def run_for(self, time, dt=0.01):
"""
Run simulation for a certain amount of time(as measured in the system's time).
Recommended to use this instead of simulate(dt) for most situations.
Parameters
----------
time: float
Time for which the simulation will go on for in the system's time
dt: float
Time steps taken.
"""
# Make pointer objects if not already created
if self.display_forces:
self._assign_forces()
# Create visualization if necessary
if self.visualize:
self.create_vis()
# Import vpython if necessary
if self.visualize and self.visualizer_type == "vpython":
import vpython
# Simulate for given time
while self.time < time:
if self.visualize and self.visualizer_type == "vpython":
vpython.rate(150)
self.simulate(dt)
if self.stop_on_cycle:
if self._cycle_completed():
break
self.time += dt
def loop(self):
while self.something_in_the_air:
self.update()
if self.particles:
rate(200)
for p,pos in zip(sim.particles, sim.positions):
if p.update:
p.pos = vec(*pos)
if p.pos.z < start.z:
p.update = False
particles =[]
for position, c in zip([start, start+vec(0, 3*radius, 0)],
[color.red, color.blue]):
p = sphere(pos=position, radius=radius, color=c)
p.v = v0
p.update = True # to determine if needs position update
particles.append(p)
# In[ ]:
k = 1
while True:
rate(500)
# update position first
for p in particles:
if p.update:
p.pos += p.v*dt
if p.pos.z < start.z:
p.update = False
# calculate friction force
Fd = -k * particles[1].v
Fnet = Fg + Fd
a = Fnet / m
particles[0].v += g*dt
particles[1].v += a*dt
for i in range(len(self.vwhitestars)):
self.vwhitestars[i].pos = vpython.vector(*self.exitsXYZ[i])
if self.Q_Spheres:
for sphere in self.Q_Spheres:
sphere.draw()
def intersections(self):
pass
def mobius_transform(self, kind, delta):
pass
def rotate_spindle(self, q, pole, delta):
pass
vpython.scene.width = 900
vpython.scene.height = 900
vpython.scene.range = 1.3
vpython.scene.forward = vpython.vector(-1, 0, 0)
vpython.scene.up = vpython.vector(0, 1, 0)
n = 4
sphere = Sphere(qutip.rand_ket(n))
energy = qutip.rand_herm(n)
while True:
new_v = qutip.Qobj(evolvev(sphere.v.full().T[0], energy.full(), 0.007))
new_v.dims = sphere.v.dims
sphere.update(new_v)
vpython.rate(1)
sphere.draw()
#border=extrusion(pos=vector(0,0,0), shape=shapes.rectangle(width=50, height=50,thickness=0.05),color=vector(0.1,0.1,0.2))
#Bricks
box = {}
for x in chain(range(-20,-19), range(-16,-15), range(-12, -11), range(-8,-7), range(-4, -3), range(0,1), range(4,5), range(8,9), range(12,13), range(16,17), range(20, 21)):
for y in chain(range(8,9), range(12,13), range(16,17), range(20,21)):
z = 0
box[(x, y)]= vs.box(pos=vs.vector(x, y, z), length=4, height=4, width=0.1, color=vs.color.blue, texture=vs.textures.rock)
#Initial Velocities
paddle.v=vs.vector(3,0,0)
ball.v=vs.vector(0.7,5,0)
#Game
while(flag==0):
vs.rate(5./dt)
t=t+dt
#Paddle Physics
paddle.pos=paddle.pos+paddle.v*dt
#Ball Physics
ball.v=ball.v+g*dt
ball.pos=ball.pos+ball.v*dt
#Paddle Boundaries
if (paddle.pos.x>19): #Right boundary
paddle.v.x=0
if (paddle.pos.x<-19): #Left Boundary
paddle.v.x=0
#Ball Boundaries
ksi_ = idst(b_)
arr = []
# setup vectors with solely x values
for i in range(len(x)):
arr.append([x[i] - L / 2, 0, 0])
ksi_c = curve(pos=arr)
n = len(arr)
def update_points(ksi_, y, z):
for i in range(n):
ksi_.modify(i, y=y[i], z=z[i])
t = 0
while True:
rate(30)
b_ = b0 * exp(1j * pi**2 * hbar * arange(1, N + 2)**2 / 2 / M / L**2 * t)
ksi_ = idst(b_)
y = real(ksi_) * 1e-9
z = imag(ksi_) * 1e-9
update_points(ksi_c, y, z)
t += h * 5
def main():
''' Set up Stationary scene '''
scene = vp.canvas(title='Solar system',
width=1300,
height=600,
center=vp.vector(0, 0, 0))
scene.autoscale = False
scene.range = star_radius * model_scale
scene.camera.pos = vp.vector(0, 100000,
star_radius * model_scale) # nice view
# scene.camera.pos = vp.vector(100000,0,0) # side view
# scene.camera.pos = vp.vector(0,100000,0) # top down view
scene.camera.axis = vp.vector(vp.vector(0, 0, 0) - scene.camera.pos)
# Background stars
if show_backgound_stars == True:
init_stars(star_radius, star_size, num_star)
''' Set up Animated objects '''
# Intialize Asteroid belt
if show_asteroid_belt == True:
print('Generating asteroid belt')
ast_list, ast_radius_list, ast_theta0_list = init_belt(
ast_belt_radius, ast_size, num_ast)
# Initialize Kuiper belt
if show_kuiper_belt == True:
print('Generating kuiper belt')
kui_list, kui_radius_list, kui_theta0_list = init_belt(
kui_belt_radius, kui_size, num_kui)
