def carHandler():
vehicle = PC.getVehicleConstraint(G.car["cid"])
## calculate speed by using the back wheel rotation speed ##
S = vehicle.getWheelRotation(2) + vehicle.getWheelRotation(3)
G.car["speed"] = (S - G.car["dS"]) * 27.0
## apply engine force ##
vehicle.applyEngineForce(G.car["force"], 0)
vehicle.applyEngineForce(G.car["force"], 1)
vehicle.applyEngineForce(G.car["force"], 2)
vehicle.applyEngineForce(G.car["force"], 3)
## calculate steering with varying sensitivity ##
if math.fabs(G.car["speed"]) < 15.0: s = 5.0
elif math.fabs(G.car["speed"]) < 28.0: s = 4.5
elif math.fabs(G.car["speed"]) < 40.0: s = 4.0
else: s = 4.5
## steer front wheels
vehicle.setSteeringValue(G.car["steer"] * s, 0)
vehicle.setSteeringValue(G.car["steer"] * s, 1)
## slowly ease off gas and center steering ##
G.car["steer"] *= 0.6
G.car["force"] *= 0.9
## align car to Z axis to prevent flipping ##
G.car.alignAxisToVect([0.0, 0.0, 1.0], 2, Stability)
## store old values ##
G.car["dS"] = S
def carHandler(): vehicle = PC.getVehicleConstraint(G.car["cid"]) ## calculate speed by using the back wheel rotation speed ## S = vehicle.getWheelRotation(2)+vehicle.getWheelRotation(3) G.car["speed"] = (S - G.car["dS"])*27.0 ## apply engine force ## vehicle.applyEngineForce(G.car["force"],0) vehicle.applyEngineForce(G.car["force"],1) vehicle.applyEngineForce(G.car["force"],2) vehicle.applyEngineForce(G.car["force"],3) ## calculate steering with varying sensitivity ## if math.fabs(G.car["speed"])<15.0: s = 5.0 elif math.fabs(G.car["speed"])<28.0: s=4.5 elif math.fabs(G.car["speed"])<40.0: s=4.0 else: s=4.5 ## steer front wheels vehicle.setSteeringValue(G.car["steer"]*s,0) vehicle.setSteeringValue(G.car["steer"]*s,1) ## slowly ease off gas and center steering ## G.car["steer"] *= 0.6 G.car["force"] *= 0.9 ## align car to Z axis to prevent flipping ## G.car.alignAxisToVect([0.0,0.0,1.0], 2, Stability) ## store old values ## G.car["dS"] = S
def createConstraint(self, carObj):
car_PhysicsID = carObj.getPhysicsId()
vehicle_constraint = PhysicsConstraints.createConstraint(
car_PhysicsID, 0, 11)
self.vehicle_constraint = vehicle_constraint
constraint_ID = vehicle_constraint.getConstraintId()
vehicleWrapper = PhysicsConstraints.getVehicleConstraint(constraint_ID)
self.wrapper = vehicleWrapper
return vehicleWrapper
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
Optionally it gets the name of the object's parent,
but that information is not currently used for a robot. """
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
super(self.__class__, self).__init__(obj, parent)
#
# This section runs only once to create the vehicle:
#
for child in obj.children:
if 'wheel1' in child.name:
wheel1 = child
wheel1.removeParent()
if 'wheel2' in child.name:
wheel2 = child
wheel2.removeParent()
if 'wheel3' in child.name:
wheel3 = child
wheel3.removeParent()
if 'wheel4' in child.name:
wheel4 = child
wheel4.removeParent()
obj['init'] = 1
physicsid = obj.getPhysicsId()
vehicle = PhysicsConstraints.createConstraint(physicsid, 0, 11)
obj['cid'] = vehicle.getConstraintId()
self.vehicle = PhysicsConstraints.getVehicleConstraint(obj['cid'])
# Wheel location from vehicle center
wx = 1.3
wy = 1.6
wz = -.5
#wheelAttachDirLocal:
#Direction the suspension is pointing
wheelAttachDirLocal = [0, 0, -1]
#wheelAxleLocal:
#Determines the rotational angle where the
#wheel is mounted.
wheelAxleLocal = [-1, 0, 0]
#suspensionRestLength:
#The length of the suspension when it's fully
#extended:
suspensionRestLength = .3
#wheelRadius:
#Radius of the Physics Wheel.
