def __init__(self, filename="props/objects", prefix=None, keep_pose=False):
""" Initialize a PassiveObject
:param filename: The Blender file to load. Path can be absolute
or if no extension relative to MORSE assets'
installation path (typically, $PREFIX/share/morse/data)
:param prefix: (optional) the prefix of the objects to load in the
Blender file. If not set, all objects present in the file
are loaded. If set, all objects **prefixed** by this
name are imported.
:param keep_pose: If set, the object pose (translation and rotation)
in the Blender file is kept. Else, the object
own center is placed at origin and all rotation are
reset.
:return: a new AbstractComponent instance.
"""
AbstractComponent.__init__(self, filename=filename)
logger.info("Importing the following passive object(s): %s" % prefix)
imported_objects = self.append_meshes(prefix=prefix)
# Here we use the fact that after appending, Blender select the objects
# and the root (parent) object first ( [0] )
self.set_blender_object(imported_objects[0])
if not keep_pose:
self.location = (0.0, 0.0, 0.0)
self.rotation_euler = (0.0, 0.0, 0.0)
def __init__(self, filename="props/objects", prefix=None, keep_pose=False):
""" Initialize a PassiveObject
:param filename: The Blender file to load. Path can be absolute
or if no extension relative to MORSE assets'
installation path (typically, $PREFIX/share/morse/data)
:param prefix: (optional) the prefix of the objects to load in the
Blender file. If not set, all objects present in the file
are loaded. If set, all objects **prefixed** by this
name are imported.
:param keep_pose: If set, the object pose (translation and rotation)
in the Blender file is kept. Else, the object
own center is placed at origin and all rotation are
reset.
:return: a new AbstractComponent instance.
"""
AbstractComponent.__init__(self, filename=filename)
logger.info("Importing the following passive object(s): %s" % prefix)
imported_objects = self.append_meshes(prefix=prefix)
# Here we use the fact that after appending, Blender select the objects
# and the root (parent) object first ( [0] )
self.set_blender_object(imported_objects[0])
if not keep_pose:
self.location = (0.0, 0.0, 0.0)
self.rotation_euler = (0.0, 0.0, 0.0)
def __init__(self,
category='',
filename='',
blender_object_name=None,
make_morseable=True):
""" Initialize a MORSE component
:param category: The category of the component (folder in
MORSE_COMPONENTS)
:param filename: The name of the component (file in
MORSE_COMPONENTS/category/name.blend) If ends with '.blend',
append the objects from the Blender file.
:param blender_object_name: If set, use the given Blender object
as 'root' for this component. Otherwise, select the first
available Blender object (the top parent in case of a hierarchy
of objects).
:param make_morseable: If the component has no property for the
simulation, append default Morse ones. See self.morseable()
"""
AbstractComponent.__init__(self, filename=filename, category=category)
imported_objects = self.append_meshes()
if blender_object_name is None:
# Here we use the fact that after appending, Blender select the objects
# and the root (parent) object first ( [0] )
self.set_blender_object(imported_objects[0])
else:
self.set_blender_object([
o for o in imported_objects if o.name == blender_object_name
][0])
# If the object has no MORSE logic, add default one
if make_morseable and category in ['sensors', 'actuators', 'robots'] \
and not self.is_morseable():
self.morseable()
def __init__(self, category='', filename='',blender_object_name=None, make_morseable=True):
""" Initialize a MORSE component
:param category: The category of the component (folder in
MORSE_COMPONENTS)
:param filename: The name of the component (file in
MORSE_COMPONENTS/category/name.blend) If ends with '.blend',
append the objects from the Blender file.
:param blender_object_name: If set, use the given Blender object
as 'root' for this component. Otherwise, select the first
available Blender object (the top parent in case of a hierarchy
of objects).
