def init_visual(self, only_wiiobj=False):
visual_pos = ((0, 0, 0), (7,7,0), (14,14,0))
if not only_wiiobj:
#vpython
visual.scene.width=self.param["width"] * 3
visual.scene.height=self.param["height"]
visual.scene.title = "3D WiiMote Simulation"
visual.scene.forward = visual.vector(1,0,0) # not to error ?
visual.scene.up = visual.vector(0,0,1)
visual.scene.forward = visual.vector(-1,1,-1)
visual.scene.center = (7,7,0)
visual.scene.scale = (0.07, 0.07, 0.07)
visual.scene.autoscale = 0
visual.scene.x = 0
visual.scene.y = 30
self.visual["axis"] = [(visual.arrow(pos=visual_pos[i], color=visual.color.red, axis=(3,0,0), headwidth=1, shaftwidth=0.5, fixedwidth=1),
visual.arrow(pos=visual_pos[i], color=visual.color.green, axis=(0,3,0), headwidth=1, shaftwidth=0.5, fixedwidth=1),
visual.arrow(pos=visual_pos[i], color=visual.color.blue, axis=(0,0,3), headwidth=1, shaftwidth=0.5, fixedwidth=1))
for i in xrange(3)]
self.visual["text"] = [visual.label(text="accel", pos=(1, -1, -4), color=visual.color.white),
visual.label(text="gyro", pos=(8, 6, -4), color=visual.color.white),
visual.label(text="accel + gyro", pos=(15, 13, -4), color=visual.color.white),]
self.visual["wiiobj"] = [visual.box(pos=visual_pos[i], length=2, height=6, width=1, color=visual.color.white, axis=(1,0,0)) #x=length, y=height, z=width
for i in xrange(3)]
return
def test_update(self):
startMarkerPos = vector(
self.physAxis.intervalMarkers[-1].pos.x,
self.physAxis.intervalMarkers[-1].pos.y,
self.physAxis.intervalMarkers[-1].pos.z,
)
startLabelPos = vector(
self.physAxis.intervalLabels[-1].pos.x,
self.physAxis.intervalLabels[-1].pos.y,
self.physAxis.intervalLabels[-1].pos.z,
)
startCurvePos = vector(
self.physAxis.axisCurve.pos[0].x, self.physAxis.axisCurve.pos[0].y, self.physAxis.axisCurve.pos[0].z
)
self.physAxis.update()
self.assertEqual(startMarkerPos, self.physAxis.intervalMarkers[-1].pos)
self.assertEqual(startLabelPos, self.physAxis.intervalLabels[-1].pos)
self.assertEqual(startCurvePos, self.physAxis.axisCurve.pos[0])
self.physAxis.obj.pos = self.physAxis.obj.pos + vector(1, 1, 1)
self.physAxis.update()
self.assertNotEqual(startMarkerPos, self.physAxis.intervalMarkers[-1].pos)
self.assertNotEqual(startLabelPos, self.physAxis.intervalLabels[-1].pos)
self.assertNotEqual(startCurvePos, self.physAxis.axisCurve.pos[0])
def setQuaternion(self, Quaternion):
"""Set the orientation of the body in world coordinates (the display object is oriented to match)."""
odelib.BaseBody.setQuaternion(self, Quaternion)
# now set the orientation of the display frame
# Rotating a point is q * (0,v) * q-1
# q-1 is w, -x, -y, -z assuming that q is a unit quaternion
w1, x1, y1, z1 = Quaternion
v1 = visual.vector(x1, y1, z1)
w3 = w1
v3 = -v1
# First do the axis vector
w2 = 0.0
v2 = visual.vector((1.0, 0.0, 0.0))
# This code is equivalent to a quaternion multiply: qR = q1 * q2 * q3
w12 = (w1 * w2) - visual.dot(v1, v2)
v12 = (w1 * v2) + (w2 * v1) + visual.cross(v1, v2)
wR = (w12 * w3) - visual.dot(v12, v3)
vR = (w12 * v3) + (w3 * v12) + visual.cross(v12, v3)
self._myFrame.axis = vR
# Do it again for the up vector
w2 = 0.0
v2 = visual.vector((0.0, 1.0, 0.0))
# This code is equivalent to a quaternion multiply: qR = q1 * q2 * q3
w12 = (w1 * w2) - visual.dot(v1, v2)
v12 = (w1 * v2) + (w2 * v1) + visual.cross(v1, v2)
wR = (w12 * w3) - visual.dot(v12, v3)
vR = (w12 * v3) + (w3 * v12) + visual.cross(v12, v3)
self._myFrame.up = vR
def showAxes( self, frame, color, length, pos ): # Use frame=None for world.
directions = [ vs.vector(length, 0, 0), vs.vector(0, length, 0), vs.vector(0, 0, length) ]
texts = ["x","y","z"]
pos = vs.vector(pos)
for i in range(3): # each direction
vs.curve( frame=frame, color=color, pos=[pos, pos+directions[i]])
vs.label( frame=frame, color=color, pos=pos+directions[i], text=texts[i], opacity=0, box=False )
def update(self, t, quantity=1):
try:
threshold = self.interval * self.curMarker
# Display new arrow if t has broken new threshold
if t >= threshold:
# Increment marker count
self.curMarker += 1
# Display marker!
if self.markerType == "arrow":
arrow(pos=self.obj.pos+self.arrowOffset,
axis=self.markerScale*quantity, color=self.markerColor)
elif self.markerType == "breadcrumbs":
points(pos=self.obj.pos,
size=10*self.markerScale*quantity, color=self.markerColor)
#Also display timestamp if requested
if self.dropTime is not False:
epsilon = vector(0,self.markerScale*.5,0)+self.timeOffset
droptimeText = label(pos=self.obj.pos+epsilon, text='t='+str(t)+'s', height=10, box=False, color=self.labelColor)
# Same with order label
if self.labelMarkerOrder is not False:
label(pos=self.obj.pos-vector(0,self.markerScale*.5,0)+self.labelMarkerOffset, text=str(self.curMarker), height=10, box=False, color=self.labelColor)
except TypeError as err:
print("**********TYPE ERROR**********")
print("Please check that you are not passing in a variable of the wrong type (e.g. a scalar as a vector, or vice-versa)!")
