G = {}
G['V'] = []
G['E'] = []
G['F'] = []
G['N'] = []
G['pts'] = []
Gs = []
# Ellipsoid Object
r = 10 # radius of cross section
a = 50 # radius of helix, must be big enough
b = 10 # pitch
t = [-80., 0., 50.]
degrees = 0
axis = [0, 1, 0]
q = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
scale = 1.
s = [scale, scale, scale] # the same scale as previous for caps
# n is length
H0 = he.Helix(r, a, b, t, q, s, m=10, n=20, N=10)
Gs = ext.Append(Gs, H0)
G = ext.GraphUnionS(G, H0)
#################################
# Save Scene 1
ext.Graphs2OBJ(BIGDATA + "Helix2.obj", Gs, "scene")
# Double-Click on OBJ file
import os
os.system(BIGDATA + "Helix2.obj")
G = ext.GraphUnionS(G,H2)
# floor
w,h,d = [500*2,500*2,5]
degrees = 0
axis = [0,1,0]
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
scale = 1.
s = [scale,scale,scale] # the same scale as previous for caps
t = [-w/2.,-h/2.,-d/2.-250]
#H3 = ext.CubeObj(w,h,d, t,q,s)
#Gs = ext.Append(Gs,H3)
#G = ext.GraphUnionS(G,H3)
# Save Scene 1
ext.Graphs2OBJ(BIGDATA+"WaterBottle.obj",Gs,"scene")
######################### SCENE 1 END
######################## SCENE 2 BEGIN
# Save CoffeeCup into new scene G,Gs to file
# "CoffeeCup.obj" as Scene 2
G = {}
G['V'] = []
G['E'] = []
G['F'] = []
G['N'] = []
G['pts'] = []
Gs = []
# coffee cup
Hcc = CoffeeCup()
ext.Graph2OBJ(BIGDATA+"CoffeeCup.obj",Hcc,"scene")
Gs = ext.Append(Gs,H2)
G = ext.GraphUnionS(G,H2)
# floor
w,h,d = [500*2,500*2,5]
degrees = 0
axis = [0,1,0]
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
scale = 1.
s = [scale,scale,scale] # the same scale as previous for caps
t = [-w/2.,-h/2.,-d/2.-250]
#H3 = ext.CubeObj(w,h,d, t,q,s)
#Gs = ext.Append(Gs,H3)
#G = ext.GraphUnionS(G,H3)
ext.Graphs2OBJ("WaterBottle.obj",Gs,"scene")
f_ = open("WaterBottle.obj",'r')
txt = f_.read()
f_.close()
G_small = ext.OBJ2Graph(txt)
degrees = 0
axis = [0,1,0]
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
scale = .1
s = [scale,scale,scale] # the same scale as previous for caps
t = [0.,0.,0.]
pts = G_small['pts']
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
C = aff.Center(pts)
pts = aff.Translate(pts,-C[0],-C[1],-C[2],align=False)
pts = aff.Translate(pts, -C[0], -C[1], -C[2], align=False)
pts = aff.Rotate(pts, q, align=False)
pts = aff.Scale(pts, s[0], s[1], s[2], align=False)
pts = aff.Translate(pts, t[0], t[1], t[2], align=False)
H1['pts'] = pts
Gs = ext.Append(Gs, H1)
G = ext.GraphUnionS(G, H1)
N = 10
degrees = 0
axis = [0, 1, 0]
qp = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
scale = 1.
sp = [scale, scale, scale] # the same scale as previous for caps
for i in range(N):
Puma560.P, flag = Puma560.Reach(Puma560.P, goal)
print(i, flag, Puma560.P.Start())
G1 = Puma560.P.Graph()
H2 = BodyGraph(G, Gs, G1, Puma560.P.pt, qp, sp)
Gs = ext.Append(Gs, H2)
G = ext.GraphUnionS(G, H2)
if flag:
break
# Save Scene 1
ext.Graphs2OBJ(BIGDATA + "Puma560-WaterBottle.obj", Gs, "scene")
# Double-Click on OBJ file
import os
os.system(BIGDATA + "Puma560-WaterBottle.obj")
G['E'] = []
G['F'] = []
G['N'] = []
G['pts'] = []
Gs = []
# Ellipsoid Object
r = 3 # radius of cross section
ppath = [[0, 0, 0], [-10, 20, 0], [20, 30, 10], [30, 10, 20], [35, 5, 30],
[40, 10, 20], [50, 30, 10], [70, 20, 20], [60, 0, 30], [55, 130, 40],
[45, 120, 50], [35, 110, 45], [25, 110, 30], [20, 110, -25],
[10, 130, -15], [10, 110, 0]]
t = [-80., 0., 50.]
degrees = 0
axis = [0, 1, 0]
q = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2])
scale = 1.
s = [scale, scale, scale] # the same scale as previous for caps
# n is length
H0 = wi.Wire(r, ppath, t, q, s, m=10, n=100)
Gs = ext.Append(Gs, H0)
G = ext.GraphUnionS(G, H0)
#################################
# Save Scene 1
ext.Graphs2OBJ(BIGDATA + "Wire1.obj", Gs, "scene")
# Double-Click on OBJ file
import os
os.system(BIGDATA + "Wire1.obj")
h = 20. t = [50.,50.,50.] degrees = 45 axis = [0,1,0] q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2]) scale = 1. s = [scale,scale,scale] # the same scale as previous for caps H1 = bs.Cone(r,h,t,q,s,m=20,n=20) Gs = ext.Append(Gs,H1) G = ext.GraphUnionS(G,H1) # Cylinder Object r = 10. h = 40. t = [-50.,50.,-50.] degrees = 90 axis = [0,1,0] q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2]) scale = 1. s = [scale,scale,scale] # the same scale as previous for caps H1 = bs.Cylinder(r,h,t,q,s,m=20,n=20) Gs = ext.Append(Gs,H1) G = ext.GraphUnionS(G,H1) # Save Scene 1 ext.Graphs2OBJ(BIGDATA+"BasicShapes-1.obj",Gs,"scene") # Double-Click on OBJ file import os os.system(BIGDATA+"BasicShapes-1.obj")
G['N'] = []
G['pts'] = []
Gs = []
# image to Elevation map. Image should have equal
# width and height so crop and resize.
im = cv2.imread("wavesource-b.jpg",0) # grayscale
blur = cv2.blur(im,(10,10))
m = 50
w,h,d = 100,100,1.
t = [-80.,0.,50.]
degrees = 0
axis = [0,1,0]
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
scale = 1.
s = [scale,scale,scale] # the same scale as previous for caps
# n is length
H0 = em.ElevationMap(blur,w,h,d,t,q,s,m)
Gs = ext.Append(Gs,H0)
G = ext.GraphUnionS(G,H0)
#################################
# Save Scene 1
ext.Graphs2OBJ(BIGDATA+"ElevationMap1.obj",Gs,"scene")
# Double-Click on OBJ file
import os
os.system(BIGDATA+"ElevationMap1.obj")