visualpython-users

[Visualpython-users] Text disappears after hiding the scene ...

[Stef M. <s.m...@ru...>]

hello,

the simple program below, hiding the scene for a moment,
lets the text disappear in VP3 (VP5 works ok). (winXP-sp2)
Is there a workaround ?

thanks,
Stef


from visual import *

label ( text = 'Click to show problem' )

while True :
  rate ( 50 )
  if scene.mouse.clicked > 0 :
    while scene.mouse.clicked > 0 :
      scene.mouse.getclick()
    scene.visible = False
    scene.visible = True

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Bruce S. <Bru...@nc...>]

That's a very strange bug in VP3; I have no idea what is the cause. I 
note that creating a new label after making the window visible fails to 
show any text, though the box surrounding the (nonvisible) text is the 
appropriate width. If on the other hand no label is created before the 
window manipulations are carried out, a new label does show text. Very 
strange.

The only workaround that I can see is to use VP5.

Bruce Sherwood

Stef Mientki wrote:
> hello,
> 
> the simple program below, hiding the scene for a moment,
> lets the text disappear in VP3 (VP5 works ok). (winXP-sp2)
> Is there a workaround ?
> 
> thanks,
> Stef
> 
> 
> from visual import *
> 
> label ( text = 'Click to show problem' )
> 
> while True :
>   rate ( 50 )
>   if scene.mouse.clicked > 0 :
>     while scene.mouse.clicked > 0 :
>       scene.mouse.getclick()
>     scene.visible = False
>     scene.visible = True
> 
> 
> ------------------------------------------------------------------------------
> Check out the new SourceForge.net Marketplace.
> It is the best place to buy or sell services for
> just about anything Open Source.
> http://p.sf.net/sfu/Xq1LFB
> _______________________________________________
> Visualpython-users mailing list
> Vis...@li...
> https://lists.sourceforge.net/lists/listinfo/visualpython-users

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Stef M. <s.m...@ru...>]

Bruce Sherwood wrote:
> That's a very strange bug in VP3; I have no idea what is the cause. I 
> note that creating a new label after making the window visible fails 
> to show any text, though the box surrounding the (nonvisible) text is 
> the appropriate width. If on the other hand no label is created before 
> the window manipulations are carried out, a new label does show text. 
> Very strange.
>
> The only workaround that I can see is to use VP5.
>
I was afraid to get that answer ;-)
And yes, probably it's the best way to go,
but then embedding of VPython isn't possible anymore ( hide not 
supported, resize not allowed during visible)
:-(

thanks anyway,
cheers,
Stef
> Bruce Sherwood
>
> Stef Mientki wrote:
>> hello,
>>
>> the simple program below, hiding the scene for a moment,
>> lets the text disappear in VP3 (VP5 works ok). (winXP-sp2)
>> Is there a workaround ?
>>
>> thanks,
>> Stef
>>
>>
>> from visual import *
>>
>> label ( text = 'Click to show problem' )
>>
>> while True :
>>   rate ( 50 )
>>   if scene.mouse.clicked > 0 :
>>     while scene.mouse.clicked > 0 :
>>       scene.mouse.getclick()
>>     scene.visible = False
>>     scene.visible = True
>>
>>
>> ------------------------------------------------------------------------------ 
>>
>> Check out the new SourceForge.net Marketplace.
>> It is the best place to buy or sell services for
>> just about anything Open Source.
>> http://p.sf.net/sfu/Xq1LFB
>> _______________________________________________
>> Visualpython-users mailing list
>> Vis...@li...
>> https://lists.sourceforge.net/lists/listinfo/visualpython-users
>
>

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Bruce S. <Bru...@nc...>]

But "hide" IS supported. It's unfortunate that there was a scene.hide() 
that was undocumented (and not implemented in Visual 5), but it has 
always been the case that scene.visible = False has worked in all 
versions of Visual.

