def computeLocationAs2D(j): #STEP 0: Copy initial points so they never drift with repeated transformations #STEP 1: Translate to make point 1 the origin #STEP 2: Rotate around Y axis till point 2 lies in Z=0 plane #STEP 3: Rotate around Z axis till point 2 lies in Y=0 plane (now must be on the X-axis) #STEP 4: Rotate around X axis till point 3 lies in Z=0 plane #STEP 4: Solve for X and Y #STEP 5: Build the solution #STEP 6: Back out all transformations #STEP 0: locA,locB,locC = copyAllJoints(j) #STEP 1: step1Inverse = jgh.moveToOrigin(locA,[locA,locB,locC]) #STEP 2: step2Inverse = jgh.rotateYToXYPlane(locB,[locA,locB,locC]) #STEP 3: step3Inverse = jgh.rotateZToXZPlane(locB,[locA,locB,locC]) #STEP 4: if(j.farOrNear == 'n'): yIsPositive = False else: yIsPositive = True step4Inverse = jgh.rotateXToXYPlane(locC,[locA,locB,locC],yIsPos=yIsPositive) #STEP 5: x,y = jgh.solveForXY(locA,j.spanA.l,locB,j.spanB.l) #BUILD SOLUTION locD = location(x,y,0) #STEP 4-inverse: jgh.rotateXToXYPlane_reverse(locD,step4Inverse) #STEP 3-inverse: jgh.rotateZToXZPlane_reverse(locD,step3Inverse) #STEP 2-inverse: jgh.rotateYToXYPlane_reverse(locD,step2Inverse) #STEP 1-inverse: jgh.moveToOrigin_reverse(locD,step1Inverse) #RETURN: The main function will set this object to have the location of locD return locD
def checkForCollisionPlane(lineA,lineB,colLine,minDistance,debugPrint=False): if lineA == 'NULL' or lineB == 'NULL' or colLine == 'NULL': return False #STEP 1: Copy joints #STEP 2: Move so that plane orig is 0,0,0 #STEP 3: Rotate around Y axis till plane pointA is in XY-plane #STEP 4: Rotate around Z axis till plane pointA in X-axis #STEP 5: Rotate around X axis till plane pointB is in XY-plane #STEP 6: Near edge: For each line end, check distance to Z, if less than min distance, check the point there #STEP 7: Clear cross: If the line begins and end on opposite sides of Z=0, solve for Z=0 and get the X,Y #STEP 8: Check if the angle from origin to this new point is smaller than the angle to plane pointB #STEP 9: Check if the angle from planePointA to this new point is smaller than the angle from plane pointA to plane pointB #STEP 1 plo,pla,plb,la,lb = jgh.copyPoints(lineA[0],lineA[1],lineB[1],colLine[0],colLine[1]) allPoints = [plo,pla,plb,la,lb] #STEP 2 step2Inverse = jgh.moveToOrigin(plo,allPoints) if(debugPrint): print "step 2" for pt in allPoints: print pt.toString() #STEP 3: step3Inverse = jgh.rotateYToXYPlane(pla,allPoints) if(debugPrint): print "step 3" for pt in allPoints: print pt.toString() #STEP 4: step4Inverse = jgh.rotateZToXZPlane(pla,allPoints) if(debugPrint): print "step 4" for pt in allPoints: print pt.toString() #STEP 5: step5Inverse = jgh.rotateXToXYPlane(plb,allPoints,yIsPos=True) if(debugPrint): print "step 5" for pt in allPoints: print pt.toString() ptsToCheck = [] #STEP 6: if (math.fabs(la.z)-minDistance) < 0.0: #No need to handle near-miss/hit with a fluff factor since we already have the standoff distance. tmp = la.copy() tmp.z = 0.0 ptsToCheck.append(tmp) if debugPrint: print "end point was close to plane" if (math.fabs(lb.z)-minDistance) < 0.0: #No need to handle near-miss/hit with a fluff factor since we already have the standoff distance. tmp = lb.copy() tmp.z = 0.0 ptsToCheck.append(tmp) if debugPrint: print "end point was close to plane" #STEP 7: if (la.z < 0.0 and lb.z > 0.0) or (la.z > 0.0 and lb.z < 0.0): #N(X1-X2)+X2 = X #N(Y1-Y2)+Y2 = Y #N(Z1-Z2)+Z2 = 0 tmpX = lb.x + (-lb.z/(la.z-lb.z))*(la.x-lb.x) tmpY = lb.y + (-lb.z/(la.z-lb.z))*(la.y-lb.y) tmp = location(tmpX,tmpY,0.0) ptsToCheck.append(tmp) if debugPrint: print "line goes clear through the plane" #STEP 8,9: for pt in ptsToCheck: origAngleMax = math.atan2(plb.y,plb.x) origAngleFound = math.atan2(pt.y,pt.x) farAngleMax = math.atan2(plb.y,(pla.x-plb.x)) farAngleFound = math.atan2(pt.y,(pla.x-pt.x)) if(origAngleFound > 0.0 and origAngleFound < origAngleMax and farAngleFound > 0.0 and farAngleFound < farAngleMax): if debugPrint: "line goes through the surface" return True if debugPrint: print "STEP 8,9: Not a hit. point:%s, origAngleMax:%f, origAngleFound:%f, farAngleMax:%f, farAngleFound:%f"%(pt.toString(),origAngleMax,origAngleFound,farAngleMax,farAngleFound) return False
def test_joint_locationComputation():
p = True
#Test case: Rotation
l1 = location(0,1.0/math.sqrt(2),1.0/math.sqrt(2)) #Y=1, Z=1
l2 = location(0,1.0/math.sqrt(2),-1.0/math.sqrt(2))
inv = jgh.rotateXToXYPlane(l1,[l2],yIsPos=True)
if(l2.z < -1.1 or l2.z > -0.9 or l2.y > 0.1 or l2.y < -0.1 or l2.x > 0.1 or l2.x < -0.1):
p = False
print "ERROR on test case 1a: %s"%l2.toString()
jgh.rotateXToXYPlane_reverse(l2,inv)
if(l2.z < -0.8 or l2.z > -0.7 or l2.y > 0.8 or l2.y < 0.7):
p = False
print "ERROR on test case 1b: %s"%l2.toString()
inv = jgh.rotateXToXYPlane(l1,[l2],yIsPos=False)
if(l2.z < 0.9 or l2.z > 1.1 or l2.y > 0.1 or l2.y < -0.1 or l2.x > 0.1 or l2.x < -0.1):
p = False
print "ERROR on test case 1c: %s"%l2.toString()
#Test case: Rotation
l1 = location(0,100,-1)
l2 = location(-1,-100,0)
inv = jgh.rotateYToXYPlane(l1,[l2])
if(l2.z > -0.9 or l2.z < -1.1 or l2.x > 0.1 or l2. x < -0.1):
p = False
print "ERROR on test case 2: %s"%l2.toString()
#Test case: Rotation
l1 = location(-1.0,-1.0,0.0)
l2 = location(1.0,-1.0,0)
inv = jgh.rotateZToXZPlane(l1,[l2])
if(l2.z < -0.1 or l2.z > 0.1 or l2.x < -0.1 or l2.x > 0.1 or l2.y > math.sqrt(2)+0.01 or l2.y < math.sqrt(2)-0.01):
p = False
print "ERROR on test case 3: %s"%l2.toString()
#Test case: Line
j = joint()
j.jointA = location(0,4,0)
j.jointB = location(1,1,1)
j.spanA = span( 2.0)
j.computeLocation()
if(j.x > 0.61 or j.x < 0.60 or j.y > 2.2 or j.y < 2.1 or j.z > 0.61 or j.z < 0.60):
p = False
print "ERROR on test case 4: %s"%j.toString()
#Test case: 2D joint
j = joint()
j.jointA = location(1.0,1.0,0.0)
j.jointB = location(0.0,1.0,0.0)
j.jointC = location(0.0,1.0,0.0)
j.spanA = span(math.sqrt(2.0))
j.spanB = span(1.0)
j.farOrNear = 'f'
j.computeLocation()
if(j.x > 0.01 or j.x < -0.01 or j.y > 1.01 or j.y < -0.99 or j.z > 1.01 or j.z < 0.99):
p = False
print "ERROR on test case 5: %s"%j.toString()
