from visual import *
import math
# scene.autoscale=0
#
# this program makes an object and rotates it
# this version is like rotator1, but it experiments
# with various values of various parameters
#    pmb, 10/24/02
#
# make axes
xaxis = cylinder ( pos=(0,0,0), axis=(5,0,0), radius=0.05, color=color.red )
yaxis = cylinder ( pos=(0,0,0), axis=(0,5,0), radius=0.05, color=color.green )
zaxis = cylinder ( pos=(0,0,0), axis=(0,0,5), radius=0.05, color=color.blue )
# label axes
xlabel = label ( pos= (5,0,0),text='X',height=10, border=5 )
ylabel = label ( pos= (0,5,0),text='Y',height=10, border=5 )
zlabel = label ( pos= (0,0,5),text='Z',height=10, border=5 )
#
# make a box
whiteBox = box(pos=(0,2.5,0), length= 2.0, height=5.0, width=1.0, color=color.white)
yellowBox = box(pos=(-0.5,-2,0), length= 0.7, height=4.0, width=1.0, color=color.yellow)
redBox = box(pos=(0.5,-2,0), length= 0.7, height=4.0, width=1.0, color=color.red)
blueBox = box(pos=(0,6,0), length= 1.0, height=1.0, width=1.0, color=color.blue)
#
# setup for rotation
t = 0.0
dt = 0.05
angPos = 0.0
angVel = 0.0
xAxis = ( 1,0,0 )
yAxis = ( 0,1,0 )
zAxis = ( 0,0,1 )
#
# main loop
while 1:
    rate(20)
    t = t+ dt

    # find angular velocity
    angAcc = 2 * 3.14159/100.0 * cos(t)
    angVel = angVel + angAcc * dt
    angPos = angPos + angVel * dt
    
    # the vpython "rotate" takes CHANGES to omega as argument, not omega
    whiteBox.rotate( angle= -angVel * dt, axis = xAxis, origin= xAxis )
    yellowBox.rotate ( angle = angVel * dt, axis= xAxis, origin = xAxis )
    redBox.rotate ( angle = -angVel*dt, axis= xAxis, origin = xAxis )
    blueBox.rotate ( angle = -angVel * dt, axis = xAxis, origin = xAxis )

    # docs say "The transform is a rotation of angle radians,
    # counterclockwise around the line defined by origin and
    # origin+axis."
    blueBox.rotate ( angle = angVel*dt, axis= yAxis, origin = yAxis )