Nor am I sure that I understand what is meant by "resize not allowed 
during visible". Do you mean setting scene.width and scene.height? That 
didn't work in Visual 3, either. The following resizing works in both 
Visual 3 and Visual 5:

from visual import *
box()
scene.mouse.getclick()
scene.visible = False
scene.width = 800
scene.visible = True

Bruce Sherwood

Stef Mientki wrote:
> 
> Bruce Sherwood wrote:
>> That's a very strange bug in VP3; I have no idea what is the cause. I 
>> note that creating a new label after making the window visible fails 
>> to show any text, though the box surrounding the (nonvisible) text is 
>> the appropriate width. If on the other hand no label is created before 
>> the window manipulations are carried out, a new label does show text. 
>> Very strange.
>>
>> The only workaround that I can see is to use VP5.
>>
> I was afraid to get that answer ;-)
> And yes, probably it's the best way to go,
> but then embedding of VPython isn't possible anymore ( hide not 
> supported, resize not allowed during visible)
> :-(
> 
> thanks anyway,
> cheers,
> Stef
>> Bruce Sherwood
>>
>> Stef Mientki wrote:
>>> hello,
>>>
>>> the simple program below, hiding the scene for a moment,
>>> lets the text disappear in VP3 (VP5 works ok). (winXP-sp2)
>>> Is there a workaround ?
>>>
>>> thanks,
>>> Stef
>>>
>>>
>>> from visual import *
>>>
>>> label ( text = 'Click to show problem' )
>>>
>>> while True :
>>>   rate ( 50 )
>>>   if scene.mouse.clicked > 0 :
>>>     while scene.mouse.clicked > 0 :
>>>       scene.mouse.getclick()
>>>     scene.visible = False
>>>     scene.visible = True
>>>
>>>
>>> ------------------------------------------------------------------------------ 
>>>
>>> Check out the new SourceForge.net Marketplace.
>>> It is the best place to buy or sell services for
>>> just about anything Open Source.
>>> http://p.sf.net/sfu/Xq1LFB
>>> _______________________________________________
>>> Visualpython-users mailing list
>>> Vis...@li...
>>> https://lists.sourceforge.net/lists/listinfo/visualpython-users
>>
> 
> ------------------------------------------------------------------------------
> Check out the new SourceForge.net Marketplace.
> It is the best place to buy or sell services for
> just about anything Open Source.
> http://p.sf.net/sfu/Xq1LFB
> _______________________________________________
> Visualpython-users mailing list
> Vis...@li...
> https://lists.sourceforge.net/lists/listinfo/visualpython-users

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Bruce S. <Bru...@nc...>]

The only significant differences that I know of between Visual 3 and 
Visual 5 are that the following have not (yet) been implemented in 
Visual 5: scene.cursor.visible, and right-button and middle-button mouse 
events. These are listed as known bugs in the statement of new features 
in the documentation for Visual 5.

