Shape¶

class pydy.viz.shapes.Shape(name='unnamed', color='grey', material='default')[source]¶

Instantiates a shape. This is primarily used as a superclass for more specific shapes like Cube, Cylinder, Sphere etc.

Shapes must be associated with a reference frame and a point using the VisualizationFrame class.

Parameters:	name : str, optional A name assigned to the shape. color : str, optional A color string from list of colors in THREE_COLORKEYWORDS

Examples

>>> from pydy.viz.shapes import Shape
>>> s = Shape()
>>> s.name
'unnamed'
>>> s.color
'grey'
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> a = Shape(name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'

color¶

Returns the color attribute of the shape.

generate_dict(constant_map={})[source]¶

Returns a dictionary containing all the data associated with the Shape.

Parameters:	constant_map : dictionary If any of the shape’s geometry are defined as SymPy expressions, then this dictionary should map all SymPy Symbol’s found in the expressions to floats.

material¶

Returns the material attribute of the shape.

name¶

Returns the name attribute of the shape.

Cube¶

class pydy.viz.shapes.Cube(length, **kwargs)[source]¶

Instantiates a cube of a given size.

Parameters:	length : float or SymPy expression The length of the cube.

Examples

>>> from pydy.viz.shapes import Cube
>>> s = Cube(10.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>>s.length
10.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.length = 12.0
>>> s.length
12.0
>>> a = Cube('my-shape2', 'red', length=10)
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.length
10.0

Cylinder¶

class pydy.viz.shapes.Cylinder(length, radius, **kwargs)[source]¶

Instantiates a cylinder with given length and radius.

Parameters:	length : float or SymPy expression The length of the cylinder. radius : float or SymPy expression The radius of the cylinder.

Examples

>>> from pydy.viz.shapes import Cylinder
>>> s = Cylinder(10.0, 5.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>> s.length
10.0
>>> s.radius
5.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.length = 12.0
>>> s.length
12.0
>>> s.radius = 6.0
>>> s.radius
6.0
>>> a = Cylinder(10.0, 5.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.length
10.0
>>> a.radius
5.0

Cone¶

class pydy.viz.shapes.Cone(length, radius, **kwargs)[source]¶

Instantiates a cone with given length and base radius.

Parameters:	length : float or SymPy expression The length of the cone. radius : float or SymPy expression The base radius of the cone.

Examples

>>> from pydy.viz.shapes import Cone
>>> s = Cone(10.0, 5.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>> s.length
10.0
>>> s.radius
5.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.length = 12.0
>>> s.length
12.0
>>> s.radius = 6.0
>>> s.radius
6.0
>>> a = Cone(10.0, 5.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.length
10.0
>>> a.radius
5.0

Sphere¶

class pydy.viz.shapes.Sphere(radius=10.0, **kwargs)[source]¶

Instantiates a sphere with a given radius.

Parameters:	radius : float or SymPy expression The radius of the sphere.

Examples

>>> from pydy.viz.shapes import Sphere
>>> s = Sphere(10.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>>s.radius
10.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.radius = 12.0
>>> s.radius
12.0
>>> a = Sphere(10.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.radius
10.0

Circle¶

class pydy.viz.shapes.Circle(radius=10.0, **kwargs)[source]¶

Instantiates a circle with a given radius.

Parameters:	radius : float or SymPy Expression The radius of the circle.

Examples

>>> from pydy.viz.shapes import Circle
>>> s = Circle(10.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>>s.radius
10.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.radius = 12.0
>>> s.radius
12.0
>>> a = Circle(10.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.radius
10.0

Plane¶

class pydy.viz.shapes.Plane(length=10.0, width=5.0, **kwargs)[source]¶

Instantiates a plane with a given length and width.

Parameters:	length : float or SymPy expression The length of the plane. width : float or SymPy expression The width of the plane.

Examples

>>> from pydy.viz.shapes import Plane
>>> s = Plane(10.0, 5.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>> s.length
10.0
>>> s.width
5.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.length = 12.0
>>> s.length
12.0
>>> s.width = 6.0
>>> s.width
6.0
>>> a = Plane(10.0, 5.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.length
10.0
>>> a.width
5.0

Tetrahedron¶

class pydy.viz.shapes.Tetrahedron(radius=10.0, **kwargs)[source]¶

Instantiates a Tetrahedron inscribed in a given radius circle.

Parameters:	radius : float or SymPy expression The radius of the circum-scribing sphere of around the tetrahedron.

Examples

>>> from pydy.viz.shapes import Tetrahedron
>>> s = Tetrahedron(10.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>>s.radius
10.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.radius = 12.0
>>> s.radius
12.0
>>> a = Tetrahedron(10.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.radius
10.0

Octahedron¶

class pydy.viz.shapes.Tetrahedron(radius=10.0, **kwargs)[source]

Instantiates a Tetrahedron inscribed in a given radius circle.

Parameters:	radius : float or SymPy expression The radius of the circum-scribing sphere of around the tetrahedron.

