Spaces:
Running
Running
File size: 3,255 Bytes
460c05d |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 |
import numpy as np
def get_3d_config(A,x0,nt,z_index):
A, x0, nt, z_index = np.array(A), np.array(x0), np.array(nt), np.array(z_index)
n_joints = (A.sum(-1)>0).sum()
A = A[:n_joints,:][:,:n_joints]
x0 = x0[:n_joints]
nt = nt[:n_joints]
n_links = int(A.sum()/2)
l1,l2 = np.where(np.triu(A))
linkages = []
max_len = 0
min_len = float(np.inf)
for j in range(n_links):
length= np.linalg.norm(x0[l1[j]]-x0[l2[j]])
if length>max_len:
max_len = float(length)
if length<min_len:
min_len = float(length)
scale_min = 0.25/min_len
scale_target = 1.0/max_len
scale = max(scale_min,scale_target)
x0 = x0*scale
for j in range(n_links):
length= np.linalg.norm(x0[l1[j]]-x0[l2[j]])
angle = np.arctan2(x0[l2[j]][1]-x0[l1[j]][1],x0[l2[j]][0]-x0[l1[j]][0])
linkages.append([length,0.1,0.05,0.03, angle, x0[l1[j]].tolist()+[float(z_index[j])*0.05]])
joints_max_z = np.zeros(x0.shape[0])
joints_min_z = np.zeros(x0.shape[0]) + np.inf
for i in range(n_links):
joints_max_z[l1[i]] = max(joints_max_z[l1[i]],z_index[i])
joints_max_z[l2[i]] = max(joints_max_z[l2[i]],z_index[i])
joints_min_z[l1[i]] = min(joints_min_z[l1[i]],z_index[i])
joints_min_z[l2[i]] = min(joints_min_z[l2[i]],z_index[i])
joints_max_z = joints_max_z*0.05
joints_min_z = joints_min_z*0.05
joints = []
for i in range(x0.shape[0]):
if nt[i] == 1:
for j in np.where(l1==i)[0]:
joints.append(x0[i].tolist()+[0.05,z_index[j]*0.05,1])
for j in np.where(l2==i)[0]:
joints.append(x0[i].tolist()+[0.05,z_index[j]*0.05,1])
else:
joints.append(x0[i].tolist()+[float(joints_max_z[i]-joints_min_z[i])+0.05,float(joints_min_z[i]+joints_max_z[i])/2,0])
return [linkages, joints], joints_max_z, scale
def get_animated_3d_config(A,x0,nt,z_index,sol, highlights = [-1]):
A, x0, nt, z_index, sol = np.array(A), np.array(x0), np.array(nt), np.array(z_index), np.array(sol)
configs = []
for i in range(sol.shape[1]):
c,z,s = get_3d_config(A,sol[:,i,:],nt,z_index)
configs.append(c)
if len(highlights) > 1:
highligh_curve = []
for i in highlights:
highligh_curve.append(np.pad(sol[i,:,:]*s,[[0,0],[0,1]],constant_values=z[i]+0.025))
highligh_curve = np.array(highligh_curve)
else:
highligh_curve = np.pad(sol[highlights[0],:,:]*s,[[0,0],[0,1]],constant_values=z[-1]+0.025)
return configs, highligh_curve.tolist()
def create_3d_html(A,x0,nt,z_index,sol, template_path='./static/animation.htm', save_path='./static/animated.html', highlights = [-1]):
res,hc = get_animated_3d_config(A,x0,nt,z_index,sol,highlights=highlights)
js_var = 'window.res = ' + str(res) + ';\n'
js_var += 'window.hc = ' + str(hc) + ';'
js_var += 'window.multi_high = ' + str(int(len(highlights)>1)) + ';'
with open(template_path, 'r') as file:
filedata = file.read()
filedata = filedata.replace('{res}',js_var)
with open(save_path, 'w') as file:
file.write(filedata) |