def make_water(water_density, water_length, water_width, water_height):
"""
Args:
water_density:
water_length:
water_width:
water_height:
Returns:
"""
seafloorImageBuilder.save_new_seafloor_image(width=water_length)
water_material = agx.Material("waterMaterial")
water_material.getBulkMaterial().setDensity(water_density)
water_geometry = agxCollide.Geometry(
agxCollide.Box(water_length, water_width / 2, water_height / 2))
water_geometry.setPosition(0, 0, -water_height / 2)
seafloor = MakeWater.make_seafloor(vairance=SEAFLOOR_VARIANCE,
length=water_length * 2,
width=water_width,
depth=-water_height)
"""Surface of water at z = 0."""
water_geometry.setMaterial(water_material)
MakeWater.add_color(water_geometry)
""" ads visualisation"""
agxOSG.createVisual(seafloor, demoutils.root())
print("build water and seafloor")
return water_geometry, seafloor
def create_wire(density, size, body_1, pos_1, body_2, pos_2):
"""
Args:
density:
size:
body_1:
pos_1:
body_2:
pos_2:
Returns:
"""
wire_material = agx.Material('wireMaterial')
wire_material.getBulkMaterial().setDensity(density)
wire = agxWire.Wire(size, WIRE_RESOLUTION, False)
wire.setLinearVelocityDamping(0.8)
wire.setMaterial(wire_material)
wire.add(agxWire.BodyFixedNode(body_1.m_body, pos_1))
wire.add(agxWire.BodyFixedNode(body_2.link1, pos_2))
wire.setEnableCollisions(True)
wire.setEnableCollisions(body_1.m_body, False)
wire.setEnableCollisions(body_2.link1, False)
wire_renderer = agxOSG.WireRenderer(wire, demoutils.root())
return wire, wire_renderer
def add_color(geomerty):
waterNode = agxOSG.createVisual(geomerty, demoutils.root())
color = agxRender.Color.DeepSkyBlue()
alpha = 0.4
agxOSG.setDiffuseColor(waterNode, color)
agxOSG.setAmbientColor(waterNode, agx.Vec4f(1))
agxOSG.setShininess(waterNode, 120)
agxOSG.setAlpha(waterNode, alpha)
def create_fenders(self, fender_material, r_fender, half_width, half_height, half_length):
fender_color = agxRender.Color.Black()
fender = agxCollide.Geometry(agxCollide.Capsule(0.2, half_width * 2))
fender.setPosition(half_length, 0, 0)
self.m_body.add(fender)
agxOSG.setDiffuseColor(agxOSG.createVisual(fender, demoutils.root()), fender_color)
fender.setMaterial(fender_material)
def __init__(self, controller):
super().__init__()
self.controller = controller
width = 2 * 1.5
right_fender = width * 0.25
length = 10 - right_fender * 0.4
ship_color = agxRender.Color.LightYellow()
self.m_propulsion_force = 0
self.m_turn_fraction = 0.1
self.m_turn = 0
self.m_propulsion_step = 30
self.m_max_propulsion = 200000
self.m_min_propulsion = -500
self.init(width, length, right_fender)
self.m_body.getMassProperties().setMass(1000 * 4)
self.m_body.getCmFrame().setLocalTranslate(agx.Vec3(-0.2, 0, 0))
self.m_body.getGeometries()[0].setEnableCollisions(True)
agxOSG.setDiffuseColor(agxOSG.createVisual(self.m_body, demoutils.root()), ship_color)
"""Create callbacks"""
Sec.preCallback(lambda t: self.update_propulsion())
Sec.postCallback(lambda t: self.display_forces(t))
Sec.postCallback(lambda t: self.post(t))
def __init__(self, ground: agxCollide.Geometry, rov, depth):
"""
Args:
ground:
rov:
depth:
"""
super().__init__()
self.setMask(ContactEventListener.CONTACT)
b = agxCollide.Box(.1, .1, depth)
self.beam = Geometry(b)
# print(self.beam.getShapes(),self.beam)
self.beam.setPosition(0, 0, -depth)
self.beam.setSensor(True)
self.setFilter(GeometryFilter(self.beam, ground))
color = agxRender.Color.IndianRed()
node = agxOSG.createVisual(self.beam, demoutils.root())
agxOSG.setDiffuseColor(node, color)
agxOSG.setAmbientColor(node, agx.Vec4f(1))
agxOSG.setShininess(node, 120)
agxOSG.setAlpha(node, 0.6)
self.ground = ground.getShape().asHeightField()