Examples

>>> from pydy.viz.shapes import Tetrahedron
>>> s = Tetrahedron(10.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>>s.radius
10.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.radius = 12.0
>>> s.radius
12.0
>>> a = Tetrahedron(10.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.radius
10.0

Icosahedron¶

class pydy.viz.shapes.Icosahedron(radius=10.0, **kwargs)[source]¶

Instantiates an icosahedron inscribed in a sphere of the given radius.

Parameters:	radius : float or a SymPy expression Radius of the circum-scribing sphere for Icosahedron

Examples

>>> from pydy.viz.shapes import Icosahedron
>>> s = Icosahedron(10)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>>s.radius
10.0
>>>#These can be changed later too ..
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.radius = 12.0
>>> s.radius
12
>>> a = Icosahedron(10.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.radius
10.0

Torus¶

class pydy.viz.shapes.Torus(radius, tube_radius, **kwargs)[source]¶

Instantiates a torus with a given radius and section radius.

Parameters:	radius : float or SymPy expression The radius of the torus. tube_radius : float or SymPy expression The radius of the torus tube.

Examples

>>> from pydy.viz.shapes import Torus
>>> s = Torus(10.0, 5.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>> s.radius
10.0
>>> s.tube_radius
5.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.radius = 12.0
>>> s.radius
12.0
>>> s.tube_radius = 6.0
>>> s.tube_radius
6.0
>>> a = Torus(10.0, 5.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.radius
10.0
>>> a.tube_radius
5.0

TorusKnot¶

class pydy.viz.shapes.TorusKnot(radius, tube_radius, **kwargs)[source]¶

Instantiates a torus knot with given radius and section radius.

Parameters:	radius : float or SymPy expression The radius of the torus knot. tube_radius : float or SymPy expression The radius of the torus knot tube.

Examples

>>> from pydy.viz.shapes import TorusKnot
>>> s = TorusKnot(10.0, 5.0)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>> s.radius
10.0
>>> s.tube_radius
5.0
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.radius = 12.0
>>> s.radius
12.0
>>> s.tube_radius = 6.0
>>> s.tube_radius
6.0
>>> a = TorusKnot(10.0, 5.0, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.radius
10.0
>>> a.tube_radius
5.0

Tube¶

class pydy.viz.shapes.Tube(radius, points, **kwargs)[source]¶

Instantiates a tube that sweeps along a path.

Parameters:	radius : float or SymPy expression The radius of the tube. points : array_like, shape(n, 3) An array of n (x, y, z) coordinates representing points that the tube’s center line should follow.

Examples

>>> from pydy.viz.shapes import Tube
>>> points = [[1.0, 2.0, 1.0], [2.0, 1.0, 1.0], [2.0, 3.0, 4.0]]
>>> s = Tube(10.0, points)
>>> s.name
'unnamed'
>>> s.color
'grey'
>>> s.points
[[1.0, 2.0, 1.0], [2.0, 1.0, 1.0], [2.0, 3.0, 4.0]]
>>> s.name = 'my-shape1'
>>> s.name
'my-shape1'
>>> s.color = 'blue'
>>> s.color
'blue'
>>> s.radius = 14.0
>>> s.radius
14.0
>>> s.points = [[2.0, 1.0, 4.0], [1.0, 2.0, 4.0],
...             [2.0, 3.0, 1.0], [1.0, 1.0, 3.0]]
>>> s.points
[[2.0, 1.0, 4.0], [1.0, 2.0, 4.0], [2.0, 3.0, 1.0], [1.0, 1.0, 3.0]]
>>> a = Tube(12.0, points, name='my-shape2', color='red')
>>> a.name
'my-shape2'
>>> a.color
'red'
>>> a.radius
12.0
>>> a.points
[[1.0, 2.0, 1.0], [2.0, 1.0, 1.0], [2.0, 3.0, 4.0]]

Perspective Camera¶

class pydy.viz.camera.PerspectiveCamera(*args, **kwargs)[source]¶

Creates a perspective camera for use in a scene. The camera is inherited from VisualizationFrame, and thus behaves similarly. It can be attached to dynamics objects, hence we can get a moving camera. All the transformation matrix generation methods are applicable to a PerspectiveCamera.

generate_scene_dict(**kwargs)[source]¶

This method generates information for a static visualization in the initial conditions, in the form of dictionary. This contains camera parameters followed by an init_orientation key.

Before calling this method, all the transformation matrix generation methods should be called, or it will give an error.

Returns:	A dict with following Keys: name: name for the camera fov: Field of View value of the camera near: near value of the camera far: far value of the camera init_orientation: Initial orientation of the camera

Orthographic Camera¶

class pydy.viz.camera.OrthoGraphicCamera(*args, **kwargs)[source]¶

Creates a orthographic camera for use in a scene. The camera is inherited from VisualizationFrame, and thus behaves similarly. It can be attached to dynamics objects, hence we can get a moving camera. All the transformation matrix generation methods are applicable to a OrthoGraphicCameraCamera.

generate_scene_dict(**kwargs)[source]¶

This method generates information for a static visualization in the initial conditions, in the form of dictionary. This contains camera parameters followed by an init_orientation Key.