#Turn on Game:Show Physics Visualization to see
#a purple line representing the wheel radius.
wheelRadius = .5
#hasSteering:
#Determines whether or not the coming wheel
#assignment will be affected by the steering
#value:
hasSteering = 1
#
# Front wheels:
#
logger.debug(dir(wheel1))
#Where the wheel is attached to the car based
#on the vehicle's Center
wheelAttachPosLocal = [wx, wy, wz]
#creates the first wheel using all of the variables
#created above:
self.vehicle.addWheel(wheel1, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)
#Positions this wheel on the opposite side of the car by using a
#negative values for the x position.
wheelAttachPosLocal = [-wx, wy, wz]
#creates the second wheel:
self.vehicle.addWheel(wheel2, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)
#
# Rear Wheels:
#
#Change the hasSteering value to 0 so the rear wheels don't turn
#when the steering value is changed.
hasSteering = 0
# Adjust the location the rear wheels are attached.
wx = 1.3
wy = 2.3
# Set the wheelAttachPosLocal to the new location for rear wheels:
# -y moves the position toward the back of the car
wheelAttachPosLocal = [wx, -wy, wz]
#Creates the 3rd wheel (first rear wheel)
self.vehicle.addWheel(wheel3, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)
#Adjust the attach position for the next wheel:
# changed to -x to place the wheel on the opposite side of the car
# the same distance away from the vehicle's center
wheelAttachPosLocal = [-wx, -wy, wz]
#create the last wheel using the above variables:
self.vehicle.addWheel(wheel4, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)
#The Rolling Influence:
#How easy it will be for the vehicle to roll over while turning:
#0 = Little to no rolling over
# .1 and higher easier to roll over
#Wheels that loose contact with the ground will be unable to
#steer the vehicle as well.
#influence = 0.1
influence = 0.05
self.vehicle.setRollInfluence(influence, 0)
self.vehicle.setRollInfluence(influence, 1)
self.vehicle.setRollInfluence(influence, 2)
self.vehicle.setRollInfluence(influence, 3)
#Stiffness:
#Affects how quickly the suspension will 'spring back'
#0 = No Spring back
# .001 and higher = faster spring back
#stiffness = 10.0
stiffness = 15
self.vehicle.setSuspensionStiffness(stiffness, 0)
self.vehicle.setSuspensionStiffness(stiffness, 1)
self.vehicle.setSuspensionStiffness(stiffness, 2)
self.vehicle.setSuspensionStiffness(stiffness, 3)
#Dampening:
#Determines how much the suspension will absorb the
#compression.
#0 = Bounce like a super ball
#greater than 0 = less bounce
damping = 10
self.vehicle.setSuspensionDamping(damping, 0)
self.vehicle.setSuspensionDamping(damping, 1)
self.vehicle.setSuspensionDamping(damping, 2)
self.vehicle.setSuspensionDamping(damping, 3)
#Compression:
#Resistance to compression of the overall suspension length.
#0 = Compress the entire length of the suspension
#Greater than 0 = compress less than the entire suspension length.
#10 = almost no compression
compression = 2
self.vehicle.setSuspensionCompression(compression, 0)
self.vehicle.setSuspensionCompression(compression, 1)
self.vehicle.setSuspensionCompression(compression, 2)
self.vehicle.setSuspensionCompression(compression, 3)
#Friction:
#Wheel's friction to the ground
#How fast you can accelerate from a standstill.
#Also affects steering wheel's ability to turn vehicle.
#0 = Very Slow Acceleration:
# .1 and higher = Faster Acceleration / more friction:
friction = obj['friction']
self.vehicle.setTyreFriction(friction, 0)
self.vehicle.setTyreFriction(friction, 1)
self.vehicle.setTyreFriction(friction, 2)
self.vehicle.setTyreFriction(friction, 3)
logger.info('Component initialized')
def carInit():
## setup aliases for Blender API access ##
cont = G.getCurrentController()
G.scene = G.getCurrentScene()
G.car = cont.owner
## setup general vehicle characteristics ##
wheelAttachDirLocal = [0, 0, -1]
wheelAxleLocal = [-1, 0, 0]
## setup vehicle physics ##
vehicle = PC.createConstraint(G.car.getPhysicsId(), 0, 11)
G.car["cid"] = vehicle.getConstraintId()
vehicle = PC.getVehicleConstraint(G.car["cid"])
## initialize temprary per-car variables ##
G.car["dS"] = 0.0
## attached wheel based on actuator name ##
act0 = cont.actuators["wheel0"]
wheel0 = act0.owner
wheelAttachPosLocal = [wheelBaseWide, wheelFrontOffset, AttachHeightLocal]