Bruce Sherwood

Stef Mientki wrote:
> thanks Bruce,
> 
> I didn't know that,
> and indeed it works like a charm.
> So now I can really test the differences between VP3 and VP5 ;-)
> I'll report my findings.
> 
> cheers,
> Stef
> 
> Bruce Sherwood wrote:
>> But "hide" IS supported. It's unfortunate that there was a 
>> scene.hide() that was undocumented (and not implemented in Visual 5), 
>> but it has always been the case that scene.visible = False has worked 
>> in all versions of Visual.
>>
>> Nor am I sure that I understand what is meant by "resize not allowed 
>> during visible". Do you mean setting scene.width and scene.height? 
>> That didn't work in Visual 3, either. The following resizing works in 
>> both Visual 3 and Visual 5:
>>
>> from visual import *
>> box()
>> scene.mouse.getclick()
>> scene.visible = False
>> scene.width = 800
>> scene.visible = True
>>
>> Bruce Sherwood
>>
>> Stef Mientki wrote:
>>> Bruce Sherwood wrote:
>>>> That's a very strange bug in VP3; I have no idea what is the cause. 
>>>> I note that creating a new label after making the window visible 
>>>> fails to show any text, though the box surrounding the (nonvisible) 
>>>> text is the appropriate width. If on the other hand no label is 
>>>> created before the window manipulations are carried out, a new label 
>>>> does show text. Very strange.
>>>>
>>>> The only workaround that I can see is to use VP5.
>>>>
>>> I was afraid to get that answer ;-)
>>> And yes, probably it's the best way to go,
>>> but then embedding of VPython isn't possible anymore ( hide not 
>>> supported, resize not allowed during visible)
>>> :-(
>>>
>>> thanks anyway,
>>> cheers,
>>> Stef
>>>> Bruce Sherwood
>>>>
>>>> Stef Mientki wrote:
>>>>> hello,
>>>>>
>>>>> the simple program below, hiding the scene for a moment,
>>>>> lets the text disappear in VP3 (VP5 works ok). (winXP-sp2)
>>>>> Is there a workaround ?
>>>>>
>>>>> thanks,
>>>>> Stef
>>>>>
>>>>>
>>>>> from visual import *
>>>>>
>>>>> label ( text = 'Click to show problem' )
>>>>>
>>>>> while True :
>>>>>   rate ( 50 )
>>>>>   if scene.mouse.clicked > 0 :
>>>>>     while scene.mouse.clicked > 0 :
>>>>>       scene.mouse.getclick()
>>>>>     scene.visible = False
>>>>>     scene.visible = True
>>>>>
>>>>>
>>>>> ------------------------------------------------------------------------------ 
>>>>>
>>>>> Check out the new SourceForge.net Marketplace.
>>>>> It is the best place to buy or sell services for
>>>>> just about anything Open Source.
>>>>> http://p.sf.net/sfu/Xq1LFB
>>>>> _______________________________________________
>>>>> Visualpython-users mailing list
>>>>> Vis...@li...
>>>>> https://lists.sourceforge.net/lists/listinfo/visualpython-users
>>> ------------------------------------------------------------------------------ 
>>>
>>> Check out the new SourceForge.net Marketplace.
>>> It is the best place to buy or sell services for
>>> just about anything Open Source.
>>> http://p.sf.net/sfu/Xq1LFB
>>> _______________________________________________
>>> Visualpython-users mailing list
>>> Vis...@li...
>>> https://lists.sourceforge.net/lists/listinfo/visualpython-users
>>
> 
> ------------------------------------------------------------------------------
> Check out the new SourceForge.net Marketplace.
> It is the best place to buy or sell services for
> just about anything Open Source.
> http://p.sf.net/sfu/Xq1LFB
> _______________________________________________
> Visualpython-users mailing list
> Vis...@li...
> https://lists.sourceforge.net/lists/listinfo/visualpython-users

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Bruce S. <Bru...@nc...>]

I've seen this label bug with font='serif' but not with the default 
sans-serif font that it looks like you've used. Could you please post 
the actual code you used to generate the picture?

I stand however by my previous statement that the only "significant 
differences" are those listed.

Bruce Sherwood

Stef Mientki wrote:
> hi Bruce,
> 
> Bruce Sherwood wrote:
>> The only significant differences that I know of between Visual 3 and 
>> Visual 5 are that the following have not (yet) been implemented in 
>> Visual 5: scene.cursor.visible, and right-button and middle-button 
>> mouse events. These are listed as known bugs in the statement of new 
>> features in the documentation for Visual 5.
> you don't know yet, how good I am in finding bugs ;-)
> here is subtle one, (VP5, winXP-sp2)
> look very carefully at the picture, it contains 2 bugs.
> The bug appears depending on the ratio of hor/ver size of the frame,
> and moving either the height or width slightly, you can get to see other 
> variations.
> 
> cheers,
> Stef
> 
> ------------------------------------------------------------------------
> 
> 
> ------------------------------------------------------------------------
> 
> ------------------------------------------------------------------------------
> Check out the new SourceForge.net Marketplace.
> It is the best place to buy or sell services for
> just about anything Open Source.
> http://p.sf.net/sfu/Xq1LFB
> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
> Visualpython-users mailing list
> Vis...@li...
> https://lists.sourceforge.net/lists/listinfo/visualpython-users

