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Diffstat (limited to 'Build/source/utils/asymptote/examples/pipes.asy')
-rw-r--r-- | Build/source/utils/asymptote/examples/pipes.asy | 140 |
1 files changed, 140 insertions, 0 deletions
diff --git a/Build/source/utils/asymptote/examples/pipes.asy b/Build/source/utils/asymptote/examples/pipes.asy new file mode 100644 index 00000000000..6b2025f6b35 --- /dev/null +++ b/Build/source/utils/asymptote/examples/pipes.asy @@ -0,0 +1,140 @@ +import solids; +import tube; +import graph3; +import palette; +size(8cm); + +currentprojection=perspective( +camera=(13.3596389245356,8.01038090435314,14.4864483364785), +up=(-0.0207054323419367,-0.00472438375047319,0.0236460907598947), +target=(-1.06042550499095,2.68154529985845,0.795007562120261)); + +defaultpen(fontsize(6pt)); + +// draw coordinates and frames +// axis1 is defined by z axis of TBase +// axis2 is defined by z axis of TEnd +void DrawFrame(transform3 TBase, transform3 TEnd, string s) +{ + triple p1,v1,p2,v2; + p1=TBase*O; + v1=TBase*Z-p1; + p2=TEnd*O; + v2=TEnd*Z-p2; + triple n=cross(v1,v2); + + real[][] A= + { + {v1.x,-v2.x,-n.x}, + {v1.y,-v2.y,-n.y}, + {v1.z,-v2.z,-n.z} + }; + + triple vb=p2-p1; + + real[] b={vb.x,vb.y,vb.z}; + + // Get the extention along vector v1 and v2, + // so, we can get the common normal between two axis + real[] x=solve(A,b); + + real s1=x[0]; + real s2=x[1]; + + // get foot of a perpendicular on both axies + triple foot1=p1+s1*v1; + triple foot2=p2+s2*v2; + + // draw two axis + triple axis_a,axis_b; + axis_a=p1+s1*v1*1.5; + axis_b=p1-s1*v1*1.5; + draw(axis_a--axis_b); + + axis_a=p2+s2*v2*1.5; + axis_b=p2-s2*v2*1.5; + draw(axis_a--axis_b); + + // draw "a"(common normal) + draw(Label("$a_{"+s+"}$"),foot1--foot2,linewidth(1pt)); + + // draw the coordinates frame + triple dx,dy,dz,org; + real length=0.8; + + org=foot1; + dx =length*unit(foot2-foot1); // define the x axis of the frame on "a" + dz =length*unit(v1); // define the z axis which is along axis1 + dy =length*unit(cross(dz,dx)); + + draw(Label("$X_{"+s+"}$",1,align=-dy-dz),org--(org+dx),red+linewidth(1.5pt), + Arrow3(8)); + draw(Label("$Y_{"+s+"}$",1,align=2dy-dz-dx),org--(org+dy), + green+linewidth(1.5pt), Arrow3(8)); + draw(Label("$Z_{"+s+"}$",1,align=-2dx-dy),org--(org+dz), + blue+linewidth(1.5pt), Arrow3(8)); + + dot(Label("$O_{"+s+"}$",align =-dx-dz,black),org,black); // origin + +} + +void DrawLink(transform3 TBase, transform3 TEnd, pen objStyle,string s) +{ + real h=1; + real r=0.5; + path3 generator=(0.5*r,0,h)--(r,0,h)--(r,0,0)--(0.5*r,0,0); + revolution vase=revolution(O,generator,0,360); + surface objSurface=surface(vase); + + render render=render(merge=true); + + // draw two cylinders + draw(TBase*objSurface,objStyle,render); + draw(TEnd*shift((0,0,-h))*objSurface,objStyle,render); + + // draw the link between two cylinders + triple pStart=TBase*(0.5*h*Z); + triple pEnd =TEnd*(-0.5*h*Z); + triple pControl1=0.25*(pEnd-pStart)+TBase*(0,0,h); + triple pControl2=-0.25*(pEnd-pStart)+TEnd*(0,0,-h); + path3 p=pStart..controls pControl1 and pControl2..pEnd; + draw(tube(p,scale(0.2)*unitsquare),objStyle,render); +} + +// t1 and t2 define the starting frame and ending frame of the first link(i-1) +transform3 t1=shift((0,0,1)); +transform3 t2=shift((0,0,-1))*rotate(-20,Y)*shift((0,3,2)); +// as, the two links were connected, so t2 is also the starting frame of link(i) +// t3 defines the ending frame of link(i) +transform3 t3=t2*rotate(40,Z)*shift((0,3,1.5))*rotate(-15,Y)*shift(-1.5*Z); + +// draw link(i-1) +DrawLink(t1,t2,palegreen,"i-1"); +DrawFrame(t1,t2,"i-1"); +// draw link(i) +DrawLink(t2,t3,lightmagenta,"i"); +DrawFrame(t2,t3,"i"); + + +// draw angle alpha, which is the angle between axis(i-1) and axis(i) +triple p0=(0,0,-1); +triple p1=(0,0,2.3); +triple p2=shift((0,0,-1))*rotate(-20,Y)*(0,0,4); +draw(p0--p2,cyan); +draw("$\alpha_{i-1}$",arc(p0,p1,p2,Y,CW),ArcArrow3(3)); + + +// draw angle theta, which is the angle between a_i and a_{i-1} +transform3 tx=shift((0,0,-1))*rotate(-20,Y)*shift((0,3,0)); +p0=tx*O; +p1=tx*(0,3,0); +p2=tx*rotate(40,Z)*(0,3,0); +draw(p0--p1,cyan); +draw(p0--p2,cyan); + +triple p1a=tx*(0,1.5,0); +draw("$\theta_{i}$",arc(p0,p1a,p2),ArcArrow3(3)); + +// draw d_{i-1} +triple org_i =t2*shift((0,0,1.5))*O; +draw(Label("$d_{i}$",0.13),p0--org_i,linewidth(1pt)); |