def roll_hand_r(cont):
"""
roll the right hand
"""
armature = cont.owner
human = armature.parent
hand_r = armature.channels['Hand.R']
# if the human is external, do nothing
if human.get('External_Robot_Tag') or human['disable_keyboard_control']:
return
keyboard = cont.sensors['All_Keys']
wheel_down = cont.sensors['WheelDown']
wheel_up = cont.sensors['WheelUp']
if not ((wheel_down.positive or wheel_up.positive)
and human['Manipulate']):
return
roll_speed = 0.1
keylist = keyboard.events
for key in keylist:
# key[0] == events.keycode, key[1] = status
if key[1] == blenderapi.input_active(
) and key[0] == blenderapi.LEFTCTRLKEY:
if wheel_down.positive:
roll_speed = -roll_speed
hand_r.rotation_quaternion += Vector((0.0, 0.0, roll_speed, 0.0))
armature.update()
def default_action(self):
""" Interpret keyboard presses and assign them to movement
for the robot."""
keyboard = blenderapi.keyboard()
is_actived = blenderapi.input_active()
# Reset movement variables
vx, vy, vz = 0.0, 0.0, 0.0
rx, ry, rz = 0.0, 0.0, 0.0
if keyboard.events[blenderapi.UPARROWKEY] == is_actived:
vx = self._speed
if keyboard.events[blenderapi.DOWNARROWKEY] == is_actived:
vx = -self._speed
if keyboard.events[blenderapi.LEFTARROWKEY] == is_actived:
rz = self._speed
if keyboard.events[blenderapi.RIGHTARROWKEY] == is_actived:
rz = -self._speed
if self._type == "Position" or self._type == "Velocity":
self.robot_parent.apply_speed(self._type, [vx, vy, vz], [rx, ry, rz / 2.0])
elif self._type == "Differential":
self.robot_parent.apply_vw_wheels(vx, rz)
def default_action(self):
""" Main loop of the actuator.
Implements the component behaviour
"""
robot = self.robot_parent
force = (robot.bge_object.mass * -9.81)
#robot.bge_object.applyForce([0.0, 0.0, force], False)
force2 = (robot.bge_object.mass *
blenderapi.game_settings().physics_gravity)
robot.bge_object.applyForce([0.0, 0.0, force2], False)
keyboard = blenderapi.keyboard()
is_actived = blenderapi.input_active()
if keyboard.events[blenderapi.ZKEY] == is_actived:
self.local_data['V'] = self.local_data['V'] + 1.0
print(self.local_data['V'])
if keyboard.events[blenderapi.XKEY] == is_actived:
self.local_data['V'] = self.local_data['V'] - 1.0
print(self.local_data['V'])
force3 = self.local_data['V']
#robot.bge_object.applyForce([0.0, 0.0, force3], False)
if not self.do_once:
print(robot.bge_object.mass)
print(robot.bge_object.getPropertyNames())
print(blenderapi.game_settings().physics_gravity)
#print(robot.bge_object.getLinearVelocity())
self.do_once = True
def default_action(self):
""" Interpret keyboard presses and assign them to movement
for the robot."""