# Initialize planet system
object_list = init_system(planet_filename, moon_filename)
''' Animation '''
print('Begin animation')
dt = 100
i = 0 # Counter for moving the belts
while True:
vp.rate(500000)
# update all objects position; call velocity verlet algorithm
for body in object_list:
# obtain objects other than the one being called in this iteration
other_objects = object_list.copy()
other_objects.remove(body)
# pass other_objects into motion method as object
body.motion(dt, other_objects, i)
# rotate asteroid belt and kuiper belt
if rotate_belt == True and show_asteroid_belt == True:
# shift theta of all belt objects
for ast, ast_radius, ast_theta0 in zip(ast_list, ast_radius_list,
ast_theta0_list):
ast_theta = ast_theta0 + i * 2 * np.pi / ast_belt_period # change in theta per unit time = omega = 2pi/T
ast.pos = model_scale * ast_radius * vp.vector(
vp.cos(ast_theta), 0, vp.sin(ast_theta))
if rotate_belt == True and show_kuiper_belt == True:
for kui, kui_radius, kui_theta0 in zip(kui_list, kui_radius_list,
kui_theta0_list):
kui_theta = kui_theta0 + i * 2 * np.pi / kui_belt_period
kui.pos = model_scale * kui_radius * vp.vector(
vp.cos(kui_theta), 0, vp.sin(kui_theta))
if i % int(print_step) == 0:
print(
'Celestial object positions update completed - Running next iteration'
)
i += 1
#Preparando modo gráfico #Realizando o modo gráfico from vpython import sphere,canvas,color,vector,cylinder,box,helix,rate #Configuração da janela scene2 = canvas(title = "Simulação de órbitas caóticas", width = 600, height = 600,background=color.white) esferabola1 = sphere(radius=7,pos=vector(x1,y1,0),color=color.yellow) esferabola2 = sphere(radius=2,pos=vector(x2,y2,0),color=color.red) esferabola3 = sphere(radius=2,pos=vector(x3,y3,0),color=color.blue) cont = 0 T = len(pontstemp) for k in range(T): esferabola1.pos = vector(posicaox1[k],posicaoy1[k],0.0) esferabola2.pos = vector(posicaox2[k],posicaoy2[k],0.0) esferabola3.pos = vector(posicaox3[k],posicaoy3[k],0.0) cont = cont + 1 if (cont == 100): sphere(radius=1.0,pos=vector(posicaox2[k],posicaoy2[k],0),color=color.red) sphere(radius=1.0,pos=vector(posicaox3[k],posicaoy3[k],0),color=color.blue) cont = 0 rate(N/100)
def render(self, mode, render_step=10):
assert isinstance(self._dyn, BallBalancerDynamics
), "Missing dynamics properties for simulation!"
# Cheap printing to console
if self._step_count % render_step == 0:
print(
"time step: {:3} | in bounds: {:1} | state: {} | action: {}"
.format(self._step_count,
self.state_space.contains(self._state), self._state,
self._curr_action))
if not self.state_space.contains(self._state):
# State is out of bounds
np.set_printoptions(precision=3)
print("min state : ", self.state_space.low)
print("last state: ", self._state)
print("max state : ", self.state_space.high)
# Render using VPython
import vpython as vp
vp.rate(30)
d_plate = 0.01 # only for animation
# Init render objects on first call
if self._anim_canvas is None:
self._anim_canvas = vp.canvas(width=800,
height=600,
title="Quanser Ball Balancer")
self._anim_ball = vp.sphere(
pos=vp.vector(self._state[2], self._state[3],
self._dyn.r_ball + d_plate / 2.),
radius=self._dyn.r_ball,
mass=self._dyn.m_ball,
color=vp.color.red,
canvas=self._anim_canvas,
)
self._anim_plate = vp.box(
pos=vp.vector(0, 0, 0),
size=vp.vector(self._dyn.l_plate, self._dyn.l_plate, d_plate),
color=vp.color.green,
canvas=self._anim_canvas,
)
# Compute plate orientation
a = -self._plate_angs[0] # plate's angle around the y axis (alpha)
b = self._plate_angs[1] # plate's angle around the x axis (beta)
# Axis runs along the x direction
self._anim_plate.axis = vp.vec(
vp.cos(a),
0,
vp.sin(a),
) * self._dyn.l_plate
# Up runs along the y direction (vpython coordinate system is weird)
self._anim_plate.up = vp.vec(
0,
vp.cos(b),
vp.sin(b),
)
# Compute ball position
x = self._state[2] # ball position along the x axis
y = self._state[3] # ball position along the y axis
self._anim_ball.pos = vp.vec(
x * vp.cos(a),
y * vp.cos(b),
self._dyn.r_ball + x * vp.sin(a) + y * vp.sin(b) +
vp.cos(a) * d_plate / 2.,
)
# Set caption text
self._anim_canvas.caption = f"""
make_trail=True)
ball_2 = vp.sphere(pos=initial_position_2,
radius=0.5,
color=vp.color.green,
make_trail=True)
wall_center = vp.vector(0., 0., 0.)
wall_dimensions = vp.vector(0.25, 10., 10.)
wall = vp.box(pos=wall_center, size=wall_dimensions, color=vp.color.red)
animation_time_step = 0.01 # seconds
rate_of_animation = 1 / animation_time_step
time_step = 0.005
stop_time = 1.
time = 0.
