176 lines
7.4 KiB
Python
176 lines
7.4 KiB
Python
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from PySide6.QtWidgets import QWidget, QApplication
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from PySide6.QtGui import QPainter, QPen, QBrush, QColor, QTransform
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from PySide6.QtCore import Qt, QPropertyAnimation, Property, QPointF
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import sys
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# 料斗夹爪部分，包括夹爪开合动画
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class ClampWidget(QWidget):
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def __init__(self, parent=None):
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super().__init__(parent)
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self._angle = 0.0 # 开合角度（0-70度，单个夹具旋转角度为angle/2）
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self.setFixedSize(176, 127) # 绘图区域大小 240x150
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# self.rot_center = QPointF(120, 30) # 旋转中心
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# 重要，调整这里，设置夹爪绘制位置
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self.rot_center = QPointF(88, 14) # 调整!!! 在主界面中位置需要调整这里
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self.red_width = 37 # 红框宽度
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self.red_height = 81 # 红框高度
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def paintEvent(self, event):
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painter = QPainter(self)
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painter.setRenderHint(QPainter.Antialiasing)
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# ---- 左红框及蓝色部分 ----
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# 左红框原始顶点（严格对称，以旋转中心为轴）
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left_red_vertices = [
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QPointF(self.rot_center.x() - self.red_width, self.rot_center.y()), # 顶部左
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QPointF(self.rot_center.x(), self.rot_center.y()), # 顶部右（旋转中心）
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QPointF(self.rot_center.x(), self.rot_center.y() + self.red_height), # 底部右
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QPointF(self.rot_center.x() - self.red_width, self.rot_center.y() + self.red_height) # 底部左
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]
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# 左红框旋转变换（顺时针转angle/2度）
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painter.save()
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transform = QTransform()
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transform.translate(self.rot_center.x(), self.rot_center.y())
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transform.rotate(self._angle / 2)
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transform.translate(-self.rot_center.x(), -self.rot_center.y())
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transformed_left_red = [transform.map(p) for p in left_red_vertices]
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# 绘制左红框辅助线
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# painter.setPen(QPen(QColor(255, 0, 0), 1, Qt.DashLine))
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# painter.setBrush(Qt.NoBrush)
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# painter.drawPolygon(transformed_left_red)
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painter.restore()
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# 绘制左蓝色部分 86, 180, 239
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# painter.setPen(QPen(QColor(0, 120, 255), 2))
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# painter.setBrush(QBrush(QColor(0, 170, 255, 180)))
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painter.setPen(QPen(QColor(66, 152, 215, 190), 2))
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painter.setBrush(QBrush(QColor(86, 180, 239)))
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# 蓝色顶点：顶部中间17px直线 + 红框内边界
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top_mid = QPointF(
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transformed_left_red[0].x() + self.red_width/2 - 10,
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transformed_left_red[0].y()
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)
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top_end = QPointF(top_mid.x() + 17, top_mid.y())
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bottom_left = transformed_left_red[3]
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# ============================== 特殊计算 bottom_right1 和 bottom_right2 ======
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# 定义端点
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A = transformed_left_red[1] # 左红框顶部右顶点
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B = transformed_left_red[2] # 左红框底部右顶点
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t = 0.7 # 70%位置
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# 线性插值计算bottom_left2
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bottom_right2_x = A.x() + t * (B.x() - A.x())
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bottom_right2_y = A.y() + t * (B.y() - A.y())
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bottom_right1 = QPointF(bottom_right2_x - 5, bottom_right2_y - 8) # 基于bottom_right2 计算坐标
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bottom_right2 = QPointF(bottom_right2_x, bottom_right2_y)
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# ===========================================================================
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bottom_right3 = QPointF(transformed_left_red[2].x(), transformed_left_red[2].y())
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left_blue_vertices = [
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top_mid,
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top_end,
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bottom_right1,
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bottom_right2,
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bottom_right3,
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bottom_left,
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top_mid
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]
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painter.drawPolygon(left_blue_vertices)
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# ---- 右红框及蓝色部分 ----
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# 右红框原始顶点（与左红框完全对称）
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right_red_vertices = [
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QPointF(self.rot_center.x(), self.rot_center.y()), # 顶部左（旋转中心）