keyboard = blenderapi.keyboard()
is_actived = blenderapi.input_active()
# Reset movement variables
vx, vy, vz = 0.0, 0.0, 0.0
rx, ry, rz = 0.0, 0.0, 0.0
if keyboard.events[blenderapi.UPARROWKEY] == is_actived:
vx = self._speed
if keyboard.events[blenderapi.DOWNARROWKEY] == is_actived:
vx = -self._speed
if keyboard.events[blenderapi.LEFTARROWKEY] == is_actived:
rz = self._speed
if keyboard.events[blenderapi.RIGHTARROWKEY] == is_actived:
rz = -self._speed
if self._type == 'Position' or self._type == 'Velocity':
self.robot_parent.apply_speed(self._type, [vx, vy, vz], [rx, ry, rz / 2.0])
elif self._type == 'Differential':
self.robot_parent.apply_vw_wheels(vx, rz)
def roll_hand_r(cont):
"""
roll the right hand
"""
armature = cont.owner
human = armature.parent
hand_r = armature.channels['Hand.R']
# if the human is external, do nothing
if human.get('External_Robot_Tag') or human['disable_keyboard_control']:
return
keyboard = cont.sensors['All_Keys']
wheel_down = cont.sensors['WheelDown']
wheel_up = cont.sensors['WheelUp']
if not ((wheel_down.positive or wheel_up.positive) and human['Manipulate']):
return
roll_speed = 0.1
keylist = keyboard.events
for key in keylist:
# key[0] == events.keycode, key[1] = status
if key[1] == blenderapi.input_active() and key[0] == blenderapi.LEFTCTRLKEY:
if wheel_down.positive:
roll_speed = -roll_speed
hand_r.rotation_quaternion += Vector((0.0, 0.0, roll_speed, 0.0))
armature.update()
def default_action(self): keyboard = blenderapi.keyboard() is_actived = blenderapi.input_active() if keyboard.events[blenderapi.UPARROWKEY] == is_actived: self.local_data['up'] = True else: self.local_data['up'] = False if keyboard.events[blenderapi.DOWNARROWKEY] == is_actived: self.local_data['down'] = True else: self.local_data['down'] = False if keyboard.events[blenderapi.LEFTARROWKEY] == is_actived: self.local_data['left'] = True else: self.local_data['left'] = False if keyboard.events[blenderapi.RIGHTARROWKEY] == is_actived: self.local_data['right'] = True else: self.local_data['right'] = False if keyboard.events[blenderapi.IKEY] == is_actived: self.local_data['i'] = True else: self.local_data['i'] = False if keyboard.events[blenderapi.JKEY] == is_actived: self.local_data['j'] = True else: self.local_data['j'] = False if keyboard.events[blenderapi.KKEY] == is_actived: self.local_data['k'] = True else: self.local_data['k'] = False if keyboard.events[blenderapi.LKEY] == is_actived: self.local_data['l'] = True else: self.local_data['l'] = False
def move(contr):
""" Read the keys for specific combinations
that will make the camera move in 3D space. """
# get the object this script is attached to
camera = contr.owner
scene = blenderapi.scene()
# Do not move the camera if the current view is using another camera
if camera != scene.active_camera:
return
if 'Human' in scene.objects:
human = scene.objects['Human']
if not human['move_cameraFP']:
return
# set the movement speed
speed = camera['Speed']
# Get Blender keyboard sensor
keyboard = contr.sensors['All_Keys']
# Default movement speed
move_speed = [0.0, 0.0, 0.0]
keylist = keyboard.events
for key in keylist:
if key[1] == blenderapi.input_active():
# Also add the corresponding key for an AZERTY keyboard
if key[0] == blenderapi.WKEY or key[0] == blenderapi.ZKEY:
move_speed[2] = -speed
elif key[0] == blenderapi.SKEY:
move_speed[2] = speed
# Also add the corresponding key for an AZERTY keyboard
elif key[0] == blenderapi.AKEY or key[0] == blenderapi.QKEY:
move_speed[0] = -speed
elif key[0] == blenderapi.DKEY:
move_speed[0] = speed
elif key[0] == blenderapi.RKEY:
move_speed[1] = speed
elif key[0] == blenderapi.FKEY:
move_speed[1] = -speed
else:
move_speed[0] = 0
move_speed[1] = 0
move_speed[2] = 0
# The second parameter of 'applyMovement' determines
# a movement with respect to the object's local
# coordinate system
camera.applyMovement( move_speed, True )
elif key[1] == blenderapi.input_just_activated():
# Other actions activated with the keyboard
# Reset camera to center
if key[0] == blenderapi.F8KEY and keyboard.positive:
reset_position(contr)
def set_human_animation(contr):
""" Toggle the animation actions (walking, standing still...) of
the armature.