print("******************************")
print(err)
raise err
def reorient(self,
axis=None,
startPos=None,
length=None,
labels=None,
labelOrientation=None):
try:
# Determine which, if any, parameters are being modified
self.axis = axis if axis is not None else self.axis
self.startPos = startPos if startPos is not None else self.startPos
self.length = length if length is not None else self.length
self.labelText = labels if labels is not None else self.labels
# Re-do label orientation as well, if it has been set
if labelOrientation == "down":
self.labelShift = vector(0, -0.05 * self.length, 0)
elif labelOrientation == "up":
self.labelShift = vector(0, 0.05 * self.length, 0)
elif labelOrientation == "left":
self.labelShift = vector(-0.1 * self.length, 0, 0)
elif labelOrientation == "right":
self.labelShift = vector(0.1 * self.length, 0, 0)
self.__reorient()
except TypeError as err:
print("**********TYPE ERROR**********")
print(
"Please check that you are not passing in a variable of the wrong type (e.g. a scalar as a vector, or vice-versa)!"
)
print("******************************")
print(err)
raise err
def test_update(self):
startMarkerPos = vector(self.physAxis.intervalMarkers[-1].pos.x,
self.physAxis.intervalMarkers[-1].pos.y,
self.physAxis.intervalMarkers[-1].pos.z)
startLabelPos = vector(self.physAxis.intervalLabels[-1].pos.x,
self.physAxis.intervalLabels[-1].pos.y,
self.physAxis.intervalLabels[-1].pos.z)
startCurvePos = vector(self.physAxis.axisCurve.pos[0].x,
self.physAxis.axisCurve.pos[0].y,
self.physAxis.axisCurve.pos[0].z)
self.physAxis.update()
self.assertEqual(startMarkerPos, self.physAxis.intervalMarkers[-1].pos)
self.assertEqual(startLabelPos, self.physAxis.intervalLabels[-1].pos)
self.assertEqual(startCurvePos, self.physAxis.axisCurve.pos[0])
self.physAxis.obj.pos = self.physAxis.obj.pos + vector(1, 1, 1)
self.physAxis.update()
self.assertNotEqual(startMarkerPos,
self.physAxis.intervalMarkers[-1].pos)
self.assertNotEqual(startLabelPos,
self.physAxis.intervalLabels[-1].pos)
self.assertNotEqual(startCurvePos, self.physAxis.axisCurve.pos[0])
def drawCameraFrame(): # create frame and draw its contents
global cam_box, cent_plane, cam_lab, cam_tri, range_lab, linelen, fwd_line
global fwd_arrow, mouse_line, mouse_arrow, mouse_lab, fov, range_x, cam_dist, cam_frame
global ray
cam_frame = vs.frame( pos = vs.vector(0,2,2,), axis = (0,0,1))
# NB: contents are rel to this frame. start with camera looking "forward"
# origin is at simulated scene.center
fov = vs.pi/3.0 # 60 deg
range_x = 6 # simulates scene.range.x
cam_dist = range_x / vs.tan(fov/2.0) # distance between camera and center.
ray = vs.vector(-20.0, 2.5, 3.0).norm() # (unit) direction of ray vector (arbitrary)
# REL TO CAMERA FRAME
cam_box = vs.box(frame=cam_frame, length=1.5, height=1, width=1.0, color=clr.blue,
pos=(cam_dist,0,0)) # camera-box
cent_plane = vs.box(frame=cam_frame, length=0.01, height=range_x*1.3, width=range_x*2,
pos=(0,0,0), opacity=0.5 ) # central plane
cam_lab = vs.label(frame=cam_frame, text= 'U', pos= (cam_dist,0,0), height= 9, xoffset= 6)
cam_tri = vs.faces( frame=cam_frame, pos=[(0,0,0), (0,0,-range_x), (cam_dist,0,0)])
cam_tri.make_normals()
cam_tri.make_twosided()
range_lab = vs.label(frame=cam_frame, text= 'R', pos= (0, 0, -range_x), height= 9, xoffset= 6)
linelen = scene_size + vs.mag( cam_frame.axis.norm()*cam_dist + cam_frame.pos)
# len of lines from camera
fwd_line = drawLine( vs.vector(cam_dist,0,0), linelen, vs.vector(-1,0,0))
fwd_arrow = vs.arrow(frame=cam_frame, axis=(-2,0,0), pos=(cam_dist, 0, 0), shaftwidth=0.08,
color=clr.yellow)
vs.label(frame=cam_frame, text='C', pos=(0,0,0), height=9, xoffset=6, color=clr.yellow)
mouse_line = drawLine ( vs.vector(cam_dist,0,0), linelen, ray )
mouse_arrow = vs.arrow(frame=cam_frame, axis=ray*2, pos=(cam_dist,0,0), shaftwidth=0.08,
color=clr.red)
mouse_lab = vs.label(frame=cam_frame, text= 'M', height= 9, xoffset= 10, color=clr.red,
pos= -ray*(cam_dist/vs.dot(ray,(1,0,0))) + (cam_dist,0,0))
def __init__(self, mass, pos, vel, i, *arg, **kwargs):
super(Body, self).__init__(*arg, **kwargs)
self.vel = v.vector(vel)
self.pos = v.vector(pos)
self.mass = mass
self.id = i
self.trail = []
def init_visual(self, only_wiiobj=False):
if not only_wiiobj:
# vpython
visual.scene.width = self.param["width"]
visual.scene.height = self.param["height"]
visual.scene.title = "3D WiiMote Simulation"
visual.scene.forward = visual.vector(1, 0, 0) # not to error ?
