# visualize the forces
height = 1.0
world = Frame.worldXY()
circle = [[0, 0, 0.5 * 0.7 * height], [0, 0, 1]], 0.05
cylinder = Cylinder(circle, 0.7 * height)
circle = [[0, 0, 0.7 * height], [0, 0, 1]], 0.1
cone = Cone(circle, 0.3 * height)
for node in network.nodes():
a = network.node_attributes(node, 'xyz')
for nbr in network.neighbors(node):
edge = node, nbr
if not network.has_edge(*edge):
edge = nbr, node
b = network.node_attributes(nbr, 'xyz')
force = network.edge_attribute(edge, 'f')
direction = normalize_vector(subtract_vectors(b, a))
frame = Frame.from_plane([a, direction])
X = Transformation.from_frame_to_frame(world, frame)
S = Scale.from_factors([force, 1, 1])
X = X * S
shaft = cylinder.transformed(X)
tip = cone.transformed(X)
n = network.number_of_nodes()
node_index = {node: index for index, node in enumerate(network.nodes())}
fixed = list(network.nodes_where({'is_anchor': True}))
free = list(network.nodes_where({'is_anchor': False}))
fixed[:] = [node_index[node] for node in fixed]
free[:] = [node_index[node] for node in free]
X = network.nodes_attributes('xyz')
R = network.nodes_attributes(['rx', 'ry', 'rz'])
i_nbrs = {
node_index[node]: [node_index[nbr] for nbr in network.neighbors(node)]
for node in network.nodes()
}
ij_force = {}
for u, v in network.edges():
i = node_index[u]
j = node_index[v]
force = network.edge_attribute((u, v), 'f')
ij_force[i, j] = force
ij_force[j, i] = force
# initialize
update_R()