"""
# Get sensor named Mouse
armature = contr.owner
# get the suffix of the human to reference the right objects
suffix = armature.name[-4:] if armature.name[-4] == "." else ""
scene = blenderapi.scene()
active_camera = scene.active_camera
human = scene.objects[armature.parent.name]
# if the human is external, do nothing
if human.get('External_Robot_Tag') or human['disable_keyboard_control']:
return
keyboard = contr.sensors['All_Keys']
keylist = keyboard.events
pressed = [] #all keys that are currently pressed
for key in keylist:
# key[0] == blenderapi.keycode, key[1] = status
if key[1] == blenderapi.input_just_activated():
pressed.append(key[0])
# Keys for moving forward or turning
"""
if key[0] == blenderapi.WKEY or key[0] == blenderapi.ZKEY:
armature['movingForward'] = True
elif key[0] == blenderapi.SKEY:
armature['movingBackward'] = True
"""
# TEST: Read the rotation of the bones in the armature
if key[0] == blenderapi.BKEY:
read_pose(contr)
#elif key[0] == blenderapi.VKEY:
#reset_pose(contr)
#elif key[1] == blenderapi.input_just_released():
"""
if key[0] == blenderapi.WKEY or key[0] == blenderapi.ZKEY:
armature['movingForward'] = False
elif key[0] == blenderapi.SKEY:
armature['movingBackward'] = False
"""
elif key[1] == blenderapi.input_active():
pressed.append(key[0])
if human['move_cameraFP'] and active_camera.name != 'Human_Camera':
return
if (FORWARDS in pressed or LEFT in pressed or BACKWARDS in pressed or
RIGHT in pressed):
armature['movingForward'] = True
else:
armature['movingForward'] = False
def set_human_animation(contr):
""" Toggle the animation actions (walking, standing still...) of
the armature.
"""
# Get sensor named Mouse
armature = contr.owner
# get the suffix of the human to reference the right objects
suffix = armature.name[-4:] if armature.name[-4] == "." else ""
scene = blenderapi.scene()
active_camera = scene.active_camera
human = scene.objects[armature.parent.name]
# if the human is external, do nothing
if human.get('External_Robot_Tag') or human['disable_keyboard_control']:
return
keyboard = contr.sensors['All_Keys']
keylist = keyboard.events
pressed = [] #all keys that are currently pressed
for key in keylist:
# key[0] == blenderapi.keycode, key[1] = status
if key[1] == blenderapi.input_just_activated():
pressed.append(key[0])
# Keys for moving forward or turning
"""
if key[0] == blenderapi.WKEY or key[0] == blenderapi.ZKEY:
armature['movingForward'] = True
elif key[0] == blenderapi.SKEY:
armature['movingBackward'] = True
"""
# TEST: Read the rotation of the bones in the armature
if key[0] == blenderapi.BKEY:
read_pose(contr)
#elif key[0] == blenderapi.VKEY:
#reset_pose(contr)
#elif key[1] == blenderapi.input_just_released():
"""
if key[0] == blenderapi.WKEY or key[0] == blenderapi.ZKEY:
armature['movingForward'] = False
elif key[0] == blenderapi.SKEY:
armature['movingBackward'] = False
"""
elif key[1] == blenderapi.input_active():
pressed.append(key[0])
if human['move_cameraFP'] and active_camera.name != 'Human_Camera':
return
if (FORWARDS in pressed or LEFT in pressed or BACKWARDS in pressed or
RIGHT in pressed):
armature['movingForward'] = True
else:
armature['movingForward'] = False
def rotate(contr):
""" Read the movements of the mouse and apply them
as a rotation to the camera. """
# get the object this script is attached to
camera = contr.owner
scene = blenderapi.scene()
if not scene:
# not ready, main reload(blenderapi)
return
# Do not move the camera if the current view is using another camera
if camera != scene.active_camera:
return
# Get sensor named Mouse
mouse = contr.sensors['Mouse']
# Get Blender keyboard sensor
keyboard = contr.sensors['All_Keys']
# Show the cursor
mouse_visible = True
keylist = keyboard.events
for key in keylist:
if key[1] == blenderapi.input_active():
# Left CTRL key allow to rotate the camera
if key[0] == blenderapi.LEFTCTRLKEY:
# Hide the cursor while we control the camera
mouse_visible = False
