def _init_collision_shapes(self):
"""Initialize collision shape list
"""
if 'collision shapes' in self.data:
for couple_of_shapes in self.data['collision shapes']:
self.collision_shapes.append(choose_solver(*couple_of_shapes))
def _init_collision_shapes(self):
"""Initialize collision shape list
"""
if 'collision shapes' in self.data:
for couple_of_shapes in self.data['collision shapes']:
self.collision_shapes.append(choose_solver(*couple_of_shapes))
def __init__(self, shapes, collision_solver, proximity, name):
assert isinstance(shapes[0], Shape)
assert isinstance(shapes[1], Shape)
Constraint.__init__(self, name)
if collision_solver is None:
# automatically find the collision solver
from arboris.collisions import choose_solver
(shapes, collision_solver) = choose_solver(shapes[0], shapes[1])
self._shapes = shapes
self._is_active = None
self._sdist = None
self._frames = (MovingSubFrame(shapes[0].frame.body),
MovingSubFrame(shapes[1].frame.body))
self._collision_solver = collision_solver
self._proximity = proximity
def __init__(self, sh1, sh2, name=None):
""" Record the distance between two shapes.
:param sh1: the first shape to compute the distance
:type sh1: :class:`~arboris.core.Shape`
:param sh2: the first shape to compute the distance
:type sh2: :class:`~arboris.core.Shape`
:param string name: the instance name of the observer
**Warning:**
This recorder works only if a distance solver for these two shapes
is returned by :meth:`~arboris.collisions.choose_solver`.
"""
_Recorder.__init__(self, name)
self.shapes, self.solver = choose_solver(sh1, sh2)