def MIT_stair(system, center, H, SPEEDMODE):
stair_r = 0.3 # Radius
stair_h = 2 * H + 1 # Hight
stair_d = 1 # Density
stepNum = 21 # Number of steps
dh = (H - 0.1) / stepNum # Heigth between each step
rad = 1 / 360 * 2 * np.pi # Degrees to radians
texture = 'textures/white concrete.jpg'
pos_stair = center + np.array([
0, stair_h / 2, 0
]) #chrono.ChVectorD(0, stair_h/2, 0) # Correction for stair position
pos_disk = center + np.array([0, stair_h + 0.025, 0
]) #chrono.ChVectorD(0, stair_h+0.025, 0)
# Add center cylinder of stair
MiroAPI.add_cylinderShape(system, stair_r, stair_h, stair_d, pos_stair,
texture, [10, 10])
# If SPEEDMODE is activated, stop here
if SPEEDMODE:
return
# Top disk
MiroAPI.add_cylinderShape(system, stair_r + 0.01, 0.05, 1, pos_disk,
'textures/MIT_stone_floor.jpg', [1 / 8, 1 / 8])
# Add fake stair to base floor
MiroAPI.add_cylinderShape(system, stair_r + 1.7, 0.001, stair_d, center,
'textures/black.jpg', [1, 1])
# Add steps to 3rd floor
for step in range(stepNum):
h = step * dh
theta_f = rad * (90 + 270 * step / stepNum
) # Angle between each front step
theta_b = rad * (90 + 270 *
(step + 1) / stepNum) # Angle between each back step
add_stairStep(system, center, stair_r, h, theta_f, theta_b, dh, step,
stepNum, True)
add_stairStep(system, center, stair_r, 0, theta_f, theta_b, 0, step,
stepNum, False)
# Add fence post for stair
if step % 2 == 0:
add_stairPosts(system, center, stair_r, h, theta_f, theta_b)
add_stairPosts(system, center, stair_r, 0, theta_f, theta_b)
# Add steps to 4th floor
for step in range(stepNum):
h = step * dh
theta_f = rad * (90 + 270 * step / stepNum
) # Angle between each front step
theta_b = rad * (90 + 270 *
(step + 1) / stepNum) # Angle between each back step
pos = center + np.array([0, H, 0])
add_stairStep(system, pos, stair_r, h, theta_f, theta_b, dh, step,
stepNum, True)
# Add fence post for stair
if step % 2 == 0:
add_stairPosts(system, pos, stair_r, h, theta_f, theta_b)
def eyeball(MiroSystem, pos, radius=0.1):
MiroAPI.add_sphereShape(MiroSystem, radius, [pos[0], pos[1]+radius, pos[2]], texture='eyeball.png', density = 100, Fixed=False, rotY=-30)
def coin(MiroSystem, target, angle = 0):
h = 0.0012
r = 0.012
pos_coin = np.array([target[0], target[1]+h/2, target[2]])
MiroAPI.add_cylinderShape(MiroSystem, r, h, 150, pos_coin, rotY=angle, texture='gammal5kr.png', Fixed=False, scale=[1,-1])
def Set_Camera(self):
'''This sets the camera during simulation. For internal usage when the simulation is being run,
use SetPerspective to configure the camera before running the simulation.'''
if self.freecam:
return
if self.cycle:
self.cam_to_obs = MiroAPI.rotateVector(self.cam_to_obs,
self.cycle_angle / self.fps,
[0, 1, 0],
rotDegrees=False)
self.cam_to_obs = (49 * self.cam_to_obs +
self.followmod.GetCenterOfMassVelocity()) / 50
self.cam_to_obs = self.cam_to_obs / np.linalg.norm(self.cam_to_obs)
self.cam_pos = self.obs_pos - self.cam_to_obs
MiroAPI.SetCamera(self.system_list, self.cam_pos, self.obs_pos)
if self.follow_default:
if np.linalg.norm(self.followmod.GetCenterOfMassVelocity()) > 1e-2:
#oldest working
#cam_to_obs[0] = cam_to_obs[0] * np.cos(self.follow_angle)
#cam_to_obs[1] = cam_to_obs[0] * np.sin(self.follow_angle)
#cam_to_obs[2] = cam_to_obs[2] * np.cos(self.follow_angle)
self.obs_pos = (12 * self.obs_pos +
self.followmod.GetCenterOfMass()) / 13
self.cam_up = (9 * self.cam_up + np.array([0, 1, 0])) / 10
cam_to_obs = (
self.followmod.GetCenterOfMassVelocity() /
np.linalg.norm(self.followmod.GetCenterOfMassVelocity()))
cam_to_obs *= self.follow_distance
cam_pos = self.obs_pos - self.cam_to_obs
cam_pos[1] += self.follow_height
self.cam_pos = (9 * self.cam_pos +
cam_pos) / 10 # good val = 1/2
MiroAPI.SetCamera(self.system_list, self.cam_pos, self.obs_pos,
self.cam_up)
cam_to_obs = (49 * self.cam_to_obs + cam_to_obs) / (49 + 1)
self.cam_to_obs = cam_to_obs
if self.camera_sweep:
i = self.sweepstep
sweep_divs = 100
self.cam_pos = (
(sweep_divs - i) * self.sweep_cam[self.sweepnr - 1] +
(i) * self.sweep_cam[self.sweepnr]) / sweep_divs
self.obs_pos = (
(sweep_divs - i) * self.sweep_obs[self.sweepnr - 1] +
(i) * self.sweep_obs[self.sweepnr]) / sweep_divs
MiroAPI.SetCamera(self.system_list, self.cam_pos, self.obs_pos)
self.sweepstep += 1
if self.sweepstep > sweep_divs:
self.sweepstep = 0
self.sweepnr += 1
if self.sweepnr >= self.sweepsteps:
self.camera_sweep = False
if not self.cycle and not self.follow:
return
def chair_back(MiroSystem, pos_back, size_back_x,size_back_y, size_back_z):
return MiroAPI.add_boxShape(MiroSystem, size_back_x, size_back_y, size_back_z, pos_back, 'MITstol.jpg', Fixed=FIXED)
def add_fence(system, H, postNum, floor_w, floor_w_2, floor, floor_t,
handle_l):
# Add fence post, as a cylinder
fence_r = 0.02 # Radius
fence_h = 1.04 # Hight
fence_d = 1 # Density
texture = 'textures/white concrete.jpg'
fence_corr = np.array([0, fence_h / 2,
0]) # Correction for fence post postition
# Add handle for each floor
handle_r = 0.0175 # Radius
# handle_d = 1 # Density
n_x = np.array([1, 0, 0]) # Normalvector in x direction
n_z = np.array([0, 0, 1]) # Normalvector in z direction
# Handle
pos_rail_1 = np.array([-0.75, H + fence_h * 0.925,
6.58 - floor_w]) # Fence 3rd floor left of stair
pos_rail_2 = np.array(
[10.45 + 2.11 - floor_w_2, H + fence_h * 0.925,
-4.4]) # Fence 3rd floor
pos_rail_3 = np.array(
[10.45 + 2.11 - floor_w_2, 2 * H + fence_h * 0.925,
-4.4]) # Fence 4th floor
pos_rail_4 = np.array([6.5, 2 * H + fence_h * 0.925,
4.2]) # Fence by the stair 4th floor
# Rail
pos_rail_5 = np.array([-0.75, H + 3 / 4 * fence_h,
6.58 - floor_w]) # Fence 3rd floor left of stair
pos_rail_6 = np.array(
[10.45 + 2.11 - floor_w_2, H + 3 / 4 * fence_h,
-4.4]) # Fence 3rd floor
pos_rail_7 = np.array(
[10.45 + 2.11 - floor_w_2, 2 * H + 3 / 4 * fence_h,
-4.4]) # Fence 4th floor
pos_rail_8 = np.array([6.5, 2 * H + 3 / 4 * fence_h,
4.2]) # Fence by the stair 4th floor
pos_h = [pos_rail_1, pos_rail_2, pos_rail_3, pos_rail_4]
pos_r = [pos_rail_5, pos_rail_6, pos_rail_7, pos_rail_8]
dirr = [n_z, n_x, n_x, n_x]
handle_length = [handle_l, handle_l, handle_l, 2]
dl = (handle_l) / postNum # Delta lenght between each post