visual.scene.up = visual.vector(0, 0, 1)
visual.scene.forward = visual.vector(-1, 1, -1)
visual.scene.autoscale = 0
visual.scene.x = 0
visual.scene.y = 30
self.visual["axis"][0] = visual.arrow(
color=visual.color.red, axis=(3, 0, 0), headwidth=1, shaftwidth=0.5, fixedwidth=1
)
self.visual["axis"][1] = visual.arrow(
color=visual.color.green, axis=(0, 3, 0), headwidth=1, shaftwidth=0.5, fixedwidth=1
)
self.visual["axis"][2] = visual.arrow(
color=visual.color.blue, axis=(0, 0, 3), headwidth=1, shaftwidth=0.5, fixedwidth=1
)
self.visual["wiiobj"] = visual.box(
pos=(0, 0, 0), length=2, height=6, width=1, color=visual.color.white, axis=(2, 0, 0)
)
return
def go():
# Imports (DO NOT EDIT)
from visual import vector, display
from physics import BField
from shapes import Wire, Coil, Bar, Particle
from ui import Elviz
# Initial setup
e = Elviz(1600, 900) # (width, height)
d = e.scene
B = BField(d, color=(1, 1, 0)) # color tuples are in (r, g, b) format
# Constructor parameters:
#
# Wire(start, end, current, scene)
# Coil(center, radius, normal vector, current, scene, loops(default=1), pitch(default=1))
# Bar(start, direction, magnetic moment, length, scene, height(default=1), width(default=0.5))
# Particle(center, magnetic moment, scene)
#
# See `shapes.py` for more precise definitions.
# Example shapes
#w = Wire(vector(0, -15, 15), vector(0, 15, -15), 1, d)
r = Coil(vector(0, 0, 0), 10, vector(0, 1, 1), 10, d, 10, 0.5)
#bar = Bar(vector(10, 0, 0), vector(0, 0, 1), 1, 10, d)
#p = Particle(vector(0, 10, 0), 0.5*vector(0, -1, 0), d)
# Add inducers
#B.add_inducer(w)
B.add_inducer(r)
#B.add_inducer(bar)
#B.add_inducer(p)
# Set display field (origin, size, step, radius)
B.draw(vector(-30, -30, -30), vector(60, 60, 60), 6, 30)
def update(self, t, quantity=1):
try:
threshold = self.interval * self.curMarker
# Display new arrow if t has broken new threshold
if t >= threshold:
# Increment marker count
self.curMarker += 1
# Display marker!
if self.markerType == "arrow":
arrow(pos=self.obj.pos+self.arrowOffset,
axis=self.markerScale*quantity, color=self.markerColor)
elif self.markerType == "breadcrumbs":
points(pos=self.obj.pos,
size=10*self.markerScale*quantity, color=self.markerColor)
#Also display timestamp if requested
if self.dropTime is not False:
epsilon = vector(0,self.markerScale*.5,0)+self.timeOffset
droptimeText = label(pos=self.obj.pos+epsilon, text='t='+str(t)+'s', height=10, box=False, color=self.labelColor)
# Same with order label
if self.labelMarkerOrder is not False:
label(pos=self.obj.pos-vector(0,self.markerScale*.5,0)+self.labelMarkerOffset, text=str(self.curMarker), height=10, box=False, color=self.labelColor)
except TypeError as err:
print("**********TYPE ERROR**********")
print("Please check that you are not passing in a variable of the wrong type (e.g. a scalar as a vector, or vice-versa)!")
print("******************************")
print(err)
raise err
def reorient(self, axis=None, startPos=None, length=None, labels=None, labelOrientation=None):
try:
# Determine which, if any, parameters are being modified
self.axis = axis if axis is not None else self.axis
self.startPos = startPos if startPos is not None else self.startPos
self.length = length if length is not None else self.length
self.labelText = labels if labels is not None else self.labels
# Re-do label orientation as well, if it has been set
if labelOrientation == "down":
self.labelShift = vector(0,-0.05*self.length,0)
elif labelOrientation == "up":
self.labelShift = vector(0,0.05*self.length,0)
elif labelOrientation == "left":
self.labelShift = vector(-0.1*self.length,0,0)
elif labelOrientation == "right":
self.labelShift = vector(0.1*self.length,0,0)
self.__reorient()
except TypeError as err:
print("**********TYPE ERROR**********")
print("Please check that you are not passing in a variable of the wrong type (e.g. a scalar as a vector, or vice-versa)!")
print("******************************")
print(err)
raise err
def __init__( self, NCellsPerDimension, Length, E0 ):
self.n = NCellsPerDimension
self.L = Length
self.V = self.L**3
self.N = 4 * self.n**3
self.a = self.L / self.n
self.E0 = E0
self.E = E0
self.U = 0
self.dU = 0
self.ddU = 0
self.particles = []
self.index = 0
self.dt = 1e-2
self.dt_2 = self.dt * 0.5
self.dt2_2 = self.dt * self.dt_2
self.scene = visual.display( title = 'System',
x=800, y=0,
width=800, height=800,
center = visual.vector(0.5,0.5,0.5) * self.L,
autoscale = False,
range = 1.5 * self.L)
self.box = visual.box( pos = visual.vector(0.5,0.5,0.5) * self.L,
length = self.L,
height = self.L,
width = self.L,
color = visual.color.green,
opacity = 0.2 )
def __init__(self,
x,
y,
fontsize=13,
useScientific=False,
timerColor=color.white):
# PhysTimer
# x,y - world coordinates for the timer location
# fontsize - size of font for timer text
# useScientific - bool to turn off/on scientific notation for time
# timerColor - attribute controlling the color of the text
try:
self.useScientific = useScientific
self.timerColor = timerColor
if useScientific is False:
self.timerLabel = label(pos=vector(x, y, 0),
text='00:00:00.00',
box=False,
height=fontsize)
else:
self.timerLabel = label(pos=vector(x, y, 0),
text='00E01',
box=False,
height=fontsize)
except TypeError as err:
print("**********TYPE ERROR**********")
print(
"Please check that you are not passing in a variable of the wrong type (e.g. a scalar as a vector, or vice-versa)!"
