def podium(MiroSystem, pos, spin=0):
foot_h = 0.01
foot_r = 0.9
leg_h = 0.005
leg_r = 0.02
podium_r= 0.9
podium_h = 0.01
foot_pos = [pos[0], pos[1]+foot_h/2, pos[2]]
leg_pos = [pos[0], pos[1]+foot_h+leg_h/2, pos[2]]
podium_pos = [pos[0], pos[1]+foot_h+leg_h+podium_h/2, pos[2]]
# Foot
foot = MiroAPI.add_cylinderShape(MiroSystem, foot_r, foot_h, 1000, foot_pos, texture='black.jpg', Fixed=False)
# Pole
leg = MiroAPI.add_cylinderShape(MiroSystem, leg_r, leg_h, 500, leg_pos, texture='gammal5kr.png', Fixed=False)
# Sign
podium = MiroAPI.add_cylinderShape(MiroSystem, podium_r, podium_h, 1000, podium_pos, texture='podium-logo.jpg', Fixed=False)
# Hinges
h1 = [pos[0], pos[1]+foot_h, pos[2]]
h2 = [pos[0], pos[1]+foot_h+leg_h, pos[2]]
MiroAPI.LinkBodies_Hinge(foot, leg, h1, [0,1,0], MiroSystem)
MiroAPI.LinkBodies_Hinge(leg, podium, h2, [0,1,0], MiroSystem)
if spin:
MiroAPI.SetBodyAngularFrequency(podium, spin)
def add_stairPosts(system, center, stair_r, h, theta_f, theta_b):
width = 1.53
dir_f = np.array([np.cos(theta_f), 0,
np.sin(theta_f)]) # Direction front of step
pos_f = center + dir_f * stair_r + np.array([0, h, 0])
dir_b = np.array([np.cos(theta_b), 0,
np.sin(theta_b)]) # Direction back of step
pos_b = center + dir_b * stair_r + np.array([0, h, 0])
# Add rail pole for stair
post_r = 0.02 # Radius
post_h = 1.3 # Height
post_d = 1 # Density
texture = 'textures/white concrete.jpg'
dir_f = width * dir_f / np.linalg.norm(dir_f)
dir_b = width * dir_b / np.linalg.norm(dir_b)
pos_pole = (pos_f + pos_b) / 2 + (dir_f + dir_b) / 2 + np.array(
[0, post_h / 2, 0]) # Position
MiroAPI.add_cylinderShape(system,
post_r,
post_h,
post_d,
pos_pole,
texture,
rotDegrees=False)
def sponsorFlag(MiroSystem, pos, logo, spin=0):
foot_h = 0.08
foot_r = 0.3
leg_h = 0.4
leg_r = 0.02
sign_h = 1.6
sign_w = 0.6
sign_t = 0.03
foot_pos = [pos[0], pos[1]+foot_h/2, pos[2]]
leg_pos = [pos[0], pos[1]+foot_h+leg_h/2, pos[2]]
sign_pos = [pos[0], pos[1]+foot_h+leg_h+sign_h/2, pos[2]]
# Foot
foot = MiroAPI.add_cylinderShape(MiroSystem, foot_r, foot_h, 1000, foot_pos, texture='black_smere.jpg', Fixed=False, scale=[1,-1])
# Pole
leg = MiroAPI.add_cylinderShape(MiroSystem, leg_r, leg_h, 500, leg_pos, texture='black_smere.jpg', Fixed=False, scale=[1,-1])
# Sign
sign = MiroAPI.add_boxShape(MiroSystem, sign_w, sign_h, sign_t, sign_pos, density=30, texture=logo, Fixed=False)
# Hinges
h1 = [pos[0], pos[1]+foot_h, pos[2]]
h2 = [pos[0], pos[1]+foot_h+leg_h, pos[2]]
MiroAPI.LinkBodies_Hinge(foot, leg, h1, [0,1,0], MiroSystem)
MiroAPI.LinkBodies_Hinge(leg, sign, h2, [0,1,0], MiroSystem)
if spin:
MiroAPI.SetBodyAngularFrequency(sign, spin)
def dartboard(MiroSystem, target):
h = 0.15
eps = 0.0025
size = 1
pos_a = np.array([target[0], target[1]-eps, target[2]])
pos_b = np.array([target[0], target[1]-(h+2*eps)/2, target[2]])
# Create dartboard layer
MiroAPI.add_cylinderShape(MiroSystem, size, eps, 1000, pos_a, 'target_dart.png', Collide=False, scale=[-1,1])
# Create Hitbox
MiroAPI.add_cylinderShape(MiroSystem, size, h, 1000, pos_b, 'black_smere.jpg', scale=[8,-1])
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 MC2XX(M1, M2, rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False):
