def render(self): self.points = [] #list containing points to_draw = [] pos = self.position() direc = Vector(self, 0.0, 0.0, -1.0) if self.collide: i = 0 raypicker = self.get_root() while direc is not None and (i <= self.max_reflect): i = i + 1 impact = raypicker.raypick(pos, direc, -1.0) if not impact: pos = pos + (direc * 32000.0) direc = None else: pos = impact[0] if self.reflect: normal = impact[1] % self normal.normalize() # changing coordsys can alterate normal size normal.set_length(-2.0 * direc.dot_product(normal)) direc = normal + direc else: direc = None to_draw.append(pos) self.points.append(pos) else: pos = pos + (direc * 32000.0) to_draw.append(pos) #rendering part DEFAULT_MATERIAL.activate() glDisable(GL_TEXTURE_2D) glDisable(GL_LIGHTING) glColor4f(*self.color) glBegin(GL_LINE_STRIP) glVertex3f(0.0, 0.0, 0.0) for pos in to_draw: glVertex3f(*self.transform_point(pos.x, pos.y, pos.z, pos.parent)) glEnd() glEnable(GL_LIGHTING) glEnable(GL_TEXTURE_2D)
def render(self):
global scene
self.points = []
#list containing points
to_draw = []
pos = self.position()
#~ direc = Vector(self, 0.0, 0.0, -1.0)
#~ pos = pos + (direc * 32000.0)
# if it is endp(oint), then you want to set
# it explicitly = do not do pos+Vector!
#~ to_draw.append(pos+Vector(self, self.endp[0], self.endp[1], self.endp[2]) )
# AND, in reference to scene, not self!
to_draw.append(Vector(scene, self.endp[0], self.endp[1], self.endp[2]))
#rendering part
DEFAULT_MATERIAL.activate()
glDisable(GL_TEXTURE_2D)
glDisable(GL_LIGHTING)
glColor4f(*self.color)
glBegin(GL_LINE_STRIP)
glVertex3f(0.0, 0.0, 0.0) # at position
for pos in to_draw:
glVertex3f(*self.transform_point(pos.x, pos.y, pos.z, pos.parent))
glEnd()
glEnable(GL_LIGHTING)
glEnable(GL_TEXTURE_2D)
def normal_at_vertex(a):
normal = None
for vertex in vertex_to_vertices[a]:
if vertex.face.smooth_lit: # No smooth_lit means no vertex normal
face = vertex.face
if normal is None:
normal = Vector(face.normal.parent)
i = face.vertices.index(vertex)
a = face.vertices[i - 1]
if i + 1 == len(face.vertices):
b = face.vertices[0]
else:
b = face.vertices[i + 1]
normal.add_mul_vector((vertex >> a).angle_to(vertex >> b), face.normal)
normal.normalize()
return normal
class TimedWorld(soya.World):
def __init__(self):
soya.World.__init__(self)
# self.speed = soya.Vector(self, 0.0, 0.0, -0.2)
self.left_key_down = self.right_key_down = self.up_key_down = self.down_key_down = 0
