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221 | class AnimacaoAeropendulo(AnimacaoAeropenduloInterface):
"""
Classe que implementa a aminação do Aeropêndulo.
Atributo:
comprimento_braco: tamanho do braço do Aeropêndulo.
"""
def __init__(self, comprimento_braco=4.4) -> None:
# Parâmetros do Aeropêndulo
self.comprimento_braco = comprimento_braco
self.scene = vp.canvas(title="<center><h1>Aeropêndulo</h1><center/>",
width=650,
height=580, align="left", autoscale=0, range=5,
center=vp.vec(0, 3, 0),
background=vp.vector(1.7, 0.7, 0.9),
color=vp.vec(1, 0.6, 0.6),
forward=vp.vec(-0.3, 0, -1))
self.scene.range = 6
# chamando a função para criar a aminação gráfica do Aeropêndulo.
self.aeropendulo = self.__aminacao()
self.__helice()
def __aminacao(self) -> vp.compound:
"""
Classe que implementa o Aeropêndulo.
Args:
comprimento_braco: tamanho do braço do Aeropêndulo.
Returns:
Retorna um objeto (vpython) que contêm a estrutura do Aeropêndulo.
"""
self.base = vp.box(pos=vp.vec(0, -0.85, 0), size=vp.vec(30, 0.2, 15),
texture=vp.textures.wood)
self.parede = vp.box(pos=vp.vec(0, 7.1, -7.55),
size=vp.vec(30, 16, 0.2),
color=vp.vec(0.1, 0.1, 0.1), shininess=0.01)
self.sitio = vp.text(pos=vp.vec(0, 8.1, -7.45),
text="AEROPÊNDULO", color=vp.vec(1, 0.6, 0.6),
align='center', depth=0)
self.__desenhar_pendulo()
# Eixo de sustentação.
self.eixo = vp.cylinder(pos=vp.vec(0, 5.2, 0.3), radius=0.09,
axis=vp.vec(0, 0, -2),
color=vp.vec(0.7, 0.4, 0.1))
# Estrutura de sustentação do aeropêndulo.
self.b1 = vp.box(pos=vp.vec(0, 1.7, -2), size=vp.vec(3, 8, 0.6),
color=vp.vec(0.8, 0.8, 0.8))
self.b2 = vp.box(pos=vp.vec(0, -0.6, -1.5), size=vp.vec(4.5, 0.4, 2.5),
color=vp.vec(0.8, 0.8, 0.8))
self.logo = vp.box(pos=vp.vec(0, 2.5, -1.799),
texture="https://i.imgur.com/D2xnkpF.png",
size=vp.vec(2, 2, 0.2))
self.ufpa = vp.text(pos=vp.vec(0, 3.7, -1.7), text="UFPA",
color=vp.vec(1, 0.6, 0.6), height=0.5,
align='center', depth=0)
return self.pendulo
def __helice(self) -> None:
self.helice = vp.box(pos=vp.vec(0.8, 0.6, 0),
size=vp.vec(0.05, 0.2, 2),
color=vp.vec(1, 1, 0))
self.helice1 = vp.box(pos=vp.vec(0.8, 0.6, 0),
size=vp.vec(0.05, 0.2, 2),
color=vp.vec(1, 1, 0))
self.helice1.axis = self.pendulo.axis
self.helice1.size = vp.vec(0.05, 0.2, 2)
self.helice1.rotate(axis=vp.vec(1, 0, 0),
angle=vp.pi/4)
self.helice2 = vp.box(pos=vp.vec(0.8, 0.6, 0),
size=vp.vec(0.05, 0.2, 2),
color=vp.vec(1, 1, 0))
self.helice2.axis = self.pendulo.axis
self.helice2.size = vp.vec(0.05, 0.2, 2)
self.helice2.rotate(axis=vp.vec(1, 0, 0),
angle=vp.pi/2)
self.helice3 = vp.box(pos=vp.vec(0.8, 0.6, 0),
size=vp.vec(0.05, 0.2, 2),
color=vp.vec(1, 1, 0))
self.helice3.axis = self.pendulo.axis
self.helice3.size = vp.vec(0.05, 0.2, 2)
self.helice3.rotate(axis=vp.vec(1, 0, 0),
angle=3*vp.pi/4.)
