def _add_casters(self):
from parts import Capsule, Cylinder, Joint, Limits
hips = self.hips
wheel = self.wheel_left
support = Cylinder((0.9 * self.hips.radius, 0.02, wheel.radii[0]),
name='support')
support.add_joint(
Joint((0, 0, 0),
rot=(0, 1, 0, 0),
limits=Limits.zero(),
name='hips'))
hips.add_joint(
Joint(hips.end_pos(-1),
rot=(0, 1, 0, 0),
limits=Limits.zero(),
name='support'))
hips.attach(support)
# Automate caster position to same bottom level as wheels.
offset_y = wheel.pos[1] - support.pos[1]
for side_z in (-1, 1):
caster = Capsule(0.49 * offset_y,
0,
material=wheel.material,
name='caster_' + side_z_name(side_z))
support.add_joint(
Joint((0, 0, side_z * support.radii[2]), name=caster.name))
caster.add_joint(Joint((0, 0, 0), name=support.name))
support.attach(caster)
def _add_wheel(self, side_x):
from parts import Cylinder, Joint, Material
wheel = Cylinder((0.2, 0.04, 0.2),
material=Material(1, 0xFF202020),
name='wheel_' + side_name(side_x))
wheel.add_joint(Joint((0, 0, 0), rot=(0, 1, 0, 0), name='hips'))
hips = self.hips
hips.add_joint(
Joint(hips.end_pos(1,
(side_x, 0, 0), -1) + side_x * wheel.radii[1],
rot=(-side_x, 0, 0, 0),
name=wheel.name))
hips.attach(wheel)
return wheel
