218 lines
9.1 KiB
Python
218 lines
9.1 KiB
Python
import matplotlib.pyplot as plt
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from mpl_toolkits.mplot3d.art3d import Poly3DCollection
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import numpy as np
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def generate_picture_wp(all_group_vars, picture_path, DEBUG=False):
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# try:
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vars = all_group_vars['wp']
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WPR_X, WPR_Y, WPR_Z, WP_CLP_OFFSET_X, WPR_GRP_OFFSET_Z, WPF_GRP_OFFSET_Y, WPF_GRP_OFFSET_Z = (float(vars[k]) for k in
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['WPR_X', 'WPR_Y', 'WPR_Z', 'WP_CLP_OFFSET_X', 'WPR_GRP_OFFSET_Z', 'WPF_GRP_OFFSET_Y', 'WPF_GRP_OFFSET_Z'])
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if min(WPR_X, WPR_Y, WPR_Z) <= 0:
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raise ValueError("Dimensions must be positive.")
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# -------------------- wpraw -------------------------
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fig, ax = plt.subplots(subplot_kw={'projection': '3d'})
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x_cube, y_cube = 2 * WPR_X, 2 * WPR_Y
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vertices = np.array([[0, 0, 0], [x_cube, 0, 0], [x_cube, y_cube, 0], [0, y_cube, 0],
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[0, 0, WPR_Z], [x_cube, 0, WPR_Z], [x_cube, y_cube, WPR_Z], [0, y_cube, WPR_Z]])
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faces = [vertices[[0, 1, 2, 3]], vertices[[4, 5, 6, 7]], vertices[[0, 3, 7, 4]],
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vertices[[1, 2, 6, 5]], vertices[[0, 1, 5, 4]], vertices[[2, 3, 7, 6]]]
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# Polyeder hinzufügen
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ax.add_collection3d(Poly3DCollection(faces, facecolors='k', linewidths=1, edgecolors='k', alpha=.15))
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# Achsen-Einstellungen zusammenfassen
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ax.set_box_aspect([x_cube, y_cube, WPR_Z])
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ax.set(xticks=[], yticks=[], zticks=[])
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# Kugel zeichnen
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u, v = np.mgrid[0:2 * np.pi:20j, 0:np.pi:20j]
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ball_radius = min(WPR_X, WPR_Y, WPR_Z) * 0.1
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ax.plot_surface(
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WPR_X + ball_radius * np.cos(u) * np.sin(v),
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WPR_Y + ball_radius * np.sin(u) * np.sin(v),
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WPR_Z + ball_radius * np.cos(v),
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color='r'
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)
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# Koordinatenachsen zeichnen
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axis_len = max(x_cube, y_cube, WPR_Z) * 0.3
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colors = ['r', 'g', 'b']
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for i, vec in enumerate(np.eye(3)):
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ax.quiver(0, 0, 0, *(axis_len * vec), color=colors[i], linewidth=5)
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gripper_thickness = max(x_cube, y_cube, WPR_Z) * 0.1
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gripper_wide = WPR_X * 0.4
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GRP_ALPHA = .25
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bars = [
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((x_cube - gripper_wide) * 0.5, -gripper_thickness, WPR_Z - WPR_GRP_OFFSET_Z),
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((x_cube - gripper_wide) * 0.5, y_cube, WPR_Z - WPR_GRP_OFFSET_Z),
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]
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for (x, y, z) in bars:
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ax.bar3d(
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x, y, z,
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gripper_wide, gripper_thickness, 2 * WPR_Z + WPR_GRP_OFFSET_Z,
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color='r', alpha=GRP_ALPHA, edgecolor='k', linewidth=0.5
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)
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ax.view_init(elev=18, azim=-130)
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ax.set_xlim([0, x_cube]); ax.set_ylim([0, y_cube]); ax.set_zlim([0, WPR_Z])
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ax.set_aspect('auto')
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if not DEBUG:
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fig.savefig(picture_path, bbox_inches='tight', dpi=300, transparent=True)
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else:
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plt.show()
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plt.close()
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# except Exception as e:
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# print(f"An error occurred: {e}")
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# --------------- OLD ------------------------
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def generate_picture_wpraw(all_group_vars, picture_path, DEBUG=False):
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try:
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# --- wpraw
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vars = all_group_vars['wp_raw']
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x, y, z = float(vars['WPR_X']), float(vars['WPR_Y']), float(vars['WPR_Z'])
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if min(x, y, z) <= 0:
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raise ValueError("Dimensions must be positive.")