# Handle rail
for num in range(len(pos_h)):
pos_rail = pos_h[num]
n = dirr[num]
length = handle_length[num]
MiroAPI.add_cylinderShape(system,
handle_r,
length,
1,
pos_rail,
'textures/wood_floor.jpg',
rotAngle=np.pi / 2,
rotAxis=n,
rotDegrees=False)
# Support rail
for num in range(len(pos_r)):
pos_rail = pos_r[num]
n = dirr[num]
length = handle_length[num]
MiroAPI.add_cylinderShape(system,
fence_r,
length,
1,
pos_rail,
'textures/white concrete.jpg',
rotAngle=np.pi / 2,
rotAxis=n,
rotDegrees=False)
for post in range(postNum):
y_pos = floor * H - floor_t
pos_l = np.array([(-0.7 - handle_l / 2) + post * dl, H - floor_t,
6.58 - floor_w]) + fence_corr # Left side stair
pos_r = np.array([
10.45 + 2.11 - floor_w_2, y_pos, (-4.4 - handle_l / 2) + post * dl
]) + fence_corr # Right side stair
MiroAPI.add_cylinderShape(system, fence_r, fence_h, fence_d, pos_r,
texture)
MiroAPI.add_cylinderShape(system, fence_r, fence_h, fence_d, pos_l,
texture)
for post in range(3):
pos = np.array([6.5, 2 * H - floor_t, 3.5 + post * dl]) + fence_corr
MiroAPI.add_cylinderShape(system, fence_r, fence_h, fence_d, pos,
texture)
def Set_Idle(self):
MiroAPI.rotateBody(self.bulb, rotAngle=180, rotAxis=self.bulb_pos)
def FullEntrance(MiroSystem, pos_south, pos_north):
d = 0.08
l = 3.02
# Pole in front of doors
p = np.array([pos_south[0] + 2.89, 1.51, pos_south[2] - 0.6])
MiroAPI.add_boxShape(MiroSystem,
2 * d,
l,
2 * d,
p,
texture='white concrete.jpg',
scale=[4, 12])
# Emergency exit sign
p = np.array([pos_south[0] + 2.89, 2.7, pos_south[2] - 0.6 - d - 0.01])
MiroAPI.add_boxShape(MiroSystem,
0.568 * 0.7,
0.285 * 0.7,
0.02,
p,
texture='exit.png')
# Inner doorframe
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + (1 / 2) * d, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 0.68, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 2.72, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 3.06, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 5.10, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 5.44, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_south[0] + 6.58, 1.51, pos_south[2]])
greenpole(MiroSystem, d, l, 0, 0,
[pos_north[0] - (1 / 2) * d, 1.51, pos_north[2]])
# Horizontal parts
greenpole(MiroSystem, d, (pos_north[0] - pos_south[0]), 0, 90, [
(pos_north[0] + pos_south[0]) / 2, 2.5 + d / 2, pos_north[2] - d / 20
])
greenpole(MiroSystem, d, (pos_north[0] - pos_south[0]), 0, 90, [
(pos_north[0] + pos_south[0]) / 2, 3.0 - d / 2, pos_north[2] - d / 20
])
# Small bits on floor
for s in [[(1 / 2) * d, 0.68], [2.72, 3.06], [5.10, 5.44],
[6.58, pos_north[0] - pos_south[0] - (1 / 2) * d]]:
greenpole(MiroSystem, d, (s[1] - s[0] - d), 0, 90,
[pos_south[0] + (s[1] + s[0]) / 2, d / 2, pos_north[2]])
# Revolving doors
revolute_door(MiroSystem, d, 0.98, 15,
[pos_south[0] + 1.70, 2.4 - d / 2, pos_south[2]])
revolute_door(MiroSystem, d, 0.98, 50,
[pos_south[0] + 4.08, 2.4 - d / 2, pos_south[2]])
# Side door, inner
normal_door(MiroSystem, d, 1.1 - d, 232,
[pos_south[0] + 6.58 - d, 2.5 - d / 2, pos_south[2]])
########### INNER PART STOPS HERE ###########
width = pos_north[0] - pos_south[0] + 3.04
depth = 5
inner_depth = 2.8
p = np.array(
[pos_south[0] - 2 + width / 2, -0.08, pos_south[2] + depth / 2])
MiroAPI.add_boxShape(MiroSystem, width, 0.16, 5, p, 'MIT_stone_floor.jpg')
p = np.array([p[0], 3.08, p[2]])
MiroAPI.add_boxShape(MiroSystem, width, 0.16, 5, p, 'MIT_stone_floor.jpg')
# Outer door frames
z = pos_south[2] + inner_depth
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 0.00 + d / 2, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 0.33, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 1.51, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 1.59, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 2.77, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 3.25, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 4.43, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 4.51, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 5.69, 1.51, z])
greenpole(MiroSystem, d, l, 0, 0, [pos_south[0] + 6.02 - d / 2, 1.51, z])
# Outer doors
normal_door(MiroSystem, d, 1.1 - d, -42,
[pos_south[0] + 0.33 + d, 2.5 - d / 2, z]) # south outward
normal_door(MiroSystem, d, 1.1 - d, 180,
[pos_south[0] + 2.77 - d, 2.5 - d / 2, z]) # south inward
normal_door(MiroSystem, d, 1.1 - d, -0,
[pos_south[0] + 3.25 + d, 2.5 - d / 2, z]) # north outward
normal_door(MiroSystem, d, 1.1 - d, 180,
[pos_south[0] + 5.69 - d, 2.5 - d / 2, z]) # north inward
greenpole(MiroSystem, d, 6.02, 0, 90,
[pos_south[0] + 3.01, 2.5 + d / 2, z - d / 20])
greenpole(MiroSystem, d, 6.02, 0, 90,
[pos_south[0] + 3.01, 3.0 - d / 2, z - d / 20])
# Small bits on floor
for s in [[d / 2, 0.33], [2.77, 3.25], [5.69, 6.02 - d / 2]]:
greenpole(MiroSystem, d, (s[1] - s[0] - d), 0, 90,
[pos_south[0] + (s[1] + s[0]) / 2, d / 2, z])
# south wall
p = np.array(
[pos_south[0] - 0.05, 1.51, pos_south[2] + inner_depth / 2 - 0.89 / 2])
MiroAPI.add_boxShape(MiroSystem,
0.1,
3.02,
inner_depth + 0.89,
p,
'yellow_brick.jpg',
scale=[7, 9])
# north wall
np.array([pos_north[0] + 0.05, 1.51, pos_south[2] + inner_depth / 2])
MiroAPI.add_boxShape(MiroSystem,
0.1,
3.02,
inner_depth,
p,
'yellow_brick.jpg',
scale=[6, 9])
# WEST WALL
w = 2
dw = 0.96
p = np.array([pos_north[0] + w / 2 - dw, 1.51, z])
MiroAPI.add_boxShape(MiroSystem,
w,
3.02,
0.16,
p,
'yellow_brick.jpg',
scale=[2, 9],
color=[0.6, 0.4, 0.0])
p = np.array([pos_south[0] - dw, 1.51, z])
MiroAPI.add_boxShape(MiroSystem,
w,
3.02,
0.16,
p,
'yellow_brick.jpg',
scale=[2, 9],
color=[0.6, 0.4, 0.0])
# Cement pillars outside
r = 0.12
p = np.array(
[pos_south[0] - 1, 1.51, z - r + (depth - inner_depth) * (3 / 4)])
MiroAPI.add_cylinderShape(MiroSystem,
r,
3.02,
1000,
p,
'white concrete.jpg',
color=[0.8, 0.8, 0.8])
p = np.array([
pos_north[0] + 1 - 0.96, 1.51, z - r + (depth - inner_depth) * (3 / 4)
])
MiroAPI.add_cylinderShape(MiroSystem,
r,
3.02,
1000,
p,
'white concrete.jpg',
color=[0.8, 0.8, 0.8])
p = np.array([pos_south[0] + 1.6, 1.51, z - r + (depth - inner_depth)])
MiroAPI.add_cylinderShape(MiroSystem,
r,
3.02,
1000,
