def animate(self, time=None, rpc=None):
"""Updates the path from the world. If the world wasn't a simulator, the time
argument needs to be provided.
If you want to include extra things, provide them in the rpc argument (as a list
of KlamptFrontend rpc calls)
"""
if self.sim is not None and time is None:
time = self.sim.getTime()
self.sim.updateWorld()
if time is None:
raise ValueError("Time needs to be provided")
dt = time - self.last_t
if self.dt == 0:
self.dt = dt
if self.dt == 0:
return
if abs(dt - self.dt) <= 1e-6:
dt = self.dt
numadd = 0
while dt >= self.dt:
numadd += 1
if self.world is not None:
transforms = json.loads(
robotsim.ThreeJSGetTransforms(self.world))
else:
transforms = {'object': []}
for update in transforms['object']:
n = update['name']
mat = make_fixed_precision(update['matrix'], 4)
matpath = self.transforms.setdefault(n, [])
assert len(matpath) == len(self.rpc)
lastmat = None
for m in matpath[::-1]:
if m != None:
lastmat = m
break
if lastmat != mat:
matpath.append(mat)
else:
matpath.append(None)
if numadd == 1:
if rpc is not None:
assert isinstance(
rpc, (list,
tuple)), "rpc argument must be a list or a tuple"
self.rpc.append(rpc)
else:
self.rpc.append(None)
else:
self.rpc.append(None)
dt -= self.dt
self.last_t += self.dt
if numadd > 1:
print(
"HTMLSharePath: Note, uneven time spacing, duplicating frame",
numadd, "times")
def animate(self,time=None):
"""Updates the path from the world. If the world wasn't a simulator, the time
argument needs to be provided"""
if self.sim != None and time == None:
time = self.sim.getTime()
self.sim.updateWorld()
dt = time - self.last_t
if self.dt == 0:
self.dt = dt
if self.dt == 0:
return
if abs(dt - self.dt) <= 1e-6:
dt = self.dt
numadd = 0
while dt >= self.dt:
numadd += 1
transforms = json.loads(robotsim.ThreeJSGetTransforms(self.world))
for update in transforms['object']:
n = update['name']
mat = make_fixed_precision(update['matrix'],4)
matpath = self.transforms.setdefault(n,[])
assert len(matpath) == len(self.rpc)
lastmat = None
for m in matpath[::-1]:
if m != None:
lastmat = m
break
if lastmat != mat:
matpath.append(mat)
else:
matpath.append(None)
self.rpc.append('null')
dt -= self.dt
self.last_t += self.dt
if numadd > 1:
print("Uneven time spacing, duplicating frame",numadd,"times")