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fig, ax = plt.subplots(subplot_kw={'projection': '3d'})
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x_cube, y_cube = 2 * x, 2 * y
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vertices = np.array([[0, 0, 0], [x_cube, 0, 0], [x_cube, y_cube, 0], [0, y_cube, 0],
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[0, 0, z], [x_cube, 0, z], [x_cube, y_cube, z], [0, y_cube, z]])
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faces = [vertices[[0, 1, 2, 3]], vertices[[4, 5, 6, 7]], vertices[[0, 3, 7, 4]],
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vertices[[1, 2, 6, 5]], vertices[[0, 1, 5, 4]], vertices[[2, 3, 7, 6]]]
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ax.add_collection3d(Poly3DCollection(faces, facecolors='k', linewidths=1, edgecolors='k', alpha=.15))
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ax.set_box_aspect([x_cube, y_cube, z])
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ax.set_xticks([]);
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ax.set_yticks([]);
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ax.set_zticks([])
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ball_radius = min(x, y, z) * 0.1
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u, v = np.linspace(0, 2 * np.pi, 20), np.linspace(0, np.pi, 20)
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x_sphere = x + ball_radius * np.outer(np.cos(u), np.sin(v))
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y_sphere = y + ball_radius * np.outer(np.sin(u), np.sin(v))
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z_sphere = z + ball_radius * np.outer(np.ones_like(u), np.cos(v))
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ax.plot_surface(x_sphere, y_sphere, z_sphere, color='r', alpha=1)
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max_size = max(x_cube, y_cube, z) * 0.3
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ax.quiver(0, 0, 0, max_size, 0, 0, color='r', linewidth=5)
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ax.quiver(0, 0, 0, 0, max_size, 0, color='g', linewidth=5)
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ax.quiver(0, 0, 0, 0, 0, max_size, color='b', linewidth=5)
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block_depth = y * 0.4
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ax.bar3d(-max_size, (y_cube - block_depth) * 0.5, z * 0.8, max_size, block_depth, z * 0.8, color='k', alpha=.25)
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ax.bar3d(x_cube, (y_cube - block_depth) * 0.5, z * 0.8, max_size, block_depth, z * 0.8, color='k', alpha=.25)
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ax.view_init(elev=18, azim=-130)
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ax.set_xlim([0, x_cube]); ax.set_ylim([0, y_cube]); ax.set_zlim([0, z])
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ax.set_aspect('auto')
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if not DEBUG:
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fig.savefig(picture_path, bbox_inches='tight', dpi=300, transparent=True)
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else:
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plt.show()
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plt.close()
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except Exception as e:
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print(f"An error occurred: {e}")
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def generate_picture_wpfin(all_group_vars, picture_path, DEBUG=False):
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try:
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# --- wpraw
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vars = all_group_vars['wp_raw']
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x, y, z = float(vars['WPR_X']), float(vars['WPR_Y']), float(vars['WPR_Z'])
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if min(x, y, z) <= 0:
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raise ValueError("Dimensions must be positive.")
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fig, ax = plt.subplots(subplot_kw={'projection': '3d'})
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x_cube, y_cube = 2 * x, 2 * y
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vertices = np.array([[0, 0, 0], [x_cube, 0, 0], [x_cube, y_cube, 0], [0, y_cube, 0],
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[0, 0, z], [x_cube, 0, z], [x_cube, y_cube, z], [0, y_cube, z]])
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faces = [vertices[[0, 1, 2, 3]], vertices[[4, 5, 6, 7]], vertices[[0, 3, 7, 4]],
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vertices[[1, 2, 6, 5]], vertices[[0, 1, 5, 4]], vertices[[2, 3, 7, 6]]]
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ax.add_collection3d(Poly3DCollection(faces, facecolors='k', linewidths=1, edgecolors='k', alpha=.15))
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ax.set_box_aspect([x_cube, y_cube, z])
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ax.set_xticks([]);
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ax.set_yticks([]);
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ax.set_zticks([])
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ball_radius = min(x, y, z) * 0.1
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u, v = np.linspace(0, 2 * np.pi, 20), np.linspace(0, np.pi, 20)
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x_sphere = x + ball_radius * np.outer(np.cos(u), np.sin(v))
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y_sphere = y + ball_radius * np.outer(np.sin(u), np.sin(v))
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z_sphere = z + ball_radius * np.outer(np.ones_like(u), np.cos(v))
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ax.plot_surface(x_sphere, y_sphere, z_sphere, color='r', alpha=1)
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# --- wprfin
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vars = all_group_vars['wp_fin']
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x, y, z, l = float(vars['x_wpfin']), float(vars['y_wpfin']), float(vars['z_wpfin']), float(vars['l_wpfin'])
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if min(x, y, z, l) <= 0:
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raise ValueError("Dimensions must be positive.")