ball_velocity = initial_velocity
ball_2_velocity = initial_velocity_2
while time < stop_time:
vp.rate(rate_of_animation)
if ball.pos.x > wall.pos.x:
ball_velocity.x = -ball_velocity.x # reverse ball velocity
ball.pos.x += ball_velocity.x * time_step
ball.pos.y += ball_velocity.y * time_step
ball.pos.z += ball_velocity.z * time_step
if ball_2.pos.x > wall.pos.x:
ball_2_velocity.x = -ball_2_velocity.x # reverse ball_2 velocity
ball_2.pos.x += ball_2_velocity.x * time_step
ball_2.pos.y += ball_2_velocity.y * time_step
ball_2.pos.z += ball_2_velocity.z * time_step
time += time_step
def __init__(self, height=500, width=1000, title='', caption='', grid=True):
# Private lists
self.__line_styles = [
'', # None
'-', # Solid (default)
'--', # Dashes
':', # Dotted
'-.', # Dash-dot
]
self.__marker_styles = [
'+', # Plus
'o', # Circle
'*', # Star
'.', # Dot
'x', # Cross
's', # Square
'd', # Diamond
'^', # Up triangle
'v', # Down triangle
'<', # Left triangle
'>', # Right triangle
'p', # Pentagon
'h', # Hexagon
]
self.__colour_styles = [
'r', # Red
'g', # Green
'b', # Blue
'y', # Yellow
'c', # Cyan
'm', # Magenta
'k', # Black (default)
'w', # White
]
self.__colour_dictionary = {
'r': color.red.value,
'g': color.green.value,
'b': color.blue.value,
'c': color.cyan.value,
'y': color.yellow.value,
'm': color.magenta.value,
'k': color.black.value,
'w': color.white.value
}
# Create a new independent scene
self.scene = canvas()
# Apply the settings
self.scene.background = color.white
self.scene.width = width
self.scene.height = height
self.scene.autoscale = False
# Disable default controls
self.scene.userpan = True # Keep shift+mouse panning (key overwritten)
self.scene.userzoom = True # Keep zoom controls (scrollwheel)
self.scene.userspin = False # Remove ctrl+mouse enabled to rotate
self.__grid_visibility = grid
self.__camera_lock = False
# Apply HTML title/caption
if title != '':
self.scene.title = title
self.__default_caption = caption
if caption != '':
self.scene.caption = caption
# Rotate the camera
# convert_grid_to_z_up(self.scene)
# Any time a key or mouse is held down, run the callback function
rate(30) # 30Hz
self.scene.bind('keydown', self.__handle_keyboard_inputs)
# Create the grid, and display if wanted
self.__graphics_grid = GraphicsGrid(self.scene)
# Toggle grid to 2D
self.__graphics_grid.toggle_2d_3d()
# Lock the grid
self.__graphics_grid.set_relative(False)
# Turn off grid if applicable
if not self.__grid_visibility:
self.__graphics_grid.set_visibility(False)
# Reset the camera to known spot
self.__reset_camera()
self.__graphics_grid.update_grid()
scene.width = 1200 # Ajustando a largura da cena
scene.height = 1000 # Ajustando a altura da cena
scene.camera.pos = vector(2, -1, 2)
scene.camera.axis = vector(-2, 1, -2)
suporte = box(pos=vector(.0, .05, .0),
up=vector(.0, 1., .0),
length=2,
height=.1,
width=2,
texture=textures.wood) # Suporte
mola = helix(pos=vector(0, 0, 0),
axis=vector(*r_vrl),
color=color.yellow,
radius=.03) # Mola do pendulo
bola = sphere(axis=vector(*r_vrl), radius=.1, make_trail=True) # Bola
# Constantes
C = 1.
while t <= b:
rate(C / h)
mola.axis = vector(*r_vrl)
bola.pos = vector(*r_vrl)
r_vrl, v_vrl, vpm = passo_vrl(f, r_vrl, v_vrl, vpm, t, h)
t += h
),
]
bodies = planets + [
star,
]
# %%
t = 0
dt = 0.001
while True:
vp.rate(500)
for b in bodies:
b.force = vp.vector(0, 0, 0)
for b1, b2 in itertools.product(bodies, bodies):
if b1 != b2:
b1.force += eval_gravitational_force(b1, b2)
for b in bodies:
b.momentum += b.force * dt
b.pos += b.momentum / b.mass * dt
t += dt
time.sleep(0.1)
def run(self):
pos = array(self.pos_list)
p = array(self.p_list)
m = array(self.m_list)
m.shape = (self.ctx.stars, 1
) # Numeric Python: (1 by Nstars) vs. (Nstars by 1)
radius = array(self.r_list)
vcm = sum(p) / sum(m) # velocity of center of mass
p = p - m * vcm # make total initial momentum equal zero
dt = 50.0
pos = pos + (p / m) * (dt / 2.0) # initial half-step
num_hits = 0
L = self.ctx.L
while True:
rate(50)
L *= 1.0 + self.ctx.h0 * dt
# strength of force to allow for external mass
con = 1.0 * self.ctx.G * self.ctx.stars * self.ctx.Msun / L**3
# Compute all forces on all stars
r = pos - pos[:, newaxis] # all pairs of star-to-star vectors
for i in range(self.ctx.stars):
r[i, i] = 1e6 # otherwise the self-forces are infinite
rmag = sqrt(add.reduce(r**2, -1)) # star-to-star scalar distances
