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Displaying SoftContactSphere #60

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merged 6 commits into from
Oct 21, 2021
Merged

Displaying SoftContactSphere #60

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df878e1
displaying softContacts, only need access to softcontact radius
Ipuch Oct 20, 2021
2c5adbc
now displaying softcontacts spheres with their own radius
Ipuch Oct 21, 2021
70275fc
Merge branch 'master' into Dev_Contact_spheres
pariterre Oct 21, 2021
789d6f7
Force 1.8.1 on biorbd
pariterre Oct 21, 2021
6e1a480
blacked
Ipuch Oct 21, 2021
9f51a4c
correcting typo and an extra tuple
Ipuch Oct 21, 2021
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67 changes: 34 additions & 33 deletions bioviz/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -282,30 +282,30 @@ def _get_data_from_casadi(self, Q=None, compute_kin=True):

class Viz:
def __init__(
self,
model_path=None,
loaded_model=None,
show_meshes=True,
patch_color=(0.89, 0.855, 0.788),
show_global_center_of_mass=True,
show_segments_center_of_mass=True,
segments_center_of_mass_size=0.005,
show_global_ref_frame=True,
show_local_ref_frame=True,
show_markers=True,
experimental_markers_color=(1, 1, 1),
markers_size=0.010,
show_contacts=True,
contacts_size=0.010,
show_soft_contacts=True,
soft_contacts_color=(0.11, 0.63, 0.95),
show_muscles=True,
show_wrappings=True,
show_analyses_panel=True,
background_color=(0.5, 0.5, 0.5),
force_wireframe=False,
experimental_forces_colors=(85, 78, 0),
**kwargs,
self,
model_path=None,
loaded_model=None,
show_meshes=True,
patch_color=(0.89, 0.855, 0.788),
show_global_center_of_mass=True,
show_segments_center_of_mass=True,
segments_center_of_mass_size=0.005,
show_global_ref_frame=True,
show_local_ref_frame=True,
show_markers=True,
experimental_markers_color=(1, 1, 1),
markers_size=0.010,
show_contacts=True,
contacts_size=0.010,
show_soft_contacts=True,
soft_contacts_color=(0.11, 0.63, 0.95),
show_muscles=True,
show_wrappings=True,
show_analyses_panel=True,
background_color=(0.5, 0.5, 0.5),
force_wireframe=False,
experimental_forces_colors=(85, 78, 0),
**kwargs,
):
"""
Class that easily shows a biorbd model
Expand Down Expand Up @@ -334,14 +334,14 @@ def __init__(
show_contacts = False
show_muscles = False
show_wrappings = False
show_soft_contact = False,
show_soft_contact = (False,)
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# Create the plot
self.vtk_window = VtkWindow(background_color=background_color)
self.vtk_markers_size = markers_size

# soft_contact sphere sizes
radius =[]
radius = []
for i in range(self.model.nbSoftContacts()):
c = self.model.softContact(i)
if c.typeOfNode() == biorbd.SOFT_CONTACT_SPHERE:
Expand Down Expand Up @@ -860,7 +860,7 @@ def __move_avatar_from_sliders(self):
self.set_q(self.Q)

def __update_muscle_analyses_graphs(
self, skip_muscle_length, skip_moment_arm, skip_passive_forces, skip_active_forces
self, skip_muscle_length, skip_moment_arm, skip_passive_forces, skip_active_forces
):
# Adjust muscle analyses if needed
if self.active_analyses_widget == self.analyses_muscle_widget:
Expand Down Expand Up @@ -1021,7 +1021,8 @@ def load_experimental_markers(self, data, auto_start=True, ignore_animation_warn
)

self.vtk_model_markers = VtkModel(
self.vtk_window, markers_color=self.experimental_markers_color, markers_size=self.vtk_markers_size)
self.vtk_window, markers_color=self.experimental_markers_color, markers_size=self.vtk_markers_size
)

self.__set_movement_slider()
self.show_experimental_markers = True
Expand All @@ -1032,7 +1033,7 @@ def load_experimental_markers(self, data, auto_start=True, ignore_animation_warn
self.__start_stop_animation()

def load_experimental_forces(
self, data, segments=None, normalization_ratio=0.2, auto_start=True, ignore_animation_warning=True
self, data, segments=None, normalization_ratio=0.2, auto_start=True, ignore_animation_warning=True
):
if isinstance(data, (np.ndarray, xr.DataArray)):
self.experimental_forces = data if isinstance(data, xr.DataArray) else xr.DataArray(data)
Expand Down Expand Up @@ -1070,7 +1071,7 @@ def __set_markers_from_q(self):
def __set_experimental_markers_from_frame(self):
t_slider = self.movement_slider[0].value() - 1
t = t_slider if t_slider < self.experimental_markers.shape[2] else self.experimental_markers.shape[2] - 1
self.vtk_model_markers.update_markers(self.experimental_markers[:, :, t: t + 1].isel(time=[0]))
self.vtk_model_markers.update_markers(self.experimental_markers[:, :, t : t + 1].isel(time=[0]))

def __set_experimental_forces_from_frame(self):
segment_names = []
Expand Down Expand Up @@ -1105,7 +1106,7 @@ def __set_experimental_forces_from_frame(self):
t_slider = self.movement_slider[0].value() - 1
t = t_slider if t_slider < self.experimental_forces.shape[2] else self.experimental_forces.shape[2] - 1
self.vtk_model.update_force(
segment_jcs, self.experimental_forces[:, :, t: t + 1], max_forces, self.force_normalization_ratio
segment_jcs, self.experimental_forces[:, :, t : t + 1], max_forces, self.force_normalization_ratio
)

def __set_contacts_from_q(self):
Expand Down Expand Up @@ -1152,8 +1153,8 @@ def __set_wrapping_from_q(self):
if self.model.muscle(i).pathModifier().object(j).typeOfNode() == biorbd.WRAPPING_HALF_CYLINDER:
rt = (
biorbd.WrappingHalfCylinder(self.model.muscle(i).pathModifier().object(j))
.RT(self.model, self.Q)
.to_array()
.RT(self.model, self.Q)
.to_array()
)
self.wraps_current[i][j][0:3, :, 0] = np.dot(rt, wrap[:, :, 0])[0:3, :]
else:
Expand Down