mip_sim.py 文件源码

def ani_update(arg, ii=[0]):

    i = ii[0]  # don't ask...

    if np.isclose(t_arr[i], np.around(t_arr[i], 1)):
        fig2.suptitle('Evolution (Time: {})'.format(t_arr[i]), fontsize=24)

    graphic_floor[0].set_data([-floor_lim*np.cos(incline_history[i]) + radius*np.sin(incline_history[i]), floor_lim*np.cos(incline_history[i]) + radius*np.sin(incline_history[i])], [-floor_lim*np.sin(incline_history[i])-radius*np.cos(incline_history[i]), floor_lim*np.sin(incline_history[i])-radius*np.cos(incline_history[i])])
    graphic_wheel.center = (x_history[i], y_history[i])
    graphic_ind[0].set_data([x_history[i], x_history[i] + radius*np.sin(w_history[i])],
                            [y_history[i], y_history[i] + radius*np.cos(w_history[i])])
    graphic_pend[0].set_data([x_history[i], x_history[i] - cw_to_cm[1]*np.sin(q_history[i, 2])],
                             [y_history[i], y_history[i] + cw_to_cm[1]*np.cos(q_history[i, 2])])
    graphic_dist[0].set_data([x_history[i] - cw_to_cm[1]*np.sin(q_history[i, 2]), x_history[i] - cw_to_cm[1]*np.sin(q_history[i, 2]) - pscale*p_history[i]*np.cos(q_history[i, 2])],
                             [y_history[i] + cw_to_cm[1]*np.cos(q_history[i, 2]), y_history[i] + cw_to_cm[1]*np.cos(q_history[i, 2]) - pscale*p_history[i]*np.sin(q_history[i, 2])])

    ii[0] += int(1 / (timestep * framerate))
    if ii[0] >= len(t_arr):
        print("Resetting animation!")
        ii[0] = 0

    return [graphic_floor, graphic_wheel, graphic_ind, graphic_pend, graphic_dist]

# Run animation