)
print("******************************")
print(err)
raise err
def __init__(self):
self.sphereList = [] #sphere for each node
self.rodList = [] #unused
self.manageRodList = [
] #rods connecting nodes to centre management node
r = 1.0 #radius of circle that nodes are in
delta_theta = (2.0 * math.pi) / G.NUMNODES #angle between nodes
theta = 0
self.management = v.sphere(
pos=v.vector(0, 0, 0), radius=0.1,
colour=v.color.blue) #management node in centre
self.label = v.label(
pos=(1, 1, 0),
text='0') #label for amount of disparities at that point in time
self.label_cum = v.label(pos=(-1, 1, 0),
text='0') #cumulative total number of above
for i in range(0, G.NUMNODES):
circ = v.sphere(pos=v.vector(r * math.cos(theta),
r * math.sin(theta), 0),
radius=0.1,
color=v.color.green)
self.sphereList.append(circ)
print 'circle no. ', i, ' coords ', r * math.cos(
theta), ' ', r * math.sin(theta)
theta += delta_theta
rod = v.cylinder(pos=(0, 0, 0),
axis=(self.sphereList[i].pos),
radius=0.005,
color=v.color.white)
self.manageRodList.append(rod)
def golf_ball_calc(x,y,z,vx,vy,vz,dt,m,g,B2,S0,w,w_vector):
t = 0.0
x_list = [x]
y_list = [y]
z_list = [z]
vx_list = [vx]
vy_list = [vy]
vz_list = [vz]
t_list = [t]
v_vector = visual.vector(vx,vy,vz)
tee = visual.box(pos=(0,0,0), length=0.05, width=0.05, height=0.5,color=visual.color.white)
ball = visual.sphere(pos=(x,y,z), radius = 0.25, color = visual.color.white)
ball.trail = visual.curve(color = visual.color.red)
while y > 0.0:
visual.rate(100)
t,x,y,z,vx,vy,vz = golfball_step(t,x,y,z,vx,vy,vz,m,g,B2,S0,w,dt,w_vector,v_vector)
x_list.append(x)
y_list.append(y)
z_list.append(z)
vx_list.append(vx)
vy_list.append(vy)
vz_list.append(vz)
t_list.append(t)
v_vector = visual.vector(vx,vy,vz)
ball.pos = (x,y,z)
ball.trail.append(pos=ball.pos)
return t_list,x_list,y_list,z_list,vx_list,vy_list,vz_list
def reDrawLines():
global fwd_line, mouse_line, cam_dist, ray, scene_size, linelen
linelen = scene_size + vs.mag(cam_frame.axis.norm() * cam_dist +
cam_frame.pos)
reDrawLine(fwd_line, vs.vector(cam_dist, 0, 0), linelen,
vs.vector(-1, 0, 0))
reDrawLine(mouse_line, vs.vector(cam_dist, 0, 0), linelen, ray)
def setQuaternion(self, Quaternion):
"""Set the orientation of the body in world coordinates (the display object is oriented to match)."""
odelib.BaseBody.setQuaternion(self, Quaternion)
# now set the orientation of the display frame
# Rotating a point is q * (0,v) * q-1
# q-1 is w, -x, -y, -z assuming that q is a unit quaternion
w1, x1, y1, z1 = Quaternion
v1 = visual.vector(x1, y1, z1)
w3 = w1
v3 = -v1
# First do the axis vector
w2 = 0.0
v2 = visual.vector((1.0, 0.0, 0.0))
# This code is equivalent to a quaternion multiply: qR = q1 * q2 * q3
w12 = (w1 * w2) - visual.dot(v1, v2)
v12 = (w1 * v2) + (w2 * v1) + visual.cross(v1, v2)
wR = (w12 * w3) - visual.dot(v12, v3)
vR = (w12 * v3) + (w3 * v12) + visual.cross(v12, v3)
self._myFrame.axis = vR
# Do it again for the up vector
w2 = 0.0
v2 = visual.vector((0.0, 1.0, 0.0))
# This code is equivalent to a quaternion multiply: qR = q1 * q2 * q3
w12 = (w1 * w2) - visual.dot(v1, v2)
v12 = (w1 * v2) + (w2 * v1) + visual.cross(v1, v2)
wR = (w12 * w3) - visual.dot(v12, v3)
vR = (w12 * v3) + (w3 * v12) + visual.cross(v12, v3)
self._myFrame.up = vR
def __init__( self, id, pos, v, r = 0.1 ):
self.id = id
self.pos = pos
self.p = v
self.F = Vector3(0.,0.,0.)
self.sph = visual.sphere( pos = visual.vector(tuple(pos)),
p = visual.vector(tuple(v)),
radius = r,
color = visual.color.red )
def test_plot(self):
self.assertRaises(Exception, self.physGraph.plot, vector(0, 0, 0),
vector(1, 1, 1))
self.physGraph.plot(vector(0, 0, 0), vector(1, 1, 1), vector(2, 2, 2),
vector(3, 3, 3), vector(4, 4, 4), vector(5, 5, 5))
self.assertEqual(len(self.physGraph.graphs[-1].plots), 5)
self.assertEqual(self.physGraph.graphs[-1].plots[0],
(vector(0, 0, 0), vector(1, 1, 1)))
def axes( frame, colour, sz, posn ): # Make axes visible (of world or frame).