p,
'white concrete.jpg',
color=[0.8, 0.8, 0.8])
p = np.array(
[pos_north[0] - 1.6 - 0.96, 1.51, z - r + (depth - inner_depth)])
MiroAPI.add_cylinderShape(MiroSystem,
r,
3.02,
1000,
p,
'white concrete.jpg',
color=[0.8, 0.8, 0.8])
def MIT_door(MiroSystem, pos, rot = 0):
b = 1.0
h = 2.1
pos = [pos[0], pos[1]+h/2, pos[2]]
MiroAPI.add_boxShape(MiroSystem, b, h, 0.16, pos, rotY=rot, texture='MIT_door.png', Collide=False)
def normal_door(MiroSystem, d, l, spin, pos):
top = pos[1]
mid = pos[1] / 2 + d / 4
bot = d / 2
# vertical frame poles
pos[1] = mid
greenpole(MiroSystem, d, top - bot + d, spin, 0, pos)
p = [
pos[0] + np.cos(np.deg2rad(spin)) * (l - d / 2), mid,
pos[2] - np.sin(np.deg2rad(spin)) * (l - d / 2)
]
greenpole(MiroSystem, d, top - bot + d, spin, 0, p)
# top and bottom frame
p = [
pos[0] + (1 / 2) * np.cos(np.deg2rad(spin)) * (l - d / 2), top,
pos[2] - (1 / 2) * np.sin(np.deg2rad(spin)) * (l - d / 2)
]
greenpole(MiroSystem, d, l - d, spin, 90, p)
p[1] = bot
greenpole(MiroSystem, d, l - d, spin, 90, p)
# handle
r = 0.02
h = 0.40
dist = 0.30
# poles through door
pb = [
pos[0] + np.cos(np.deg2rad(spin)) * (l - d / 2) * 0.86,
mid + h * (1 / 3),
pos[2] - np.sin(np.deg2rad(spin)) * (l - d / 2) * 0.86
]
MiroAPI.add_cylinderShape(MiroSystem,
r / 2,
dist,
2500,
pb,
'textures/chrome.png',
rotY=spin - 90,
rotZ=90,
rotOrder=['x', 'z', 'y'],
Collide=False,
scale=[2, 2],
color=[0.9, 0.9, 0.9])
pb[1] = mid - h * (1 / 3) # rotY=-spin, rotX=90
MiroAPI.add_cylinderShape(MiroSystem,
r / 2,
dist,
2500,
pb,
'chrome.png',
rotY=spin - 90,
rotZ=90,
rotOrder=['z', 'y'],
Collide=False,
scale=[2, 2],
color=[0.9, 0.9, 0.9])
# disks on door
MiroAPI.add_cylinderShape(MiroSystem,
r * 1.2,
0.01,
2500,
pb,
'brushsteel.png',
rotY=spin - 90,
rotZ=90,
rotOrder=['z', 'y'],
Collide=False,
scale=[2, 2],
color=[0.85, 0.85, 0.85])
pb[1] = mid + h * (1 / 3)
MiroAPI.add_cylinderShape(MiroSystem,
r * 1.2,
0.01,
2500,
pb,
'brushsteel.png',
rotY=spin - 90,
rotZ=90,
rotOrder=['z', 'y'],
Collide=False,
scale=[2, 2],
color=[0.85, 0.85, 0.85])
# handle bars
ph1 = [
pb[0] + np.cos(np.deg2rad(spin + 90)) * (dist / 2), mid,
pb[2] - np.sin(np.deg2rad(spin + 90)) * (dist / 2)
]
ph2 = [
pb[0] - np.cos(np.deg2rad(spin + 90)) * (dist / 2), mid,
pb[2] + np.sin(np.deg2rad(spin + 90)) * (dist / 2)
]
MiroAPI.add_cylinderShape(MiroSystem,
r,
h,
2500,
ph1,
'chrome.png',
scale=[2, 2],
color=[0.9, 0.9, 0.9])
MiroAPI.add_cylinderShape(MiroSystem,
r,
h,
2500,
ph2,
'chrome.png',
scale=[2, 2],
color=[0.9, 0.9, 0.9])
def revolute_door(MiroSystem, d, l, spin, pos):
# Revolving door bottom ring
pos_down = np.array([pos[0], 0.0, pos[2]])
disk_bot = MiroAPI.add_cylinderShape(MiroSystem,
l,
0.01,
1000,
pos_down,
'MITentrance_floor.png',
Collide=False)
# Revolving door top ring
pos_up = np.array([pos[0], pos[1] + 0.1 / 2 + d / 2, pos[2]])
disk_top = MiroAPI.add_cylinderShape(MiroSystem, l, 0.1, 1000, pos_up,
'MITentrance.png')
l = l - 0.03
eps = 0.004
top = pos[1] - eps
mid = pos[1] / 2 + d / 4
bot = d / 2 + eps
dh = np.array([0, d / 2, 0])
# middle pole
pos[1] = mid
mid_pole = greenpole(MiroSystem,
d,
top - bot - d,
spin,
0,
pos,
Fixed=FIXED)
# top cross
pos[1] = top
top_x = greenpole(MiroSystem, d, 2 * (l - d), spin, 90, pos, Fixed=FIXED)
top_y = greenpole(MiroSystem,
d,
2 * (l - d),
spin + 90,
90,
pos,
Fixed=FIXED)
if not FIXED:
dir1 = [np.cos(np.deg2rad(spin)), 0, np.sin(np.deg2rad(spin))]
dir2 = [
np.cos(np.deg2rad(spin + 90)), 0,
np.sin(np.deg2rad(spin + 90))
]
MiroAPI.LinkBodies_Hinge(top_x, top_y, pos, dir1, MiroSystem)
MiroAPI.LinkBodies_Hinge(top_x, top_y, pos, dir2, MiroSystem)
MiroAPI.LinkBodies_Hinge(top_x, mid_pole, pos - dh, dir1, MiroSystem)
MiroAPI.LinkBodies_Hinge(top_x, disk_top, pos + dh, [0, 1, 0],
MiroSystem)
MiroAPI.LinkBodies_Hinge(top_y, disk_top, pos + dh, [0, 1, 0],
MiroSystem)
# bottom cross
pos[1] = bot
bot_x = greenpole(MiroSystem, d, 2 * (l - d), spin, 90, pos, Fixed=FIXED)
bot_y = greenpole(MiroSystem,
d,
2 * (l - d),
spin + 90,
90,
pos,
Fixed=FIXED)
if not FIXED:
MiroAPI.LinkBodies_Hinge(bot_x, bot_y, pos, dir1, MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_x, bot_y, pos, dir2, MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_x, mid_pole, pos + dh, dir1, MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_x, disk_top, pos - dh, [0, -1, 0],
MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_y, disk_top, pos - dh, [0, -1, 0],
MiroSystem)
cross = [[top_x, bot_x], [top_y, bot_y]]
p = np.array([pos[0], mid, pos[2]])
for phi in [0, 90, 180, 270]:
angle = spin + phi
dp = np.array([
np.cos(np.deg2rad(angle)) * (l - d / 2), 0,
-np.sin(np.deg2rad(angle)) * (l - d / 2)
])
rod = greenpole(MiroSystem,
d,
top - bot + d,
angle,
0,
p + dp,
Fixed=FIXED)
if not FIXED:
dh = np.array([0, (top - bot + d) / 2, 0])
top_bar = cross[round(phi / 90) % 2][0]
bot_bar = cross[round(phi / 90) % 2][1]
MiroAPI.LinkBodies_Hinge(top_bar, rod, p + dp + dh, -dp,
MiroSystem)
MiroAPI.LinkBodies_Hinge(bot_bar, rod, p + dp - dh, -dp,
MiroSystem)
# side walls
wid = 0.4
thick = 0.02
angle = -13
height = top - bot + d + 2 * eps
p = np.array([pos[0] - (l + 0.03 + thick / 2), mid, pos[2]])
p[0] = p[0] - np.sin(np.deg2rad(angle)) * wid / 2
p[2] = p[2] - np.cos(np.deg2rad(angle)) * wid / 2
MiroAPI.add_boxShape(MiroSystem,
thick,
height,
wid,
p,
'MITentrance.png',
rotY=angle,
color=[0.02, 0.1, 0.01])
p[2] = p[2] + np.cos(np.deg2rad(angle)) * wid
MiroAPI.add_boxShape(MiroSystem,
thick,
height,
wid,
p,
'MITentrance.png',
rotY=-angle,
color=[0.02, 0.1, 0.01])
p[0] = p[0] + np.sin(np.deg2rad(angle)) * wid + 2 * (l + 0.03 + thick / 2)
MiroAPI.add_boxShape(MiroSystem,
thick,
height,
wid,
p,
'MITentrance.png',
rotY=angle,
color=[0.02, 0.1, 0.01])
p[2] = p[2] - np.cos(np.deg2rad(angle)) * wid
MiroAPI.add_boxShape(MiroSystem,
thick,
height,
wid,
p,
'MITentrance.png',
rotY=-angle,
color=[0.02, 0.1, 0.01])
def build(MiroSystem, SPEEDMODE=False):
frame_h = 1.0
dy = 2 / 3
xspan = [-5.25, 8.35]
yspan = [9.96, 13.96]
zspan = [-8.9, 5.1]
dec = -(yspan[1] - yspan[0] - frame_h) / (zspan[1] - zspan[0])
dy = yspan[1] - yspan[0] - frame_h
#sides
p1 = np.array([-dy / 2, 0, 0])
p2 = np.array([0.16 + dy / 2, 0, 0])