self.j1f = self.dj1fp = self.j2f = 0
self.bp = 0
self.coordViewState = self.coordMpState = 0
# Like advance_time, begin_round is called by the main_loop.
# But contrary to advance_time, begin_round is called regularly, at the beginning of each
# round ; thus it receive no 'proportion' argument.
# Decision process should occurs in begin_round.
def bumpCoordViewState(self):
self.coordViewState += 1
if self.coordViewState >= 4:
self.coordViewState = 0
def bumpRenderMpCoords(self):
self.coordMpState += 1
if self.coordMpState >= 2:
self.coordMpState = 0
def bumpPauseState(self):
global pauseState
pauseState += 1
if pauseState >= 2:
pauseState = 0
def next(self):
#Returns the next action
for event in soya.MAIN_LOOP.events:
if event[0] == sdlconst.KEYDOWN:
if (event[1] == sdlconst.K_q) or (event[1]
== sdlconst.K_ESCAPE):
sys.exit() # Quit the game
elif event[1] == sdlconst.K_LEFT:
self.left_key_down = 1
elif event[1] == sdlconst.K_RIGHT:
self.right_key_down = 1
elif event[1] == sdlconst.K_UP:
self.up_key_down = 1
elif event[1] == sdlconst.K_DOWN:
self.down_key_down = 1
elif event[1] == sdlconst.K_a:
self.bumpCoordViewState()
elif event[1] == sdlconst.K_z:
self.bumpRenderMpCoords()
elif event[1] == sdlconst.K_p:
self.bumpPauseState()
elif event[0] == sdlconst.KEYUP:
if event[1] == sdlconst.K_LEFT: self.left_key_down = 0
elif event[1] == sdlconst.K_RIGHT: self.right_key_down = 0
elif event[1] == sdlconst.K_UP: self.up_key_down = 0
elif event[1] == sdlconst.K_DOWN: self.down_key_down = 0
def vecProjectionAontoB(self, A, B):
#~ print(A,B)
normB = B.copy()
normB.normalize() # unit vector, IN PLACE (must separately)
AdotnormB = A.dot_product(normB)
C = normB.__mul__(AdotnormB)
return C
def begin_round(self):
global j1, j2, pend, scene, pole, ball, grabScreens, frNum
global pauseState
damping = 0.1
if (pauseState == 1):
self.next()
return
# Calls the super implementation.
soya.World.begin_round(self)
#~ print(j1.getFeedback(), "#", j2.getFeedback()) # (force1, torque1, force2, torque2) : ((0.0, 332.9216613769531, -257.0126647949219), (180.77870178222656, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0)) ..... (((0.0, 426.10772705078125, -1055.581298828125), (-5704.71435546875, 0.0, 0.0), (1.1854985008187952e-42, 2.312142466135948e-43, 9.164491956684304e-43), (1.4461400151832112e-42, 7.777206477002735e-43, 7.903323338791968e-43)), '#', ((0.0, 173.71861267089844, -6280.154296875), (-96.6642074584961, 0.0, 0.0), (0.0, -173.71861267089844, 6280.154296875), (-504.1296081542969, 0.0, 0.0)))
self.j1f = j1.getFeedback()
self.j2f = j2.getFeedback()
frc1 = self.j2f[0] #[0]
# note - vector should be referenced to scene, NOT pend,
# for the damping to work!
dampvect = Vector(scene, -damping * frc1[0], -damping * frc1[1],
-damping * frc1[2])
pend.add_force(dampvect)
#~ j1fp = j1.getFeedback() # same as j1f
#~ print(frc1, "#", j1fp[0])
self.dj1fp = Vector(scene, frc1[0], frc1[1], frc1[2]) + dampvect
#~ print(frc1, "#", self.dj1fp)
#~ print(bp)
#~ frep=bp+0.1*self.dj1fp # float required; no parse
#~ frep=bp.add_mul_vector(0.1, self.dj1fp) # awful
#~ frep=bp+self.dj1fp.__mul__(0.000001) # ??
#~ frep=Vector(ball,0,0,2) # ref to ball don't seem to matter!