# Use None for world.
directions = [vs.vector(sz,0,0), vs.vector(0,sz,0), vs.vector(0,0,sz)]
texts = ["X","Y","Z"]
posn = vs.vector(posn)
for i in range (3): # EACH DIRECTION
vs.curve( frame = frame, color = colour, pos= [ posn, posn+directions[i]])
vs.label( frame = frame,color = colour, text = texts[i], pos = posn+ directions[i],
opacity = 0, box = False )
def gettile(cpos=None):
if cpos is None:
cpos = visual.vector((0, 0, 0))
elif type(cpos) == tuple:
cpos = visual.vector(cpos)
dip_sep = 1.10 # dipole separations in meters
xoffsets = [0.0] * 16 # offsets of the dipoles in the W-E 'x' direction
yoffsets = [0.0] * 16 # offsets of the dipoles in the S-N 'y' direction
xoffsets[0] = -1.5 * dip_sep
xoffsets[1] = -0.5 * dip_sep
xoffsets[2] = 0.5 * dip_sep
xoffsets[3] = 1.5 * dip_sep
xoffsets[4] = -1.5 * dip_sep
xoffsets[5] = -0.5 * dip_sep
xoffsets[6] = 0.5 * dip_sep
xoffsets[7] = 1.5 * dip_sep
xoffsets[8] = -1.5 * dip_sep
xoffsets[9] = -0.5 * dip_sep
xoffsets[10] = 0.5 * dip_sep
xoffsets[11] = 1.5 * dip_sep
xoffsets[12] = -1.5 * dip_sep
xoffsets[13] = -0.5 * dip_sep
xoffsets[14] = 0.5 * dip_sep
xoffsets[15] = 1.5 * dip_sep
yoffsets[0] = 1.5 * dip_sep
yoffsets[1] = 1.5 * dip_sep
yoffsets[2] = 1.5 * dip_sep
yoffsets[3] = 1.5 * dip_sep
yoffsets[4] = 0.5 * dip_sep
yoffsets[5] = 0.5 * dip_sep
yoffsets[6] = 0.5 * dip_sep
yoffsets[7] = 0.5 * dip_sep
yoffsets[8] = -0.5 * dip_sep
yoffsets[9] = -0.5 * dip_sep
yoffsets[10] = -0.5 * dip_sep
yoffsets[11] = -0.5 * dip_sep
yoffsets[12] = -1.5 * dip_sep
yoffsets[13] = -1.5 * dip_sep
yoffsets[14] = -1.5 * dip_sep
yoffsets[15] = -1.5 * dip_sep
gp = visual.box(pos=visual.vector(0, 0, 0) + cpos,
axis=(0, 0, 1),
height=5.0,
width=5.0,
length=0.05,
color=color.gray(0.5),
visible=False)
olist = [gp]
for i in range(16):
dlist = getdipole(cpos=visual.vector(xoffsets[i], yoffsets[i], 0) +
cpos)
olist += dlist
return olist
def addcar(self, pos, color=v.color.green, name="v"):
# Creating car
car = v.frame()
car.start = pos
car.pos = car.start
car.vector = v.vector(0.05, 0, 0)
car.color = color
car.colorori = car.color
body = v.box(frame = car, pos = (0,0,0), size = (2.4*self.thk, 0.6*self.thk, 1.4*self.thk), color = car.colorori)
wheel1 = v.cylinder(frame=car, pos=(0.8*self.thk,-0.2*self.thk,0.8*self.thk), axis=(0,0,-1.6*self.thk), radius=0.25*self.thk, color=(0.6,0.6,0.6))
wheel2 = v.cylinder(frame=car, pos=(-0.8*self.thk,-0.2*self.thk,0.8*self.thk), axis=(0,0,-1.6*self.thk), radius=0.25*self.thk, color=(0.6,0.6,0.6))
head = v.convex(frame=car, color=car.colorori)
head.append(pos=v.vector(0.6, 0.3, -0.7)*self.thk)
head.append(pos=v.vector(0.6, 0.3, 0.7)*self.thk)
head.append(pos=v.vector(-1.2, 0.3, -0.7)*self.thk)
head.append(pos=v.vector(-1.2, 0.3, 0.7)*self.thk)
head.append(pos=v.vector(0.4, 0.7, -0.6)*self.thk)
head.append(pos=v.vector(0.4, 0.7, 0.6)*self.thk)
head.append(pos=v.vector(-0.8, 0.7, -0.6)*self.thk)
head.append(pos=v.vector(-0.8, 0.7, 0.6)*self.thk)
# Creating Label
car.vlabel = v.label(justify='center', pos=car.pos, xoffset=3*self.thk, yoffset=39*self.thk, space=3*self.thk, text=name,height=15, line=0,border=3)
self.cars[name] = car
self.labels[name] = car.vlabel
def axes(frame, colour, size, posn):
"""Make axes visible (of world or frame)."""
# Use None for world.
directions = [
vs.vector(size, 0, 0), vs.vector(0, size, 0), vs.vector(0, 0, size)]
texts = ["X", "Y", "Z"]
posn = vs.vector(posn)
for i in range(3): # EACH DIRECTION
vs.curve(frame=frame, color=colour, pos=[posn, posn+directions[i]])
vs.label(frame=frame, color=colour, text=texts[i],
pos=posn + directions[i], opacity=0, box=False)
def test_init(self):
self.assertEqual(self.obj, self.map.obj)
self.assertEqual(self.dt, self.map.dt)
self.assertEqual(self.numSteps, self.map.numSteps)
self.assertEqual("arrow", self.map.markerType)
self.assertEqual(self.markerScale, self.map.markerScale)
self.assertEqual(color.green, self.map.markerColor)
self.assertEqual(vector(1, 1, 1), self.map.timeOffset)
self.assertEqual(True, self.map.dropTime)
self.assertEqual(self.map.curMarker, 0)
self.assertEqual(vector(1, 1, 1), self.map.arrowOffset)
def __init__(self,
p=vector(0, 0, 0),
v=vector(0, 0, 0),
radius=1.0,
mass=1.0,
color=color.red):
self.p = p
self.v = v
self.mass = mass
self.radius = radius
self.graphic = sphere(pos=self.p, radius=self.radius, color=color)
def test_init(self):
self.assertEqual(self.obj, self.map.obj)
self.assertEqual(self.dt, self.map.dt)
self.assertEqual(self.numSteps, self.map.numSteps)
self.assertEqual("arrow", self.map.markerType)
self.assertEqual(self.markerScale, self.map.markerScale)
self.assertEqual(color.green, self.map.markerColor)
self.assertEqual(vector(1,1,1), self.map.timeOffset)
self.assertEqual(True, self.map.dropTime)
self.assertEqual(self.map.curMarker, 0)
self.assertEqual(vector(1,1,1), self.map.arrowOffset)
def __init__(self,s,k,m):
'''
Abstract Robot constructor
'''
self.sensor=s
self.kinematic=k
self.map=m
self.pos=vector(0.0,0.0)
self.orientation=0.0
self.v=vector(0.0,0.0,0.0)
self.w=vector(0.0,0.0,0.0)
def test_plot(self):
self.assertRaises(Exception, self.physGraph.plot, vector(0, 0, 0), vector(1, 1, 1))
self.physGraph.plot(
vector(0, 0, 0), vector(1, 1, 1), vector(2, 2, 2), vector(3, 3, 3), vector(4, 4, 4), vector(5, 5, 5)
)
self.assertEqual(len(self.physGraph.graphs[-1].plots), 5)
self.assertEqual(self.physGraph.graphs[-1].plots[0], (vector(0, 0, 0), vector(1, 1, 1)))
def __init__(self, vertices=None):
if vertices == None:
length = 100.0 # from center of the origami to a vertex
p1 = vector(length, 0.0, 0.0)
p2 = vector(0.0, length, 0.0)
p3 = vector(-length, 0.0, 0.0)
p4 = vector(0.0, -length, 0.0)
self.vertices = [Vertex(p, p) for p in [p1, p2, p3, p4]]
else:
self.vertices = vertices
self.updateEdges()
self.subfaces = []
def __init__(
self,
obj,
dt,
numSteps,
markerType="arrow",
markerScale=1,
markerColor=color.red,
labelMarkerOrder=True,
labelMarkerOffset=vector(0, 0, 0),
dropTime=False,
timeOffset=vector(0, 0, 0),
arrowOffset=vector(0, 0, 0),
labelColor=color.white,
):