d1 = np.array([0, 0, -1])
d2 = np.array([dec, 0, -1])
s = 0.98
# sideS = MiroAPI.stepShape(p1,d1, p2,d2, zspan[1]-zspan[0], 0.2, [s,s,s])
# sideN = MiroAPI.stepShape(p1,d1, p2,d2, zspan[1]-zspan[0], 0.2, [s,s,s])
# MiroAPI.rotateBody(sideS, rotZ=90)
# MiroAPI.rotateBody(sideN, rotZ=90)
# MiroAPI.MoveBodyTo(sideS, np.array([xspan[0]-0.05, yspan[0]+frame_h + (yspan[1]-yspan[0]-frame_h)/2, zspan[1]+0.1]))
# MiroAPI.MoveBodyTo(sideN, np.array([xspan[1]+0.25, yspan[0]+frame_h + (yspan[1]-yspan[0]-frame_h)/2, zspan[1]+0.1]))
# MiroSystem.Add(sideS)
# MiroSystem.Add(sideN)
# # Top beams
# beams = 4
# dx = (xspan[1] - xspan[0])/(beams-1)
# for b in range(beams):
# p1 = np.array([xspan[0] + dx*b - 0.06, yspan[1]-0.12, zspan[1]-0.06])
# p2 = np.array([xspan[0] + dx*b + 0.06, yspan[1]-0.12, zspan[1]-0.06])
# d1 = np.array([0,dec,-1])
# d2 = np.array([0,dec,-1])
# MiroAPI.add_stepShape(MiroSystem, p1,d1, p2,d2, (zspan[1]-zspan[0])*(np.sqrt(1+dec**2)), 0.2)
# beams = 5
# h_0 = yspan[1]+0.12*dec
# dz = (zspan[1]-zspan[0])/(beams-1) - 0.28/beams
# for b in range(beams):
# pos = np.array([(xspan[0]+xspan[1])/2, h_0+dec*dz*b, zspan[1]-0.12-dz*b])
# MiroAPI.add_boxShapeHemi(MiroSystem, (xspan[1]-xspan[0])/2+0.06, 0.06, 0.06, pos, 'white_smere.jpg', rotX=np.sin(dec), scale=[100, 1.5])
# # Windows
# beams = 10
# dx = (xspan[1] - xspan[0])/(beams-1)
# for b in range(beams):
# pos = np.array([xspan[0] + dx*b, (yspan[1] + yspan[0] + frame_h)/2, zspan[1]])
# MiroAPI.add_boxShapeHemi(MiroSystem, 0.05, (yspan[1] - yspan[0] - frame_h)/2, 0.05, pos, 'white_smere.jpg', scale=[100, 1.5])
# beams = 5
# dy = (yspan[1]-yspan[0]-frame_h)/(beams-1)
# for b in range(beams):
# pos = np.array([(xspan[0]+xspan[1])/2, yspan[0]+frame_h+0.06+dy*b, zspan[1]])
# MiroAPI.add_boxShapeHemi(MiroSystem, (xspan[1]-xspan[0])/2+0.06, 0.06, 0.06, pos, 'white_smere.jpg', scale=[100, 1.5])
# West wall
pos = np.array([(xspan[0] + xspan[1]) / 2, yspan[0] + frame_h / 2,
zspan[1]])
MiroAPI.add_boxShapeHemi(MiroSystem, (xspan[1] - xspan[0] + 0.5) / 2,
frame_h / 2,
0.1,
pos,
'white concrete.jpg',
scale=[40, 5])
# East wall
pos = np.array([(xspan[0] + xspan[1]) / 2, yspan[0] + frame_h / 2,
zspan[0]])
MiroAPI.add_boxShapeHemi(MiroSystem, (xspan[1] - xspan[0] + 0.5) / 2,
frame_h / 2,
0.1,
pos,
'white concrete.jpg',
scale=[40, 5])
# South wall
pos = np.array(
[xspan[0] - 0.15, yspan[0] + frame_h / 2, (zspan[1] + zspan[0]) / 2])
MiroAPI.add_boxShapeHemi(MiroSystem,
0.1,
frame_h / 2, (zspan[1] - zspan[0]) / 2 - 0.1,
pos,
'white concrete.jpg',
scale=[40, 5])
# North wall
pos = np.array(
[xspan[1] + 0.15, yspan[0] + frame_h / 2, (zspan[1] + zspan[0]) / 2])
MiroAPI.add_boxShapeHemi(MiroSystem,
0.1,
frame_h / 2, (zspan[1] - zspan[0]) / 2 - 0.1,
pos,
'white concrete.jpg',
scale=[40, 5])
# MA roof
roofMA_width = 6.6
pos = np.array(
[xspan[1] + roofMA_width / 2 + 0.052, yspan[0] + 0.098, -0.2])
MiroAPI.add_boxShapeHemi(MiroSystem,
roofMA_width / 2,
0.1,
12.5,
pos,
'white concrete.jpg',
scale=[40, 80])
# MC roof
roofMC_width = 3.165
pos = np.array([(xspan[1] + xspan[0]) / 2, yspan[0] + 0.098,
zspan[1] + roofMC_width / 2 + 0.1])
MiroAPI.add_boxShapeHemi(MiroSystem, (xspan[1] - xspan[0]) / 2 + 0.052,
0.1,
roofMC_width / 2,
pos,
'white concrete.jpg',
scale=[80, 10])
# Computer Science roof
roofMC_width = 3.165
pos = np.array([6.85, yspan[0] + 0.098, zspan[1] + roofMC_width + 2.092])
MiroAPI.add_boxShapeHemi(MiroSystem,
1.552,
0.1,
1.992,
pos,
'white concrete.jpg',
scale=[80, 10])
def MIT_Officewalls(MiroSystem, H, wall_t, posW, posE, posS):
corner_windowpane0 = np.array([-5.29, 2 * H + 1.5, 4.99])
first_windowpane0 = np.array([
corner_windowpane0[0] + 0.10, corner_windowpane0[1],
corner_windowpane0[2]
])
corner_windowpane1 = np.array([-0.7, 2 * H + 1.5, 4.99])
first_windowpane1 = np.array([
corner_windowpane1[0] + 0.25, corner_windowpane1[1],
corner_windowpane1[2]
])
corner_windowpane2 = np.array([4.125, 2 * H + 1.5, 4.99])
first_windowpane2 = np.array([
corner_windowpane2[0] + 0.25, corner_windowpane2[1],
corner_windowpane2[2]
])
v_windowpane_size = np.array([0.05, 3, 0.01]) #vertical window pane size
pos_down = np.array([posW[0], posW[1] - 1.26, posW[2]])
pos_up = np.array([posW[0], posW[1] + 1.51, posW[2]])
#concrete part under and over windows
MiroAPI.add_boxShape(MiroSystem,
11.8,
0.8,
0.2,
pos_down,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
11.8,
0.3,
0.2,
pos_up,
texture='white concrete.jpg',
scale=[9, 12])
#1st window vertical
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
corner_windowpane0,
texture='wood_ikea_style.png')
spacingA = 0.61
for k in range(0, 8):
tmp = np.array([spacingA * k, 0, 0])
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
tmp + first_windowpane0,
texture='wood_ikea_style.png')
if k == 3:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([spacingA / 2, 0, 0]) + tmp +
first_windowpane0,
texture='wood_ikea_style.png')
#2nd window vertical
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
corner_windowpane1,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
first_windowpane1,
texture='wood_ikea_style.png')
spacingB = 0.685
for k in range(0, 7):
tmp = np.array([spacingB * k, 0, 0])
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
tmp + first_windowpane1,
texture='wood_ikea_style.png')
if k == 1:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([spacingB / 2, 0, 0]) + tmp +
first_windowpane1,
texture='wood_ikea_style.png')
if k == 4:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([spacingB / 2, 0, 0]) + tmp +
first_windowpane1,
texture='wood_ikea_style.png')
if k == 6:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([0.25, 0, 0]) + tmp +
first_windowpane1,
texture='wood_ikea_style.png')
#3rd window vertical
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
corner_windowpane2,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
first_windowpane2,
texture='wood_ikea_style.png')
spacingC = 0.685
for k in range(0, 4):
tmp = np.array([spacingC * k, 0, 0])
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
tmp + first_windowpane2,
texture='wood_ikea_style.png')
if k == 2:
MiroAPI.add_boxShape(MiroSystem,