size_h = M1
size_r = M2
density_brick = density['ABS'] # kg/m^3
body_brick = MiroAPI.add_cylinderShape(False,
size_r,
size_h,
density_brick,
pos,
Fixed=False,
texture='MITstol.jpg')
# Generate MiroComponent with above ChBody
COMPONENT = mc.MiroComponent(body_brick)
COMPONENT.AddLinkPoint('A', [0, 1, 0], [0, size_h / 2, 0])
COMPONENT.AddLinkPoint('B', [0, -1, 0], [0, -size_h / 2, 0])
COMPONENT.AddLinkPoint('C', [1, 0, 0], [size_r, 0, 0])
COMPONENT.AddLinkPoint('D', [-1, 0, 0], [-size_r, 0, 0])
COMPONENT.AddLinkPoint('E', [0, 0, 1], [0, 0, size_r])
COMPONENT.AddLinkPoint('F', [0, 0, -1], [0, 0, -size_r])
COMPONENT.Rotate(rot)
return COMPONENT
def sodacan(MiroSystem, target, text = 'schrodbull.png', angle = 0, SPEEDMODE = False):
h = 0.22
r = 0.04
eps = 0.003
epsvec = np.array([0, eps/2, 0])
pos_can = np.array([target[0], target[1]+h/2+eps, target[2]])
# Create Can Hitbox
can = MiroAPI.add_cylinderShape(MiroSystem, r, h, 50, pos_can, rotY=angle, texture=text, Fixed=False, scale=[1,-1])
# Create lid and bottom
pos_lid = np.array([target[0], target[1]+eps*3/2+h, target[2]])
lid = MiroAPI.add_cylinderShape(MiroSystem, r, eps, 150, pos_lid, rotY=angle, texture='sodacan_lid.png', Fixed=False, scale=[1,1])
pos_bot = np.array([target[0], target[1]+eps/2, target[2]])
bot = MiroAPI.add_cylinderShape(MiroSystem, r, eps, 200, pos_bot, rotY=angle, texture='sodacan_bot.png', Fixed=False, scale=[1,1])
MiroSystem.Add(MiroAPI.LinkBodies_Hinge(can, lid, pos_lid-epsvec, [0, 1,0]))
MiroSystem.Add(MiroAPI.LinkBodies_Hinge(can, bot, pos_bot+epsvec, [0,-1,0]))
def add_stairHandle(system, width, dir_f, pos_f, dir_b, pos_b, dh, i, stepNum):
# Add spiral rail for stair
handle_r = 0.0175 # Radius
handle_l = 0.445 # Length
handle_d = 1 # Density
texture_handle = 'textures/wood_floor.jpg'
rail_r = 0.025 # Radius
rail_l = 0.45 # Length
rail_d = 1 # Density
texture_rail = 'textures/white concrete.jpg'
dir_f = width * dir_f / np.linalg.norm(dir_f)
dir_b = width * dir_b / np.linalg.norm(dir_b)
n = (dir_f + dir_b) / 2
pos_handle = (pos_f + pos_b) / 2 + (dir_f + dir_b) / 2 + np.array(
[0, 1.3, 0]) # Handle rail
pos_rail_1 = (pos_f + pos_b) / 2 + (dir_f + dir_b) / 2 + np.array(
[0, 1, 0]) # Upper support rail
pos_rail_2 = (pos_f + pos_b) / 2 + (dir_f + dir_b) / 2 + np.array(
[0, 0.3, 0]) # Lower support rail
dist = np.sqrt(
(dir_f[0] - dir_b[0])**2 + (dir_f[1] - dir_b[1])**2 +
(dir_f[2] - dir_b[2])**2) # Calculate distance between dir_f and dir_b
alpha = np.pi / 2
if dh > 0:
alpha = np.arctan((dist + 0.07) / dh)
MiroAPI.add_cylinderShape(system,
handle_r,
handle_l,
handle_d,
pos_handle,
texture_handle,
rotAngle=alpha,
rotAxis=n,
rotDegrees=False)
if 0 < i and i < stepNum - 1:
MiroAPI.add_cylinderShape(system,
rail_r,
rail_l,
rail_d,
pos_rail_1,
texture_rail,
rotAngle=alpha,
rotAxis=n,
rotDegrees=False)
MiroAPI.add_cylinderShape(system,
rail_r,
rail_l,
rail_d,
pos_rail_2,
texture_rail,
rotAngle=alpha,
rotAxis=n,
rotDegrees=False)
def MCB01(trigger_function,
pulses=1,
rot=[0, 0, 0],
pos=[0, 0, 0],
Fixed=False):
'''A booster that emits a 0.5N, 0.4s pulse when the trigger function returns True.\n
Can emit up to 5 consecutive pulses based on input argument.\n