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QPointF(self.rot_center.x() + self.red_width, self.rot_center.y()), # 顶部右
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QPointF(self.rot_center.x() + self.red_width, self.rot_center.y() + self.red_height), # 底部右
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QPointF(self.rot_center.x(), self.rot_center.y() + self.red_height) # 底部左
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]
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# 右红框旋转变换（逆时针转angle/2度）
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painter.save()
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transform = QTransform()
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transform.translate(self.rot_center.x(), self.rot_center.y())
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transform.rotate(-self._angle / 2)
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transform.translate(-self.rot_center.x(), -self.rot_center.y())
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transformed_right_red = [transform.map(p) for p in right_red_vertices]
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# 绘制右红框辅助线
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# painter.setPen(QPen(QColor(255, 0, 0), 1, Qt.DashLine))
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# painter.setBrush(Qt.NoBrush)
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# painter.drawPolygon(transformed_right_red)
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painter.restore()
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# 绘制右蓝色部分 83, 175, 234 66, 152, 215
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painter.setPen(QPen(QColor(66, 152, 215, 190), 2))
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painter.setBrush(QBrush(QColor(86, 180, 239)))
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# painter.setPen(QPen(QColor(0, 120, 255), 2))
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# painter.setBrush(QBrush(QColor(0, 170, 255, 180)))
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# 蓝色顶点：顶部中间17px直线 + 红框内边界
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top_mid = QPointF(
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transformed_right_red[1].x() - self.red_width/2 + 10,
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transformed_right_red[1].y()
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)
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top_end = QPointF(top_mid.x() - 17, top_mid.y())
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# ============================== 特殊计算 bottom_left1 和 bottom_left2 =======
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# 定义端点
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A = transformed_right_red[0] # 右红框顶部左顶点
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B = transformed_right_red[3] # 右红框底部左顶点
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t = 0.7 # 70%位置
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# 线性插值计算bottom_left2
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bottom_left2_x = A.x() + t * (B.x() - A.x())
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bottom_left2_y = A.y() + t * (B.y() - A.y())
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bottom_left1 = QPointF(bottom_left2_x + 5, bottom_left2_y - 8) # 基于bottom_left2 计算坐标
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bottom_left2 = QPointF(bottom_left2_x, bottom_left2_y)
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# ===========================================================================
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bottom_left3 = transformed_right_red[3]
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bottom_right = transformed_right_red[2]
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right_blue_vertices = [
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top_mid,
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top_end,
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bottom_left1,
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bottom_left2,
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bottom_left3,
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bottom_right,
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top_mid
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]
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painter.drawPolygon(right_blue_vertices)
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# ---- 角度属性（用于动画）----
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def get_angle(self):
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return self._angle
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def set_angle(self, angle):
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# 动画夹爪打开，限制范围为 0 到 70度
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# 注意：为了动画显示效果，就算超过70度，也只按70度计算
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self._angle = max(0.0, min(70.0, angle))
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self.update()
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angle = Property(float, get_angle, set_angle)
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# 测试动画
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def testAnimation(self, target_angle, duration=6):
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self.animation = QPropertyAnimation(self, b"angle")
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self.animation.setDuration(duration * 1000) # duration单位为秒
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self.animation.setStartValue(self._angle)
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self.animation.setEndValue(target_angle)
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self.animation.start()
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if __name__ == "__main__":
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app = QApplication(sys.argv)
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widget = ClampWidget()
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widget.show()
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# widget.testAnimation(70)
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close_anim = QPropertyAnimation(widget, b"angle")
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close_anim.setDuration(6000)
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close_anim.setStartValue(0)
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close_anim.setEndValue(60)
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close_anim.start()
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# widget.set_angle(30)
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sys.exit(app.exec())
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