def addNotification(self):
if self.text_table:
start_row = self.row - len(self.text_table)
for i, v in enumerate(self.text_table):
self.app.getSceneDecorator().setText(
start_row + i - 1, v, agx.Vec4f(0.3, 0.6, 0.7, 1))
self.app.getSceneDecorator().setText(self.row,
"Press e to start simulation",
agx.Vec4f(0.3, 0.6, 0.7, 1))
def pre(self, t):
if t > 3.0:
self.app.getSceneDecorator().setText(self.row, "",
agx.Vec4f(1, 1, 1, 1))
if self.text_table:
start_row = self.row - len(self.text_table)
for i, v in enumerate(self.text_table):
self.app.getSceneDecorator().setText(
start_row + i - 1, "", agx.Vec4f(0.3, 0.6, 0.7, 1))
self.getSimulation().remove(self)
def add_color(geomerty):
waterNode = agxOSG.createVisual(geomerty, demoutils.root())
color = agxRender.Color.DeepSkyBlue()
alpha = 0.4
agxOSG.setDiffuseColor(waterNode, color)
agxOSG.setAmbientColor(waterNode, agx.Vec4f(1))
agxOSG.setShininess(waterNode, 120)
agxOSG.setAlpha(waterNode, alpha)
def __init__(self, ground: agxCollide.Geometry, rov, depth):
"""
Args:
ground:
rov:
depth:
"""
super().__init__()
self.setMask(ContactEventListener.CONTACT)
b = agxCollide.Box(.1, .1, depth)
self.beam = Geometry(b)
# print(self.beam.getShapes(),self.beam)
self.beam.setPosition(0, 0, -depth)
self.beam.setSensor(True)
self.setFilter(GeometryFilter(self.beam, ground))
color = agxRender.Color.IndianRed()
node = agxOSG.createVisual(self.beam, demoutils.root())
agxOSG.setDiffuseColor(node, color)
agxOSG.setAmbientColor(node, agx.Vec4f(1))
agxOSG.setShininess(node, 120)
agxOSG.setAlpha(node, 0.6)
self.ground = ground.getShape().asHeightField()
def preCollide(self, t):
if self._draw_lines:
pos = self._lidar_body.getPosition()
for k, v in self._rays_dict.items():
color = v[1] / self._max_length
ray = v[0].getShapes()[0].asLine()
f = v[0].getFrame()
d = f.transformPointToWorld(ray.getSecondPoint()) - pos
agxRender.RenderSingleton.instance().add(pos, pos + v[1] * d.normal(), 0.025, agx.Vec4f(1-color**0.4, color**0.4, 0, 1))
# clear rays
for k in self._rays_dict.keys():
self._rays_dict[k][1] = self._max_length
if self._relative_transform:
self._lidar_body.setTransform(self._relative_transform * self._rb_origin.getTransform())
import agx
import agxOSG
import agxUtil
import agxPython
import agxCollide
import agxUtil
from types import SimpleNamespace
gray = agx.Vec4f(0.20, 0.200, 0.200, 1)
orange = agx.Vec4f(0.89, 0.431, 0.145, 1)
class Set():
"""Container class that suppors lookup both using object and dictionary
style, and iteration. Names must be unique, and inserts with an already
existing key will be rejected.
ex:
bodies = Set()
bodies.append("first", agx.RigidBody())
bodies["second"] = agx.RigidBody()
bodies.first.getName()
bodies["second"].getName()
for body in bodies:
body.getName()
bodies.append("first", agx.RigidBody("This insert will fail."))
"""
def __init__(self):