80 lines
No EOL
2.1 KiB
Python
80 lines
No EOL
2.1 KiB
Python
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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r10 = lgc.Const(1)
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r20 = lgc.Const(1)
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k1 = lgc.Const(50)
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k2 = lgc.Const(50)
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theta1 = lgc.Var("theta1")
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theta2 = lgc.Var("theta2")
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r1 = lgc.Var("r1")
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r2 = lgc.Var("r2")
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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()*x1.diff() + y1.diff()*y1.diff())
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T += 0.5 * m2 * (x2.diff()*x2.diff() + y2.diff()*y2.diff())
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V = m1 * g * x1
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V += m2 * g * x2
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V += k1 * (r1 - r10) * (r1 - r10)
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V += k2 * (r2 - r20) * (r2 - r20)
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L = T - V
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init = {
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"theta1" : -3 * np.pi/4,
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"d_theta1" : 0,
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"theta2" : -np.pi/2,
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"d_theta2" : 0,
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"r1" : 1,
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"d_r1" : 0,
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"r2" : 1,
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"d_r2" : 0
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}
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data = L.solve(init, 5, 0.01)
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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 = [p["r1"] * np.sin(p["theta1"]) for p in positions]
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y1_positions = [p["r1"] * np.cos(p["theta1"]) for p in positions]
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x2_positions = [x1_positions[i] + p["r2"] * np.sin(p["theta2"]) for i, p in enumerate(positions)]
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y2_positions = [y1_positions[i] + p["r2"] * np.cos(p["theta2"]) for i, p in enumerate(positions)]
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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_positions[frame]], [0, y1_positions[frame]])
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line2.set_data([x1_positions[frame], x2_positions[frame]], [y1_positions[frame], y2_positions[frame]])
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trace.set_data(x2_positions[:frame+1], y2_positions[: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_positions), interval=50, blit=True, repeat=True)
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plt.show() |