84 lines
No EOL
2.3 KiB
Python
84 lines
No EOL
2.3 KiB
Python
import sys
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import os
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sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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import legrandchien as lgc
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import matplotlib.pyplot as plt
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import matplotlib.animation as animation
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import numpy as np
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g = lgc.Const(-10)
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m1 = lgc.Const(1)
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m2 = lgc.Const(1)
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r1 = lgc.Const(1)
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r2 = lgc.Const(1)
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theta1 = lgc.Var()
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theta2 = lgc.Var()
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x1 = r1 * lgc.cos(theta1)
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y1 = r1 * lgc.sin(theta1)
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x2 = x1 + r2 * lgc.cos(theta2)
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y2 = y1 + r2 * lgc.sin(theta2)
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T = 0.5 * m1 * (x1.diff()**2 + y1.diff()**2)
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T += 0.5 * m2 * (x2.diff()**2 + y2.diff()**2)
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V = m1 * g * x1
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V += m2 * g * x2
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L = T - V
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init = {
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theta1 : [-3 * np.pi/4, 0], # theta1, theta1.diff()
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theta2 : [-np.pi/2, 0], # theta2, theta2.diff()
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}
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dt = 0.01
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data = L.solve(init, 10, dt, True)
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# Extraire les positions
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times = sorted(data.keys())
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positions = [data[t] for t in times]
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x1_positions = [r1.value * np.sin(p["theta1"]) for p in positions]
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y1_positions = [r1.value * np.cos(p["theta1"]) for p in positions]
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x2_positions = [x1_positions[i] + r2.value * np.sin(p["theta2"]) for i, p in enumerate(positions)]
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y2_positions = [y1_positions[i] + r2.value * np.cos(p["theta2"]) for i, p in enumerate(positions)]
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# Calculer l'intervalle de frame pour 25 fps
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fps = 25
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frame_skip = max(1, int(1 / (fps * dt)))
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# Filtrer les frames
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display_indices = list(range(0, len(x1_positions), frame_skip))
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x1_display = [x1_positions[i] for i in display_indices]
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y1_display = [y1_positions[i] for i in display_indices]
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x2_display = [x2_positions[i] for i in display_indices]
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y2_display = [y2_positions[i] for i in display_indices]
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# Créer la figure et l'axe
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fig, ax = plt.subplots(figsize=(8, 8))
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ax.set_xlim(-3, 3)
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ax.set_ylim(-3, 3)
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ax.set_xlabel("X (m)")
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ax.set_ylabel("Y (m)")
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ax.grid(True)
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ax.invert_yaxis()
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line1, = ax.plot([], [], 'o-', lw=2, markersize=8, label='Pendule 1')
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line2, = ax.plot([], [], 'o-', lw=2, markersize=8, label='Pendule 2')
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trace, = ax.plot([], [], 'r-', alpha=0.3, lw=1, label='Trace')
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def animate(frame):
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line1.set_data([0, x1_display[frame]], [0, y1_display[frame]])
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line2.set_data([x1_display[frame], x2_display[frame]], [y1_display[frame], y2_display[frame]])
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trace.set_data(x2_display[:frame+1], y2_display[:frame+1])
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return line1, line2, trace
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ax.legend()
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anim = animation.FuncAnimation(fig, animate, frames=len(x1_display), interval=40, blit=True, repeat=True)
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plt.show() |