# AH - for these kind of transform with convert_to, should have Point, not Vector!
# frcpball coord syst: 2 units in each direction, moved 1 unit along x so as not to be hidden by ball
movx = 0
if (self.coordViewState == 0):
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = self.bp
self.bp2 = self.bp1
if (self.coordViewState == 1):
movx = 1
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = self.bp
self.bp2 = self.bp1
elif (self.coordViewState == 2):
movx = 1
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = ball.position().add_vector(soya.Vector(ball, 2, 0, 1))
self.bp2 = self.bp1
elif (self.coordViewState == 3):
movx = 1
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = ball.position().add_vector(soya.Vector(ball, 2, 0, 1))
self.bp2 = ball.position().add_vector(soya.Vector(ball, 3, 0, 2))
self.bp1b = self.bp1.copy().add_vector(soya.Vector(ball, -0.5, 0, 0))
self.frepx = Point(ball, 2 + movx, 0, 0)
self.frepy = Point(ball, movx, 2, 0)
self.frepz = Point(ball, movx, 0, 2)
self.frepx.convert_to(scene)
self.frepy.convert_to(scene)
self.frepz.convert_to(scene)
# scaled so they're approx the same
scale_grav = scene.gravity.__mul__(0.5)
scale_dfor = self.dj1fp.__mul__(0.03)
self.epg = self.bp1 + scale_grav
self.epfor = self.bp2 + scale_dfor
tp = Vector(ball, 2, 0,
0) # convert_to must go separate! can be vector
tp.convert_to(scene) # IN PLACE
grav_lx = self.vecProjectionAontoB(scale_grav, tp)
tp = Vector(ball, 0, 2, 0)
tp.convert_to(scene)
grav_ly = self.vecProjectionAontoB(scale_grav, tp)
tp = Vector(ball, 0, 0, 2)
tp.convert_to(scene)
grav_lz = self.vecProjectionAontoB(scale_grav, tp)
self.epgx = self.bp1 + grav_lx
self.epgy = self.bp1 + grav_ly
self.epgz = self.bp1 + grav_lz
tp = Vector(ball, 2, 0, 0)
tp.convert_to(scene)
dfor_lx = self.vecProjectionAontoB(scale_dfor, tp)
tp = Vector(ball, 0, 2, 0)
tp.convert_to(scene)
dfor_ly = self.vecProjectionAontoB(scale_dfor, tp)
tp = Vector(ball, 0, 0, 2)
tp.convert_to(scene)
dfor_lz = self.vecProjectionAontoB(scale_dfor, tp)
self.epforx = self.bp2 + dfor_lx
self.epfory = self.bp2 + dfor_ly
self.epforz = self.bp2 + dfor_lz
tp = Vector(scene, 2, 0, 0)
grav_lz_mx = self.vecProjectionAontoB(grav_lz, tp)
tp = Vector(scene, 0, 2, 0)
grav_lz_my = self.vecProjectionAontoB(grav_lz, tp)
tp = Vector(scene, 0, 0, 2)
grav_lz_mz = self.vecProjectionAontoB(grav_lz, tp)
self.epglzx = self.bp1b + grav_lz_mx
self.epglzy = self.bp1b + grav_lz_my
self.epglzz = self.bp1b + grav_lz_mz
if (grabScreens):
frNum += 1
tfname = "/dev/shm/soya-pend%05d.png" % (frNum)
soya.screenshot(filename=tfname, use_back_buffer=False)
#~ print(ball.position())
# Computes the new rotation speed: a random angle between -25.0 and 25.0 degrees.
#~ self.rotation_speed = random.uniform(-25.0, 25.0)
# The speed vector doesn't need to be recomputed, since it is expressed in the Head
# CoordSyst.
def advance_time(self, proportion):
global z_ax_glob, camera, v_orig, scene, pole, ball
global frcpball, vecgrav, vecfor, vecgravlp, vecforlp, vecgravlzMp
global pauseState
