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Adapted to Pyomeca 2020.0.1 #33

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merged 3 commits into from
Jun 9, 2020
Merged

Adapted to Pyomeca 2020.0.1 #33

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eca3cb2
Fixed Markers and com
pariterre Jun 5, 2020
91e9635
Fixed Rototrans and mesh for new Pyomeca!
pariterre Jun 5, 2020
e226b77
updated environment
pariterre Jun 8, 2020
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42 changes: 21 additions & 21 deletions BiorbdViz/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,8 @@
if biorbd.currentLinearAlgebraBackend() == 1:
import casadi

from pyomeca import Markers3d
from .biorbd_vtk import VtkModel, VtkWindow, Mesh, MeshCollection, RotoTrans, RotoTransCollection
from pyomeca import Markers
from .biorbd_vtk import VtkModel, VtkWindow, Mesh, Rototrans
from PyQt5.QtWidgets import (
QSlider,
QVBoxLayout,
Expand Down Expand Up @@ -83,7 +83,7 @@ def _get_data_from_casadi(self, Q=None, compute_kin=True):
class CoM(BiorbdFunc):
def __init__(self, model):
super().__init__(model)
self.data = np.ndarray((3, 1, 1))
self.data = np.ones((4, 1, 1))

def _prepare_function_for_casadi(self):
Qsym = casadi.MX.sym("Q", self.m.nbQ(), 1)
Expand All @@ -95,10 +95,10 @@ def _get_data_from_eigen(self, Q=None, compute_kin=True):
else:
CoM = self.m.CoM(Q, False)
for i in range(self.m.nbSegment()):
self.data[:, 0, 0] = CoM.to_array()
self.data[:3, 0, 0] = CoM.to_array()

def _get_data_from_casadi(self, Q=None, compute_kin=True):
self.data[:, :, 0] = self.CoM(Q)
self.data[:3, :, 0] = self.CoM(Q)

class CoMbySegment(BiorbdFunc):
def __init__(self, model):
Expand All @@ -116,12 +116,12 @@ def _get_data_from_eigen(self, Q=None, compute_kin=True):
else:
allCoM = self.m.CoMbySegment(Q, False)
for com in allCoM:
self.data.append(com.to_array())
self.data.append(np.append(com.to_array(), 1))

def _get_data_from_casadi(self, Q=None, compute_kin=True):
self.data = []
for i in range(self.m.nbSegment()):
self.data.append(np.array(self.CoMs(Q)[:, i]))
self.data.append(np.append(self.CoMs(Q)[:, i], 1))

class MusclesPointsInGlobal(BiorbdFunc):
def __init__(self, model):
Expand Down Expand Up @@ -276,35 +276,35 @@ def __init__(
# Create all the reference to the things to plot
self.nQ = self.model.nbQ()
self.Q = np.zeros(self.nQ)
self.markers = Markers3d(np.ndarray((3, self.model.nbMarkers(), 1)))
self.markers = Markers(np.ndarray((3, self.model.nbMarkers(), 1)))
if self.show_markers:
self.Markers = InterfacesCollections.Markers(self.model)
self.global_center_of_mass = Markers3d(np.ndarray((3, 1, 1)))
self.global_center_of_mass = Markers(np.ndarray((3, 1, 1)))
if self.show_global_center_of_mass:
self.CoM = InterfacesCollections.CoM(self.model)
self.segments_center_of_mass = Markers3d(np.ndarray((3, self.model.nbSegment(), 1)))
self.segments_center_of_mass = Markers(np.ndarray((3, self.model.nbSegment(), 1)))
if self.show_segments_center_of_mass:
self.CoMbySegment = InterfacesCollections.CoMbySegment(self.model)
if self.show_meshes:
self.mesh = MeshCollection()
self.mesh = []
self.meshPointsInMatrix = InterfacesCollections.MeshPointsInMatrix(self.model)
for i, vertices in enumerate(self.meshPointsInMatrix.get_data(Q=self.Q, compute_kin=False)):
triangles = np.ndarray((len(self.model.meshFaces()[i]), 3), dtype="int32")
for k, patch in enumerate(self.model.meshFaces()[i]):
triangles[k, :] = patch.face()
self.mesh.append(Mesh(vertex=vertices, triangles=triangles.T))
self.model.updateMuscles(self.Q, True)
self.muscles = MeshCollection()
self.muscles = []
for group_idx in range(self.model.nbMuscleGroups()):
for muscle_idx in range(self.model.muscleGroup(group_idx).nbMuscles()):
musc = self.model.muscleGroup(group_idx).muscle(muscle_idx)
tp = np.zeros((3, len(musc.position().musclesPointsInGlobal()), 1))
self.muscles.append(Mesh(vertex=tp))
self.musclesPointsInGlobal = InterfacesCollections.MusclesPointsInGlobal(self.model)
self.rt = RotoTransCollection()
self.rt = []
self.allGlobalJCS = InterfacesCollections.AllGlobalJCS(self.model)
for rt in self.allGlobalJCS.get_data(Q=self.Q, compute_kin=False):
self.rt.append(RotoTrans(rt))
self.rt.append(Rototrans(rt))

if self.show_global_ref_frame:
self.vtk_model.create_global_ref_frame()
Expand Down Expand Up @@ -757,18 +757,18 @@ def __load_movement(self):

def __set_markers_from_q(self):
self.markers[0:3, :, :] = self.Markers.get_data(Q=self.Q, compute_kin=False)
self.vtk_model.update_markers(self.markers.get_frame(0))
self.vtk_model.update_markers(self.markers.isel(time=[0]))

def __set_global_center_of_mass_from_q(self):
com = self.CoM.get_data(Q=self.Q, compute_kin=False)
self.global_center_of_mass[0:3, 0, 0] = com.reshape(-1, 1)
self.vtk_model.update_global_center_of_mass(self.global_center_of_mass.get_frame(0))
self.global_center_of_mass.loc[{"channel": 0, "time": 0}] = com.squeeze()
self.vtk_model.update_global_center_of_mass(self.global_center_of_mass.isel(time=[0]))

def __set_segments_center_of_mass_from_q(self):
coms = self.CoMbySegment.get_data(Q=self.Q, compute_kin=False)
for k, com in enumerate(coms):
self.segments_center_of_mass[0:3, k, 0] = com.reshape(-1, 1)
self.vtk_model.update_segments_center_of_mass(self.segments_center_of_mass.get_frame(0))
self.segments_center_of_mass.loc[{"channel": k, "time": 0}] = com.squeeze()
self.vtk_model.update_segments_center_of_mass(self.segments_center_of_mass.isel(time=[0]))

def __set_meshes_from_q(self):
for m, meshes in enumerate(self.meshPointsInMatrix.get_data(Q=self.Q, compute_kin=False)):
Expand All @@ -784,12 +784,12 @@ def __set_muscles_from_q(self):
for muscle_idx in range(self.model.muscleGroup(group_idx).nbMuscles()):
musc = self.model.muscleGroup(group_idx).muscle(muscle_idx)
for k, pts in enumerate(musc.position().musclesPointsInGlobal()):
self.muscles.get_frame(0)[idx][0:3, k, 0] = muscles[cmp]
self.muscles[idx].loc[{"channel": k, "time": 0}] = np.append(muscles[cmp], 1)
cmp += 1
idx += 1
self.vtk_model.update_muscle(self.muscles)

def __set_rt_from_q(self):
for k, rt in enumerate(self.allGlobalJCS.get_data(Q=self.Q, compute_kin=False)):
self.rt[k] = RotoTrans(rt)
self.rt[k] = Rototrans(rt)
self.vtk_model.update_rt(self.rt)
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