:param make_morseable: If the component has no property for the
simulation, append default Morse ones. See self.morseable()
"""
AbstractComponent.__init__(self, filename=filename, category=category)
if blender_object_name is None:
imported_objects = self.append_meshes()
else:
imported_objects = self.append_meshes(objects=[blender_object_name])
if not imported_objects:
raise MorseBuilderNoComponentError("No object named <%s> in %s" % (blender_object_name, filename))
# Here we use the fact that after appending, Blender select the objects
# and the root (parent) object first ( [0] )
self.set_blender_object(imported_objects[0])
# If the object has no MORSE logic, add default one
if make_morseable and category in ['sensors', 'actuators', 'robots'] \
and not self.is_morseable():
self.morseable()
def __init__(self, name):
AbstractComponent.__init__(self)
bpymorse.deselect_all()
self.mesh_primitive_add()
obj = bpymorse.get_first_selected_object()
obj.name = name
# no collision by default for components
obj.game.physics_type = 'NO_COLLISION'
self.set_blender_object(obj)
def __init__(self, name):
AbstractComponent.__init__(self)
bpymorse.deselect_all()
self.mesh_primitive_add()
obj = bpymorse.get_first_selected_object()
obj.name = name
obj.empty_draw_type = 'ARROWS'
obj.empty_draw_size = 0.1
self.set_blender_object(obj)
def __init__(self, name):
AbstractComponent.__init__(self)
bpymorse.deselect_all()
self.mesh_primitive_add()
obj = bpymorse.get_first_selected_object()
obj.name = name
# no collision by default for components
obj.game.physics_type = 'NO_COLLISION'
self.set_blender_object(obj)
def __init__(self, name):
AbstractComponent.__init__(self)
bpymorse.deselect_all()
self.mesh_primitive_add()
obj = bpymorse.get_first_selected_object()
obj.name = name
obj.empty_draw_type = 'ARROWS'
obj.empty_draw_size = 0.1
self.set_blender_object(obj)
def __init__(self, name):
AbstractComponent.__init__(self)
bpymorse.deselect_all()
bpymorse.add_camera()
obj = bpymorse.get_first_selected_object()
obj.name = name
# no collision by default for components
obj.game.physics_type = 'NO_COLLISION'
self.set_blender_object(obj)
# Camera look in +Z
self.rotate(y=math.pi, z=math.pi)
def __init__(self, name):
AbstractComponent.__init__(self)
bpymorse.deselect_all()
bpymorse.add_camera()
obj = bpymorse.get_first_selected_object()
obj.name = name
# no collision by default for components
obj.game.physics_type = 'NO_COLLISION'
self.set_blender_object(obj)
# Camera look in +Z
self.rotate(y=math.pi, z=math.pi)
def __init__(self, name, lamp_type='SPOT'):
AbstractComponent.__init__(self)
bpymorse.deselect_all()
bpymorse.add_lamp(type=lamp_type)
obj = bpymorse.get_first_selected_object()
obj.name = name
# no collision by default for components
obj.game.physics_type = 'NO_COLLISION'
self.set_blender_object(obj)
# Emit in +X
self.rotate(y=-math.pi/2)
if lamp_type is 'SPOT':
spot = bpymorse.get_last_lamp()
spot.spot_size = math.pi / 2
spot.distance = 10
def __init__(self, name, lamp_type='SPOT'):
AbstractComponent.__init__(self)
bpymorse.deselect_all()
bpymorse.add_lamp(type=lamp_type)
obj = bpymorse.get_first_selected_object()
obj.name = name
# no collision by default for components
obj.game.physics_type = 'NO_COLLISION'
self.set_blender_object(obj)
# Emit in +X
self.rotate(y=-math.pi / 2)
if lamp_type is 'SPOT':
spot = bpymorse.get_last_lamp()
spot.spot_size = math.pi / 2
spot.distance = 10
def __init__(self, category="", filename="", make_morseable=True):
""" Initialize a MORSE component
:param category: The category of the component (folder in
MORSE_COMPONENTS)
:param filename: The name of the component (file in
MORSE_COMPONENTS/category/name.blend) If ends with '.blend',
append the objects from the Blender file.
:param make_morseable: If the component has no property for the
simulation, append default Morse ones. See self.morseable()
"""
AbstractComponent.__init__(self, filename=filename, category=category)
imported_objects = self.append_meshes()
# Here we use the fact that after appending, Blender select the objects
# and the root (parent) object first ( [0] )
self.set_blender_object(imported_objects[0])
# If the object has no MORSE logic, add default one
if make_morseable and category in ["sensors", "actuators", "robots"] and not self.is_morseable():
self.morseable()
def __init__(self, category='', filename='', make_morseable=True):
""" Initialize a MORSE component
:param category: The category of the component (folder in
MORSE_COMPONENTS)
:param filename: The name of the component (file in
MORSE_COMPONENTS/category/name.blend) If ends with '.blend',
append the objects from the Blender file.
:param make_morseable: If the component has no property for the
simulation, append default Morse ones. See self.morseable()
"""
AbstractComponent.__init__(self, filename=filename, category=category)
imported_objects = self.append_meshes()
# Here we use the fact that after appending, Blender select the objects
# and the root (parent) object first ( [0] )
self.set_blender_object(imported_objects[0])
# If the object has no MORSE logic, add default one
if make_morseable and category in ['sensors', 'actuators', 'robots'] \
and not self.is_morseable():
self.morseable()