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Bruce S. <Bru...@nc...>]

Your font is sans-serif, because that's the default when you don't 
specify a font in a label statement. On my Windows Vista machine I don't 
see extra pixels lit up (but I do if I specify serif). Maybe the 
situation is different on XP. Thanks for the report.

Bruce

Stef Mientki wrote:
> 
> Bruce Sherwood wrote:
>> I've seen this label bug with font='serif' but not with the default 
>> sans-serif font that it looks like you've used. Could you please post 
>> the actual code you used to generate the picture?
> AFAIK, I didn't set the font,
> so where is the font coming from.
> Code below.
>> I stand however by my previous statement that the only "significant 
>> differences" are those listed.
> I agree it's not really significant.
> 
> cheers,
> Stef
>> Bruce Sherwood
>>

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Stef M. <s.m...@ru...>]

hi Bruce,

Bruce Sherwood wrote:
> Your font is sans-serif, because that's the default when you don't 
> specify a font in a label statement. On my Windows Vista machine I 
> don't see extra pixels lit up (but I do if I specify serif).
On winXP, the serif fonts shows the same effect, but on other characters.
The monospace font doesn't show the effect (but it's so large).
With all font types, the borderlines seems to change random between:
1 white line or 2 gray lines.
btw. Instead of resizing the window, you can force the effect also with 
zooming in and out.

cheers,
Stef

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Stef M. <s.m...@ru...>]

thanks Bruce,

I didn't know that,
and indeed it works like a charm.
So now I can really test the differences between VP3 and VP5 ;-)
I'll report my findings.

cheers,
Stef

Bruce Sherwood wrote:
> But "hide" IS supported. It's unfortunate that there was a 
> scene.hide() that was undocumented (and not implemented in Visual 5), 
> but it has always been the case that scene.visible = False has worked 
> in all versions of Visual.
>
> Nor am I sure that I understand what is meant by "resize not allowed 
> during visible". Do you mean setting scene.width and scene.height? 
> That didn't work in Visual 3, either. The following resizing works in 
> both Visual 3 and Visual 5:
>
> from visual import *
> box()
> scene.mouse.getclick()
> scene.visible = False
> scene.width = 800
> scene.visible = True
>
> Bruce Sherwood
>
> Stef Mientki wrote:
>>
>> Bruce Sherwood wrote:
>>> That's a very strange bug in VP3; I have no idea what is the cause. 
>>> I note that creating a new label after making the window visible 
>>> fails to show any text, though the box surrounding the (nonvisible) 
>>> text is the appropriate width. If on the other hand no label is 
>>> created before the window manipulations are carried out, a new label 
>>> does show text. Very strange.
>>>
>>> The only workaround that I can see is to use VP5.
>>>
>> I was afraid to get that answer ;-)
>> And yes, probably it's the best way to go,
>> but then embedding of VPython isn't possible anymore ( hide not 
>> supported, resize not allowed during visible)
>> :-(
>>
>> thanks anyway,
>> cheers,
>> Stef
>>> Bruce Sherwood
>>>
>>> Stef Mientki wrote:
>>>> hello,
>>>>
>>>> the simple program below, hiding the scene for a moment,
>>>> lets the text disappear in VP3 (VP5 works ok). (winXP-sp2)
>>>> Is there a workaround ?
>>>>
>>>> thanks,
>>>> Stef
>>>>
>>>>
>>>> from visual import *
>>>>
>>>> label ( text = 'Click to show problem' )
>>>>
>>>> while True :
>>>>   rate ( 50 )
>>>>   if scene.mouse.clicked > 0 :
>>>>     while scene.mouse.clicked > 0 :
>>>>       scene.mouse.getclick()
>>>>     scene.visible = False
>>>>     scene.visible = True
>>>>
>>>>
>>>> ------------------------------------------------------------------------------ 
>>>>
>>>> Check out the new SourceForge.net Marketplace.
>>>> It is the best place to buy or sell services for
>>>> just about anything Open Source.
>>>> http://p.sf.net/sfu/Xq1LFB
>>>> _______________________________________________
>>>> Visualpython-users mailing list
>>>> Vis...@li...
>>>> https://lists.sourceforge.net/lists/listinfo/visualpython-users
>>>
>>
>> ------------------------------------------------------------------------------ 
>>
>> Check out the new SourceForge.net Marketplace.
>> It is the best place to buy or sell services for
>> just about anything Open Source.
>> http://p.sf.net/sfu/Xq1LFB
>> _______________________________________________
>> Visualpython-users mailing list
>> Vis...@li...
>> https://lists.sourceforge.net/lists/listinfo/visualpython-users
>
>