hit = less_equal(rmag, radius + radius[:, newaxis]) - identity(
self.ctx.stars)
# 1,2 encoded as 1 * stars + 2
hit_list = sort(nonzero(hit.flat)[0]).tolist()
F = self.ctx.G * m * m[:,
newaxis] * r / rmag[:, :,
newaxis]**3 # all force pairs
for i in range(self.ctx.stars):
F[i, i] = 0 # no self-forces
p = p + sum(F, 1) * dt + pos * con * dt * m
# Having updated all momenta, now update all positions
pos += (p / m) * dt
# Expand universe
pos *= 1.0 + self.ctx.h0 * dt
# Update positions of display objects; add trail
for i in range(self.ctx.stars):
v = pos[i]
self.stars[i].pos = vec(v[0], v[1], v[2])
# If any collisions took place, merge those stars
for hit in hit_list:
i, j = divmod(hit, self.ctx.stars) # decode star pair
if not (self.stars[i].visible or self.stars[j].visible):
continue
# m[i] is a one-element list, e.g. [6e30]
# m[i,0] is an ordinary number, e.g. 6e30
new_pos = (pos[i] * m[i, 0] + pos[j] * m[j, 0]) / (m[i, 0] +
m[j, 0])
new_mass = m[i, 0] + m[j, 0]
new_p = p[i] + p[j]
new_radius = self.ctx.Rsun * (
(new_mass / self.ctx.Msun)**(1.0 / 3.0))
i_set, j_set = i, j
if radius[j] > radius[i]:
i_set, j_set = j, i
self.stars[i_set].radius = new_radius
m[i_set, 0] = new_mass
pos[i_set] = new_pos
p[i_set] = new_p
self.stars[j_set].visible = 0
p[j_set] = vec(0, 0, 0)
m[j_set, 0] = self.ctx.Msun * 1e-30 # give it a tiny mass
num_hits += 1
pos[j_set] = (10.0 * L * num_hits, 0, 0) # put it far away
#initialize the position array:
r = np.array([th0, om0], float)
# RK4 algorithm
for t in tp:
thp.append(r[0])
omp.append(r[1])
k1 = h * f(r, t)
k2 = h * f(r + 0.5 * k1, t + 0.5 * h)
k3 = h * f(r + 0.5 * k2, t + 0.5 * h)
k4 = h * f(r + k3, t + h)
r += (k1 + 2 * k2 + 2 * k3 + k4) / 6
mp.title('Phasee Portrait of a Pendulum')
mp.plot(thp, omp)
mp.xlabel(r'Angle $(Rads)$')
mp.ylabel(r'Angular Velocity $(\frac{Rads}{s})$')
mp.show()
# make animation
rod = cylinder(pos=vector(0, 0, 0),
axis=vector(l * np.cos(th0 - pi / 2), l * np.sin(th0 - pi / 2),
0),
radius=l / 40)
bob = sphere(pos=vector(l * np.cos(th0 - pi / 2), l * np.sin(th0 - pi / 2), 0),
radius=l / 10)
for theta in thp:
rate(N // 10)
rod.axis = vector(l * np.cos(theta - pi / 2), l * np.sin(theta - pi / 2),
0)
bob.pos = vector(l * np.cos(theta - pi / 2), l * np.sin(theta - pi / 2), 0)
def main(theta=45.0,
omega=0.0,
dt=0.001,
rod_length=5.0,
dampening_coeff=0.3,
acceleration_from_gravity=9.8,
trail=False,
animation_rate=2000,
time_limit=None,
repeat=True,
limits=(0.01, 0.001),
labels=True,
display_width=1900,
display_height=950,
plot=False):
""" Pendulum demo built for use with VPython.
:param theta: (float) Starting angle of pendulum from rest in degrees (default is 45.0).
:param omega: (float) Starting angular velocity of the pendulum in degrees/second (default is 0).
:param dt: (float) Change in time in seconds; must be very small (default is 0.001).
:param rod_length: (float) Length of rod in meters; end of rod to center of bob (default is 5.0).
:param dampening_coeff: (float) The damping coefficient; a number between 0 and 1 (default is 0.3).
:param acceleration_from_gravity: (float) The acceleration due to gravity on the pendulum in meters/second**2
(default is 9.8).
:param trail: (bool) Shows the path of the moving bob (default is False).
:param animation_rate: (int) The maximum amount of loop executions per second (default is 2000).
:param time_limit: (float) A number that represents an ending time for the pendulum animation
(t goes from 0 to time_limit with dt step sizes); if left as None the demo will run until it reaches its
limit values (unless repeat is True) (default is None).
:param repeat: (bool) If repeat is True and time_limit is None, repeats the demo after the pendulum has reached
its limit values (default is True).
:param limits: (list) A tuple that when time_limit is None, will use +- the given theta (degrees) and
omega (degrees/time) values to determine when to either reset the pendulum or stop (default is (0.01, 0.001)).
:param labels: (bool) True if you want to display a box of the input values (default is True).
:param display_width: (int) The VPython canvas pixel width.
:param display_height: (int) The VPython canvas pixel height.
:param plot: (bool) If True, will display a graph of the bob's angle vs. time; can cause performance issues
(default is False).
