scripts/cylinder_movement.py at main · niscode/scripts · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
from ws_utilze import *
import time


C = 0.6
H = 0.3

def happy_cylinder(x, speed, scale):
    # scale = scale * 0.5
    # speed ~ [0,0.5]
    # -1.2 * scale / period**2 * x**2 + 1.2 * scale/period * x
    scale = scale*1.5
    speed = speed * 1.5
    period = C/speed
    x = x % period
    v = (0.6 * scale)/period * ((-2.2 * x / period) + 1)
    # v = -(2.4 * scale) / period**2 + (1.2 * scale) / period

    return v, period


def happy_cylinder_skip(x, speed, scale):

    # speed ~ [0,0.5]
    # -1.2 * scale /period**2 *x **2 + 1.2 * scale/period * x
    # scale = scale * 0.5

    speed = speed * 1.5
    period1 = C/speed
    period2 = period1/2
    x = x % (period1+period2)
    if x < period1:
        v = (0.6 * scale)/period1 * ((-2.2 * x / period1) + 1)
        # v = -(2.4 * scale) / period1**2 + (1.2 * scale) / period2
    else:
        x = x - period1
        v = (0.2 * scale)/period2 * ((-2.2 * x / period2) + 1)
        # v = -(0.8 * scale) / period1**2 + (0.4 * scale) / period2

    return v, period1+period2


def neutral_cylinder(x, speed, scale):

    # speed ~ [0,0.5]

    period = C/speed
    c = (2*np.pi)/period
    v = np.cos(c*x) * scale * 0.2

    return v, period


def sad_cylinder(x, speed, scale):
    scale = scale * 0.5
     # speed ~ [0,0.5]
    period = (C/speed)
    c = (2*np.pi)/period
    v = np.cos(c*x) * scale * 0.1

    return v, period


def angry_cylinder(x, speed, scale):

     # speed ~ [0,0.5]
    speed = speed * 1.5
    speed = 2*speed
    scale = scale * 1.5
    period = (C/speed)
    x = x % period
    if x < (period/2):
        v = 0.3 * scale / period
        return v, period
    else:
        v = -0.35 * scale / period
        return v, period


def talking_cylinder(x, speed, scale):
    speed = speed*1.5
    period = C/speed
    c = (2*np.pi)/period
    v = np.cos(c*x) * scale * 0.2

    return v, period

def no_talking_cylinder(x, speed, scale):
    scale = scale*0.5

    period = C/speed
    c = (2*np.pi)/period
    v = np.cos(c*x) * scale * 0.08

    return v, period


def cylinderg_parameters(emotion, x, speed, scale):

    if emotion == "happy":
        return happy_cylinder(x, speed, scale)

    elif emotion == "neutral":
        return neutral_cylinder(x, speed, scale)

    elif emotion == "sad":
        return sad_cylinder(x, speed, scale)

    elif emotion == "angry":
        return angry_cylinder(x, speed, scale)

    elif emotion == "happy_skip":
        return happy_cylinder_skip(x, speed, scale)

    elif emotion == "talking":
        return talking_cylinder(x, speed, scale)

    elif emotion == "no_talking":
        return no_talking_cylinder(x, speed, scale)