# MotionMapN
# obj - object to track in mapping / placing markers
# dt - time between steps
# numSteps - number of steps between markers
# markerType - determines type of motionmap; options are "arrow" or "breadcrumbs"
# markerScale - replaces pSize / quantscale from motionmodule.py depending on type
# markerColor - color of markers
# labelMarkerOrder - drop numbers of markers?
# labelMarkerOffset - amount to offset numbering by
# dropTime - boolean determining whether a timestamp should be placed along with the marker
# timeOffset - if dropTime is True, determines the offset, if any, of the label from the markers
# arrowOffset - shift an arrow by an amount (x,y,z), useful for two arrows views
self.obj = obj
self.dt = dt
self.numSteps = numSteps
self.markerType = markerType
self.markerScale = markerScale
self.markerColor = markerColor
self.labelMarkerOrder = labelMarkerOrder
self.labelMarkerOffset = labelMarkerOffset
self.timeOffset = timeOffset
self.dropTime = dropTime
self.arrowOffset = arrowOffset
self.labelColor = labelColor
# Calculate size of interval for each step, set initial step index
try:
self.interval = self.dt * self.numSteps
except TypeError as err:
print("**********TYPE ERROR**********")
print(
"Please check that you are not passing in a variable of the wrong type (e.g. a scalar as a vector, or vice-versa)!"
)
print("******************************")
print(err)
raise err
self.curMarker = 0
def getSegments(p):
seg=[]
for i,pt in enumerate(p):
if i<len(p)-1:
x0=pt[0]
y0=pt[2]
x1=p[i+1][0]
y1=p[i+1][2]
v0=vector(x0,y0)
v1=vector(x1,y1)
s=Segment(v0,v1)
seg.append(s)
return seg
def drawScene(self):
# draw the frame of world coordinates
if self.showWorldFrame:
drawFrameAxes((0, 0, 0), Frame(vector(0, 1, 0), vector(1, 0, 0)))
(points, frames) = computeRMF(
self.curve, self.sampleCount, self.boundaryConditions, self.adjustFrames, self.adjustmentFunc
)
# display the results
if self.showFrames:
drawFrames(points, frames)
if self.showSweepSurface:
makeSweepSurface(points, frames, 0.9)
def move(self, t0, t1):
'''
move the racer between t0 and t1 time quant
'''
sin_beta, cos_beta = self.__compute_sin_cos_beta()
(xx, vx), (xy, vy) = self.__compute_next_position_and_velocity(t0,t1, sin_beta, cos_beta)
self.positions.append(visual.vector(xx,xy))
self.velocities.append(visual.vector(vx,vy))
new_kappa, new_sign_omega = self.kappa_controller.control(position=self.positions[-1], kappa=self.kappas[-1],
sign_omega=self.sign_omegas[-1],
start_x=self.positions[0][0], cos_beta=cos_beta, sin_beta=sin_beta)
self.kappas.append(new_kappa)
self.sign_omegas.append(new_sign_omega)
def __init__(self, x, y, useScientific=False):
try:
self.useScientific = useScientific
if useScientific is False:
self.timerLabel = label(pos=vector(x,y,0), text='00:00:00:00', box=False)
else:
self.timerLabel = label(pos=vector(x,y,0), text='00E01', box=False)
except TypeError as err:
print "**********TYPE ERROR**********"
print "Please check that you are not passing in a variable of the wrong type (e.g. a scalar as a vector, or vice-versa)!"
print "******************************"
print err
raise err
def __init__(self,
obj,
dt,
numSteps,
markerType="arrow",
markerScale=1,
markerColor=color.red,
labelMarkerOrder=True,
labelMarkerOffset=vector(0, 0, 0),
dropTime=False,
timeOffset=vector(0, 0, 0),
arrowOffset=vector(0, 0, 0),
labelColor=color.white):
# MotionMapN
# obj - object to track in mapping / placing markers
# dt - time between steps
# numSteps - number of steps between markers
# markerType - determines type of motionmap; options are "arrow" or "breadcrumbs"
# markerScale - replaces pSize / quantscale from motionmodule.py depending on type
# markerColor - color of markers
# labelMarkerOrder - drop numbers of markers?
# labelMarkerOffset - amount to offset numbering by
# dropTime - boolean determining whether a timestamp should be placed along with the marker
# timeOffset - if dropTime is True, determines the offset, if any, of the label from the markers
# arrowOffset - shift an arrow by an amount (x,y,z), useful for two arrows views
self.obj = obj
self.dt = dt
self.numSteps = numSteps
self.markerType = markerType
self.markerScale = markerScale
self.markerColor = markerColor
self.labelMarkerOrder = labelMarkerOrder
self.labelMarkerOffset = labelMarkerOffset
self.timeOffset = timeOffset
self.dropTime = dropTime
self.arrowOffset = arrowOffset
self.labelColor = labelColor
# Calculate size of interval for each step, set initial step index
try:
self.interval = self.dt * self.numSteps
except TypeError as err:
print("**********TYPE ERROR**********")
print(
"Please check that you are not passing in a variable of the wrong type (e.g. a scalar as a vector, or vice-versa)!"
