def test_cylinder(self):
# When
c = visual.cylinder(radius=0.5, length=2, pos=(1, 1, 1))
# Then
assert_allclose(c.polydata.bounds, (1.0, 3.0, 0.5, 1.5, 0.5, 1.5), rtol=1e-2)
# When
c = visual.cylinder(radius=0.5, length=2, x=1.0)
# Then
assert_allclose(c.polydata.bounds, (1.0, 3.0, -0.5, 0.5, -0.5, 0.5), rtol=5e-2)
def test_cylinder(self):
# When
c = visual.cylinder(radius=0.5, length=2, pos=(1, 1, 1))
# Then
assert_allclose(c.polydata.bounds, (1.0, 3.0, 0.5, 1.5, 0.5, 1.5),
rtol=1e-2)
# When
c = visual.cylinder(radius=0.5, length=2, x=1.0)
# Then
assert_allclose(c.polydata.bounds, (1.0, 3.0, -0.5, 0.5, -0.5, 0.5),
rtol=5e-2)
def create_unicycle(self):
visual.set_viewer(self.scene)
self.wheel_top = visual.box(color = (0.2, 0.5, 0.5), pos = (0, 1.0, 0), length = 1.6, width = 1.6, height = 0.04)
self.spring = visual.helix(coils = 8, axis = (0.0, 1.0, 0.0), color = (0.8, 0.2, 0.8), pos = (0.14, 1.0, 0), radius = 0.1, length = 0.5)
self.car = visual.box(color = (0.2, 0.2, 0.8), pos = (0.0, 1.7, 0.0), length = 0.6, height = 0.4, width = 0.6)
self.dash_top = visual.cylinder(axis = (0.0, -1.0, 0.0), color = (0.8, 0.8, 0.2), pos = (-0.14, 1.7, 0.0), radius = 0.1, length = 0.3)
self.dash_bottom = visual.cylinder(axis = (0.0, 1.0, 0.0), color = (0.8, 0.8, 0.2), pos = (-0.14, 1.0, 0.0), radius = 0.05, length = 0.6)
self.scene.camera.azimuth(45)
self.scene.camera.elevation(20)
self.recompute_char_eq()
self.update_chq_data()
self.tdata = self.state_buf[:,0]
self.ydata = self.state_buf[:,1]
self._run_fired()
def drawSatellite(position,euler):
# euler angles are in radians
psi, theta, phi = euler
sat = visual.cylinder()
sat.length = 300
sat.radius = 300
sat.x = position[0]
sat.y = position[1]
sat.z = position[2]
sat.rotate(degrees(psi) , [0,0,1] ,position)
sat.rotate(degrees(theta) , [0,1,0] ,position)
sat.rotate(degrees(phi) , [1,0,0] ,position)
return sat
def drawSatellite(position, euler):
# euler angles are in radians
psi, theta, phi = euler
sat = visual.cylinder()
sat.length = 300
sat.radius = 300
sat.x = position[0]
sat.y = position[1]
sat.z = position[2]
sat.rotate(degrees(psi), [0, 0, 1], position)
sat.rotate(degrees(theta), [0, 1, 0], position)
sat.rotate(degrees(phi), [1, 0, 0], position)
return sat
box (pos = (xx,yy,zz), length=x, height=y, width=z,
color=(red,green,blue))
def wirecube(s):
c = curve(color = (1,1,1), radius=1)
pts = [(-s, -s, -s),(-s, -s, s), (-s, s, s),
(-s, s, -s), (-s, -s, -s), (s, -s, -s),
(s, s, -s), (-s, s, -s), (s, s, -s),
(s, s, s), (-s, s, s), (s, s, s),
(s, -s, s), (-s, -s, s), (s, -s, s),(s, -s, -s)]
for pt in pts:
c.append(pt)
side = 150.0
cube = box(size = (side,side,side), representation = 'w' )
i = 0
while i < 100:
random_box()
i = i + 1
arrow(axis=(0,12,0), radius_shaft=3.5, color = (1,0,0))
ball = sphere(pos=(-side/2.,-side/2.,-side/2.),color=(1,1,0),radius=3)
disk = cylinder(pos=(side/2.,side/2.,-side/2.),color=(.3,.3,1),axis=(1,1,0),radius=5)
xx = arange(0,4*pi,pi/10.)
