import Cylinder
from compas.geometry import Frame
from compas.geometry import Plane
from compas.geometry import Sphere
# Box
b1 = Box(Frame.worldXY(), 5, 1, 3) # xsize, ysize, zsize
b2 = Box.from_width_height_depth(5, 3,
1) # width=xsize, height=zsize, depth=ysize
assert str(b1) == str(b2)
print(b1)
# Sphere
s1 = Sphere([0, 0, 0], 5)
print(s1)
# Cylinder
plane = Plane([0, 0, 0], [0, 0, 1])
circle = Circle(plane, 5)
c1 = Cylinder(circle, height=4)
print(c1)
"""
cylinder = self.copy()
cylinder.transform(transformation)
return cylinder
# ==============================================================================
# Main
# ==============================================================================
if __name__ == "__main__":
from compas.geometry import Frame
from compas.geometry import Transformation
from compas.geometry import Circle
from compas.geometry import Cylinder
cylinder = Cylinder(Circle(Plane.worldXY(), 5), 7)
frame = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
print(frame.normal)
T = Transformation.from_frame(frame)
cylinder.transform(T)
print(cylinder)
print(Plane.worldXY().data)
data = {'circle': Circle(Plane.worldXY(), 5).data, 'height': 7.}
cylinder = Cylinder.from_data(data)
print(cylinder)
import doctest
doctest.testmod()
def data(self, data):
self.cylinder = Cylinder.from_data(data)
d = np.sqrt(xt**2 + yt**2) - self.cylinder.radius
out = np.maximum(d, np.abs(zt) - self.cylinder.height / 2.0)
return out
# ==============================================================================
# Main
# ==============================================================================
if __name__ == "__main__":
import numpy as np
from compas.geometry import Circle, Plane
import matplotlib.pyplot as plt
o = VolCylinder(
Cylinder(Circle(Plane([1, 2, 3], [0.3, 0.4, 1.]), 5.0), 7.0))
print(o)
x, y, z = np.ogrid[-15:15:60j, -15:15:60j, -15:15:60j]
d = o.get_distance_numpy(x, y, z)
plt.imshow(
abs(d[:, :, 30].T), cmap='RdBu'
) # transpose because numpy indexing is 1)row 2) column instead of x y
# plt.colorbar()
plt.axis('equal')
plt.show()
# for y in range(-15, 15):
# s = ''
# for x in range(-30, 30):
# d = o.get_distance(Point(x * 0.5, -y, 0))
from compas.geometry import Circle
from compas.geometry import Plane
from compas.geometry import Translation
from compas.geometry import Rotation
from compas.geometry import Frame
from compas_view2.app import App
assembly = Assembly()
a = Part(name='A',
geometry=Box.from_width_height_depth(1, 1, 1))
b = Part(name='B',
frame=Frame([0, 0, 1], [1, 0, 0], [0, 1, 0]),
shape=Box.from_width_height_depth(1, 1, 1),
features=[(Cylinder(Circle(Plane.worldXY(), 0.2), 1.0), 'difference')])
b.transform(Rotation.from_axis_and_angle([0, 0, 1], radians(45)))
b.transform(Translation.from_vector([0, 0, 1]))
assembly.add_part(a)
assembly.add_part(b)
assembly.add_connection(a, b)
viewer = App()
viewer.add(b.geometry)
viewer.add(b.frame)
viewer.show()