"""
_make_scene(plot, display_width, display_height)
pen = Pendulum(theta=theta,
omega=omega,
dt=dt,
rod_length=rod_length,
dampening_coeff=dampening_coeff,
acceleration_from_gravity=acceleration_from_gravity,
trail=trail)
pen.shelf()
rod = pen.rod(pen.position)
bob = pen.bob(pen.position)
if labels:
_make_labels(theta, omega, dampening_coeff, acceleration_from_gravity,
rod_length)
t = 0
if plot:
f = _make_plot(pen.theta, display_width, display_height)
if time_limit is None:
while True:
rate(animation_rate)
angle = pen.angular_position()
vel = pen.angular_velocity()
if -limits[0] < angle < limits[0] and -limits[1] < vel < limits[1]:
if repeat:
pen.theta = math.radians(theta)
pen.omega = math.radians(omega)
bob.clear_trail()
if plot:
f.delete()
t = 0
else:
break
rod.axis = pen.position
bob.pos = pen.position
if plot:
f.plot(t, math.degrees(pen.theta))
t += dt
else:
while t <= time_limit:
while t < time_limit:
rate(animation_rate)
pen.angular_position()
pen.angular_velocity()
rod.axis = pen.position
bob.pos = pen.position
if plot:
f.plot(t, math.degrees(pen.theta))
t += dt
if repeat and t >= time_limit:
pen.theta = math.radians(theta)
pen.omega = math.radians(omega)
bob.clear_trail()
if plot:
f.delete()
t = 0
# plot(tpoints, energy_points)
# xlabel('t (s)')
# ylabel('energy (J)')
# show()
# Make animation
rod1 = cylinder(pos=vector(0, 0, 0),
axis=vector(l * cos(theta1_0 - pi / 2),
l * sin(theta1_0 - pi / 2), 0),
radius=l / 40)
bob1 = sphere(pos=vector(l * cos(theta1_0 - pi / 2),
l * sin(theta1_0 - pi / 2), 0),
radius=l / 10)
rod2 = cylinder(pos=vector(l * cos(theta1_0 - pi / 2), l * sin(theta1_0 - pi / 2), 0), \
axis=vector(l * cos(theta2_0 - pi / 2), l * sin(theta2_0 - pi / 2), 0), radius=l/40)
bob2 = sphere(pos=vector(l * cos(theta2_0 - pi / 2),
l * sin(theta2_0 - pi / 2), 0),
radius=l / 10)
for i in range(N):
rate(N // 100)
vector1 = vector(l * cos(theta1_points[i] - pi / 2),
l * sin(theta1_points[i] - pi / 2), 0)
vector2 = vector(l * cos(theta2_points[i] - pi / 2),
l * sin(theta2_points[i] - pi / 2), 0)
rod1.axis = vector1
bob1.pos = vector1
rod2.pos = vector1
rod2.axis = vector2
bob2.pos = vector1 + vector2
color=vp.color.green,
make_trail=True,
retain=100)
r_hat_trail = vp.sphere(pos=vp.vector(Rx[0], Ry[0], Rz[0]),
radius=.005,
color=vp.color.blue,
make_trail=True,
retain=100)
# Run the Animations with Vpython using a loop
# if statement allows the pause button to work
vp.sleep(1)
i = 0
while i < iterations:
if running is True:
vp.rate(60)
r1 = vp.vector(Px[i], Py[i], Pz[i])
r2 = vp.vector(Qx[i], Qy[i], Qz[i])
r3 = vp.vector(Rx[i], Ry[i], Rz[i])
r1_neg = vp.vector(-Px[i], -Py[i], -Pz[i])
# Updates the vectors
p_hat_pos.axis = r1
p_hat_neg.axis = r1_neg
q_hat_DE.axis = r2
p_hat.axis = r1
q_hat.axis = r2
r_hat.axis = r3
# Updates the trails
p_hat_pos_trail.pos = r1
# Mass m = Msun # Color col = vector(uniform(0.7,1.0),uniform(0.7,1.0), uniform(0.7,1.0)) # Create the star stars = np.append(stars, vpy.sphere(pos=pos, radius=r, color=col)) positions = np.append(positions, pos) masses = np.append(masses, m) velocities = np.append(velocities, vector(0,0,0)) # Main loop while True: vpy.rate(10) # Star to star scalar distances rscalar = positions-positions[:,np.newaxis] for row in range(np.shape(rscalar)[0]): for col in range(np.shape(rscalar)[1]): rscalar[row, col] = math.sqrt(rscalar[row, col].dot(rscalar[row, col])) if (rscalar[row, col] == 0): rscalar[row, col] = 1 # Star to star vectorial distances r = positions-positions[:,np.newaxis] # Star to star forces F = G*masses*masses[:,np.newaxis]/(rscalar**2) # Module for row in range(np.shape(F)[0]):
def main():
box_size = 10
box_thickness = 1
ball_radius = 0.5
# Set the axis of each side to be a perpendicular unit vector pointing into
# the box. That'll allow us to handle all the walls in a loop, rather than
# spelling them out
axes = [
vpython.vector(1, 0, 0),
vpython.vector(-1, 0, 0),
vpython.vector(0, 1, 0),
]
box_sides = []
for axis in axes:
side = vpython.box(
pos=-0.5 * box_size * axis,
axis=axis,
height=box_size,
width=box_size,
)
box_sides.append(side)
vpython.arrow(
pos=-0.5 * box_size * axis,
axis=axis,
color=vpython.color.blue,
)
# Initial position chosen randomly inside the box
x0 = vpython.vector(
random.random() * box_size - 0.5 * box_size,
random.random() * box_size - 0.5 * box_size,
0,
)
# Initial velocity small enough that we should not escape
v_max = math.sqrt(-2 * GRAVITY * (0.5 * box_size - x0.y))
v0 = vpython.vector(
random.random() * v_max,
random.random() * v_max,
0,
)
