r""" .. _ref_plot_front_assembly_forks: Front Assembly: Front Suspension Forks Configuration ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ """ ############################################################################### # Import necessary libraries # -------------------------- from pymycar.MotorCycleKinematic.front_assembly import forks_system import numpy as np ############################################################################### # Parameters Definition # --------------------- data = { # --- Front assembly --- "wheel_center_front": np.array([650.0, 0.0, -520.0]), "STEERING_AXIS_BOTTOM": np.array([650.0, 0.0, -100.0]), "STEERING_AXIS_TOP": np.array([570.0, 0.0, 250.0]), "fork_right_upper": np.array([570.0, -110.0, 250.0]), "fork_left_upper": np.array([570.0, 110.0, 250.0]), "fork_right_bottom": np.array([650.0, -120.0, -520.0]), "fork_left_bottom": np.array([650.0, 120.0, -520.0]), # --- Rear assembly --- "wheel_center_rear": np.array([-600.0, 0.0, -520.0]), "SA_RIGHT": np.array([-100.0, -90.0, -300.0]), "SA_LEFT": np.array([-100.0, 90.0, -300.0]), "sa_right_outer": np.array([-600.0, -110.0, -520.0]), "sa_left_outer": np.array([-600.0, 110.0, -520.0]), "U_SPRING_MOUNT": np.array([-150.0, 0.0, 50.0]), "l_spring_mount": np.array([-420.0, 0.0, -350.0]), } import pyvista as pv from pymycar.Cad.MotorCycle.front_assembly import fork_front_suspension_steer from pymycar.Cad.MotorCycle.frame import frame_cad_base from pymycar.Cad.MotorCycle.wheel import motorcycle_wheel wheel = motorcycle_wheel(data["wheel_center_front"], data["fork_right_bottom"], data["fork_left_bottom"], ringradius=200, crosssectionradius=80) steer_axis, top_part_steer, U_form = fork_front_suspension_steer(data) plotter = pv.Plotter() plotter.add_mesh(wheel, color="black", opacity=1.0) plotter.add_mesh(steer_axis, color="blue") plotter.add_mesh(top_part_steer, color="red") plotter.add_mesh(U_form, color="green") # Add points to the plot for name, coord in data.items(): plotter.add_mesh(pv.Sphere(radius=5, center=coord), color='red') # Add text annotations for name, coord in data.items(): plotter.add_point_labels([coord], [name], point_size=20, font_size=30, text_color='black', always_visible=True) plotter.show() # file_path = 'data.suspgeo' # data = load_defined_geometry("double_whisbone_base/input_geometry.suspgeo") ############################################################################### # Call the Solver # --------------- drive_type = "mixed" # "steer", "bump" or "mixed" solution, wheel_variables = forks_system(data, max_height_increase=40, max_height_decrease=40, height_step=1.0, drive_type=drive_type, # Passed dynamically max_steer_increase=40, max_steer_decrease=40, steer_step=5.0, max_bump_increase=40, max_bump_decrease=40, bump_step=5.0, save_to_txt=True, result_folder_name="bike", path = None) from pymycar.Cad.geometric_forms import cylinder_from_two_points from pymycar.Cad.MotorCycle.wheel import motorcycle_wheel last_meshes = [] def plot_frame(plotter, data, index=None, bump_index=None, steer_index=None): global last_meshes if drive_type == "mixed": if bump_index is None or steer_index is None: bump_index, steer_index = data["index_reference"] wheel = motorcycle_wheel(data["wheel_center_front"][bump_index, steer_index], data["fork_right_bottom"][bump_index, steer_index], data["fork_left_bottom"][bump_index, steer_index], 200, 80) # wheel = cylinder_from_two_points( # data["wheel_center"][bump_index, steer_index], # data["fork_right_bottom"][bump_index, steer_index], # data["fork_left_bottom"][bump_index, steer_index], # height=50, # radius=200, # ) steer_axis, bar, U_form = fork_front_suspension_steer(solution, (bump_index, steer_index)) else: if index is None: index = data["index_reference"] # swingarm, wheel_center1 = swingarm_cad_base(data, index) wheel = cylinder_from_two_points(data["wheel_center"][index], data["fork_right_bottom"][index], data["fork_left_bottom"][index], height=50, radius=200) steer_axis, bar, U_form = fork_front_suspension_steer(solution, index) # Remove the last meshes for mesh in last_meshes: plotter.remove_actor(mesh) # Add new meshes last_meshes = [ plotter.add_mesh(steer_axis, color="blue"), plotter.add_mesh(bar, color="red"), plotter.add_mesh(U_form, color="blue"), plotter.add_mesh(wheel, color="black") ] plotter = pv.Plotter() def create_mesh_steer(value): if drive_type == "mixed": state["steer"] = np.abs(solution["steer_values"] - value).argmin() plot_frame(plotter, solution, bump_index=state["bump"], steer_index=state["steer"]) else: res = np.abs(solution["fork_right_upper"][:,0] - value).argmin() plot_frame(plotter, solution, index=res) def create_mesh_bump(value): if drive_type == "mixed": state["bump"] = np.abs(solution["bump_values"] - value).argmin() plot_frame(plotter, solution, bump_index=state["bump"], steer_index=state["steer"]) else: res = np.abs(solution["wheel_center"][:,2] - value).argmin() plot_frame(plotter, solution, index=res) state = {"bump": 0, "steer": 0} if drive_type == "steer": plotter.add_slider_widget(create_mesh_steer, rng=[solution["fork_right_upper"][0, 0], solution["fork_right_upper"][-1, 0]], value=solution["fork_right_upper"][solution["index_reference"]][0], title='Steer / Jounce (fork_right_upper x)') else: if drive_type == "bump": plotter.add_slider_widget(create_mesh_bump, rng=[solution["wheel_center"][0, 2], solution["wheel_center"][-1, 2]], value=solution["wheel_center"][solution["index_reference"]][2], title='Bump (wheel_center z)') else: state["bump"], state["steer"] = solution["index_reference"] plot_frame(plotter, solution, bump_index=state["bump"], steer_index=state["steer"]) plotter.add_slider_widget( create_mesh_steer, rng=[solution["steer_values"][0], solution["steer_values"][-1]], value=solution["steer_values"][state["steer"]], title='Steer (fork_right_upper x)' ) plotter.add_slider_widget( create_mesh_bump, rng=[solution["bump_values"][0], solution["bump_values"][-1]], value=solution["bump_values"][state["bump"]], title='Bump (wheel_center z)', pointa=(0.025, 0.15), pointb=(0.31, 0.15) ) plotter.show()