vehicle.addWheel(wheel0, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionLength, wheelRadius, 1)
act1 = cont.actuators["wheel1"]
wheel1 = act1.owner
wheelAttachPosLocal = [-wheelBaseWide, wheelFrontOffset, AttachHeightLocal]
vehicle.addWheel(wheel1, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionLength, wheelRadius, 1)
act2 = cont.actuators["wheel2"]
wheel2 = act2.owner
wheelAttachPosLocal = [wheelBaseWide, wheelBackOffset, AttachHeightLocal]
vehicle.addWheel(wheel2, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionLength, wheelRadius, 0)
act3 = cont.actuators["wheel3"]
wheel3 = act3.owner
wheelAttachPosLocal = [-wheelBaseWide, wheelBackOffset, AttachHeightLocal]
vehicle.addWheel(wheel3, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionLength, wheelRadius, 0)
## set vehicle roll tendency ##
vehicle.setRollInfluence(influence, 0)
vehicle.setRollInfluence(influence, 1)
vehicle.setRollInfluence(influence, 2)
vehicle.setRollInfluence(influence, 3)
## set vehicle suspension hardness ##
vehicle.setSuspensionStiffness(stiffness, 0)
vehicle.setSuspensionStiffness(stiffness, 1)
vehicle.setSuspensionStiffness(stiffness, 2)
vehicle.setSuspensionStiffness(stiffness, 3)
## set vehicle suspension dampness ##
vehicle.setSuspensionDamping(damping, 0)
vehicle.setSuspensionDamping(damping, 1)
vehicle.setSuspensionDamping(damping, 2)
vehicle.setSuspensionDamping(damping, 3)
## set vehicle suspension compression ratio ##
vehicle.setSuspensionCompression(compression, 0)
vehicle.setSuspensionCompression(compression, 1)
vehicle.setSuspensionCompression(compression, 2)
vehicle.setSuspensionCompression(compression, 3)
## set vehicle tire friction ##
vehicle.setTyreFriction(friction, 0)
vehicle.setTyreFriction(friction, 1)
vehicle.setTyreFriction(friction, 2)
vehicle.setTyreFriction(friction, 3)
def carInit(): ## setup aliases for Blender API access ## cont = G.getCurrentController() G.scene = G.getCurrentScene() G.car = cont.owner ## setup general vehicle characteristics ## wheelAttachDirLocal = [0,0,-1] wheelAxleLocal = [-1,0,0] ## setup vehicle physics ## vehicle = PC.createConstraint(G.car.getPhysicsId(),0,11) G.car["cid"] = vehicle.getConstraintId() vehicle = PC.getVehicleConstraint(G.car["cid"]) ## initialize temprary per-car variables ## G.car["dS"] = 0.0 ## attached wheel based on actuator name ## act0 = cont.actuators["wheel0"] wheel0 = act0.owner wheelAttachPosLocal = [wheelBaseWide ,wheelFrontOffset, AttachHeightLocal] vehicle.addWheel(wheel0,wheelAttachPosLocal,wheelAttachDirLocal,wheelAxleLocal,suspensionLength,wheelRadius,1) act1 = cont.actuators["wheel1"] wheel1 = act1.owner wheelAttachPosLocal = [-wheelBaseWide ,wheelFrontOffset, AttachHeightLocal] vehicle.addWheel(wheel1,wheelAttachPosLocal,wheelAttachDirLocal,wheelAxleLocal,suspensionLength,wheelRadius,1) act2 = cont.actuators["wheel2"] wheel2 = act2.owner wheelAttachPosLocal = [wheelBaseWide ,wheelBackOffset, AttachHeightLocal] vehicle.addWheel(wheel2,wheelAttachPosLocal,wheelAttachDirLocal,wheelAxleLocal,suspensionLength,wheelRadius,0) act3 = cont.actuators["wheel3"] wheel3 = act3.owner wheelAttachPosLocal = [-wheelBaseWide ,wheelBackOffset, AttachHeightLocal] vehicle.addWheel(wheel3,wheelAttachPosLocal,wheelAttachDirLocal,wheelAxleLocal,suspensionLength,wheelRadius,0) ## set vehicle roll tendency ## vehicle.setRollInfluence(influence,0) vehicle.setRollInfluence(influence,1) vehicle.setRollInfluence(influence,2) vehicle.setRollInfluence(influence,3) ## set vehicle suspension hardness ## vehicle.setSuspensionStiffness(stiffness,0) vehicle.setSuspensionStiffness(stiffness,1) vehicle.setSuspensionStiffness(stiffness,2) vehicle.setSuspensionStiffness(stiffness,3) ## set vehicle suspension dampness ## vehicle.setSuspensionDamping(damping,0) vehicle.setSuspensionDamping(damping,1) vehicle.setSuspensionDamping(damping,2) vehicle.setSuspensionDamping(damping,3) ## set vehicle suspension compression ratio ## vehicle.setSuspensionCompression(compression,0) vehicle.setSuspensionCompression(compression,1) vehicle.setSuspensionCompression(compression,2) vehicle.setSuspensionCompression(compression,3) ## set vehicle tire friction ## vehicle.setTyreFriction(friction,0) vehicle.setTyreFriction(friction,1) vehicle.setTyreFriction(friction,2) vehicle.setTyreFriction(friction,3)