)
print("******************************")
print(err)
raise err
self.curMarker = 0
def setPos(self, pos): # parameter pos is a (x,y) tuple x, y = pos[0], pos[1] # self.__pos is a CGAL.Vector_2() self.__pos = CGAL.Vector_2(x, y) # self.__vpos is a visual.vector(). Used for visual representation self.__vpos = visual.vector(x, y) # TOCHECK: CGAL.Point_2 has no setter ?! super(VPoint_2, self).__init__(x, y) # self.__repr.pos is visual.vector(x,y) if self.__repr is not None: self.__repr.pos = visual.vector(x, y) self.display.updateVPoints_2(self)
def __init__(self, position, f):
self.f = f
self.obj = visual.box(frame=self.f,
pos=position,
axis=(1, 0, 0),
length=3,
height=.2,
radius=.5,
material=visual.materials.rough)
self.angle = 0
self.axis = visual.vector(0, 0, 1)
self.quat = [0, 0, 0, 0]
self.saveaxis = visual.vector(0, 3, 0)
self.saveup = visual.vector(0, 1, 0)
def setUp(self):
self.obj = Mock("obj")
self.obj.pos = vector(0,0,0)
self.tf = 10
self.numMarkers = 5
self.timeOffset = vector(1,1,1)
self.markerScale = 2
arrow.reset()
points.reset()
label.reset()
self.map = MotionMap(self.obj, self.tf, self.numMarkers, markerType="arrow",
markerScale=2, markerColor=color.green,
dropTime=True, timeOffset=self.timeOffset)
def makespring(natom1, natom2, radius):
""" make spring from nnth atom to iith atom"""
if natom1 > natom2:
r12 = ATOM[natom2].pos-ATOM[natom1].pos
direct = vp.norm(r12)
SPRINGS.append(vp.helix(pos=ATOM[natom1].pos+RS*direct,
axis=(L-2*RS)*direct,
radius=radius,
color=SCOLOR, thickness=0.04)) #, shininess=0.9))
SPRINGS[-1].atom1 = ATOM[natom1]
SPRINGS[-1].atom2 = ATOM[natom2]
angle = SPRINGS[-1].axis.diff_angle(vp.vector(0, 1, 0))
# avoid pathologies if too near the y axis (default "up")
if angle < 0.1 or angle > PI-0.1:
SPRINGS[-1].up = vp.vector(-1, 0, 0)
def __init__(
self,
obj,
numLabels,
axisType="x",
axis=vector(1, 0, 0),
startPos=None,
length=None,
labels=None,
labelOrientation="down",
axisColor=color.yellow,
labelColor=color.white,
):
# PhysAxis
# obj - Object which axis is oriented based on by default
# numLabels - number of labels on axis
# axisType - sets whether this is a default axis of x or y, or an arbitrary axis
# axis - unit vector defining the orientation of the axis to be created IF axisType = "arbitrary"
# startPos - start position for the axis - defaults to (-obj_size(obj).x/2,-4*obj_size(obj).y,0)
# length - length of the axis - defaults to obj_size(obj).x
# labelOrientation - how labels are placed relative to axis markers - "up", "down", "left", or "right"
try:
self.intervalMarkers = []
self.intervalLabels = []
self.labelText = labels
self.obj = obj
self.lastPos = vector(self.obj.pos.x, self.obj.pos.y, self.obj.pos.z)
self.numLabels = numLabels
self.axisType = axisType
self.axis = axis if axisType != "y" else vector(0, 1, 0)
self.length = length if (length is not None) else obj_size(obj).x
self.startPos = (
startPos
if (startPos is not None)
else vector(-obj_size(obj).x / 2, -4 * obj_size(obj).y, 0) + self.obj.pos
)
self.axisColor = axisColor
self.labelColor = labelColor
if labelOrientation == "down":
self.labelShift = vector(0, -0.05 * self.length, 0)
elif labelOrientation == "up":
self.labelShift = vector(0, 0.05 * self.length, 0)
elif labelOrientation == "left":
self.labelShift = vector(-0.1 * self.length, 0, 0)
elif labelOrientation == "right":
self.labelShift = vector(0.1 * self.length, 0, 0)
self.__reorient()
except TypeError as err:
print("**********TYPE ERROR**********")
print(
"Please check that you are not passing in a variable of the wrong type (e.g. a scalar as a vector, or vice-versa)!"
)
print("******************************")
print(err)
raise err
def __init__( self ): QtCore.QThread.__init__( self ) self.C = 0 # it is requred to process input events from visual window self.display = visual.display () self.s = visual.sphere( pos=visual.vector( 1, 0, 0 ) ) self.keep_running=True
def setUp(self):
self.obj = Mock("obj")
self.obj.pos = vector(0,0,0)
self.dt = 1
self.numSteps = 5
self.timeOffset = vector(1,1,1)
self.markerScale = 2
self.arrowOffset = vector(1,1,1)
arrow.reset()
points.reset()
label.reset()
self.map = MotionMapN(self.obj, self.dt, self.numSteps, markerType="arrow",
markerScale=2, markerColor=color.green,
dropTime=True, timeOffset=self.timeOffset, arrowOffset=self.arrowOffset)
def __init__(self, net):
self.sphereList = [] #list to hold the nodes (as vPython spheres)
self.rodList = [] #list to hold the edges (as vPython cylinders)
self.Net = net #NetworkCreation instance passed by reference
print 'Start visualising'
r = 1.0 #radius of circle that nodes are in
delta_theta = (2.0 * math.pi) / len(
self.Net.nodeList) #calculate angle between nodes
theta = 0 #start 'counter' theta at zero
for N in self.Net.nodeList:
sph = v.sphere(pos=v.vector(r * math.cos(theta),
r * math.sin(theta), 0),
radius=0.015,
color=v.color.green)
#for each node create a sphere in a position on the circumference of the circle
self.sphereList.append(sph) #add this sphere to the list
theta += delta_theta #increment the angle by the calculated delta_theta
for E in self.Net.edgeList: #for each edge...