yrotaxVect = soya.Vector(scene, 0, 1, 0)
if (pauseState == 1):
self.next()
return
# Calls the super implementation of advance_time.
soya.World.advance_time(self, proportion)
frcpball[0].set_xyz(self.bp.x, self.bp.y, self.bp.z)
frcpball[0].endp = (self.frepx.x, self.frepx.y, self.frepx.z)
frcpball[1].set_xyz(self.bp.x, self.bp.y, self.bp.z)
frcpball[1].endp = (self.frepy.x, self.frepy.y, self.frepy.z)
frcpball[2].set_xyz(self.bp.x, self.bp.y, self.bp.z)
frcpball[2].endp = (self.frepz.x, self.frepz.y, self.frepz.z)
vecgrav.set_xyz(self.bp1.x, self.bp1.y, self.bp1.z)
vecgrav.endp = (self.epg.x, self.epg.y, self.epg.z)
vecfor.set_xyz(self.bp2.x, self.bp2.y, self.bp2.z)
vecfor.endp = (self.epfor.x, self.epfor.y, self.epfor.z)
vecgravlp[0].set_xyz(self.bp1.x, self.bp1.y, self.bp1.z)
vecgravlp[0].endp = (self.epgx.x, self.epgx.y, self.epgx.z)
vecgravlp[1].set_xyz(self.bp1.x, self.bp1.y, self.bp1.z)
vecgravlp[1].endp = (self.epgy.x, self.epgy.y, self.epgy.z)
vecgravlp[2].set_xyz(self.bp1.x, self.bp1.y, self.bp1.z)
vecgravlp[2].endp = (self.epgz.x, self.epgz.y, self.epgz.z)
vecforlp[0].set_xyz(self.bp2.x, self.bp2.y, self.bp2.z)
vecforlp[0].endp = (self.epforx.x, self.epforx.y, self.epforx.z)
vecforlp[1].set_xyz(self.bp2.x, self.bp2.y, self.bp2.z)
vecforlp[1].endp = (self.epfory.x, self.epfory.y, self.epfory.z)
vecforlp[2].set_xyz(self.bp2.x, self.bp2.y, self.bp2.z)
vecforlp[2].endp = (self.epforz.x, self.epforz.y, self.epforz.z)
if (self.coordMpState == 1):
vecgravlzMp[0].visible = 1
vecgravlzMp[1].visible = 1
vecgravlzMp[2].visible = 1
vecgravlzMp[0].set_xyz(self.bp1b.x, self.bp1b.y, self.bp1b.z)
vecgravlzMp[0].endp = (self.epglzx.x, self.epglzx.y, self.epglzx.z)
vecgravlzMp[1].set_xyz(self.bp1b.x, self.bp1b.y, self.bp1b.z)
vecgravlzMp[1].endp = (self.epglzy.x, self.epglzy.y, self.epglzy.z)
vecgravlzMp[2].set_xyz(self.bp1b.x, self.bp1b.y, self.bp1b.z)
vecgravlzMp[2].endp = (self.epglzz.x, self.epglzz.y, self.epglzz.z)
elif (self.coordMpState == 0):
vecgravlzMp[0].visible = 0
vecgravlzMp[1].visible = 0
vecgravlzMp[2].visible = 0
# Rotates the object around Y axis.
#~ self.rotate_y(proportion * 2.0)
#~ z_ax_glob.x += proportion*0.1;
#~ camera.rotate_z(proportion)
# rotate_axis - vector via 0,0,0; but local
# rotate is ok - around a point; not even look_at needed!
self.next()
if (self.right_key_down):
camera.rotate(proportion, Point(scene, 0, 0, 0), yrotaxVect)
camera.look_at(pole) #(v_orig)
elif (self.left_key_down):
camera.rotate(-proportion, Point(scene, 0, 0, 0), yrotaxVect)
camera.look_at(pole) #(v_orig)
elif (self.up_key_down): # translate
camera.add_mul_vector(0.5 * proportion, Vector(camera, 0, 0, -1))
camera.look_at(pole) #(v_orig)
elif (self.down_key_down): # translate
camera.add_mul_vector(0.5 * proportion, Vector(camera, 0, 0, 1))
camera.look_at(pole) #(v_orig)
def advance_time(self, proportion):
global z_ax_glob, camera, v_orig, scene, pole, ball
global frcpball, vecgrav, vecfor, vecgravlp, vecforlp, vecgravlzMp
global pauseState
yrotaxVect = soya.Vector(scene, 0, 1, 0)
if (pauseState == 1):
self.next()