if mouse.positive:
# get width and height of game window
width = blenderapi.render().getWindowWidth()
height = blenderapi.render().getWindowHeight()
# get mouse movement from function
move = mouse_move(camera, mouse, width, height)
# set mouse sensitivity
sensitivity = camera['Sensitivity']
# Amount, direction and sensitivity
leftRight = move[0] * sensitivity
upDown = move[1] * sensitivity
# set the values
camera.applyRotation([0.0, 0.0, leftRight], 0)
camera.applyRotation([upDown, 0.0, 0.0], 1)
# Center mouse in game window
# Using the '//' operator (floor division) to produce an integer result
blenderapi.render().setMousePosition(
width // 2, height // 2)
# Set the cursor visibility
blenderapi.mousepointer(visible=mouse_visible)
def rotate(contr):
""" Read the movements of the mouse and apply them
as a rotation to the camera. """
# get the object this script is attached to
camera = contr.owner
scene = blenderapi.scene()
if not scene:
# not ready, main reload(blenderapi)
return
# Do not move the camera if the current view is using another camera
if camera != scene.active_camera:
return
# Get sensor named Mouse
mouse = contr.sensors['Mouse']
# Get Blender keyboard sensor
keyboard = contr.sensors['All_Keys']
# Show the cursor
mouse_visible = True
keylist = keyboard.events
for key in keylist:
if key[1] == blenderapi.input_active():
# Left CTRL key allow to rotate the camera
if key[0] == blenderapi.LEFTCTRLKEY:
# Hide the cursor while we control the camera
mouse_visible = False
if mouse.positive:
# get width and height of game window
width = blenderapi.render().getWindowWidth()
height = blenderapi.render().getWindowHeight()
# get mouse movement from function
move = mouse_move(camera, mouse, width, height)
# set mouse sensitivity
sensitivity = camera['Sensitivity']
# Amount, direction and sensitivity
leftRight = move[0] * sensitivity
upDown = move[1] * sensitivity
# set the values
camera.applyRotation( [0.0, 0.0, leftRight], 0 )
camera.applyRotation( [upDown, 0.0, 0.0], 1 )
# Center mouse in game window
# Using the '//' operator (floor division) to produce an integer result
blenderapi.render().setMousePosition(width//2, height//2)
# Set the cursor visibility
blenderapi.mousepointer(visible = mouse_visible)
def default_action(self):
keyboard = blenderapi.keyboard()
is_actived = blenderapi.input_active()
if keyboard.events[blenderapi.UPARROWKEY] == is_actived:
self.local_data['up'] = True
else:
self.local_data['up'] = False
if keyboard.events[blenderapi.DOWNARROWKEY] == is_actived:
self.local_data['down'] = True
else:
self.local_data['down'] = False
if keyboard.events[blenderapi.LEFTARROWKEY] == is_actived:
self.local_data['left'] = True
else:
self.local_data['left'] = False
if keyboard.events[blenderapi.RIGHTARROWKEY] == is_actived:
self.local_data['right'] = True
else:
self.local_data['right'] = False
if keyboard.events[blenderapi.IKEY] == is_actived:
self.local_data['i'] = True
else:
self.local_data['i'] = False
if keyboard.events[blenderapi.JKEY] == is_actived:
self.local_data['j'] = True
else:
self.local_data['j'] = False
if keyboard.events[blenderapi.KKEY] == is_actived:
self.local_data['k'] = True
else:
self.local_data['k'] = False
if keyboard.events[blenderapi.LKEY] == is_actived:
self.local_data['l'] = True
else:
self.local_data['l'] = False
def move(contr):
""" Read the keys for specific combinations
that will make the camera move in 3D space. """
# get the object this script is attached to
human = contr.owner
# set the movement speed
speed = human['Speed']
# Get sensor named Mouse
keyboard = contr.sensors['All_Keys']
# Default movement speed
move_speed = [0.0, 0.0, 0.0]
rotation_speed = [0.0, 0.0, 0.0]
keylist = keyboard.events
for key in keylist:
if key[1] == blenderapi.input_active():
if key[0] == blenderapi.IKEY:
move_speed[0] = speed
elif key[0] == blenderapi.KKEY:
move_speed[0] = -speed
elif key[0] == blenderapi.JKEY:
rotation_speed[2] = speed