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Stef M. <s.m...@ru...>]

hi Bruce,

Bruce Sherwood wrote:
> The only significant differences that I know of between Visual 3 and 
> Visual 5 are that the following have not (yet) been implemented in 
> Visual 5: scene.cursor.visible, and right-button and middle-button 
> mouse events. These are listed as known bugs in the statement of new 
> features in the documentation for Visual 5.
you don't know yet, how good I am in finding bugs ;-)
here is subtle one, (VP5, winXP-sp2)
look very carefully at the picture, it contains 2 bugs.
The bug appears depending on the ratio of hor/ver size of the frame,
and moving either the height or width slightly, you can get to see other 
variations.

cheers,
Stef

Re: [Visualpython-users] Text disappears after hiding the scene ...

[Stef M. <s.m...@ru...>]

Bruce Sherwood wrote:
> I've seen this label bug with font='serif' but not with the default 
> sans-serif font that it looks like you've used. Could you please post 
> the actual code you used to generate the picture?
AFAIK, I didn't set the font,
so where is the font coming from.
Code below.
>
> I stand however by my previous statement that the only "significant 
> differences" are those listed.
I agree it's not really significant.

cheers,
Stef
>
> Bruce Sherwood
>
#-----------------------------------------------------
# Demo of a symmetric (I1=I2) gyroscope. It uses
# numerical integration with a primitive mid point
# solver of Euler's equations using the Euler angles
# [phi,theta,psi] as variables.
#
# Left mouse toggles the display of the trail of the
# orbit of the tip of the gyroscope.
#
# Right mouse toggles the display of the vectors L and
# omega (angular momentum and velocity).
#
# Center mouse button (or left+right) zooms the view.
#
# ** To exit press ESC **
#
# by E. Velasco. December 2004
#-----------------------------------------------------
from visual import *

# Initial conditions for the Euler angles
phi = 0. 
phidot = -2.6
theta = pi/4             # Must satisfy 0<theta<pi
thetadot = 1. 
psi = 0.    
psidot = 50.             # Fast for the gyro to work

# Constant definitions
Ulenght = 1.0        # Unit of lenght in m
Lshaft = 0.8         # length of gyroscope shaft
Rshaft = 0.03        # radius of gyroscope shaft
Hshaft = Lshaft/15.  # height of cone tip of shaft
Cshaft = (0,0.6,0.9) # Color of shaft


Rrotor = 0.38        # radius of gyroscope rotor
Drotor = 0.12        # thickness of gyroscope rotor
Lcm    = Lshaft/1.8+Hshaft  # Distance of cm to fixed point
Crotor =  (0,0.5,0.8)       # Color of rotor
Cbraces = (1,0.1,0)         # Color of braces of rotor
 
hpedestal = Lshaft   # height of pedestal
wpedestal = 0.17     # Width of pedestal
Cpedestal = (0.4,0.4,0.5)   # Color of pedestal and base
tbase = 0.05         # thickness of base
wbase = 4.*wpedestal        # width of base

