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Re: [Visualpython-users] Visual Python Help
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From: <bre...@un...> - 2008-02-06 22:20:50
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Interesting and a nice "refactoring".
I just started with vPython (but already know Python somewhat) and assumed
that to create groups one would derive classes from frame, as shown. It
seems to work, but is this not preferred/robust?
import visual as v
class Wheelset(v.frame):
def __init__(self, xPos, whlRad=0.5, etc):
v.frame.__init__(self, pos=(xPos,whlRad,0.0))
v.cylinder(frame=self, pos=(0,0,-0.5*axleLength),
axis=(0.0, 0.0, axleLength), radius=axlRad)
etc
Ron Adam <rr...@ro...>
Sent by: vis...@li...
07/02/2008 09:04 AM
To
vis...@li...
cc
pub...@ci...
Subject
Re: [Visualpython-users] Visual Python Help
Kailas Narendran wrote:
>
> As you can see from the code, for some reason the rotation that's
> supposed to happen about the long axis of the box doesn't. the strange
> thing is that the other ones work ok, so I'm not sure what I'm doing
> wrong.
>
> I've attached the code if you want to try and run it. The problem is on
> line 48. You'll notice that the arm doesn't follow the torso just yet,
> which is ok.
>
> Any ideas?
I played around with your program a bit and found it easier to group parts
in frames.
Attached is what I got so far. I think this will be easier for you to
extend.
Cheers,
Ron
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Apollo Body
"""
import wx
from visual import *
from math import pi
class Hand(object):
color = color.green
radius = .25
def __init__(self, parent, pos):
self.obj = frame(frame=parent, pos=pos)
sphere(frame=self.obj, radius=self.radius, color=self.color)
class ForeArm(object):
color = color.blue
axis = (1, 0, 0)
elboaxis = (0, 1, 0)
radius = .2
def __init__(self, parent, pos):
self.obj = frame(frame=parent, pos=pos)
cylinder(frame=self.obj, axis=self.axis, radius=self.radius,
color=self.color)
self.bendpos = 0.0
def position(self, bend):
# Elbo bend
bend = pi * .5 + bend * .50 # Reduce range
anglediff = self.bendpos - bend
self.obj.rotate(angle=anglediff, axis=self.elboaxis)
self.bendpos = bend
class UpperArm(object):
color = color.blue
axis = (1, 0, 0)
radius = .2
def __init__(self, parent, pos):
self.obj = frame(frame=parent, pos=pos)
cylinder(frame=self.obj, axis=self.axis, radius=self.radius,
color=self.color)
self.rollpos = 0.0
self.pitchpos = 0.0
self.headingpos = 0.0
def position(self, heading, pitch, roll):
# Arm point
heading *= .50 # Reduce range
anglediff = self.headingpos - heading
self.obj.rotate(angle=anglediff, axis=(0, 0, 1))
self.headingpos = heading
# Arm raise
pitch *= .50 # Reduce range
anglediff = self.pitchpos - pitch
self.obj.rotate(angle=anglediff, axis=(1, 0, 0))
self.pitchpos = pitch
# Arm twist
roll *= .90 # Reduce range
anglediff = self.rollpos - roll
self.obj.rotate(angle=anglediff, axis=(0, 1, 0))
self.rollpos = roll
class Chest(object):
color = color.red
axis = (2, 0, 0)
width = .75
def __init__(self, parent, pos):
self.obj = frame(frame=parent, pos=pos)
box(frame=self.obj, pos=(0,1,0), axis=self.axis,
width=self.width, color=self.color)
self.headingpos = 0.0
self.pitchpos = 0.0
self.yawpos = 0.0
def position(self, heading, pitch, yaw):
# Turn Left or Right.
heading *= .50 # Reduce range
anglediff = self.headingpos - heading
self.obj.rotate(angle=anglediff, axis=(0, 1, 0))
self.headingpos = heading
# Bend forward or back.
pitch *= .50 # Reduce range
anglediff = self.pitchpos - pitch
self.obj.rotate(angle=anglediff, axis=(1, 0, 0))
self.pitchpos = pitch
# Lean left or right.
yaw *= .10 # Reduce range
anglediff = self.yawpos - yaw
self.obj.rotate(angle=anglediff, axis=(0, 0, 1))
self.yawpos = yaw
class Head(object):
radius = .5
color = color.red
def __init__(self, parent, pos):
self.obj = frame(frame=parent, pos=pos)
sphere(frame=self.obj, radius=self.radius, color=self.color)
class Stomach(object):
color = color.red
width = .75
height = 1
length = 1.5
def __init__(self, parent, pos):
self.obj = frame(frame=parent, pos=pos)
box(frame=self.obj, width=self.width, height=self.height,
length=self.length, color=self.color)