return
# Calls the super implementation of advance_time.
soya.World.advance_time(self, proportion)
frcpball[0].set_xyz(self.bp.x, self.bp.y, self.bp.z)
frcpball[0].endp = (self.frepx.x, self.frepx.y, self.frepx.z)
frcpball[1].set_xyz(self.bp.x, self.bp.y, self.bp.z)
frcpball[1].endp = (self.frepy.x, self.frepy.y, self.frepy.z)
frcpball[2].set_xyz(self.bp.x, self.bp.y, self.bp.z)
frcpball[2].endp = (self.frepz.x, self.frepz.y, self.frepz.z)
vecgrav.set_xyz(self.bp1.x, self.bp1.y, self.bp1.z)
vecgrav.endp = (self.epg.x, self.epg.y, self.epg.z)
vecfor.set_xyz(self.bp2.x, self.bp2.y, self.bp2.z)
vecfor.endp = (self.epfor.x, self.epfor.y, self.epfor.z)
vecgravlp[0].set_xyz(self.bp1.x, self.bp1.y, self.bp1.z)
vecgravlp[0].endp = (self.epgx.x, self.epgx.y, self.epgx.z)
vecgravlp[1].set_xyz(self.bp1.x, self.bp1.y, self.bp1.z)
vecgravlp[1].endp = (self.epgy.x, self.epgy.y, self.epgy.z)
vecgravlp[2].set_xyz(self.bp1.x, self.bp1.y, self.bp1.z)
vecgravlp[2].endp = (self.epgz.x, self.epgz.y, self.epgz.z)
vecforlp[0].set_xyz(self.bp2.x, self.bp2.y, self.bp2.z)
vecforlp[0].endp = (self.epforx.x, self.epforx.y, self.epforx.z)
vecforlp[1].set_xyz(self.bp2.x, self.bp2.y, self.bp2.z)
vecforlp[1].endp = (self.epfory.x, self.epfory.y, self.epfory.z)
vecforlp[2].set_xyz(self.bp2.x, self.bp2.y, self.bp2.z)
vecforlp[2].endp = (self.epforz.x, self.epforz.y, self.epforz.z)
if (self.coordMpState == 1):
vecgravlzMp[0].visible = 1
vecgravlzMp[1].visible = 1
vecgravlzMp[2].visible = 1
vecgravlzMp[0].set_xyz(self.bp1b.x, self.bp1b.y, self.bp1b.z)
vecgravlzMp[0].endp = (self.epglzx.x, self.epglzx.y, self.epglzx.z)
vecgravlzMp[1].set_xyz(self.bp1b.x, self.bp1b.y, self.bp1b.z)
vecgravlzMp[1].endp = (self.epglzy.x, self.epglzy.y, self.epglzy.z)
vecgravlzMp[2].set_xyz(self.bp1b.x, self.bp1b.y, self.bp1b.z)
vecgravlzMp[2].endp = (self.epglzz.x, self.epglzz.y, self.epglzz.z)
elif (self.coordMpState == 0):
vecgravlzMp[0].visible = 0
vecgravlzMp[1].visible = 0
vecgravlzMp[2].visible = 0
# Rotates the object around Y axis.
#~ self.rotate_y(proportion * 2.0)
#~ z_ax_glob.x += proportion*0.1;
#~ camera.rotate_z(proportion)
# rotate_axis - vector via 0,0,0; but local
# rotate is ok - around a point; not even look_at needed!
self.next()
if (self.right_key_down):
camera.rotate(proportion, Point(scene, 0, 0, 0), yrotaxVect)
camera.look_at(pole) #(v_orig)
elif (self.left_key_down):
camera.rotate(-proportion, Point(scene, 0, 0, 0), yrotaxVect)
camera.look_at(pole) #(v_orig)
elif (self.up_key_down): # translate
camera.add_mul_vector(0.5 * proportion, Vector(camera, 0, 0, -1))
camera.look_at(pole) #(v_orig)
elif (self.down_key_down): # translate
camera.add_mul_vector(0.5 * proportion, Vector(camera, 0, 0, 1))
camera.look_at(pole) #(v_orig)
def begin_round(self):
global j1, j2, pend, scene, pole, ball, grabScreens, frNum
global pauseState
damping = 0.1
if (pauseState == 1):
self.next()
return
# Calls the super implementation.
soya.World.begin_round(self)
#~ print(j1.getFeedback(), "#", j2.getFeedback()) # (force1, torque1, force2, torque2) : ((0.0, 332.9216613769531, -257.0126647949219), (180.77870178222656, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0)) ..... (((0.0, 426.10772705078125, -1055.581298828125), (-5704.71435546875, 0.0, 0.0), (1.1854985008187952e-42, 2.312142466135948e-43, 9.164491956684304e-43), (1.4461400151832112e-42, 7.777206477002735e-43, 7.903323338791968e-43)), '#', ((0.0, 173.71861267089844, -6280.154296875), (-96.6642074584961, 0.0, 0.0), (0.0, -173.71861267089844, 6280.154296875), (-504.1296081542969, 0.0, 0.0)))
self.j1f = j1.getFeedback()
self.j2f = j2.getFeedback()
frc1 = self.j2f[0] #[0]
