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--- animation:collision_diagram [2015/12/05 17:10]
freek [How to create and use a collision diagram]
+++ animation:collision_diagram [2015/12/05 17:18] (current)
freek
@@ Line 1: / Line 1: @@
+====== Kollisions Diagramm ======
+{{:story:b170:bn_800.png?600|collision diagram}}
+Das Kollisionsdiagramm ist eine 2D Darstellung der Konfiguration eines Systems mit zwei Freiheitsgraden, bei dem es zu Kollisionen kommen kann.
+{{youtube>large:OFidm_wOn0c}}
+====== How to create and use a collision diagram ======
+==Overview==
+  - create the models
+  - compute the collsion data
+  - generate the map/collision diagram
+  - add animation tools to the model
+  - animate
+==Create the models==
+Create the part as usual.
+Simplifiy the model: omit all details which are not essential for collision
+Use Part to get a simple copy of the model
+Maybe that create a mesh will give faster results - further tests  are required.
+==Compute the collision data==
+The data generator scripts runs over all possibilities. For two roations with step with 1° these are 130 000 calculations. There are faster algorithms, but programming one hour is harder than having 4 breaks.
+A lot of ideas to get this task faster can be found here: http://gamma.cs.unc.edu/
+==Generate the map/collision diagram==
+todo
+==Add animation tools to the model==
+Open the file with the simplified models.
+<code>
+import Keyboard, Placer
+</code>
+Keyboard will be used to go interactiv through the animation space.
+Placer will animate the two parts depending on the move of the keyboard.
+<code>
+# visualization point
+V=App.ActiveDocument.addObject("Part::Vertex","Keybord Control Point")
+V.ViewObject.PointSize=8
+V.ViewObject.PointColor=(1.0,.0,.0)
+V.Placement.Base.z=40
+</code>
+We use a red square of size 8 points for visualization of the configuration.
+It shows the way of our "ship" between the "collision islands"
+in the open "ocean" or in a "lake" or in a "river".
+<code>
+# green/left
+s=App.ActiveDocument.Pad001001
+# blue/right
+b=App.ActiveDocument.Pad001002
+</code>
+some variables for the animated parts
+<code>
+# ACTOR #
+p=Placer.createPlacer("linker Rotor",s)
+p.src=V
+p.x="-37"
+p.y="5"
+p.arc="sy"
+p.RotCenter=FreeCAD.Vector(0,0,0)
+</code>
+The first placer maps the y-Value (sy) of the Visualization point V (src)
+to the rotation angle (arc) of the green part. The location of the part is always (-37|5).
+<code>
+p2=Placer.createPlacer("Rechter Rotator",b)
+p2.src=V
+p2.x="0"
+p2.y="0"
+p2.arc="sx"
+p2.RotCenter=FreeCAD.Vector(0,0,0)
+</code>
+The second placer maps the x-Value (sx) of the Visualization point V (src)
+to the rotation angle (arc) of the blue part.
+The location of the part is always (0|0).
+<code>
+# SENSOR #
+kb=Keyboard.createKeyboard("Keybord",V)
+</code>
+This creates the Sensor and connects it to the Visualization point V.
+The complete script is on the end of the post.
+==Animate==
+Using the [[Animation:Keyboard|keyboard sensor]] all critical szenarios can be inspected. See the example video.
+I'ts possible to draw an animation path through the map and run it with the [[Animation:Pather]], see the [[https://www.youtube.com/watch?v=hpE_C-F9UWA|video of a shaky machine]] The path can note the influence of further forces to the parts (gravitation will always push the objects down).
+==Example files==
+  *{{:story:b170:m01_einraster.fcstd|model step 1}}
+  *{{:story:b170:schalter_all.txt|computed collision data}}
+  *{{:story:b170:gen_anim.py|script to set up the animation tools}}
+  *{{:story:b170:m01_einraster_complete.fcstd|model with collision diagram and animation}}

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