Lvector = 1.05*Lshaft +2*Hshaft
CL = (1,0.4,1)         # Color of angular momentum
COmega = color.green   # Color of angular velocity
Ctrail = color.yellow  # Color of the trail of the tip of gyro
ShowVectors = 0
ShowTrail = False

# Moments of inertia divided by mass (only from rotor)
I1 = 0.25*(Rrotor**2+Drotor**2) + Lcm**2
I3 = 0.5*Rrotor**2

# Components of the angular velocity in the MOVING frame
omega1 = phidot*sin(theta)*sin(psi)+thetadot*cos(psi)
omega2 = phidot*sin(theta)*cos(psi)-thetadot*sin(psi)
omega3 = phidot*cos(theta)+psidot  # A constant of motion

gL_I = 9.8*Lcm/(I1*Ulenght)
Delta = (I3-I1)/I1*omega3

# Window properties. Define them before creating visual objects.
#scene.width=700
#scene.height=600
#scene.fullscreen = 1    # Change it to 0 to get a floating window
#scene.title='Gyroscope'
scene.userspin = 0       # No rotation with mouse
scene.forward = (-1,0,0) # View from the +x axis slightly down
scene.up = (0,0,1)
scene.range=(1.9*Lshaft,1.9*Lshaft,1.9*Lshaft)
scene.ambient=0.3
scene.lights = [0.3*norm((1,-0.5,-0.2)),0.5*norm((1,0.5,0.2))]
scene.autoscale = 0

label ( pos = ( 0, 0, 1.2 ), text = 'Left-Click: Toggle orbit of tip' )
label ( pos = ( 0, 0, 1.0 ), text = 'Right-Click: Toggle L and w' )

# A function that returns the three moving unit vectors
def MovingFrame(phi,theta,psi):
    CosPhi = cos(phi); SinPhi = sin(phi)
    CosTheta = cos(theta); SinTheta = sin(theta)
    CosPsi = cos(psi); SinPsi = sin(psi)
    V1 = vector(CosPhi*CosPsi-CosTheta*SinPhi*SinPsi,
                SinPhi*CosPsi+CosTheta*CosPhi*SinPsi,
                SinTheta*SinPsi)
    V3 = vector(SinTheta*SinPhi,-SinTheta*CosPhi, CosTheta)
    V2 = cross(V3,V1)
    return (V1,V2,V3)

# A function that returns an L in the y-z plane displaced by V
def Char_L(V):
    sz = 0.017 # size of letter
    return [V+vector(0,-sz,3*sz),V+vector(0,-sz,0), V+vector(0,sz,0)]

# Build a leter omega in the y-z plane
sz_omega  = 0.015   # size of letter
Npts = 10
alpha0=2*pi/3
Dalpha = (2*pi-alpha0)/(Npts-1)
l_omega = []
for k in range(Npts):
    alpha = alpha0+k*Dalpha
    l_omega.append(sz_omega*vector(0,cos(alpha)-1,1+sin(alpha)))
for k in range(Npts):
    alpha = pi+k*Dalpha
    l_omega.append(sz_omega*vector(0,1+cos(alpha),1+sin(alpha)))
letter_omega = array(l_omega) # Use a numeric array for efficiency

# A function that returns a omega in the y-z plane displaced by V
def Char_omega(V):
    char=array([V])+letter_omega  # Fast numeric array addition
    return char
 
# Get the vectors angular velocity and angular momentum in fixed frame
(V1,V2,V3) = MovingFrame(phi,theta,psi)
Omega = omega1*V1+omega2*V2+omega3*V3
L = I1*omega1*V1+I1*omega2*V2+I3*omega3*V3
OmegaScale = Lvector/mag(Omega)
LScale = Lvector/mag(L)