elif key[0] == blenderapi.LKEY:
rotation_speed[2] = -speed
elif key[0] == blenderapi.UKEY:
move_speed[1] = speed
elif key[0] == blenderapi.OKEY:
move_speed[1] = -speed
# The second parameter of 'applyMovement' determines
# a movement with respect to the object's local
# coordinate system
human.applyMovement( move_speed, True )
human.applyRotation( rotation_speed, True )
"""
def move(contr):
""" Read the keys for specific combinations
that will make the camera move in 3D space. """
# get the object this script is attached to
human = contr.owner
# set the movement speed
speed = human['Speed']
# Get sensor named Mouse
keyboard = contr.sensors['All_Keys']
# Default movement speed
move_speed = [0.0, 0.0, 0.0]
rotation_speed = [0.0, 0.0, 0.0]
keylist = keyboard.events
for key in keylist:
if key[1] == blenderapi.input_active():
if key[0] == blenderapi.IKEY:
move_speed[0] = speed
elif key[0] == blenderapi.KKEY:
move_speed[0] = -speed
elif key[0] == blenderapi.JKEY:
rotation_speed[2] = speed
elif key[0] == blenderapi.LKEY:
rotation_speed[2] = -speed
elif key[0] == blenderapi.UKEY:
move_speed[1] = speed
elif key[0] == blenderapi.OKEY:
move_speed[1] = -speed
# The second parameter of 'applyMovement' determines
# a movement with respect to the object's local
# coordinate system
human.applyMovement( move_speed, True )
human.applyRotation( rotation_speed, True )
"""
def move(contr):
""" Read the keys for specific combinations
that will make the camera move in 3D space. """
# Get the currently active camera to adapt control method
scene = blenderapi.scene()
active_camera = scene.active_camera
# get the object this script is attached to
human = contr.owner
# if the human is external, do nothing
if human.get('External_Robot_Tag') or human['disable_keyboard_control']:
return
# get the suffix of the human to reference the right objects
suffix = human.name[-4:] if human.name[-4] == "." else ""
# set the movement speed
speed = human['Speed']
# Get sensor named Mouse
keyboard = contr.sensors['All_Keys']
# Default movement speed
move_speed = [0.0, 0.0, 0.0]
rotation_speed = [0.0, 0.0, 0.0]
human_camera = "Human_Camera" + suffix
if human['move_cameraFP'] and active_camera.name != human_camera:
return
keylist = keyboard.events
for key in keylist:
# key[0] == blenderapi.keycode, key[1] = status
if key[1] == blenderapi.input_active():
if human['Manipulate']:
if key[0] == FORWARDS:
move_speed[0] = speed
elif key[0] == BACKWARDS:
move_speed[0] = -speed
elif key[0] == TURN_LEFT:
rotation_speed[2] = speed
elif key[0] == TURN_RIGHT:
rotation_speed[2] = -speed
elif key[0] == RIGHT:
if active_camera.name == human_camera:
move_speed[1] = -speed
else:
rotation_speed[2] = -speed
elif key[0] == LEFT:
if active_camera.name == human_camera:
move_speed[1] = speed
else:
rotation_speed[2] = speed
else:
if key[0] in (FORWARDS, BACKWARDS, LEFT, RIGHT):
move_speed[0] = speed
if active_camera.name != human_camera and key[
0] == BACKWARDS:
move_speed[0] = -speed
# The second parameter of 'applyMovement' determines
# a movement with respect to the object's local
# coordinate system
human.applyMovement(move_speed, True)
human.applyRotation(rotation_speed, True)
"""
if key[0] == blenderapi.UPARROWKEY:
move_speed[0] = speed
elif key[0] == blenderapi.DOWNARROWKEY:
move_speed[0] = -speed
elif key[0] == blenderapi.LEFTARROWKEY:
rotation_speed[2] = speed
elif key[0] == blenderapi.RIGHTARROWKEY:
rotation_speed[2] = -speed
elif key[0] == blenderapi.AKEY:
move_speed[2] = speed
elif key[0] == blenderapi.EKEY:
move_speed[2] = -speed
"""
elif key[1] == blenderapi.input_just_activated():
# Other actions activated with the keyboard
# Reset camera to center
if key[0] == blenderapi.NKEY and keyboard.positive:
reset_view(contr)
# Switch between look and manipulate
elif key[0] == blenderapi.XKEY:
toggle_manipulate(contr)
def rotate(co):
"""
Set the human orientation in reference to the camera orientation.
