def load(self):
assert not self._loaded, "Cannot load scenario twice!"
self._loaded = True
# Create the rigid bodies for the main staircase
orientation = PyUtils.angleAxisToQuaternion( (self._angle,(0,1,0)) )
size = MathLib.Vector3d( self._staircaseWidth, self._riserHeight, self._threadDepth )
pos = PyUtils.toPoint3d( self._position ) + MathLib.Vector3d( 0, -self._riserHeight/2.0, 0 )
delta = MathLib.Vector3d(size)
delta.x = 0
delta = orientation.rotate( delta )
for i in range(self._stepCount):
box = PyUtils.RigidBody.createBox( size, pos = pos + delta * (i+1), locked = True, orientation=orientation )
Physics.world().addRigidBody(box)
# Create the rigid bodies for both ramps
rampHeights = ( self._leftRampHeight, self._rightRampHeight )
deltaRamp = MathLib.Vector3d(self._staircaseWidth/2.0,0,0)
deltaRamp = orientation.rotate( deltaRamp )
deltaRamps = (deltaRamp, deltaRamp * -1)
for deltaRamp, rampHeight in zip( deltaRamps, rampHeights ):
if rampHeight is None: continue
deltaRamp.y = rampHeight/2.0
box = PyUtils.RigidBody.createBox( (0.02,rampHeight,0.02), pos = pos + deltaRamp + delta , locked = True, orientation=orientation )
Physics.world().addRigidBody(box)
box = PyUtils.RigidBody.createBox( (0.02,rampHeight,0.02), pos = pos + deltaRamp + (delta * self._stepCount) , locked = True, orientation=orientation )
Physics.world().addRigidBody(box)
deltaRamp.y = rampHeight
rampOrientation = orientation * PyUtils.angleAxisToQuaternion( (math.atan2(self._riserHeight, self._threadDepth), (-1,0,0)) )
rampLen = self._stepCount * math.sqrt( self._riserHeight*self._riserHeight + self._threadDepth*self._threadDepth )
box = PyUtils.RigidBody.createBox( (0.04,0.02,rampLen), pos = pos + deltaRamp + (delta * ((self._stepCount+1) * 0.5)) , locked = True, orientation=rampOrientation )
Physics.world().addRigidBody(box)
def load(self):
assert not self._loaded, "Cannot load scenario twice!"
self._loaded = True
# Create the rigid bodies for the main staircase
orientation = PyUtils.angleAxisToQuaternion((self._angle, (0, 1, 0)))
size = MathLib.Vector3d(self._staircaseWidth, self._riserHeight,
self._threadDepth)
pos = PyUtils.toPoint3d(self._position) + MathLib.Vector3d(
0, -self._riserHeight / 2.0, 0)
delta = MathLib.Vector3d(size)
delta.x = 0
delta = orientation.rotate(delta)
for i in range(self._stepCount):
box = PyUtils.RigidBody.createBox(size,
pos=pos + delta * (i + 1),
locked=True,
orientation=orientation)
Physics.world().addRigidBody(box)
# Create the rigid bodies for both ramps
rampHeights = (self._leftRampHeight, self._rightRampHeight)
deltaRamp = MathLib.Vector3d(self._staircaseWidth / 2.0, 0, 0)
deltaRamp = orientation.rotate(deltaRamp)
deltaRamps = (deltaRamp, deltaRamp * -1)
for deltaRamp, rampHeight in zip(deltaRamps, rampHeights):
if rampHeight is None: continue
deltaRamp.y = rampHeight / 2.0
box = PyUtils.RigidBody.createBox((0.02, rampHeight, 0.02),
pos=pos + deltaRamp + delta,
locked=True,
orientation=orientation)
Physics.world().addRigidBody(box)
box = PyUtils.RigidBody.createBox(
(0.02, rampHeight, 0.02),
pos=pos + deltaRamp + (delta * self._stepCount),
locked=True,
orientation=orientation)
Physics.world().addRigidBody(box)
deltaRamp.y = rampHeight
rampOrientation = orientation * PyUtils.angleAxisToQuaternion(
(math.atan2(self._riserHeight, self._threadDepth), (-1, 0, 0)))
rampLen = self._stepCount * math.sqrt(
self._riserHeight * self._riserHeight +
self._threadDepth * self._threadDepth)
box = PyUtils.RigidBody.createBox(
(0.04, 0.02, rampLen),
pos=pos + deltaRamp + (delta * ((self._stepCount + 1) * 0.5)),
locked=True,
orientation=rampOrientation)
Physics.world().addRigidBody(box)
def interpret(self, value):
value = self.basicInterpret(value)
if isinstance(value, MathLib.Quaternion) : return value
else : return PyUtils.angleAxisToQuaternion( value )
def interpret(self, value):
value = self.basicInterpret(value)
if isinstance(value, MathLib.Quaternion): return value
else: return PyUtils.angleAxisToQuaternion(value)