pos1 = self.sphereList[E[
0]].pos #take positions of the corresponding nodes from the sphereList
pos2 = self.sphereList[E[1]].pos
rod = v.cylinder(pos=pos1,
axis=pos2 - pos1,
radius=0.0025,
color=v.color.white)
#create a vPython cylinder that stretches between the two nodes
self.rodList.append(rod) #add this cylinder to list
def draw(self):
"""define and render the cylinder"""
temp = (self.v1 - self.v0).xyz
self.cyl = cylinder(pos=self.v0.xyz,
axis=vector(*temp),
radius=self.radius,
color=self.color)
def __init__(self,params):
'''
Constructor
'''
self.size=None
self.origin=vector(0,0)
self.dim=(100,100)
def transform(matrix, vector):
# convert 3D vector to 4D homogeneous vector
vector4 = visual.array(vector.astuple() + (1,))
# perform the actual matrix transform
transformed4 = matrix.dot(vector4)
# convert the 4D homogeneous vector back to 3D
return visual.vector(transformed4[:-1] / transformed4[-1])
def __init__(self):
self.NodeList = []
self.EdgeList = []
r = 1.0
delta_theta = (2.0 * math.pi) / len(Net.Nodes)
theta = 0
for N in Net.Nodes:
node = [
N.ID,
v.sphere(pos=v.vector(r * math.cos(theta), r * math.sin(theta),
0),
radius=0.01,
color=v.color.white)
]
theta += delta_theta
self.NodeList.append(node)
self.NodeList = dict(self.NodeList)
for ind in Net.ChansIndex:
pos1 = self.NodeList[Net.ChansIndex[ind][0]].pos
pos2 = self.NodeList[Net.ChansIndex[ind][1]].pos
ID = ind
rod = v.cylinder(pos=pos1,
axis=(pos2 - pos1),
radius=0.0025,
color=v.color.green)
edge = [ind, rod]
self.EdgeList.append(edge)
self.EdgeList = dict(self.EdgeList)
def getfield(posn):
""" Get the field at a given point."""
fld = vp.vector(0, 0, 0)
for chrg in CHARGES:
fld = fld + (posn - chrg.pos) * 8.988e9 * chrg.Q / vp.mag(posn -
chrg.pos)**3
return fld
def run(self):
'''
Run the simulation with racers that had been previously added to the world
by add_racer method.
'''
# create the scene with the plane at the top
visual.scene.center = visual.vector(0,-25,0)
visual.box(pos=(0,0,0), size=(12,0.2,12), color=visual.color.green)
# create the visual objects that represent the racers (balls)
balls = [ visual.sphere(pos=(index,0,0), radius=0.5) for index in xrange(len(self.racers))]
for ball, racer in zip(balls, self.racers):
color = visual.color.blue
try:
# try to set the color given by a string
color = getattr(visual.color, racer.color)
except AttributeError:
pass
ball.trail = visual.curve(color=color)
while not reduce(lambda x, y: x and y, [racer.result for racer in self.racers]):
# slow down the looping - allow only self.time_calibration
# number of loop entries for a second
visual.rate(self.time_calibration)
# move the racers
for racer in self.racers:
self.__move_racer(racer)
for ball, racer in zip(balls, self.racers):
ball.pos.y = -racer.positions[-1][1]
ball.pos.x = racer.positions[-1][0]
ball.trail.append(pos=ball.pos)
self.current_time += self.interval
self.timeline.append(self.current_time)
def simulate_everything():
global propeller_until, rocket_thrusts
loop_counter = 0
successful_results = []
for i in range(73, 85):
for j in range(10, 30):
for t in range(50, 120):
loop_counter += 1
# print("loop_counter: {}, i={}, j={}, t={}".format(loop_counter, i, j, t))
rocket_thrusts = vector(i, j)
propeller_until = t
# print("Simulating for thrust=({}, {}), t = {}".format(i, j, t))
result = simulate()
if result == True:
print("Result achieved at: ")
print("Simulating for thrust=({}, {}), t = {}".format(
i, j, t))
successful_results.append((i, j, t))
# import sys
# sys.exit()
print(successful_results)
def transform(matrix, vector):
# convert 3D vector to 4D homogeneous vector
vector4 = visual.array(vector.astuple() + (1, ))
# perform the actual matrix transform
transformed4 = matrix.dot(vector4)
# convert the 4D homogeneous vector back to 3D
return visual.vector(transformed4[:-1] / transformed4[-1])
def __init__(self,vOrigin=vector(250,-250),dim=(500,-500)):
'''
Constructor MapContinous
'''
self.segments=[]
self.origin=vOrigin
self.dim=(500,-500)
def c_acel(self, xm, obj):
acel = v.vector(0, 0, 0)
for i in obj:
if i.id != self.id:
acel += (i.mass * (v.norm(i.pos - xm) * G) /
(v.mag(i.pos - xm)**2))
return acel
def setUp(self):
self.obj = Mock("obj")
self.obj.pos = vector(0,0,0)
self.dt = 1
self.numSteps = 5
self.timeOffset = vector(1,1,1)
self.markerScale = 2
self.arrowOffset = vector(1,1,1)
arrow.reset()
points.reset()
label.reset()
self.map = MotionMapN(self.obj, self.dt, self.numSteps, markerType="arrow",
markerScale=2, markerColor=color.green,
dropTime=True, timeOffset=self.timeOffset, arrowOffset=self.arrowOffset)
def update(
self,
#sensorPoint=None, aperturePoint=None,
incomingTheta=None,
incomingPhi=None,
focalDistance=None,
apertureX=None,
apertureY=None):
#if sensorPoint != None:
# self.sensorPoint = sensorPoint
#if aperturePoint != None:
# self.aperturePoint = aperturePoint
if incomingTheta != None:
self.incoming.theta = incomingTheta * math.pi
if incomingPhi != None:
self.incoming.phi = incomingPhi * 2 * math.pi
if focalDistance != None:
self.lens.focalDistance = focalDistance
if apertureX != None:
self.aperturePoint[0] = apertureX
if apertureY != None:
self.aperturePoint[1] = apertureY
# set incoming arrow so that it point towards the transmission point
#incomingDir = aperturePoint - sensorPoint
incomingDir = visual.vector(self.incoming.toCartesian())
self.incomingArrow.pos = incomingDir + self.aperturePoint
self.incomingArrow.axis = -incomingDir
outgoingDir = -self.aperturePoint - self.lens.transform(incomingDir)
outgoingDir = outgoingDir.norm()
self.outgoingArrow.pos = self.aperturePoint
self.outgoingArrow.axis = outgoingDir