"""
ow = co.owner
# get the suffix of the human to reference the right objects
suffix = ow.name[-4:] if ow.name[-4] == "." else ""
keyboard = co.sensors['All_Keys']
scene = blenderapi.scene()
human_pos = co.owner
pos = scene.objects['POS_EMPTY' + suffix]
active_camera = scene.active_camera
# if the human is external, do nothing
if human_pos.get(
'External_Robot_Tag') or human_pos['disable_keyboard_control']:
return
if human_pos['move_cameraFP'] and active_camera.name != ('Human_Camera' +
suffix):
return
keylist = keyboard.events
k = [] #initiate a list with all currently pressed keys
for key in keylist:
if key[1] == blenderapi.input_active():
k.append(key[0]) # add all pressed keys to a list - as ASCII CODES
pos.worldPosition = ow.worldPosition
# Get active camera
scene = blenderapi.scene()
active_camera = scene.active_camera
if ow['Manipulate']:
ow.worldOrientation = pos.worldOrientation
# lock camera to head in Manipulation Mode
else:
if FORWARDS in k and not (LEFT in k or RIGHT in k):
if active_camera.name == ("Human_Camera" + suffix):
applyrotate(pos.worldOrientation, ow)
else:
applyrotate(human_pos.worldOrientation, ow)
elif LEFT in k and not (FORWARDS in k or BACKWARDS in k):
if active_camera.name == ("Human_Camera" + suffix):
applyrotate(
pos.worldOrientation *
Matrix.Rotation(math.pi / 2, 3, 'Z'), ow)
else:
applyrotate(
human_pos.worldOrientation *
Matrix.Rotation(math.pi / 2, 3, 'Z'), ow)
# turn around 90 deg
elif RIGHT in k and not (FORWARDS in k or BACKWARDS in k):
if active_camera.name == ("Human_Camera" + suffix):
applyrotate(
pos.worldOrientation *
Matrix.Rotation(math.pi * 3 / 2, 3, 'Z'), ow)
else:
applyrotate(
human_pos.worldOrientation *
Matrix.Rotation(math.pi * 3 / 2, 3, 'Z'), ow)
# turn around 270 deg
elif LEFT in k and FORWARDS in k:
if active_camera.name == ("Human_Camera" + suffix):
applyrotate(
pos.worldOrientation *
Matrix.Rotation(math.pi / 4, 3, 'Z'), ow)
else:
applyrotate(
human_pos.worldOrientation *
Matrix.Rotation(math.pi / 4, 3, 'Z'), ow)
# turn around 45 deg
elif RIGHT in k and FORWARDS in k:
if active_camera.name == ("Human_Camera" + suffix):
applyrotate(
pos.worldOrientation *
Matrix.Rotation(math.pi * 7 / 4, 3, 'Z'), ow)
else:
applyrotate(
human_pos.worldOrientation *
Matrix.Rotation(math.pi * 7 / 4, 3, 'Z'), ow)
# turn around 315 deg
elif BACKWARDS in k and not (LEFT in k or RIGHT in k):
if active_camera.name == ("Human_Camera" + suffix):
applyrotate(
pos.worldOrientation * Matrix.Rotation(math.pi, 3, 'Z'),
ow)
# turn around 180 deg if in game-mode
elif LEFT in k and BACKWARDS in k:
if active_camera.name == ("Human_Camera" + suffix):
applyrotate(
pos.worldOrientation *
Matrix.Rotation(math.pi * 3 / 4, 3, 'Z'), ow)
else:
applyrotate(
human_pos.worldOrientation *
Matrix.Rotation(math.pi / 4, 3, 'Z'), ow)