#Test case: 2D joint
j = joint()
j.jointA = location(0.0,1.0,0.0)
j.jointB = location(4.0,1.0,0.0)
j.jointC = location(0.5,6.0,-2.0)
j.spanA = span(4.0)
j.spanB = span(4.0)
j.farOrNear = 'f'
j.computeLocation()
if(j.x > 2.01 or j.x < 1.99 or j.y < -2.22 or j.y > -2.21 or j.z > 1.29 or j.z < 1.285):
p = False
print "ERROR on test case 6: %s"%j.toString()
#Test case: 2D joint
j = joint()
j.jointA = location(0.0,1.0,0.0)
j.jointB = location(4.0,1.0,0.0)
j.jointC = location(0.5,6.0,-2.0)
j.spanA = span(4.0)
j.spanB = span(4.0)
j.farOrNear = 'n'
j.computeLocation()
if(j.x > 2.01 or j.x < 1.99 or j.y > 4.22 or j.y < 4.21 or j.z < -1.29 or j.z > -1.285):
p = False
print "ERROR on test case 7: %s"%j.toString()
#Test case: 3D joint
j = joint()
j.jointA = location(1.0,0,0)
j.jointB = location(0.0,1.0,0.0)
j.jointC = location(0.0,0.0,1.0)
j.spanA = span(1.0)
j.spanB = span(math.sqrt(1+1+1))
j.spanC = span(1.0)
j.computeLocation()
if(j.x > 1.01 or j.x < 0.99 or j.y > 0.01 or j.y < -0.01 or j.z > 1.01 or j.z < 0.99):
p = False
print "ERROR on test case 8: %s"%j.toString()
#Test case: 3D joint
j = joint()
j.jointA = location(0.0,2.0,2.0)
j.jointB = location(-1.0,1.0,0.0)
j.jointC = location(4.0,0.0,0.0)
j.spanA = span(4.0)
j.spanB = span(3.0)
j.spanC = span(3.0)
j.computeLocation()
if(j.x > 1.198 or j.x < 1.19 or j.y > -1.013 or j.y < -1.014 or j.z > -0.34 or j.z < -0.35):
p = False
print "ERROR on test case 9: %s"%j.toString()
#Test case: 3D joint
j = joint()
j.jointA = location(0,0,0)
j.jointB = location(1,0,0)
j.jointC = location(.5,-math.sqrt(3)/2.0,0.0)
j.spanA = span(1.0)
j.spanB = span(math.sqrt(2.0))
j.spanC = span(math.sqrt(2.0))
j.computeLocation()
if(j.x > 0.01 or j.x < -0.01 or j.y > 0.01 or j.y < -0.01 or j.z > -0.99 or j.z < -1.01):
p = False
print "ERROR on test case 10: %s"%j.toString()
return p
def test_joint_locationComputation():
p = True
#Test case: Exception in joint naming: not found
t = False
s = mfStructure('a',[0,0,0],'b',[0,0,1])
try:
s.add2DJoint('c','a',1,'x',1,[0,0,10],'f')
except Exception_UnknownJoint:
t = True
if t == False:
print "ERROR on test case -1: Joint naming"
p = False
#Test case: Exception in joint naming: Already exists
t = False
s = mfStructure('a',[0,0,0],'b',[0,0,1])
try:
s.add2DJoint('b','a',1,'b',1,[0,0,10],'f')
except Exception_DuplicateNamedJoint:
t = True
if t == False:
print "ERROR on test case 0: Joint naming"
p = False
#Test case: Rotation
l1 = location(0,1.0/math.sqrt(2),1.0/math.sqrt(2)) #Y=1, Z=1
l2 = location(0,1.0/math.sqrt(2),-1.0/math.sqrt(2))
inv = jgh.rotateXToXYPlane(l1,[l2],yIsPos=True)
if(l2.z < -1.1 or l2.z > -0.9 or l2.y > 0.1 or l2.y < -0.1 or l2.x > 0.1 or l2.x < -0.1):
p = False
print "ERROR on test case 1a: %s"%l2.toString()
jgh.rotateXToXYPlane_reverse(l2,inv)
if(l2.z < -0.8 or l2.z > -0.7 or l2.y > 0.8 or l2.y < 0.7):
p = False
print "ERROR on test case 1b: %s"%l2.toString()
inv = jgh.rotateXToXYPlane(l1,[l2],yIsPos=False)
if(l2.z < 0.9 or l2.z > 1.1 or l2.y > 0.1 or l2.y < -0.1 or l2.x > 0.1 or l2.x < -0.1):