spring=curve(color=(1,.7,.1), radius=0.4)
for y in xx:
spring.append([20+cos(2*y), y/2.-30, -20+sin(2*y)+30])
show()
# Comment in following line to get pure precession
##phidot = (-alphadot+sqrt(alphadot**2+2*M*g*r*cos(theta)/I))/cos(theta)
pedestal = box(pos=top - vector(0, hpedestal / 2., 0),
height=hpedestal,
length=wpedestal,
width=wpedestal,
color=(0.4, 0.4, 0.5))
base = box(pos=top - vector(0, hpedestal + tbase / 2., 0),
height=tbase,
length=wbase,
width=wbase,
color=pedestal.color)
shaft = cylinder(axis=(Lshaft, 0, 0),
length=Lshaft,
radius=Rshaft,
color=(0, 1, 0))
rotor = cylinder(pos=(Lshaft / 2 - Drotor / 2, 0, 0),
axis=(Drotor, 0, 0),
length=Drotor,
radius=Rrotor,
color=(1, 0, 0))
gyro = frame(shaft, rotor)
gyro.axis = (sin(theta) * sin(phi), cos(theta), sin(theta) * cos(phi))
trail = curve(radius=Rshaft / 8., color=(1, 1, 0))
r = Lshaft / 2.
dt = 0.0001
t = 0.
pts = [(-s, -s, -s), (-s, -s, s), (-s, s, s), (-s, s, -s), (-s, -s, -s),
(s, -s, -s), (s, s, -s), (-s, s, -s), (s, s, -s), (s, s, s),
(-s, s, s), (s, s, s), (s, -s, s), (-s, -s, s), (s, -s, s),
(s, -s, -s)]
for pt in pts:
c.append(pt)
side = 150.0
cube = box(size=(side, side, side), representation='w')
i = 0
while i < 100:
random_box()
i = i + 1
arrow(axis=(0, 12, 0), radius_shaft=3.5, color=(1, 0, 0))
ball = sphere(pos=(-side / 2., -side / 2., -side / 2.),
color=(1, 1, 0),
radius=3)
disk = cylinder(pos=(side / 2., side / 2., -side / 2.),
color=(.3, .3, 1),
axis=(1, 1, 0),
radius=5)
xx = arange(0, 4 * pi, pi / 10.)
spring = curve(color=(1, .7, .1), radius=0.4)
for y in xx:
spring.append([20 + cos(2 * y), y / 2. - 30, -20 + sin(2 * y) + 30])
show()
thetadot = 0 # initial rate of change of polar angle
alpha = 0 # initial spin angle
alphadot = 15 # initial rate of change of spin angle (spin ang. velocity)
phi = -pi/2. # initial azimuthal angle
phidot = 0 # initial rate of change of azimuthal angle
# Comment in following line to get pure precession
##phidot = (-alphadot+sqrt(alphadot**2+2*M*g*r*cos(theta)/I))/cos(theta)
pedestal = box(pos=top-vector(0,hpedestal/2.,0),
height=hpedestal, length=wpedestal, width=wpedestal,
color=(0.4,0.4,0.5))
base = box(pos=top-vector(0,hpedestal+tbase/2.,0),
height=tbase, length=wbase, width=wbase,
color=pedestal.color)
shaft = cylinder(axis=(Lshaft,0,0), length = Lshaft,
radius=Rshaft, color=(0,1,0))
rotor = cylinder(pos=(Lshaft/2 - Drotor/2, 0, 0),
axis=(Drotor, 0, 0), length = Drotor,
radius=Rrotor, color=(1,0,0))
gyro = frame(shaft, rotor)
gyro.axis = (sin(theta)*sin(phi),cos(theta),sin(theta)*cos(phi))
trail = curve(radius=Rshaft/8., color=(1,1,0))
r = Lshaft/2.
dt = 0.0001
t = 0.
Nsteps = 20 # number of calculational steps between graphics updates
def anim():
Animation
"""
# Create a figure
f = mlab.figure(size=(1000, 1000))
# Tell visual to use this as the viewer.
visual.set_viewer(f)
robot_radius = .15
robot_height = robot_radius / 5.0
# Elements in animation
robot_x_axis = (0, 0, 1.0)
robot_x_pos = (x[0, 0, 0], -L / 2., 0)
robot_x = visual.cylinder(pos=robot_x_pos,
axis=robot_x_axis,
radius=robot_radius,
length=robot_height,
color=(0.0, 1.0, 0.0))
robot_y_axis = (0, 0, 1.0)
robot_y_pos = (x[0, 1, 0], L / 2., 0)
robot_y = visual.cylinder(pos=robot_y_pos,
axis=robot_y_axis,
radius=robot_radius,
length=robot_height,
color=(1.0, 0.0, 0.0))
vtext = tvtk.VectorText()
vtext.text = str(t[0]) + ' s'
text_mapper = tvtk.PolyDataMapper(input=vtext.get_output())
p2 = tvtk.Property(color=(0.3, 0.3, 0.3))