Returns:	scene_dict : dictionary A dict with following Keys: name: name for the camera near: near value of the camera far: far value of the camera init_orientation: Initial orientation of the camera

PointLight¶

class pydy.viz.light.PointLight(*args, **kwargs)[source]¶

Creates a PointLight for the visualization The PointLight is inherited from VisualizationFrame,

It can also be attached to dynamics objects, hence we can get a moving Light. All the transformation matrix generation methods are applicable to a PointLight. Like VisualizationFrame, It can also be initialized using: 1)Rigidbody 2)ReferenceFrame, Point 3)ReferenceFrame, Particle Either one of these must be supplied during initialization

Unlike VisualizationFrame, It doesnt require a Shape argument.

color¶

Color of Light.

color_in_rgb()[source]¶

Returns the rgb value of the defined light color.

generate_scene_dict()[source]¶

This method generates information for a static visualization in the initial conditions, in the form of dictionary. This contains light parameters followed by an init_orientation Key.

Before calling this method, all the transformation matrix generation methods should be called, or it will give an error. Returns ======= A dict with following Keys:

1. name: name for the camera
2. color: Color of the light
3. init_orientation: Initial orientation of the light object

generate_simulation_dict()[source]¶

Generates the simulation information for this Light object. It maps the simulation data information to the scene information via a unique id.

Before calling this method, all the transformation matrix generation methods should be called, or it will give an error.

Returns:	A dictionary containing list of 4x4 matrices mapped to the unique id as the key.

_initialize¶

args: None

Checks whether the browser supports webGLs, and initializes the DynamicVisualizer object.

isWebGLCompatible¶

args: None

Checks whether the browser used is compatible for handling webGL based animations. Requires external script: Modernizr.js

activateUIControls¶

args: None

This method adds functions to the UI buttons It should be strictly called after the other DynamicsVisualizer sub-modules are loaded in the browser, else certain functionality will be(not might be!) hindered.

loadUIElements¶

args: None

This method loads UI elements which can be loaded only after scene JSON is loaded onto canvas.

getBasePath¶

args: None

Returns the base path of the loaded Scene file.

getFileExtenstion¶

args: None

Returns the extension of the uploaded Scene file.

getQueryString¶

args: key

Returns the GET Parameter from url corresponding to key

loadScene¶

args: None

This method calls an ajax request on the JSON file and reads the scene info from the JSON file, and saves it as an object at self.model.

loadSimulation¶

args: None

This method loads the simulation data from the simulation JSON file. The data is saved in the form of 4x4 matrices mapped to the simulation object id, at a particular time.

createTimeArray¶

args: None

Creates a time array from the information inferred from simulation data.

create¶

args: None

This method creates the scene from the self.model and renders it onto the canvas.

_createRenderer¶

args: None

Creates a webGL Renderer

with a default background color.

_addDefaultLightsandCameras¶

args: None

This method adds a default light and a Perspective camera to the initial visualization

_addAxes¶

args: None

Adds a default system of axes to the initial visualization.

_addTrackBallControls¶

args: None

Adds Mouse controls to the initial visualization using Three’s TrackballControls library.

_resetControls¶

args: None

Resets the scene camera to the initial values(zoom, displacement etc.)

addObjects¶

args: None

Adds the geometries loaded from the JSON file onto the scene. The file is saved as an object in self.model and then rendered to canvas with this function.

addCameras¶

args: None

Adds the cameras loaded from the JSON file onto the scene. The cameras can be switched during animation from the switch cameras UI button.

addLights¶

args: None

Adds the Lights loaded from the JSON file onto the scene.

_addIndividualObject¶

args: JS object, { object }

Adds a single geometry object which is taken as an argument to this function.

_addIndividualCamera¶

args: JS object, { object }

Adds a single camera object which is taken as an argument to this function.

_addIndividualLight¶

args: JS object, { object }

Adds a single light object which is taken as an argument to this function.

runAnimation¶

args: None

This function iterates over the the simulation data to render them on the canvas.

setAnimationTime¶

args: time, (float)

Takes a time value as the argument and renders the simulation data corresponding to that time value.

stopAnimation¶

args: None

Stops the animation, and sets the current time value to initial.

_removeAll¶

args: None

Removes all the geometry elements added to the scene from the loaded scene JSON file. Keeps the default elements, i.e. default axis, camera and light.

_blink¶

args: id, (int) Blinks the geometry element. takes the element simulation_id as the argument and blinks it until some event is triggered(UI button press)

openDialog¶

args: id, (str)

This function takes object’s id as the argument, and populates the edit objects dialog box.

applySceneInfo¶

args: id, (str)

This object applies the changes made in the edit objects dialog box to self.model and then renders the model onto canvas. It takes the id of the object as its argument.

_addGeometryFor¶

args: JS object,{ object }

Adds geometry info for a particular object onto the edit objects dialog box. Takes the object as the argument.

showModel¶

args: None

Updates the codemirror instance with the updated model, and shows it in the UI.