Omega_body = curve(pos=[(0,0,0),0.95*OmegaScale*Omega], color=COmega,
                   radius=0.01, visible=ShowVectors)
Omega_tip = cone(pos=0.95*OmegaScale*Omega, axis=0.05*OmegaScale*Omega,
                 radius=0.02, color=COmega, visible=ShowVectors)
Omega_label = curve(pos=Char_omega(1.05*OmegaScale*Omega), color=COmega,
                    radius=0.005, visible=ShowVectors)

L_body = curve(pos=[(0,0,0),0.95*LScale*L], color=CL, radius=0.01,
             visible=ShowVectors)
L_tip = cone(pos=0.95*LScale*L, axis=0.05*LScale*L, radius=0.02,
             color=CL, visible=ShowVectors)
L_label = curve(pos=Char_L(1.05*LScale*L), color=CL,
                radius=0.006, visible=ShowVectors)

# Define the fixed support of the gyro
support=frame()
pedestal = pyramid(pos=(0,0,-hpedestal), axis = (0,0,hpedestal),
                   size=(hpedestal,wpedestal,wpedestal),
                   color=Cpedestal, frame=support)
base = box(pos=(0,0,-hpedestal-tbase/2.),
                 height=wbase, length=tbase, width=wbase,
                 axis=(0,0,1), color=Cpedestal,frame=support)
sphere(pos=(0,0,0), radius=0.01, color=Cshaft) # Articulation at the pivot

# Bolts
B1 = sphere(pos=(wbase/2.3,wbase/2.3,-hpedestal),radius=wbase*0.04,
            color=Cpedestal, frame=support)
B2 = sphere(pos=(wbase/2.3,-wbase/2.3,-hpedestal),radius=wbase*0.04,
            color=Cpedestal, frame=support)
B3 = sphere(pos=(-wbase/2.3,wbase/2.3,-hpedestal),radius=wbase*0.04,
            color=Cpedestal, frame=support)
B4 = sphere(pos=(-wbase/2.3,-wbase/2.3,-hpedestal),radius=wbase*0.04,
            color=Cpedestal, frame=support)

support.rotate(angle=pi/7, axis=(0,0,1))

# Define the gyro
gyro=frame(visible=0)
pivot = cone(pos=(0,0,Hshaft), axis=(0,0,-Hshaft), color=Cshaft,
             frame=gyro, radius=Rshaft)
shaft = cylinder(axis=(0,0,Lshaft), pos=pivot.pos,
                 radius=Rshaft, color=Cshaft, frame=gyro)
tip = cone(pos= pivot.pos+shaft.axis, axis=(0,0,Hshaft),
           color=Cshaft, radius=Rshaft, frame=gyro)
rotor = cylinder(pos=(0,0,Lcm - Drotor/2), radius=Rrotor,
                 axis=(0,0,Drotor), color=Crotor, frame=gyro)
# Braces of rotor
cylinder(pos =(-Rrotor,0,Lcm - Drotor/3.), radius=Drotor/2,
               axis=(2*Rrotor,0,0), color=Cbraces, frame=gyro)
cylinder(pos =(0,-Rrotor,Lcm - Drotor/3.), radius=Drotor/2,
               axis=(0,2*Rrotor,0), color=Cbraces, frame=gyro)
cylinder(pos =(-Rrotor,0,Lcm + Drotor/3.), radius=Drotor/2,
               axis=(2*Rrotor,0,0), color=Cbraces, frame=gyro)
cylinder(pos =(0,-Rrotor,Lcm + Drotor/3.), radius=Drotor/2,
               axis=(0,2*Rrotor,0), color=Cbraces, frame=gyro)
ring(pos=(0,0,Lcm), radius=Rrotor, thickness=Drotor/2, axis=(0,0,1),
     color=Cbraces, frame=gyro)

