def Cone0(x1,y1,x2,y2,t,q,s,m=10,n=10):
curve = [[0,0]]
for i in range(m):
ti = 1.0*i/(m-1)
xi = mapto.MapTo(0,x1,1,x2, ti)
yi = mapto.MapTo(0,y1,1,y2, ti)
pt = [xi,yi]
curve.append(pt)
curve.append([0,yi])
H = rc.RevolveCurve(curve,t,q,s, n=n, bcap=True,ecap=True)
return H
def Ellipsoid(rx,ry,t,q,s,m=10,n=10):
curve = [[0,0]]
a,b = [0,0]
for i in range(m):
val = 1.0*i/(m-1)
ti = mapto.MapTo(0,-pi/2., 1,pi/2., val) # pi = 180 degrees only half circle
xi = a + rx*cos(ti)
yi = b + ry*sin(ti)
pt = [xi,yi]
curve.append(pt)
H = rc.RevolveCurve(curve,t,q,s, n=n, bcap=True,ecap=True)
return H
def TableLeg(height,radius1,radius2,n=10,m=10):
h = height
r1 = radius1
r2 = radius2
curve = []
x0 = 0
for i in range(1,m-1):
r = mapto.MapTo(0,r1,m-1,r2,i)
xi = r
yi = mapto.MapTo(0,0,m-1,h,i)
pt = [xi,yi]
curve.append(pt)
yi = mapto.MapTo(0,0,m-1,h,.1)
curve = [[0,yi]]+curve+[[0,height]]
# Assume curve has symmetry y-axis
x0 = curve[0][0]
x_min = min(map(lambda pt: pt[0]-x0,curve))
x_max = max(map(lambda pt: pt[0]-x0,curve))
y_min = min(map(lambda pt: pt[1],curve))
y_max = max(map(lambda pt: pt[1],curve))
poly_wb = deepcopy(curve)
pts = map(lambda pt: [0,pt[1],0], poly_wb)
y_min = min(map(lambda pt: pt[1],poly_wb))
y_max = max(map(lambda pt: pt[1],poly_wb))
doc = g.Cn(n)
cx,cy,cz = [0,0,0]
r0 = 1.
doc1 = rc.CreateCircleGeometry(doc,cx,cy,cz,r0)
spath = []
path = []
pti = poly_wb[0]
xi,yi = pti
yi_last = yi
dx = x_max-x_min
dy = y_max-y_min
epsilon = 1e-4
if abs(dx) > epsilon:
aspect = 1.*dy/dx
else:
aspect = 1.*dx/dy
for i in range(len(poly_wb)):
pti = poly_wb[i]
xi,yi = pti
r = abs(xi - x0)
dy = yi-yi_last
epsilon = .1
if abs(dy) > epsilon:
spath.append(r)
path.append([yi,0,0])
yi_last = yi
degrees = 90+180
axis = [0,1,0]
q0 = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
q = q0
t = [0,0,-height*.4]
s = [1,1,1]
C = aff.Center(path)
pts = aff.Translate(path,-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)
path = pts
#path = [[0,0,0],[10,1,0],[20,4,0],[30,9,0]]
H = ext.Extrusion0(doc1,path,spath)
return H
def CoffeeCup0(n=30,m=20,r0=20.):
flag_cup = True
flag_handle = True
H1 = {}
H1['V'] = []
H1['E'] = []
H1['pts'] = []
H1['F'] = []
H1['N'] = []
H2 = {}
H2['V'] = []
H2['E'] = []
H2['pts'] = []
H2['F'] = []
H2['N'] = []
if flag_cup:
