mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
105 lines
2.8 KiB
Python
105 lines
2.8 KiB
Python
# Copyright (C) 2016 Intel Corporation. All rights reserved.
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#
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# This file is free software: you can redistribute it and/or modify it
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# under the terms of the GNU General Public License as published by the
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# Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This file is distributed in the hope that it will be useful, but
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# WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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# See the GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program. If not, see <http://www.gnu.org/licenses/>.
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import matplotlib.pyplot as plt
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import matplotlib.patches as mpatches
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from mpl_toolkits.mplot3d import Axes3D
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from mpl_toolkits.mplot3d.art3d import Poly3DCollection
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import icosahedron as ico
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fig = plt.figure()
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ax = fig.add_subplot(111, projection='3d')
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ax.set_xlim3d(-2, 2)
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ax.set_ylim3d(-2, 2)
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ax.set_zlim3d(-2, 2)
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ax.set_xlabel('x')
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ax.set_ylabel('y')
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ax.set_zlabel('z')
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ax.invert_zaxis()
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ax.invert_xaxis()
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ax.set_aspect('equal')
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added_polygons = set()
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def polygons(polygons):
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for p in polygons:
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polygon(p)
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def polygon(polygon):
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added_polygons.add(polygon)
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def show(subtriangles=False):
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polygons = []
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facecolors = []
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for p in added_polygons:
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try:
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i = ico.triangles.index(p)
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except ValueError:
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polygons.append(p)
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continue
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if subtriangles:
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a, b, c = p
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# project the middle points to the sphere
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alpha = a.length() / (2.0 * ico.g)
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ma, mb, mc = alpha * (a + b), alpha * (b + c), alpha * (c + a)
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polygons.append(ico.Triangle(ma, mb, mc))
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facecolors.append('#CCCCCC')
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polygons.append(ico.Triangle( a, ma, mc))
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facecolors.append('#CCE5FF')
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polygons.append(ico.Triangle(ma, b, mb))
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facecolors.append('#E5FFCC')
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polygons.append(ico.Triangle(mc, mb, c))
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facecolors.append('#FFCCCC')
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else:
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polygons.append(p)
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facecolors.append('#DDDDDD')
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mx = my = mz = 0
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for x, y, z in p:
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mx += x
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my += y
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mz += z
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ax.text(mx / 2.6, my /2.6, mz / 2.6, i, color='#444444')
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ax.add_collection3d(Poly3DCollection(
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polygons,
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facecolors=facecolors,
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edgecolors="#777777",
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))
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if subtriangles:
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ax.legend(
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handles=(
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mpatches.Patch(color='#CCCCCC', label='Sub-triangle #0'),
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mpatches.Patch(color='#CCE5FF', label='Sub-triangle #1'),
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mpatches.Patch(color='#E5FFCC', label='Sub-triangle #2'),
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mpatches.Patch(color='#FFCCCC', label='Sub-triangle #3'),
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),
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)
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plt.show()
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