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fig, ax = plt.subplots(subplot_kw={'projection': '3d'})
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x_offset = x - l / 2
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vertices = np.array([[0, 0, 0], [l, 0, 0], [l, 2 * y, 0], [0, 2 * y, 0],
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[0, 0, z], [l, 0, z], [l, 2 * y, z], [0, 2 * y, z]]) + np.array([x_offset, 0, 0])
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faces = [vertices[[0, 1, 2, 3]], vertices[[4, 5, 6, 7]], vertices[[0, 3, 7, 4]],
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vertices[[1, 2, 6, 5]], vertices[[0, 1, 5, 4]], vertices[[2, 3, 7, 6]]]
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ax.add_collection3d(Poly3DCollection(faces, facecolors='k', linewidths=1, edgecolors='k', alpha=.15))
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ball_radius = min(x, y, z) * 0.1
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u, v = np.linspace(0, 2 * np.pi, 20), np.linspace(0, np.pi, 20)
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x_sphere = x + ball_radius * np.outer(np.cos(u), np.sin(v))
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y_sphere = y + ball_radius * np.outer(np.sin(u), np.sin(v))
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z_sphere = z + ball_radius * np.outer(np.ones_like(u), np.cos(v))
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ax.plot_surface(x_sphere, y_sphere, z_sphere, color='blue', alpha=1)
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max_size = max(l, 2 * y, z) * 0.3
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ax.quiver(0, 0, 0, max_size, 0, 0, color='red', linewidth=5)
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ax.quiver(0, 0, 0, 0, max_size, 0, color='green', linewidth=5)
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ax.quiver(0, 0, 0, 0, 0, max_size, color='blue', linewidth=5)
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block_depth = y * 0.4
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ax.bar3d(-max_size + x_offset, (2 * y - block_depth) * 0.5, z * 0.8, max_size, block_depth, z * 0.8,
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color='black', alpha=.25)
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ax.bar3d(l + x_offset, (2 * y - block_depth) * 0.5, z * 0.8, max_size, block_depth, z * 0.8, color='black',
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alpha=.25)
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ax.view_init(elev=18, azim=-130)
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ax.set_xticks([]);
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ax.set_yticks([]);
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ax.set_zticks([])
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ax.set_xlim([0, l + x_offset]);
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ax.set_ylim([0, 2 * y]);
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ax.set_zlim([0, z])
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ax.set_aspect('equal')
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if not DEBUG:
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fig.savefig(picture_path, bbox_inches='tight', dpi=300, transparent=True)
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else:
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plt.show()
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plt.close()
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except Exception as e:
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print(f"An error occurred: {e}")
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if __name__ == "__main__":
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vars = {'WPR_X': 20, 'WPR_Y': 15, 'WPR_Z': 20, 'WP_CLP_OFFSET_X': 20, 'WPR_GRP_OFFSET_Z': 15, 'WPF_GRP_OFFSET_Y': 20, 'WPF_GRP_OFFSET_Z': 20}
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generate_picture_wp({'wp': vars}, "cfg_picture/TEST_wpraw.jpg", DEBUG=True)
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# vars = {'x_wpfin': 10, 'y_wpfin': 20, 'z_wpfin': 20, 'l_wpfin': 10}
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# generate_picture_wpfin({'wp_fin': vars}, "cfg_picture/TEST_wpfin.jpg", DEBUG=True)
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