# Build the body.
#
# Larger parts act as frames for smaller parts so
# they rotate and move together.
body = frame()
stomach = Stomach(body, (0, 0, 0))
chest = Chest(stomach.obj, (0, .25, 0))
head = Head(chest.obj, (0, 2.25, 0))
upper_arm = UpperArm(chest.obj, (1.25, 1.5, 0))
fore_arm = ForeArm(upper_arm.obj, (1.25, 0, 0))
hand = Hand(fore_arm.obj, (1.5, 0, 0))
def position(utp, uty, uth, p, h, r, e):
# Update body position.
fore_arm.position(e)
upper_arm.position(h, p, r)
chest.position(uth, utp, uty)
ID_ABOUT=101
ID_EXIT=110
class MainWindow(wx.Frame):
def __init__(self,parent,id,title):
wx.Frame.__init__(self,parent,wx.ID_ANY, title, size = (400,600))
#self.control = wx.TextCtrl(self, 1, style=wx.TE_MULTILINE)
self.CreateStatusBar() # A Statusbar in the bottom of the window
panel = wx.Panel(self, -1)
# Setting up the menu.
filemenu= wx.Menu()
filemenu.Append(ID_ABOUT, "&About"," Information about this
program")
filemenu.AppendSeparator()
filemenu.Append(ID_EXIT,"E&xit"," Terminate the program")
# Creating the menubar.
menuBar = wx.MenuBar()
# Adding the "filemenu" to the MenuBar
menuBar.Append(filemenu, "&File")
# Create the sliders
font1 = wx.Font(15, wx.NORMAL, wx.ITALIC, wx.NORMAL)
# Uppor torso pitch
hboxutp = wx.BoxSizer(wx.HORIZONTAL)
utpl = wx.StaticText(panel, -1, "Upper Torso Pitch", (45, 25),
style=wx.ALIGN_CENTRE)
utpl.SetFont(font1)
hboxutp.Add(utpl, 1, wx.EXPAND)
self.UpperTorsoPitch = wx.Slider(panel, -1, 0, -100, 100,
wx.DefaultPosition, (10, -1),
wx.SL_HORIZONTAL | wx.SL_LABELS)
hboxutp.Add(self.UpperTorsoPitch,1,wx.EXPAND)
# Upper torso yaw
hboxuty = wx.BoxSizer(wx.HORIZONTAL)
utyl = wx.StaticText(panel, -1, "Upper Torso Yaw", (45, 25),
style=wx.ALIGN_CENTRE)
utyl.SetFont(font1)
hboxuty.Add(utyl, 1, wx.EXPAND)
self.UpperTorsoYaw = wx.Slider(panel, -1, 0, -100, 100,
wx.DefaultPosition, (10, -1),
wx.SL_HORIZONTAL | wx.SL_LABELS)
hboxuty.Add(self.UpperTorsoYaw,1,wx.EXPAND)
# Upper torso heading
hboxuth = wx.BoxSizer(wx.HORIZONTAL)
uthl=wx.StaticText(panel, -1, "Upper Torso Heading", (45, 25),
style=wx.ALIGN_CENTRE)
uthl.SetFont(font1)
hboxuth.Add(uthl, 1, wx.EXPAND)
self.UpperTorsoHeading = wx.Slider(panel, -1, 0, -100, 100,
wx.DefaultPosition, (10, -1),
wx.SL_HORIZONTAL |
wx.SL_LABELS)
hboxuth.Add(self.UpperTorsoHeading,1,wx.EXPAND)
# arm pitch
hboxuap = wx.BoxSizer(wx.HORIZONTAL)
uapl = wx.StaticText(panel, -1, "Upper Arm Roll", (45, 25),
style=wx.ALIGN_CENTRE)
uapl.SetFont(font1)
hboxuap.Add(uapl, 1, wx.EXPAND)
self.UpperArmPitch = wx.Slider(panel, -1, 0, -100, 100,
wx.DefaultPosition, (10, -1),
wx.SL_HORIZONTAL | wx.SL_LABELS)
hboxuap.Add(self.UpperArmPitch, 1, wx.EXPAND)
# Upper arm yaw
hboxuay = wx.BoxSizer(wx.HORIZONTAL)
uayl = wx.StaticText(panel, -1, "Upper Arm Yaw", (45, 25),
style=wx.ALIGN_CENTRE)
uayl.SetFont(font1)
hboxuay.Add(uayl,1,wx.EXPAND)
self.UpperArmYaw = wx.Slider(panel, -1, 0, -100, 100,