# Initialize the ball. Python also lets us attach an extra attribute, in
# this case velocity, to the ball object.
ball = vpython.sphere(
pos=x0,
color=vpython.color.red,
radius=ball_radius,
)
ball.v = v0
ball.m = 1
# Set up the graph pane and each curve we want in it
vpython.graph(
title="Ball in a Box",
xtitle="Time (s)",
ytitle="Energy (J)",
fast=False,
)
graph_pot = vpython.gcurve(color=vpython.color.blue,
width=2,
label="Potential Energy")
graph_kin = vpython.gcurve(color=vpython.color.red,
width=2,
label="Kinetic Energy")
graph_tot = vpython.gcurve(color=vpython.color.magenta,
width=2,
label="Total Energy")
# Time loop! Handle gravity and collisions
t, dt, tmax = 0, 0.001, 10
while t < tmax:
t += dt
vpython.rate(1 / dt)
dvdt = -GRAVITY * vpython.vector(0, -1, 0)
ball.v += dvdt * dt
ball.pos += ball.v * dt
# Check for collisions
for side in box_sides:
# Vector from the center of the ball to the center of the wall
center_to_center = ball.pos - side.pos
# Project onto the wall's perpendicular unit vector to get distance
distance = center_to_center.dot(side.axis)
# If it's a collision, flip the component of the ball's velocity
# that's perpendicular to the wall
if distance < (ball.radius + 0.5 * box_thickness):
dv = -2 * side.axis.dot(ball.v)
ball.v += side.axis * dv
energy_pot = -ball.m * GRAVITY * ball.pos.y
energy_kin = 0.5 * ball.m * ball.v.dot(ball.v)
graph_pot.plot(t, energy_pot)
graph_kin.plot(t, energy_kin)
graph_tot.plot(t, energy_pot + energy_kin)
return
omegapoints.append(r[1])
k1 = h * f(r, t)
k2 = h * f(r + 0.5*k1, t + 0.5 * h)
k3 = h * f(r + 0.5*k2, t + 0.5 * h)
k4 = h * f(r + k3, t + h)
r += (k1 + 2*k2 + 2*k3 + k4)/6
# Plot theta vs t
def opt_plot():
plt.grid(True, linestyle=":", color='0.50')
plt.minorticks_on()
plt.tick_params(axis='both', which='minor', direction='in', top=True, right=True, length=5, width=1, labelsize=15)
plt.tick_params(axis='both', which='major', direction='in', top=True, right=True, length=8, width=1, labelsize=15)
# plt.plot(tpoints, (np.array(thetapoints, float)*180/np.pi), color='blue')
# plt.title(r'$\theta$ vs $t$', family='serif', fontsize=15)
# plt.xlabel('t (s)', family='serif', fontsize=15)
# plt.ylabel(r'$\theta$ (degrees)', family='serif', fontsize=15)
# opt_plot()
# plt.show()
# Making the animation
rod = vp.cylinder(pos=vp.vector(0, 0, 0), axis=vp.vector(l*np.cos(theta_0-np.pi/2), l*np.sin(theta_0-np.pi/2), 0), radius=l/40)
bob = vp.sphere(pos=vp.vector(l*np.cos(theta_0-np.pi/2), l*np.sin(theta_0-np.pi/2), 0), radius=l/10)
for theta in thetapoints:
vp.rate(N // 10)
rod.axis = vp.vector(l*np.cos(theta-np.pi/2), l*np.sin(theta-np.pi/2), 0)
bob.pos = vp.vector(l*np.cos(theta-np.pi/2), l*np.sin(theta-np.pi/2), 0)
g = 9.8
s = sphere()
s.pos = vector(-7, 1, 0)
s.velocity = vector(5, 19.2, 0)
s.accel = vector(0, -g, 0)
s.mass = 2.0
t = 0
while t < 10.0:
# compute and graph energy
kinetic_energy = 0.5 * s.mass * dot(s.velocity, s.velocity)
potential_energy = s.mass * 9.8 * dot(s.pos + vector(0, ymax / 2, 0),
vector(0, 1, 0))
kinetic.plot(pos=(t, kinetic_energy))
potential.plot(pos=(t, potential_energy))
energy.plot(pos=(t, kinetic_energy + potential_energy))
# update time and position
t += dt
s.pos += s.velocity * dt + 0.5 * s.accel * dt**2
s.velocity += s.accel * dt
rate(1 / dt)
print(s.pos)
# collisions
if not -xmax / 2 < s.pos.x < xmax / 2:
s.velocity.x = -s.velocity.x
if not -ymax / 2 < s.pos.y < ymax / 2:
s.velocity.y = -s.velocity.y
k1 = h * f(r, t)
k2 = h * f(r + 0.5 * k1, t + 0.5 * h)
k3 = h * f(r + 0.5 * k2, t + 0.5 * h)
k4 = h * f(r + k3, t + h)
r += (k1 + 2 * k2 + 2 * k3 + k4) / 6
if part in ['a']:
figure(1)
clf()
title("theta(t)")
plot(tpoints, thetapoints)
xlabel("t")
ylabel("theta")
if part in ['b']:
scene = canvas(width=500,
height=500,
center=vector(0, 0, 0),
background=color.black)
# sphere with radius of 5 cm
bob = sphere(pos=vector(l, 0, 0), radius=0.01, color=color.red)
it = 0
for t in arange(0, 1e6, 0.1):
angle = thetapoints[it] - pi / 2
rate(60) # steps per second
bob.pos = vector(l * cos(angle), l * sin(angle), 0)
it = it + 1
def rate(framerate: int) -> None:
"""Alias for vpython.rate(framerate). Basically sleeps 1/framerate"""
vpython.rate(framerate)
from vpython import sphere,rate, vector
from math import cos,sin,pi
from numpy import arange
s = sphere(pos=vector(1, 0, 0), radius=0.1)
for theta in arange(0, 10*pi, .1):
rate(100)
x = cos(theta)
y = sin(theta)
s.pos = vector(x, y, 0)
import vpython as vp
from robot_imu import RobotImu, ImuFusion
from delta_timer import DeltaTimer
import imu_settings
imu = RobotImu(gyro_offsets=imu_settings.gyro_offsets)
fusion = ImuFusion(imu)
vp.graph(xmin=0, xmax=60, scroll=True)
graph_pitch = vp.gcurve(color=vp.color.red)
graph_roll = vp.gcurve(color=vp.color.green)
timer = DeltaTimer()
while True:
vp.rate(100)
dt, elapsed = timer.update()
fusion.update(dt)
graph_pitch.plot(elapsed, fusion.pitch)
graph_roll.plot(elapsed, fusion.roll)
# Make a binary system
STARS = celest.create_binary_system(bounds=bounds)
# Data for running the simulation and plotting
years = 0
times = list()
num_asteroids = list()
avg_distance_from_star_A = list()
avg_distance_from_star_B = list()
average_asteroid_mass = list()
# Animate the simulation
while years <= 20 and len(PLANETESIMALS) > 0:
mov.update_positions(PLANETESIMALS, STARS)
mov.bounding_box(PLANETESIMALS, bounds)
mov.bounding_box(STARS, bounds)
vp.rate(30)
# Update the logged information
times.append(years)
avg_distance_from_star_A.append(
ut.average_distance_to_object(PLANETESIMALS, STARS[0]))
avg_distance_from_star_B.append(
ut.average_distance_to_object(PLANETESIMALS, STARS[1]))
num_asteroids.append(len(PLANETESIMALS))
average_asteroid_mass.append(ut.average_asteroid_mass(PLANETESIMALS))
# Update time counter
years += dt / YEAR
# Now plot the information collected
plt.plot(times, num_asteroids)
plt.xlabel("Time (years)")
plt.ylabel("Number of planetesimals")
T = RK4(T, S, t)
#Calculando a posição e velocidade de Jupiter no próximo passo.