# Rotate gyro to its starting position

    # First rotate by phi around the z axis
gyro.rotate(angle=phi, axis=(0,0,1))

    # Use the new x axis (Vx) and rotate by theta
Vx=(cos(phi),sin(phi),0)
gyro.rotate(angle=theta, axis=Vx)

    # Use the final z axis (V3) and rotate by psi
gyro.rotate(angle=psi, axis=V3)

gyro.visible=1  # Make the gyro visible


# Curve described by tip of gyro
trail = curve(radius=0, color=Ctrail)

dt = 0.0002     # Time step
dt = 0.004
dt2 = dt/2      # Half time step

# First rotate the gyro around current Omega by mag(Omega)*dt2
gyro.rotate(angle=mag(Omega)*dt2, axis=Omega)

while 1:
    #rate(800)
    rate (50)

    # Find midtime variables
    CosPsi = cos(psi); SinPsi=sin(psi); SinTheta=sin(theta)
    phidot = (SinPsi*omega1+CosPsi*omega2)/SinTheta
   
    phi_m = phi + phidot*dt2
    theta_m = theta + (CosPsi*omega1 - SinPsi*omega2)*dt2
    psi_m = psi + (omega3-phidot*cos(theta))*dt2
    omega1_m = omega1 +(gL_I*SinTheta*CosPsi-Delta*omega2)*dt2
    omega2_m = omega2 -(gL_I*SinTheta*SinPsi-Delta*omega1)*dt2

    # Get the full step variables
    CosPsi_m = cos(psi_m); SinPsi_m=sin(psi_m); SinTheta_m=sin(theta_m)
    phidot_m = (SinPsi_m*omega1_m+CosPsi_m*omega2_m)/SinTheta_m
   
    phi +=  phidot_m*dt
    theta +=  (CosPsi_m*omega1_m - SinPsi_m*omega2_m)*dt
    psi += (omega3 - phidot_m*cos(theta_m))*dt
    omega1 += (gL_I*SinTheta_m*CosPsi_m - Delta*omega2_m)*dt
    omega2 -= (gL_I*SinTheta_m*SinPsi_m - Delta*omega1_m)*dt

    # Get the vectors angular velocity and momentum in the fixed frame
    (V1,V2,V3) = MovingFrame(phi,theta,psi)
    Omega = omega1*V1+omega2*V2+omega3*V3
    L = I1*omega1*V1+I1*omega2*V2+I3*omega3*V3
   
    # Toggle Painting the trail and the L w vectors
    if scene.mouse.events:
        mouseObj = scene.mouse.getevent()
        scene.mouse.events = 0
        if mouseObj.click == "left":   # Toggle orbit of tip
            if ShowTrail == True:
                ShowTrail = False
                trail.pos=[]
            else: ShowTrail = True
        if mouseObj.click == "right":  # Togle display of L and w
            ShowVectors = 1 - ShowVectors
            L_body.visible = L_tip.visible = ShowVectors
            L_label.visible = ShowVectors
            Omega_body.visible = Omega_tip.visible = ShowVectors
            Omega_label.visible = ShowVectors

    # Update the trail and the L w vectors
    L_body.pos = [(0,0,0),0.95*LScale*L]
    L_tip.pos=0.95*LScale*L;
    L_tip.axis=0.05*LScale*L
    L_label.pos=Char_L(1.05*LScale*L)
    Omega_body.pos = [(0,0,0),0.95*OmegaScale*Omega]
    Omega_tip.pos=0.95*OmegaScale*Omega;
    Omega_tip.axis=0.05*OmegaScale*Omega
    Omega_label.pos=Char_omega(1.05*OmegaScale*Omega)

    if ShowTrail == True:
        trail.append(pos=V3*(Lshaft+2*Hshaft))
           
    # Rotate the gyro around new Omega by mag(Omega)*dt
    gyro.rotate(angle=mag(Omega)*dt, axis=Omega)