# note - vector should be referenced to scene, NOT pend,
# for the damping to work!
dampvect = Vector(scene, -damping * frc1[0], -damping * frc1[1],
-damping * frc1[2])
pend.add_force(dampvect)
#~ j1fp = j1.getFeedback() # same as j1f
#~ print(frc1, "#", j1fp[0])
self.dj1fp = Vector(scene, frc1[0], frc1[1], frc1[2]) + dampvect
#~ print(frc1, "#", self.dj1fp)
#~ print(bp)
#~ frep=bp+0.1*self.dj1fp # float required; no parse
#~ frep=bp.add_mul_vector(0.1, self.dj1fp) # awful
#~ frep=bp+self.dj1fp.__mul__(0.000001) # ??
#~ frep=Vector(ball,0,0,2) # ref to ball don't seem to matter!
# AH - for these kind of transform with convert_to, should have Point, not Vector!
# frcpball coord syst: 2 units in each direction, moved 1 unit along x so as not to be hidden by ball
movx = 0
if (self.coordViewState == 0):
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = self.bp
self.bp2 = self.bp1
if (self.coordViewState == 1):
movx = 1
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = self.bp
self.bp2 = self.bp1
elif (self.coordViewState == 2):
movx = 1
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = ball.position().add_vector(soya.Vector(ball, 2, 0, 1))
self.bp2 = self.bp1
elif (self.coordViewState == 3):
movx = 1
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = ball.position().add_vector(soya.Vector(ball, 2, 0, 1))
self.bp2 = ball.position().add_vector(soya.Vector(ball, 3, 0, 2))
self.bp1b = self.bp1.copy().add_vector(soya.Vector(ball, -0.5, 0, 0))
self.frepx = Point(ball, 2 + movx, 0, 0)
self.frepy = Point(ball, movx, 2, 0)
self.frepz = Point(ball, movx, 0, 2)
self.frepx.convert_to(scene)
self.frepy.convert_to(scene)
self.frepz.convert_to(scene)
# scaled so they're approx the same
scale_grav = scene.gravity.__mul__(0.5)
scale_dfor = self.dj1fp.__mul__(0.03)
self.epg = self.bp1 + scale_grav
self.epfor = self.bp2 + scale_dfor
tp = Vector(ball, 2, 0,
0) # convert_to must go separate! can be vector
tp.convert_to(scene) # IN PLACE
grav_lx = self.vecProjectionAontoB(scale_grav, tp)
tp = Vector(ball, 0, 2, 0)
tp.convert_to(scene)
grav_ly = self.vecProjectionAontoB(scale_grav, tp)
tp = Vector(ball, 0, 0, 2)
tp.convert_to(scene)
grav_lz = self.vecProjectionAontoB(scale_grav, tp)
self.epgx = self.bp1 + grav_lx
self.epgy = self.bp1 + grav_ly
self.epgz = self.bp1 + grav_lz
tp = Vector(ball, 2, 0, 0)
tp.convert_to(scene)
dfor_lx = self.vecProjectionAontoB(scale_dfor, tp)
tp = Vector(ball, 0, 2, 0)
tp.convert_to(scene)
dfor_ly = self.vecProjectionAontoB(scale_dfor, tp)
tp = Vector(ball, 0, 0, 2)
tp.convert_to(scene)
dfor_lz = self.vecProjectionAontoB(scale_dfor, tp)
self.epforx = self.bp2 + dfor_lx
self.epfory = self.bp2 + dfor_ly
self.epforz = self.bp2 + dfor_lz
tp = Vector(scene, 2, 0, 0)
grav_lz_mx = self.vecProjectionAontoB(grav_lz, tp)
tp = Vector(scene, 0, 2, 0)
grav_lz_my = self.vecProjectionAontoB(grav_lz, tp)
tp = Vector(scene, 0, 0, 2)
grav_lz_mz = self.vecProjectionAontoB(grav_lz, tp)
self.epglzx = self.bp1b + grav_lz_mx
self.epglzy = self.bp1b + grav_lz_my
self.epglzz = self.bp1b + grav_lz_mz
if (grabScreens):
frNum += 1
tfname = "/dev/shm/soya-pend%05d.png" % (frNum)
soya.screenshot(filename=tfname, use_back_buffer=False)