v_windowpane_size[0],
v_windowpane_size[1],
v_windowpane_size[2],
np.array([spacingC / 2, 0, 0]) + tmp +
first_windowpane2,
texture='wood_ikea_style.png')
#horizontal windowpanes
h_windowpane_size = np.array([0.05, 4.255,
0.01]) #horizontal window pane size
#2nd window horizontal
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.6,
h_windowpane_size[2], [1.51, 2 * H + 0.015, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.6,
h_windowpane_size[2], [1.51, 2 * H + 0.8, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.6,
h_windowpane_size[2], [1.51, 2 * H + 3 - 0.7, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.6,
h_windowpane_size[2], [1.51, 2 * H + 3, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
# This box is the window
window_pos = [1.51, 2 * H + 1.5 + 0.4, 4.985 + 0.0025]
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
h_windowpane_size[1] + 0.6 - 0.015,
window_pos,
rotY=90,
color=[0.5, 0.6, 0.7, 0.4])
#1st window horizontal
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.36,
h_windowpane_size[2], [-3, 2 * H + 0.015, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.36,
h_windowpane_size[2], [-3, 2 * H + 0.8, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.36,
h_windowpane_size[2], [-3, 2 * H + 3 - 0.7, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] + 0.36,
h_windowpane_size[2], [-3, 2 * H + 3, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
# This box is the window
window_pos = [-3, 2 * H + 1.5 + 0.4, 4.985 + 0.0025]
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
h_windowpane_size[1] + 0.36 - 0.015,
window_pos,
rotY=90,
color=[0.5, 0.6, 0.7, 0.4])
#3rd window horizontal
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] / 2 + 0.3,
h_windowpane_size[2], [5.25, 2 * H + 0.015, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] / 2 + 0.3,
h_windowpane_size[2], [5.25, 2 * H + 0.8, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] / 2 + 0.3,
h_windowpane_size[2], [5.25, 2 * H + 3 - 0.7, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
MiroAPI.add_boxShape(MiroSystem,
h_windowpane_size[0],
h_windowpane_size[1] / 2 + 0.3,
h_windowpane_size[2], [5.25, 2 * H + 3, 4.985],
rotZ=90,
texture='wood_ikea_style.png')
# This box is the window
window_pos = [5.25, 2 * H + 1.5 + 0.4, 4.985 + 0.0025]
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
h_windowpane_size[1] / 2 + 0.3 - 0.015,
window_pos,
rotY=90,
color=[0.5, 0.6, 0.7, 0.4])
test_posS = np.array([posS[0] + 0.105, -0.16 + 0.025, posS[2]])
test_posE = np.array([posE[0], -0.16 + 0.025, posE[2] + 0.11])
make_window(v_windowpane_size[0], v_windowpane_size[1],
v_windowpane_size[2], h_windowpane_size[0],
h_windowpane_size[1], h_windowpane_size[2], test_posS, 'south',
0.685, MiroSystem)
make_window(v_windowpane_size[0], v_windowpane_size[1],
v_windowpane_size[2], h_windowpane_size[0],
h_windowpane_size[1], h_windowpane_size[2], test_posE, 'east',
0.685, MiroSystem)
def make_window(size_vx, size_vy, size_vz, size_hx, size_hy, size_hz, mid_pos,
wall, spacing, MiroSystem): #size_hx, size_hy, size_hz
#wall sets orientation of window, set wall = 'south' or 'east'
# pos sets position
#and spacing sets the spacing between windowpanes
H = 3.32
W = 4.6
dists = np.array([97, 207, 358, 436, 510, 654, 802, 876, 951, 1102, 1213])
dists = dists - (dists[-1] + dists[0]) / 2
dists = dists / dists[-1] * (W - 3 * 0.16) / 2
test = 0.085
if wall == 'south':
#concrete part under and over windows
for fl in range(3):
bot_pos = mid_pos + np.array(
[-0.104, 0.15 + fl * 3.32 + 0.8 / 2, 0])
top_pos = mid_pos + np.array(
[-0.104, 0.15 + fl * 3.32 + 3.33 - 0.3 / 2, 0])
MiroAPI.add_boxShape(MiroSystem,
0.2,
0.8,
W * 3,
bot_pos,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
0.2,
0.3,
W * 3,
top_pos,
texture='white concrete.jpg',
scale=[9, 12])
for wid in range(3):
left_pos = mid_pos + np.array(
[-0.102, 1.5 * 3.32, -6.78 + wid * W])
right_pos = mid_pos + np.array(
[-0.102, 1.5 * 3.32, -6.78 + W - 0.25 + wid * W])
MiroAPI.add_boxShape(MiroSystem,
0.2,
3.32 * 3,
0.25,
left_pos,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
0.2,
3.32 * 3,
0.25,
right_pos,
texture='white concrete.jpg',
scale=[9, 12])
for i in range(1, 6, 2):
lvl_height = np.array([0, i / 2 * H, 0])
for j in [-1, 0, 1]:
lvl_width = np.array([0, 0, j * W])
# This box is the windows.
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
W - 3 * 0.16,
mid_pos + lvl_width + lvl_height +
np.array([-0.0025, 0.4, 0]),
color=[0.5, 0.6, 0.7, 0.6])
for k in range(0, len(dists)):
tmp = np.array([-0.005, 0, dists[k]])
result_pos = mid_pos + lvl_width + lvl_height + tmp
MiroAPI.add_boxShape(MiroSystem,
size_vx,
size_vy,
size_vz,
result_pos,
rotY=90,
texture='wood_ikea_style.png')
for n in [-1, 1]:
hzt_pos = np.array([0, 3 / 2, 0])
r_hzt_pos = mid_pos + n * hzt_pos + lvl_height + lvl_width
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos,
rotX=90,
rotZ=90,
texture='wood_ikea_style.png')
if n == -1:
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos +
np.array([0, 0.8 * n * (-1), 0]),
rotX=90,
rotZ=90,
texture='wood_ikea_style.png')
else:
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos +
np.array([0, 0.7 * n * (-1), 0]),
rotX=90,
rotZ=90,
texture='wood_ikea_style.png')
if wall == 'east':
for fl in range(3):
bot_pos = mid_pos + np.array(
[0, 0.15 + fl * 3.32 + 0.8 / 2, -0.104])
top_pos = mid_pos + np.array(
[0, 0.15 + fl * 3.32 + 3.32 - 0.3 / 2, -0.104])
MiroAPI.add_boxShape(MiroSystem,
W * 3,
0.8,
0.2,
bot_pos,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
W * 3,
0.3,
0.2,
top_pos,
texture='white concrete.jpg',
scale=[9, 12])
for wid in range(3):
left_pos = mid_pos + np.array([-6.8 + wid * W, 1.5 * 3.32, -0.102])
right_pos = mid_pos + np.array(
[-6.8 + W - 0.25 + wid * W, 1.5 * 3.32, -0.102])
MiroAPI.add_boxShape(MiroSystem,
0.25,
3.32 * 3,
0.2,
left_pos,
texture='white concrete.jpg',
scale=[9, 12])
MiroAPI.add_boxShape(MiroSystem,
0.25,
3.32 * 3,
0.2,
right_pos,
texture='white concrete.jpg',
scale=[9, 12])
for i in range(1, 6, 2):
lvl_height = np.array([0, i / 2 * H, 0])
for j in [-1, 0, 1]:
lvl_width = np.array([j * W, 0, 0])