p = False
print "ERROR on test case 1c: %s"%l2.toString()
#Test case: Rotation
l1 = location(0,100,-1)
l2 = location(-1,-100,0)
inv = jgh.rotateYToXYPlane(l1,[l2])
if(l2.z > -0.9 or l2.z < -1.1 or l2.x > 0.1 or l2. x < -0.1):
p = False
print "ERROR on test case 2: %s"%l2.toString()
#Test case: Rotation
l1 = location(-1.0,-1.0,0.0)
l2 = location(1.0,-1.0,0)
inv = jgh.rotateZToXZPlane(l1,[l2])
if(l2.z < -0.1 or l2.z > 0.1 or l2.x < -0.1 or l2.x > 0.1 or l2.y > math.sqrt(2)+0.01 or l2.y < math.sqrt(2)-0.01):
p = False
print "ERROR on test case 3: %s"%l2.toString()
#Test case: Line
j = joint()
j.jointA = location(0,4,0)
j.jointB = location(1,1,1)
j.spanA = span( 2.0)
j.computeLocation()
if(j.x > 0.61 or j.x < 0.60 or j.y > 2.2 or j.y < 2.1 or j.z > 0.61 or j.z < 0.60):
p = False
print "ERROR on test case 4: %s"%j.toString()
#Test case: 2D joint
j = joint()
j.jointA = location(1.0,1.0,0.0)
j.jointB = location(0.0,1.0,0.0)
j.jointC = location(0.0,1.0,0.0)
j.spanA = span(math.sqrt(2.0))
j.spanB = span(1.0)
j.farOrNear = 'f'
j.computeLocation()
if(j.x > 0.01 or j.x < -0.01 or j.y > 1.01 or j.y < -0.99 or j.z > 1.01 or j.z < 0.99):
p = False
print "ERROR on test case 5: %s"%j.toString()
#Test case: 2D joint
j = joint()
j.jointA = location(0.0,1.0,0.0)
j.jointB = location(4.0,1.0,0.0)
j.jointC = location(0.5,6.0,-2.0)
j.spanA = span(4.0)
j.spanB = span(4.0)
j.farOrNear = 'f'
j.computeLocation()
if(j.x > 2.01 or j.x < 1.99 or j.y < -2.22 or j.y > -2.21 or j.z > 1.29 or j.z < 1.285):
p = False
print "ERROR on test case 6: %s"%j.toString()
#Test case: 2D joint
j = joint()
j.jointA = location(0.0,1.0,0.0)
j.jointB = location(4.0,1.0,0.0)
j.jointC = location(0.5,6.0,-2.0)
j.spanA = span(4.0)
j.spanB = span(4.0)
j.farOrNear = 'n'
j.computeLocation()
if(j.x > 2.01 or j.x < 1.99 or j.y > 4.22 or j.y < 4.21 or j.z < -1.29 or j.z > -1.285):
p = False
print "ERROR on test case 7: %s"%j.toString()
#Test case: 3D joint
j = joint()
j.jointA = location(1.0,0,0)
j.jointB = location(0.0,1.0,0.0)
j.jointC = location(0.0,0.0,1.0)
j.spanA = span(1.0)
j.spanB = span(math.sqrt(1+1+1))
j.spanC = span(1.0)
j.computeLocation()
if(j.x > 1.01 or j.x < 0.99 or j.y > 0.01 or j.y < -0.01 or j.z > 1.01 or j.z < 0.99):
p = False
print "ERROR on test case 8: %s"%j.toString()
#Test case: 3D joint
j = joint()
j.jointA = location(0.0,2.0,2.0)
j.jointB = location(-1.0,1.0,0.0)
j.jointC = location(4.0,0.0,0.0)
j.spanA = span(4.0)
j.spanB = span(3.0)
j.spanC = span(3.0)
j.computeLocation()
if(j.x > 1.198 or j.x < 1.19 or j.y > -1.013 or j.y < -1.014 or j.z > -0.34 or j.z < -0.35):
p = False
print "ERROR on test case 9: %s"%j.toString()
#Test case: 3D joint
j = joint()
j.jointA = location(0,0,0)
j.jointB = location(1,0,0)
j.jointC = location(.5,-math.sqrt(3)/2.0,0.0)
j.spanA = span(1.0)
j.spanB = span(math.sqrt(2.0))
j.spanC = span(math.sqrt(2.0))
j.computeLocation()
if(j.x > 0.01 or j.x < -0.01 or j.y > 0.01 or j.y < -0.01 or j.z > -0.99 or j.z < -1.01):
p = False
print "ERROR on test case 10: %s"%j.toString()
return p