The trigger function must follow the form:\n
def trigger_function(position, velocity, acceleration)'''
if pulses > 5:
pulses = 5
if pulses < 0:
pulses = 0
pulses = np.round(pulses)
size_h = 0.05
size_r = 0.0075
density_brick = 0.02 / (np.pi * size_r**2 * size_h) # kg/m^3
booster_body = MiroAPI.add_cylinderShape(False,
size_r,
size_h,
density_brick,
pos,
'booster.png',
scale=[1, -1],
Fixed=False)
# Generate MiroComponent with above ChBody
BOOSTER = mc.MiroBooster(booster_body)
BOOSTER.SetTrigger(trigger_function)
BOOSTER.SetFuel(400 * pulses)
BOOSTER.SetForce(0.5)
BOOSTER.AddLinkPoint('A', [1, 0, 0], [size_r, size_h / 2 - 0.01, 0])
BOOSTER.AddLinkPoint('B', [1, 0, 0], [size_r, -size_h / 2 + 0.01, 0])
BOOSTER.AddLinkPoint('C', [0, 0, 1], [0, size_h / 2 - 0.01, size_r])
BOOSTER.AddLinkPoint('D', [0, 0, 1], [0, -size_h / 2 + 0.01, size_r])
BOOSTER.Rotate(rot)
BOOSTER.MoveToPosition(pos)
return BOOSTER
def floorvent(MiroSystem, target, SPEEDMODE = False):
h = 0.85
r = 0.30
h1 = 0.20
h3 = 0.04
h2 = h - h1 - h3
pos_base = np.array([target[0], target[1]+h1/2, target[2]])
pos_vent = np.array([target[0], target[1]+h2/2+h1, target[2]])
pos_topp = np.array([target[0], target[1]+h3/2+h1+h2, target[2]])
MiroAPI.add_cylinderShape(MiroSystem, r-0.02, h1, 1500, pos_base, texture='vents_surface.jpg')
MiroAPI.add_cylinderShape(MiroSystem, r, h2, 1500, pos_vent, texture='vents.jpg')
MiroAPI.add_cylinderShape(MiroSystem, r, h3, 1500, pos_topp, texture='vents_surface.jpg')
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 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 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 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 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 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 screen(system, SPEEDMODE=False):
size_length = 4
size_width = 0.01
size_height = size_length / (4 / 3)
# Screen
grouplogo_file = '../GroupLogo_local.png'
if not os.path.isfile('GroupLogo_local.png'):
grouplogo_file = '../GroupLogo.png'
alpha = np.pi / 10
beta = np.pi / 4
corner_pos = np.array([-5.3, 3.55, -8.8])
delta_tilt = np.array([
np.sin(alpha) / np.sqrt(2),
np.cos(alpha),
np.sin(alpha) / np.sqrt(2)
]) * size_height / 2
screen_pos = corner_pos + np.array([1 / np.sqrt(8), 0, 1 / np.sqrt(8)
]) * size_length + delta_tilt
MiroAPI.add_boxShape(system,
size_length,
size_height,
size_width,
screen_pos,
texture=grouplogo_file,
scale=[-4, -3],
rotX=alpha,
rotY=beta,
rotDegrees=False)
# Top cylinder
r = 0.08
roll_pos = screen_pos + delta_tilt * (
(1.9 * r + size_height) / size_height)
MiroAPI.add_cylinderShape(system,
0.08,
4.15,
1000,
roll_pos,
texture=False,
rotAngle=90,
rotAxis=[1, 0, 1])
if not SPEEDMODE:
# Hanging bars
bar_h = 0.05
roller_mid = screen_pos + delta_tilt * (
(3.9 * r + size_height) / size_height) + np.array(
[0, bar_h / 2, 0])
dz = np.array([0, 0, 0.25])
dx = np.array([0.25, 0, 0])
offset = np.array([1 / np.sqrt(2), 0, -1 / np.sqrt(2)]) * 1.8
MiroAPI.add_boxShape(system,
bar_h,
bar_h,
1.2,
roller_mid + offset - dz,
texture=False)
MiroAPI.add_boxShape(system,
1.2,
bar_h,
bar_h,
roller_mid - offset - dx,
texture=False)
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)