self.helice1.visible = False
self.helice2.visible = False
self.helice3.visible = False
def pause_giro(self) -> None:
self.helice1.visible = True
self.helice2.visible = True
self.helice3.visible = True
def girar_helice(self) -> None:
self.helice1.visible = False
self.helice2.visible = False
self.helice3.visible = False
def set_posicao_helice(self, angle):
self.helice.rotate(axis=vp.vec(0, 0, 1),
angle=angle,
origin=vp.vec(0, 5.2, 0))
self.helice.size = vp.vec(0.05, 0.2, 2)
self.helice1.rotate(axis=vp.vec(0, 0, 1),
angle=angle,
origin=vp.vec(0, 5.2, 0))
self.helice1.size = vp.vec(0.05, 0.2, 2)
self.helice2.rotate(axis=vp.vec(0, 0, 1),
angle=angle,
origin=vp.vec(0, 5.2, 0))
self.helice2.size = vp.vec(0.05, 0.2, 2)
self.helice3.rotate(axis=vp.vec(0, 0, 1),
angle=angle,
origin=vp.vec(0, 5.2, 0))
self.helice3.size = vp.vec(0.05, 0.2, 2)
def update_helice(self, angle, ts) -> None:
self.helice.size = vp.vec(0.05, 0.2, 2)
self.helice1.size = vp.vec(0.05, 0.2, 2)
self.helice2.size = vp.vec(0.05, 0.2, 2)
self.helice3.size = vp.vec(0.05, 0.2, 2)
self.helice.axis = self.pendulo.axis
self.helice.size = vp.vec(0.05, 0.2, 2)
self.helice1.axis = self.pendulo.axis
self.helice1.size = vp.vec(0.05, 0.2, 2)
self.helice2.axis = self.pendulo.axis
self.helice2.size = vp.vec(0.05, 0.2, 2)
self.helice3.axis = self.pendulo.axis
self.helice3.size = vp.vec(0.05, 0.2, 2)
self.helice.rotate(axis=vp.vec(0, 0, 1),
angle=angle*ts,
origin=vp.vec(0, 5.2, 0))
self.helice.size = vp.vec(0.05, 0.2, 2)
self.helice1.rotate(axis=vp.vec(0, 0, 1),
angle=angle*ts,
origin=vp.vec(0, 5.2, 0))
self.helice1.size = vp.vec(0.05, 0.2, 2)
self.helice2.rotate(axis=vp.vec(0, 0, 1),
angle=angle*ts,
origin=vp.vec(0, 5.2, 0))
self.helice2.size = vp.vec(0.05, 0.2, 2)
self.helice3.rotate(axis=vp.vec(0, 0, 1),
angle=angle*ts,
origin=vp.vec(0, 5.2, 0))
self.helice3.size = vp.vec(0.05, 0.2, 2)
# obs tentando ajustar o diro das hélices apenas para um lado ....
# if x[1] + interface.valor_angle < np.pi/2:
# ag = 0.3
# else:
# ag = -0.8
self.helice.rotate(axis=vp.vec(1, 0, 0), angle=0.09)
self.helice1.rotate(axis=vp.vec(1, 0, 0), angle=0.09)
self.helice2.rotate(axis=vp.vec(1, 0, 0), angle=0.09)
self.helice3.rotate(axis=vp.vec(1, 0, 0), angle=0.09)
def __desenhar_pendulo(self) -> None:
# Braço do Aeropêndulo.
self.barra = vp.box(pos=vp.vec(0, -1.4, 0),
size=vp.vec(0.2, self.comprimento_braco, 0.2),
color=vp.vec(0.5, 0.5, 0.95))
# Base que acopla o motor ao braço.
self.base_motor = vp.cylinder(pos=vp.vec(-0.2, -4, 0), radius=0.4,
axis=vp.vec(0.4, 0, 0),
color=vp.vec(0.5, 0.5, 0.95))
# Armadura do motor.
self.base2_motor = vp.box(pos=vp.vec(0.4, -4, 0),
size=vp.vec(0.4, 0.4, 0.4),
color=vp.vec(1, 1, 0))
# Eixo que da hélice do motor
self.base_helice = vp.cylinder(pos=vp.vec(0.4, -4, 0), radius=0.05,
axis=vp.vec(0.4, 0, 0),
color=vp.vec(0.5, 0.5, 0.8))
# Motor completo.
self.motor = vp.compound([self.base_motor,
self.base2_motor,
self.base_helice])
# Aeropêndulo
self.pendulo = vp.compound([self.barra, self.motor])
self.pendulo.pos = vp.vec(0.31, 2.7, 0)
|