# This box is the windows.
if j != -1 or i != 5:
MiroAPI.add_boxShape(MiroSystem,
0.0025,
3.0 - 0.8,
W - 3 * 0.16,
mid_pos + lvl_width + lvl_height +
np.array([0, 0.4, -0.0025]),
rotY=90,
color=[0.5, 0.6, 0.7, 0.6])
for k in range(0, len(dists)):
tmp = np.array([dists[k], 0, 0])
result_pos = mid_pos + lvl_width + lvl_height + tmp
MiroAPI.add_boxShape(MiroSystem,
size_vz,
size_vy,
size_vx,
result_pos,
rotY=90,
texture='wood_ikea_style.png',
Collide=(j != -1 or i != 5))
for n in [-1, 1]:
hzt_pos = np.array([0, 3 / 2, -0.005])
r_hzt_pos = mid_pos + n * hzt_pos + lvl_height + lvl_width
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos,
rotZ=90,
texture='wood_ikea_style.png')
if n == -1:
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos +
np.array([0, 0.8 * n * (-1), 0]),
rotZ=90,
texture='wood_ikea_style.png')
else:
MiroAPI.add_boxShape(MiroSystem,
size_hx,
size_hy - test,
size_hz,
r_hzt_pos +
np.array([0, 0.7 * n * (-1), 0]),
rotZ=90,
texture='wood_ikea_style.png')
def MIT_floors(system, H, SPEEDMODE):
# Add floor, as a box
floorsNum = 3 # Number of floors
postNum = 19 # Number of fence post on each side of floors center position
floor_l = 12 # Floor length
floor_t = 0.08 # Floor thickness
floor_w = 1.58 # Floor width towards NA
floor_w_2 = 1.95 + 2.11 # towards technology house
texture_floor = [
'textures/MIT_stone_floor.jpg', 'textures/MIT_story_floor.jpg',
'textures/MIT_story_floor.jpg'
]
texture_roof = 'textures/MIT_inner_roof.jpg'
scale_roof = [80, 10]
handle_l = 13.5
for floor in range(floorsNum):
# Add floors
y_pos = floor * H - floor_t
floor_pos_1 = np.array([-3.5, y_pos, 6.58]) # Add floors towards NA
floor_pos_2 = np.array([10.45 + 2.11, y_pos, -4 - 0.42
]) # Add floors towards technology house
floor_pos_3 = np.array([-10.2, y_pos,
-7]) # Add floor in NTK cooriodor
floor_pos_4 = np.array([1.5, y_pos, -13.45
]) # Add floor in NTK cooriodor (-z direction)
MiroAPI.add_boxShapeHemi(system, floor_l, floor_t, floor_w,
floor_pos_1, texture_floor[floor], [50, 3.6])
MiroAPI.add_boxShapeHemi(system, floor_w_2, floor_t, floor_l + 0.58,
floor_pos_2, texture_floor[floor], [18, 28])
MiroAPI.add_boxShapeHemi(system, 0.85, floor_t, floor_l, floor_pos_3,
texture_floor[floor], [50, 3.6])
MiroAPI.add_boxShapeHemi(system, 7, floor_t, 0.85, floor_pos_4,
texture_floor[floor], [18, 28])
if floor > 0 and SPEEDMODE == False:
add_fence(system, H, postNum, floor_w, floor_w_2, floor, floor_t,
handle_l)
for roof in range(floorsNum):
# Add roof
y_pos = roof * H - 3 * floor_t #+0.025
roof_pos_1 = np.array([-3.5, y_pos, 6.58]) # Add roof towards NA
roof_pos_2 = np.array([10.45 + 2.11, y_pos,
-4 - 0.42]) # Add roof towards technology house
roof_pos_3 = np.array([-10.2, y_pos,
-7]) # Add roof in NTK cooriodor (-x direction)
roof_pos_4 = np.array([1.5, y_pos, -13.45
]) # Add roof in NTK cooriodor (-z direction)
MiroAPI.add_boxShapeHemi(system, floor_l, floor_t, floor_w, roof_pos_1,
texture_roof, [100, 10])
MiroAPI.add_boxShapeHemi(system, floor_w_2, floor_t, floor_l + 0.58,
roof_pos_2, texture_roof, [35, 80])
MiroAPI.add_boxShapeHemi(system, 0.85, floor_t, floor_l, roof_pos_3,
texture_roof, [35, 80])
MiroAPI.add_boxShapeHemi(system, 7, floor_t, 0.85, roof_pos_4,
texture_roof, [100, 10])
# Office floors
for floor in range(floorsNum):
# Add floors
y_pos = floor * H - floor_t
floor_pos_3 = np.array([-7.425, y_pos, -7
]) # Add roof in NTK cooriodor (-x direction)
floor_pos_4 = np.array([1.5, y_pos, -10.8
]) # Add roof in NTK cooriodor (-z direction)
MiroAPI.add_boxShapeHemi(system, 1.925, floor_t, floor_l, floor_pos_3,
'wood_ikea_style.png', [35, 80])
MiroAPI.add_boxShapeHemi(system, 7, floor_t, 1.8, floor_pos_4,
'wood_ikea_style.png', [100, 10])
for roof in range(floorsNum):
# Add roof
y_pos = roof * H - 3 * floor_t
roof_pos_3 = np.array([-7.425, y_pos,
-7]) # Add roof in NTK cooriodor (-x direction)
roof_pos_4 = np.array([1.5, y_pos, -10.8
]) # Add roof in NTK cooriodor (-z direction)
MiroAPI.add_boxShapeHemi(system, 1.925, floor_t, floor_l, roof_pos_3,
texture_roof, [35, 80])
MiroAPI.add_boxShapeHemi(system, 7, floor_t, 1.8, roof_pos_4,
texture_roof, [100, 10])
# Add floor piece by the stair
floor_x = 1.03
floor_z = 1.03
for piece in range(floorsNum):
y_pos = piece * H - floor_t * 0.999
floor_pos = np.array([7.5, y_pos + 0.002, 4])
MiroAPI.add_boxShapeHemi(system, floor_x, floor_t, floor_z, floor_pos,
texture_floor[0], [4, 2])
for piece in range(floorsNum):
if piece > 0:
y_pos = piece * H - 3 * floor_t
floor_pos = np.array([7.5, y_pos + 0.002, 4])
MiroAPI.add_boxShapeHemi(system, floor_x, floor_t, floor_z,
floor_pos, texture_roof, [12, 9])
# Add walkway towards umu library
length = 10.5
width = 2
for i in range(2):
y = i * H + H - floor_t
pos = np.array([10, y, 10.16])
MiroAPI.add_boxShapeHemi(system, length, floor_t, width, pos,
texture_floor[1], [48.9, 6])
for i in range(2):
y = i * H + H - 3 * floor_t
pos = np.array([10, y, 10.16])
MiroAPI.add_boxShapeHemi(system, length, floor_t, width, pos,
texture_roof, scale_roof)
# Add MIT entrence floor
pos = np.array([6.2, 0 - floor_t, 10.16])
MiroAPI.add_boxShapeHemi(system, 6.5, floor_t, 2, pos, texture_floor[0],
[30, 6])
# Add horizontal beam along floors
beam_length = 5.87
for floor in range(floorsNum):
beam_corr_2 = floor_w_2 + 0.99 * floor_t / 2 # Technology
beam_corr = floor_w + 0.99 * floor_t / 2 # Na
if floor > 0:
y_pos = floor * H - 2 * floor_t
floor_pos_1 = np.array([0.63, y_pos,
6.58 - beam_corr]) # Towards NA
floor_pos_2 = np.array([10.45 + 2.11 - beam_corr_2, y_pos,
-2.9]) # Towards technology
MiroAPI.add_boxShapeHemi(system, beam_length, 2 * floor_t,
floor_t / 2, floor_pos_1,
'textures/white concrete.jpg')
MiroAPI.add_boxShapeHemi(system, floor_t / 2, 2 * floor_t,
beam_length, floor_pos_2,
'textures/white concrete.jpg')