wx.DefaultPosition, (10, -1),
wx.SL_HORIZONTAL | wx.SL_LABELS)
hboxuay.Add(self.UpperArmYaw, 1, wx.EXPAND)
# Upper arm heading
hboxuah = wx.BoxSizer(wx.HORIZONTAL)
uahl = wx.StaticText(panel, -1, "Upper Arm Heading", (45, 25),
style=wx.ALIGN_CENTRE)
uahl.SetFont(font1)
hboxuah.Add(uahl, 1, wx.EXPAND)
self.UpperArmHeading = wx.Slider(panel, -1, 0, -100, 100,
wx.DefaultPosition, (10, -1),
wx.SL_HORIZONTAL | wx.SL_LABELS)
hboxuah.Add(self.UpperArmHeading, 1, wx.EXPAND)
# Elbow angle
hboxe = wx.BoxSizer(wx.HORIZONTAL)
el = wx.StaticText(panel, -1, "Elbow Angle", (45, 25),
style=wx.ALIGN_CENTRE)
el.SetFont(font1)
hboxe.Add(el, 1, wx.EXPAND)
self.ElbowAngle = wx.Slider(panel, -1, 0, -100, 100,
wx.DefaultPosition, (10, -1),
wx.SL_HORIZONTAL | wx.SL_LABELS)
hboxe.Add(self.ElbowAngle, 1, wx.EXPAND)
vbox = wx.BoxSizer(wx.VERTICAL)
vbox.Add(hboxutp, 1, wx.EXPAND)
vbox.Add(hboxuty, 1, wx.EXPAND)
vbox.Add(hboxuth, 1, wx.EXPAND)
vbox.Add(hboxuap, 1, wx.EXPAND)
vbox.Add(hboxuay, 1, wx.EXPAND)
vbox.Add(hboxuah, 1, wx.EXPAND)
vbox.Add(hboxe, 1, wx.EXPAND)
wx.EVT_MENU(self, ID_ABOUT, self.OnAbout)
wx.EVT_MENU(self, ID_EXIT, self.OnExit)
wx.EVT_COMMAND_SCROLL(self.ElbowAngle, self.ElbowAngle.GetId(),
self.OnAngleSliderChange)
wx.EVT_COMMAND_SCROLL(self.UpperArmPitch,
self.UpperArmPitch.GetId(),
self.OnAngleSliderChange)
wx.EVT_COMMAND_SCROLL(self.UpperArmYaw, self.UpperArmYaw.GetId(),
self.OnAngleSliderChange)
wx.EVT_COMMAND_SCROLL(self.UpperArmHeading,
self.UpperArmHeading.GetId(),
self.OnAngleSliderChange)
wx.EVT_COMMAND_SCROLL(self.UpperTorsoHeading,
self.UpperTorsoHeading.GetId(),
self.OnAngleSliderChange)
wx.EVT_COMMAND_SCROLL(self.UpperTorsoPitch,
self.UpperTorsoPitch.GetId(),
self.OnAngleSliderChange)
wx.EVT_COMMAND_SCROLL(self.UpperTorsoYaw,
self.UpperTorsoYaw.GetId(),
self.OnAngleSliderChange)
panel.SetSizer(vbox)
panel.SetAutoLayout(1)
self.SetMenuBar(menuBar) # Adding the MenuBar to the Frame
content.
self.Show(True)
def OnAngleSliderChange(self, event):
e = self.ElbowAngle.GetValue()
p = self.UpperArmPitch.GetValue()
h = self.UpperArmHeading.GetValue()
r = self.UpperArmYaw.GetValue()
utp = self.UpperTorsoPitch.GetValue()
uty = self.UpperTorsoYaw.GetValue()
uth = self.UpperTorsoHeading.GetValue()
e= e / 100.0 * pi
p= p / 100.0 * pi
h= h / 100.0 * pi
r= r / 100.0 * pi
utp = utp / 100.0 * pi
uty = uty / 100.0 * pi
uth = uth / 100.0 * pi
position(utp, uty, uth, p, h, r, e)
def OnAbout(self, event):
# Create a message dialog box
d= wx.MessageDialog( self, " A sample editor \n"
" in wxPython","About Sample Editor", wx.OK)
d.ShowModal() # Shows it
d.Destroy() # finally destroy it when finished.
def OnExit(self, event):
self.Close(True) # Close the frame.
app = wx.PySimpleApp()
frame = MainWindow(None, -1, "Apollo Body Control Panel")
app.MainLoop()
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