Gm = Gm1
S = array([Tx[n], Tvx[n], Ty[n], Tvy[n]])
J = RK4(J, S, t)
n += 1
t += h #Evoluindo o tempo t atual
#plot(xT,yT) #Plotando a orbita da Terra
#plot(xJ,yJ) #Plotando a orbita de Jupiter
#show()
scene = canvas(width=900,
height=500,
center=vector(0, 0, 0),
background=color.black)
#T1 = sphere(pos=vector(0,0,0),radius=e*6.3781*10**6,color = color.blue) #Terra
#J1 = sphere(pos=vector(0,0,0),radius=e*7.1492*10**7,color = color.orange) #Jupiter
#S1 = sphere(pos=vector(0,0,0),radius=e*6.96340*10**8,color = color.white) #Sol
T1 = sphere(pos=vector(0, 0, 0), radius=10**10, color=color.blue) #Terra
J1 = sphere(pos=vector(0, 0, 0), radius=10**10, color=color.orange) #Jupiter
S1 = sphere(pos=vector(0, 0, 0), radius=10**10, color=color.white) #Sol
for i in range(n):
rate(700)
T1.pos = vector(Tx[i], Ty[i], 0)
J1.pos = vector(Jx[i], Jy[i], 0)
import vpython as vp
import numpy as np
from math import pi, cos, sin
# L = 5
# for i in range(-L,L+1):
# for j in range(-L,L+1):
# for k in range(-L,L+1):
# if ((i+j+k) % 2 == 0 ):
# vp.sphere(pos=vp.vector(i,j,k), radius = 0.5, color = vp.vector(1,0,0))
# else:
# vp.sphere(pos=vp.vector(i,j,k), radius = 0.2, color = vp.vector(0,0,1))
def sphere_position(t):
x = 10 * (cos(10 + t))
y = 10 * (sin(10 + t))
return vp.vector(x, y, 0)
t = 0
esfera = vp.sphere(pos=sphere_position(t), radius=1, color=vp.vector(1, 0, 0))
fio = vp.cylinder(pos=sphere_position(t), axis=vp.vector(0, 0, 0), radius=1)
while t <= 20 * pi:
vp.rate(10)
esfera.pos = sphere_position(t)
fio.pos = sphere_position(t)
t = t + 0.1 * pi
vp.label(pos=vp.vector(a1 * 4, 0, rpv_offset), text='0')
vp.label(pos=vp.vector(0, a1 * 4, rpv_offset), text='90')
vp.label(pos=vp.vector(-a1 * 4, 0, rpv_offset), text='180')
vp.label(pos=vp.vector(0, -a1 * 4, rpv_offset), text='270')
vp.local_light(pos=vp.vector(0, 0, -10), color=vp.color.gray(0.2))
scan_pts = calc_scan_pts(scan_length, scan_index_angle)
num_pts = int(size(scan_pts) / len(scan_pts))
# vp.scene.camera.pos = vp.vector(scan_pts[0][num_pts - 1], scan_pts[1][num_pts - 1], scan_pts[2][num_pts - 1])
# Loop through scan points, assume configuration 1 first
config = 1
for j in range(num_pts):