def UNbox(MiroSystem, pos, goal_nr, skew):
pos[1] = pos[1]+0.2
MiroAPI.add_boxShape(MiroSystem, 0.4, 0.4, 0.4, pos, density=8, rotY=skew, texture='UN_'+str(goal_nr)+'.png', Fixed=False)
def MIT_walls(system, H):
# Add main walls as a box
wall_t = 0.1
wall_h = 3 / 2 * H
texture_wall = 'textures/yellow_brick.jpg'
scale = [10, 10] # Texture scale
pos_3_3 = np.array([-4.5, 0 + 3 / 2 * H, 8.16 + wall_t])
pos_3_4 = np.array([-4.5 - wall_t, 5 / 2 * H, 8.16 + wall_t])
MiroAPI.add_boxShapeHemi(system, 11, H / 2, wall_t, pos_3_3, texture_wall,
[10, 10]) # Positive z direction
MiroAPI.add_boxShapeHemi(system, 11 - wall_t, H / 2, wall_t, pos_3_4,
texture_wall, [10, 10]) # Positive z direction
# Add support colums as a box
beam_h = 3 / 2 * H
beam_w = 0.08
beam_pos_1 = np.array([4, 0 + beam_h, 5]) # Close left of stair
beam_pos_2 = np.array([-0.8, 0 + 4 / 3 * beam_h, 5]) # Left of stair
beam_pos_3 = np.array([8.5, 0 + beam_h, 0.5]) # Close right of stair
beam_pos_4 = np.array([8.5, 0 + beam_h, -4.3]) # Right of stair
beam_pos_5 = np.array([8.5, 0 + beam_h, 5]) # Middle beam
MiroAPI.add_boxShapeHemi(system, beam_w, beam_h, beam_w, beam_pos_1,
'textures/white concrete.jpg', scale)
MiroAPI.add_boxShapeHemi(system, beam_w, 2 / 3 * beam_h, beam_w,
beam_pos_2, 'textures/white concrete.jpg', scale)
MiroAPI.add_boxShapeHemi(system, beam_w, beam_h, beam_w, beam_pos_3,
'textures/white concrete.jpg', scale)
MiroAPI.add_boxShapeHemi(system, beam_w, beam_h, beam_w, beam_pos_4,
'textures/white concrete.jpg', scale)
MiroAPI.add_boxShapeHemi(system, beam_w, beam_h, beam_w, beam_pos_5,
'textures/white concrete.jpg', scale)
# Beams along wall
for beam in range(5):
x = 12.75 + beam * 0.46
z = 8.16 + 0.05 + wall_t - beam * 4.47
beam_pos = np.array([x, 0 + beam_h, z])
MiroAPI.add_boxShapeHemi(system, beam_w, beam_h, beam_w, beam_pos,
'textures/white concrete.jpg', scale)
#-------------2nd floor---------------
# Add wall, 2nd floor towards MIT place
bWall_height = H / 2 - wall_t
pos = np.array([-1.82, 0 + bWall_height, 5 + wall_t])
MiroAPI.add_boxShapeHemi(system, 3.48, bWall_height, wall_t, pos,
'textures/storage_wall.jpg', [12, 15])
# Add wall, 2nd floor towards NA (positive z direction)
pos = np.array([-7, H / 2, 8.16 + wall_t])
MiroAPI.add_boxShapeHemi(system, 8.75 - wall_t, H / 2, wall_t, pos,
'textures/yellow_brick.jpg', [5, 5])
# Add entrence wall (positive x direction)
pos = np.array([12.7 + wall_t, 0 + H / 2 - 0.1, 10.18])
MiroAPI.add_boxShapeHemi(system, wall_t, H / 2 - 0.1, 1.9, pos,
'textures/yellow_brick.jpg', [5, 5])
# Add entrence wall (negative x direction)
pos = np.array([-0.4, 0 + H / 2 - 0.16, 9.86])
MiroAPI.add_boxShapeHemi(system,
wall_t,
H / 2 - 0.16,
1.5,
pos,
'textures/door_cs.jpg', [4, 3],
Collide=False)
# Add entrence corridor (negative x direction)
pos = np.array([0.65, 0 + H / 2 - 0.1, 11.41])
MiroAPI.add_boxShapeHemi(system, 1, H / 2 - 0.1, wall_t, pos,
'textures/white concrete.jpg', [5, 5])
# Add 2nd entrence wall (negative x direction)
pos = np.array([1.6, 0 + H / 2 - 0.1, 6.5 + wall_t + 0.01 + 0.05])
MiroAPI.add_boxShapeHemi(system, wall_t, H / 2 - 0.1, 1.5 + wall_t + 0.05,
pos, 'textures/yellow_brick.jpg', [5, 5])
#-------------3rd floor---------------
# Add wall, 3rd floor (negative x direction) MIT info screen
pos = np.array([6.5 - wall_t, 0 + 3 / 2 * H - 0.16, 10.16 + wall_t])
MiroAPI.add_boxShapeHemi(system, wall_t, H / 2 - 0.16, 2 - wall_t, pos,
'textures/yellow_brick.jpg', [5, 5])
# Add wall, 3rd floor towards NA 1 (negative z direction)
pos = np.array([-7.6, 0 + 3 / 2 * H, 5.65])
MiroAPI.add_boxShapeHemi(system, 1.75, H / 2, wall_t, pos,
'textures/white concrete.jpg', [10, 7])
# Add wall, 3rd floor towards NA 2 (negative z direction)
pos = np.array([-11.3, 0 + 3 / 2 * H, 5.65])
MiroAPI.add_boxShapeHemi(system, 0.25, H / 2, wall_t, pos,
'textures/yellow_brick.jpg', [1, 1], False)
# Add wall, 3rd floor corridor towards NTK (negative x direction)
for wall in range(2):
x = -11.05 + wall * (1.71 + wall_t)
pos = np.array([x, 0 + 3 / 2 * H, 5.25])
MiroAPI.add_boxShapeHemi(system, wall_t, H / 2, 0.4, pos,
'textures/yellow_brick.jpg', [1, 1], False)
# Add wall, 3rd floor NTK door (negative z direction)
# pos = np.array([-10.2, 0+3/2*H, 5])
# MiroAPI.add_boxShapeHemi(system, 0.85, H/2, wall_t, pos, 'textures/door_ntk.jpg', [-4,-3], False)
# Add wall, 3rd floor NA corridor end (negative x direction)
pos = np.array([-11.55, 3 / 2 * H - 0.16, 6.95])
MiroAPI.add_boxShapeHemi(system, wall_t, H / 2 - 0.16, 1.25, pos,
'textures/mit_3rd_na2.jpg', [4, 3])
# Add wall, 3rd floor towards MIT fountain
pos = np.array([11.65, 3 / 2 * H, 12.16 + wall_t])
MiroAPI.add_boxShapeHemi(system, 5.15, H / 2, wall_t, pos,
'textures/yellow_brick.jpg', [5, 5])
# Add wall, 3rd floor wall, left hand side towards UMU library (negative z direction)
pos = np.array([18.3, 3 / 2 * H - wall_t, 12.16 + wall_t])
MiroAPI.add_boxShapeHemi(system, 1.5, H / 2 - wall_t, wall_t, pos,
'textures/white concrete.jpg', [3, 3])
# Add wall, 3rd floor UMU library end (negative x direction)
pos = np.array([19.9, 3 / 2 * H - 0.16, 10.56])
MiroAPI.add_boxShapeHemi(system, wall_t, H / 2 - 0.16, 1.6, pos,
'textures/mit_3rd_sam.jpg', [-4, -3])
#-------------4th floor---------------
# Add wall, 4th floor flower pot (Negative x direction)
pos = np.array([6.5 - wall_t + 0.01, 5 / 2 * H, 7.08 + wall_t + 0.01])
MiroAPI.add_boxShapeHemi(system, wall_t, H / 2, 2.08 + wall_t, pos,
'textures/white concrete.jpg', [5, 5])
# Add wall, 4th floor data cooridor (negative x direction)
pos = np.array([5.5 - wall_t, 0 + 5 / 2 * H, 10.66 + wall_t])
MiroAPI.add_boxShapeHemi(system,
wall_t,
H / 2,
1.5 - wall_t,
pos,
'textures/door_cs.jpg', [4, 3],
Collide=False)
# Add 4th floor wall (positive x direction)
pos = np.array([12.7 + wall_t, 0 + 5 / 2 * H, 10.18])
