PyQt5之QGraphics 008 QGraphicsItem四连杆机构动画

首先看一下效果:

机械相关专业的同学，在学习机械原理这门课的时候一定做过四连杆方面的运动分析，

以下，用PyQt做四连杆的动画。先不考虑有死点等特殊机构的情况。

其中，l4杆是固定的，其它三根是活动的。

定义B点坐标 bPoint = QPointF(bx,  by)

定义C点坐标 cPoint = QPointF(cx,  cy)

各杆的长度为 l1（曲杆）, l2（连杆） , l3（摇杆）, l4（机架）

定义A点坐标 aPoint = QPointF(0, 0)，那么D点为 dPoint = QPointF(l4, 0)

只要用到余弦公式：

A*A + B*B - 2*A*B*cos(c) = C*C

代码如下：

"""
PyQt5之QGraphics 007 QGraphicsItem四连杆机构动画
2020-03-25
By Linyoubiao
"""

from PyQt5.QtWidgets import (QApplication, QGraphicsView, QGraphicsScene, QGraphicsItem)
from PyQt5.QtCore import (QPoint, QPointF, QRect, QRectF, QLine, QLineF, QTimer, Qt)
from PyQt5.QtGui import (QPainterPath, QBrush, QPen, QColor)
import math
import timer


class Line(QGraphicsItem):
    def __init__(self):
        super(Line, self).__init__()
        # 曲柄
        self.L1 = 16
        # 连杆
        self.L2 = 74
        # 剪刀杆
        self.L3 = 84
        # 支架
        self.L4 = 62
        # 曲柄的角速度
        self.angular_speed = math.pi/2
        # 每一次动画转动的角度
        self.angle_animation = math.pi/30
        # 夹角
        self.angle_1 = .0
        self.angle_2 = .0
        self.angle_3 = .0
        self.angle_BDA = .0
        self.angle_CBD = .0
        self.angle_CDB = .0
        # BD两点的距离
        self.e = .0

        # B点坐标
        self.bx = .0
        self.by = .0
        # C点坐标
        self.cx = .0
        self.cy = .0
        # B点坐标
        self.dx = .0
        self.dy = .0

        self.timer = QTimer()
        self.timer.timeout.connect(self.timerEvent)
        self.timer.start(30)

    def boundingRect(self):
        rect = QRectF(QPointF(-50, -50), QPointF(100, 100))
        return rect

    def timerEvent(self):
        # 要增加，以更新painter
        self.prepareGeometryChange()

        self.angle_1 -= self.angle_animation
        self.e = math.sqrt(self.L1**2 + self.L4**2 - 2*self.L1*self.L4*math.cos(self.angle_1))
        self.angle_BDA = math.acos((self.e**2 + self.L4**2 - self.L1**2)/(2*self.L4*self.e))
        self.angle_CBD = math.acos((self.e**2 + self.L2**2 - self.L3**2)/(2*self.L2*self.e))
        self.angle_CDB = math.acos((self.e**2 + self.L3**2 - self.L2**2)/(2*self.L3*self.e))

        self.bx = self.L1 * math.cos(self.angle_1)
        self.by = self.L1 * math.sin(self.angle_1)

        if self.by > 0:
            self.angle_2 = self.angle_CBD - self.angle_BDA
        else:
            self.angle_2 = self.angle_CBD + self.angle_BDA

        self.angle_3 = math.pi - (self.angle_CDB + self.angle_BDA)

        self.cx = self.bx + self.L2 * math.cos(self.angle_2)
        self.cy = self.by + self.L2 * math.sin(self.angle_2)

    def paint(self, painter, option, widget):
        painter.setPen(QPen(QBrush(Qt.black), 5))
        painter.drawLine(QLineF(QPointF(0, 0), QPointF(self.L4, 0)))

        painter.setPen(QPen(QBrush(Qt.red), 3))
        painter.drawLine(QLineF(QPointF(0, 0), QPointF(self.bx, self.by)))
        painter.setPen(QPen(QBrush(Qt.green), 3))
        painter.drawLine(QLineF(QPointF(self.bx, self.by), QPointF(self.cx, self.cy)))
        painter.setPen(QPen(QBrush(Qt.blue), 3))
        painter.drawLine(QLineF(QPointF(self.cx, self.cy), QPointF(self.L4, 0)))

        painter.setPen(QPen(QBrush(Qt.darkGray), 1))
        painter.drawEllipse(QPointF(0, 0), self.L1, self.L1)
        painter.drawEllipse(QPointF(self.L4, 0), self.L3, self.L3)


class Scene(QGraphicsScene):
    def __init__(self):
        super(Scene, self).__init__()
        item = Line()
        self.addItem(item)


class View(QGraphicsView):
    def __init__(self):
        super(View, self).__init__()
        scene = Scene()
        self.setScene(scene)


if __name__ == "__main__":
    import sys
    app = QApplication(sys.argv)

    view = View()
    view.setWindowTitle("四连杆")
    view.show()

    sys.exit(app.exec_())