# Set the loop rate to be equivalent to the desired scan velocity.
if sim_true_scan_speed:
vp.rate(scan_vel / scan_res)
j2, j3, j4, pvt, ee = c_jpos(scan_pts[:, j], config)
t1, t2, t3, t4 = c_angles(scan_pts[:, j], config)
# Check if end effector is in the scan location
if calc_pos_err_check(ee, scan_pts[:, j]):
config = ~config
j2, j3, j4, pvt, ee = c_jpos(scan_pts[:, j], 1)
t1, t2, t3, t4 = c_angles(scan_pts[:, j], 1)
if calc_pos_err_check(ee, scan_pts[:, j]):
# If problems, print the joint set and leave a red curve of the manipulator
print_joint_set(t1, t2, t3, t4)
vp.curve(
pos=[(0, 0, 0), (j2[0], j2[1], j2[2]), (j3[0], j3[1], j3[2]), (j4[0], j4[1], j4[2]),
def initRender(self):
self.canvas = canvas(width=1200, height=900, title='Car-3D')
# self.canvas = canvas(width=1660, height=1010, title='Car-3D')
ground_y = 0.17
thk = 0.1
ground_width = 10.0
wallB = box(canvas=self.canvas,
pos=vector(0, -ground_y, 0),
size=vector(ground_width, thk, ground_width),
color=color.blue)
# vector:(front/rear,z,l/r)
car_w, car_l, car_h = 0.132, 0.26 / 0.6, 0.2
wheel_r, wheel_h = 0.095, 0.035
chassis = box(canvas=self.canvas,
pos=vector(0, wheel_r + 0.05, 0),
size=vector(car_l, car_h, car_w),
color=color.green)
wheel_r / 2 + thk
wheel1 = cylinder(pos=vector(0.6 * car_l / 2.0, wheel_r, car_w / 2.0),
axis=vector(0, 0, wheel_h),
radius=wheel_r,
color=color.blue)
wheel2 = cylinder(pos=vector(0.6 * car_l / 2.0, wheel_r,
-car_w / 2.0 - wheel_h),
axis=vector(0, 0, wheel_h),
radius=wheel_r,
color=color.blue)
wheel3 = cylinder(pos=vector(-0.6 * car_l / 2.0, wheel_r, car_w / 2.0),
axis=vector(0, 0, wheel_h),
radius=wheel_r,
color=color.blue)
wheel4 = cylinder(pos=vector(-0.6 * car_l / 2.0, wheel_r,
-car_w / 2.0 - wheel_h),
axis=vector(0, 0, wheel_h),
radius=wheel_r,
color=color.blue)
self.car = compound([chassis, wheel3, wheel4],
pos=vector(self.x_pos, self.y_pos, self.z_pos),
make_trail=True,
retain=300)
self.frontwheel = compound([wheel1, wheel2],
pos=vector(self.x_pos, self.y_pos,
self.z_pos))
self.car.axis = vector(1, 0, 0)
self.car.up = vector(0, 1, 0)
self.car.mass = self.car_mass
self.pointer = arrow(pos=self.car.pos,
axis=self.car.axis,
shaftwidth=0.01)
origin = sphere(pos=vector(0, 0, 0), radius=0.02)
self.x_axis = arrow(pos=vector(0, 0, 0),
axis=vector(0, 0, 3),
shaftwidth=0.3,
color=color.red)
self.y_axis = arrow(pos=vector(0, 0, 0),
axis=vector(3, 0, 0),
shaftwidth=0.3,
color=color.blue)
self.z_axis = arrow(pos=vector(0, 0, 0),
axis=vector(0, 3, 0),
shaftwidth=0.3,
color=color.green)
rate(FPS)
pos=vp.vector(-60, -8, 0),
text="Velocity" + str(setpoint_plot[i] * rad2deg),
xoffset=0,
zoffset=0,
yoffset=0,
space=30,
height=30,
border=0,
font='sans',
box=False,
line=False,
align="left")
i = 0
for i in range(len(theta_3D) - 2):
vp.rate(1000 / slow_mo) #60 FPS
# How much to move each time-step , X and Z are the rocket's axes, not the world's
delta_pos_X = (Position_3D[i + 1][0] - Position_3D[i][0])
delta_pos_Z = (Position_3D[i + 1][1] - Position_3D[i][1])
# Moving the rocket
rocket.pos.y += delta_pos_X
rocket.pos.x += delta_pos_Z
# Creates a cg and cp vector with reference to the origin of the 3D rocket (not the math model rocket)
xcg_radius = loc2glob((L - xcg), 0, theta_3D[i])
xa_radius = loc2glob(
xa_3D[i + 1] - xa_3D[i], 0, theta_3D[i]
) #Delta xa_radius, this is then integrated when you move the Aerodynamic Force arrow
np.random.uniform(bounds[1][0], bounds[1][1]),
np.random.uniform(bounds[2][0], bounds[2][1])),
color=v.color.red, radius=0.03) for x in range(tot_sphere)]
# nb_case_possible = h_cube*l_cube*w_cube
# dimension = 3
# surface_stator = stator_number * ((stator_r/10)**2 *np.pi)
# surf_cube = a**2
# surf_stator_cube = surface_stator/surf_cube # nombre de cube correspondant a la surface total des stators
# proba_in_stator = (1/(2*dimension))*(surf_stator_cube/nb_case_possible) # proba pour une bille de passer dans un stator
N_dt = []
list_dt = []
while tot_time < 1500000:
#
v.rate(1000000)
for sphere in list_sphere:
choose_dir = random.choice(["x", "y", "z"])
if choose_dir == "x":
x = random.choice([-a, a])
dr = v.vector(x, 0, 0)
elif choose_dir == "y":
y = random.choice([-a, a])
dr = v.vector(0, y, 0)
else:
z = random.choice([-a, a])
dr = v.vector(0, 0, z)
'''
Created on 8 juil. 2012
@author: Laurent
'''
from vpython import box, sphere, vector, color, rate
floor = box(pos=vector(0, 0, 0), length=4, height=0.5, width=4, color=color.blue)
ball = sphere(pos=vector(0, 4, 0), radius=1, color=color.red)
ball.velocity = vector(0, -1, 0)
dt = 0.01
while 1:
rate(100)
ball.pos = ball.pos + ball.velocity * dt
if ball.pos.y < ball.radius:
ball.velocity.y = abs(ball.velocity.y)
else:
ball.velocity.y = ball.velocity.y - 9.8 * dt
w = sqrt((q / m) * k) # omega
f = w / (2 * pi)
dt = 1 / f / kappa
I = zeros(N_t)
particle = sphere(pos=r,
radius=0.5e-3,
color=color.green,
make_trail=True,
retain=100)
v -= dt * (q / m) * E(particle.pos) / 2
for i in range(N_t):
v += dt * (q / m) * E(particle.pos)
particle.pos += dt * v
I[i] = v.z / v_phi
rate(50)
# spectral analysis
I_spec = fft(I)
m = zeros(N_t)
for i in range(1, N_t // 2):
w = 2 * pi * i / (N_t * dt)
m[i] = k * q / w**2
# plot
plt.figure("Test Ion: Carbon")
plt.xlabel("m / u")
plt.ylabel("normalized density")
plt.xlim(0, 50)