MiroAPI.add_boxShapeHemi(system, wall_t, H / 2, 1.9, pos,
'textures/yellow_brick.jpg', [2, 2])
# Add wall, 4th floor towards NA (negative z direction)
pos = np.array([-9.3 - wall_t, 0 + 5 / 2 * H, 5 - wall_t])
MiroAPI.add_boxShapeHemi(system, 4 - wall_t, H / 2, wall_t, pos,
'textures/yellow_brick.jpg', [10, 7], False)
# Add wall, 4th floor wall towards MIT fountain
pos = np.array([9, 5 / 2 * H, 12.16 + wall_t])
MiroAPI.add_boxShapeHemi(system, 3.5, H / 2, wall_t, pos,
'textures/white concrete.jpg', [5, 5])
#----------------Other----------------
# Add white wall extension, technology
pos = np.array([9.9, 3 / 2 * H, -8.8 - wall_t])
MiroAPI.add_boxShapeHemi(system, 1.4, 3 / 2 * H, wall_t, pos,
'textures/white concrete.jpg', [5, 5])
# Add wall towards technology building (negative x direction)
pos = np.array([8.5 - wall_t + 2.8, 0 + 3 / 2 * H, -11.8 - wall_t + 1.1])
MiroAPI.add_boxShapeHemi(system, wall_t, 3 / 2 * H, 1.9 - wall_t, pos,
'textures/white concrete.jpg', [10, 10])
# Add office cooridor wall (negative x direction)
pos = np.array([-11.05, 0 + 3 / 2 * H, -7])
MiroAPI.add_boxShapeHemi(system, wall_t, 3 / 2 * H, 12, pos,
'textures/white concrete.jpg', [10, 10])
# Add office wall (negative x direction)
pos = np.array([-9.35, 0 + 3 / 2 * H, -1.9])
MiroAPI.add_boxShapeHemi(system, wall_t, 3 / 2 * H, 6.9, pos,
'textures/white concrete.jpg', [10, 10])
# Add office wall (negative z direction)
pos = np.array([1.5, 0 + 3 / 2 * H, -12.6])
MiroAPI.add_boxShapeHemi(system, 7, 3 / 2 * H, wall_t, pos,
'textures/white concrete.jpg', [10, 10])
# Add office cooridor wall (negative z direction)
pos = np.array([1.5, 0 + 3 / 2 * H, -14.3])
MiroAPI.add_boxShapeHemi(system, 7, 3 / 2 * H, wall_t, pos,
'textures/white concrete.jpg', [10, 10])
# Add office end
pos = np.array([-8.5, 0 + 3 / 2 * H, -19])
MiroAPI.add_boxShapeHemi(system, 2.65, 3 / 2 * H, wall_t, pos,
'textures/white concrete.jpg', [10, 10])
# Add elevator shaft
for floor in range(3):
y_pos = H * floor + H / 2
pos = np.array([10.7, y_pos, 12.1])
MiroAPI.add_boxShapeHemi(system, 2.034, H / 2, wall_t, pos,
'textures/elevator.png', [4, 3])
# Add end wall, towards technology
texture = [
'textures/mit_4th.jpg', 'textures/mit_4th.jpg', 'textures/mit_4th.jpg'
]
for floor in range(3):
y_pos = H * floor + H / 2
pos = np.array([10.5 + 2.8 - 0.23, y_pos, -17 + 2.2 + 2.2])
MiroAPI.add_boxShapeHemi(system,
1.77,
H / 2,
wall_t,
pos,
texture[floor], [-4, -3],
Collide=False)
#Add oblique walls
n = np.array([0, 1, 0]) # Normal vector for rotation
alpha = -np.arctan(211 / 1380 - 0.05) # Rotation angle for positive x wall
#Add oblique wall towards umu libary
pos_1 = np.array([16.3, 3 / 2 * H - wall_t, 0.34 + 8.16 + wall_t])
dim_1 = np.array([wall_t, H / 2, 3.6])
ang_1 = np.pi * (0.5 - 0.03)
sca_1 = [10, 10]
#Add oblique wall towards NA
pos_2 = np.array([-5.6 - wall_t, 3 / 2 * H, 5.3])
dim_2 = np.array([wall_t, H / 2, 0.545])
ang_2 = -(np.pi / 4)
#Main wall in positive x direction
pos_3 = np.array([13.775 + wall_t, 0, -2.2]) + np.array([0, wall_h, 0])
ang_3 = alpha
dim_3 = np.array([wall_t, wall_h, 10.58])
pos_ob = [pos_1, pos_2, pos_3]
dim = [dim_1, dim_2, dim_3]
ang = [ang_1, ang_2, ang_3]
textures = [texture_wall, 'textures/white concrete.jpg', texture_wall]
scale = [sca_1, sca_1, sca_1]
for i in range(len(pos_ob)):
# Create a box
MiroAPI.add_boxShapeHemi(system,
dim[i][0],
dim[i][1],
dim[i][2],
pos_ob[i],
rotY=ang[i],
rotDegrees=False,
texture=textures[i],
scale=scale[i])
def trialsurface(MiroSystem, target):
nx = 10
dz = 1.4
diag = 0.2
eps = 0.008
box_side = diag/np.sqrt(2)
h = diag/2
for i in range(nx):
pos = np.array([target[0] - (nx - 1 - 2*i)*diag/2, target[1]-h, target[2]])
MiroAPI.add_boxShape(MiroSystem, box_side, box_side, dz, pos, rotZ=45, texture='white concrete.jpg')
th = 1.2*h
pos = np.array([target[0], target[1]-h-th/2, target[2]])
MiroAPI.add_boxShape(MiroSystem, nx*diag+2*eps, th, dz+2*eps, pos, texture='wood_ikea_style.png')
r = 0.03
h = target[1]-th-h
d = 0.1
# [+, +]
pos = np.array([target[0] + nx*diag/2 - d, h/2, target[2] + dz/2 -d])
MiroAPI.add_cylinderShape(MiroSystem, r, h, 2500, pos, 'chrome.png', scale=[2,2])
# [-, +]
pos = np.array([target[0] - nx*diag/2 + d, h/2, target[2] + dz/2 -d])
MiroAPI.add_cylinderShape(MiroSystem, r, h, 2500, pos, 'chrome.png', scale=[2,2])
# [-, -]
pos = np.array([target[0] - nx*diag/2 + d, h/2, target[2] - dz/2 +d])
MiroAPI.add_cylinderShape(MiroSystem, r, h, 2500, pos, 'chrome.png', scale=[2,2])
# [+, -]
pos = np.array([target[0] + nx*diag/2 - d, h/2, target[2] - dz/2 +d])
MiroAPI.add_cylinderShape(MiroSystem, r, h, 2500, pos, 'chrome.png', scale=[2,2])
def AddToSystem(self, system):
MiroAPI.add_boxShape(system, self.width, self.height, 0.05, self.position, 'textures/notifboard.png', rotX=self.tilt_angle, rotY=self.turn_angle, rotDegrees=False)
self.bulb = MiroAPI.add_sphereShape(system, self.radius, self.position+self.bulb_pos, 'textures/notifbulb.png', rotX=self.tilt_angle+np.pi/2, rotY=self.turn_angle, rotDegrees=False)
def painting(MiroSystem, pos, text = 'DemoBengan.png', rot = 0, dims = [1, 0.6]):
MiroAPI.add_boxShapeHemi(MiroSystem, dims[0], dims[1], 0.05, pos, rotY=rot, texture=text, Collide=False)
def Set_Ready(self):
MiroAPI.rotateBody(self.bulb, rotAngle=-180, rotAxis=self.bulb_pos)
def pokeball(MiroSystem, pos, rot = 0):
r = 0.05
MiroAPI.add_sphereShape(MiroSystem, r, [pos[0], pos[1]+r, pos[2]], texture='pokeball.jpg', density = 100, Fixed=False, rotY=rot)
def Add(self, Object):
'''Adds a ChBody/agxRigidBody or similar to the underlying system.'''
MiroAPI.AddObjectByAPI(self.system_list, Object)
def table_leg(MiroSystem, leg_pos, size_leg_r, size_leg_h):
# creating the cylinder leg
return MiroAPI.add_cylinderShape(MiroSystem, size_leg_r, size_leg_h, 1200, leg_pos, texture='chrome.png', Fixed=FIXED)