# polygon curve of surface of revolution
# Create Cup. At present, its imperfect recreating
# a cover to coffee cup.
curve1a = [[406, 388], [441, 384], [469, 378], [489, 363], [506, 347],
[518, 330], [520, 314], [522, 297], [525, 276], [528, 258],
[530, 228], [528, 182], [528, 150], [527, 113], [527, 91],
[532, 73], [540, 68]]
curve1b = [[554, 70], [554, 86], [549, 108],
[550, 136], [546, 181], [547, 214], [544, 249], [544, 268],
[538, 281], [540, 288], [539, 300], [531, 312], [532, 329],
[526, 350], [513, 362], [502, 378], [482, 393], [446, 406],
[417, 409]]
curve1 = curve1a + curve1b
x0 = curve1[0][0]
x_min = min(map(lambda pt: pt[0]-x0,curve1))
x_max = max(map(lambda pt: pt[0]-x0,curve1))
y_min = min(map(lambda pt: pt[1],curve1))
y_max = max(map(lambda pt: pt[1],curve1))
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]
H1 = rc.RevolveCurve(curve1,t,q,s, n, bcap=False, ecap=False)
if flag_handle:
# Create Handle
curve2 = [[203, 130], [189, 114], [165, 102], [149, 100], [132, 101],
[116, 106], [106, 113], [107, 128], [112, 152], [118, 169],
[127, 184], [138, 201], [149, 208], [165, 209], [186, 214],
[207, 213]]
# Assume curve has symmetry y-axis
x0 = curve2[0][0]
x_min = min(map(lambda pt: pt[0]-x0,curve2))
x_max = max(map(lambda pt: pt[0]-x0,curve2))
y_min = min(map(lambda pt: pt[1],curve2))
y_max = max(map(lambda pt: pt[1],curve2))
poly_wb = deepcopy(curve2)
pts = map(lambda pt: [0,pt[1],0], poly_wb)
y_min = min(map(lambda pt: pt[1],poly_wb))
y_max = max(map(lambda pt: pt[1],poly_wb))
doc = g.Cn(m)
cx,cy,cz = [0,0,0]
doc1 = rc.CreateCircleGeometry(doc,cx,cy,cz,r0)
spath = []
path = []
pti = poly_wb[0]
xi,yi = pti
yi_last = yi
dx = x_max-x_min
dy = y_max-y_min
for i in range(len(poly_wb)):
pti = poly_wb[i]
xi,yi = pti
r = abs(xi - x0)
dy = yi-yi_last
epsilon = .1
if abs(dy) > epsilon:
spath.append(1.)
path.append([xi,yi,0])
degrees = 90+180
axis = [1,0,0]
q0 = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
q = q0
t = [-184,0,100]
s = [1,1,1]
C = aff.Center(path)
pts = aff.Translate(path,-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)
path = pts
H2 = ext.Extrusion0(doc1,path,spath)
H = ext.GraphUnionS(H1,H2)
return H
pts = aff.Translate(pts,t[0],t[1],t[2],align=False)
H0['pts'] = pts
Gs = ext.Append(Gs,H0)
G = ext.GraphUnionS(G,H0)
# square table
H1 = SquareTable1()
Gs = ext.Append(Gs,H1)
G = ext.GraphUnionS(G,H1)
# N1 x N2 water bottles
N1 = 1
N2 = 1
for j in range(N2):
for i in range(N1):
H2 = rc.WaterBottle(n=10)
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
r = 40.
t0 = [N1*r,-N2*r,55.]
if j%2 == 0:
t = [t0[0]+r*i,t0[1]+r*j,t0[2]]
else:
t = [t0[0]+r*i + r*0.5,t0[1]+r*j,t0[2]]
pts = H2['pts']
q = aff.HH.rotation_quaternion(degrees,axis[0],axis[1],axis[2])
C = aff.Center(pts)
Gs = [] Puma560.P.pt = [0, 0, 0] G1 = Puma560.P.Graph() #goal = [-140.772457400456574, 406.0018009385133, 139.89926879829596] #goal = [-300,300,300] goal = [-600, 300, 600] r = 20. t = deepcopy(goal) degrees = 90 axis = [0, 0, 1] q = aff.HH.rotation_quaternion(degrees, axis[0], axis[1], axis[2]) scale = 3. s = [scale, scale, scale] # the same scale as previous for caps H1 = rc.WaterBottle(n=30) pts = H1['pts'] C = aff.Center(pts) 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.