# turn around 135 deg if in game-mode, else turn 45 deg
elif RIGHT in k and BACKWARDS in k:
if active_camera.name == ("Human_Camera" + suffix):
applyrotate(
pos.worldOrientation *
Matrix.Rotation(math.pi * 5 / 4, 3, 'Z'), ow)
else:
applyrotate(
human_pos.worldOrientation *
Matrix.Rotation(math.pi * 7 / 4, 3, 'Z'), ow)
def move(contr):
""" Read the keys for specific combinations
that will make the camera move in 3D space. """
# Get the currently active camera to adapt control method
scene = blenderapi.scene()
active_camera = scene.active_camera
# get the object this script is attached to
human = contr.owner
# if the human is external, do nothing
if human.get('External_Robot_Tag') or human['disable_keyboard_control']:
return
# get the suffix of the human to reference the right objects
suffix = human.name[-4:] if human.name[-4] == "." else ""
# set the movement speed
speed = human['Speed']
# Get sensor named Mouse
keyboard = contr.sensors['All_Keys']
# Default movement speed
move_speed = [0.0, 0.0, 0.0]
rotation_speed = [0.0, 0.0, 0.0]
human_camera = "Human_Camera" + suffix
if human['move_cameraFP'] and active_camera.name != human_camera:
return
keylist = keyboard.events
for key in keylist:
# key[0] == blenderapi.keycode, key[1] = status
if key[1] == blenderapi.input_active():
if human['Manipulate']:
if key[0] == FORWARDS:
move_speed[0] = speed
elif key[0] == BACKWARDS:
move_speed[0] = -speed
elif key[0] == TURN_LEFT:
rotation_speed[2] = speed
elif key[0] == TURN_RIGHT:
rotation_speed[2] = -speed
elif key[0] == RIGHT:
if active_camera.name == human_camera:
move_speed[1] = -speed
else:
rotation_speed[2] = -speed
elif key[0] == LEFT:
if active_camera.name == human_camera:
move_speed[1] = speed
else:
rotation_speed[2] = speed
else:
if key[0] in (FORWARDS, BACKWARDS, LEFT, RIGHT):
move_speed[0] = speed
if active_camera.name != human_camera and key[0] == BACKWARDS:
move_speed[0] = -speed
# The second parameter of 'applyMovement' determines
# a movement with respect to the object's local
# coordinate system
human.applyMovement( move_speed, True )
human.applyRotation( rotation_speed, True )
"""
if key[0] == blenderapi.UPARROWKEY:
move_speed[0] = speed
elif key[0] == blenderapi.DOWNARROWKEY:
move_speed[0] = -speed
elif key[0] == blenderapi.LEFTARROWKEY:
rotation_speed[2] = speed
elif key[0] == blenderapi.RIGHTARROWKEY:
rotation_speed[2] = -speed
elif key[0] == blenderapi.AKEY:
move_speed[2] = speed
elif key[0] == blenderapi.EKEY:
move_speed[2] = -speed
"""
elif key[1] == blenderapi.input_just_activated():
# Other actions activated with the keyboard
# Reset camera to center
if key[0] == blenderapi.NKEY and keyboard.positive:
reset_view(contr)
# Switch between look and manipulate
elif key[0] == blenderapi.XKEY:
toggle_manipulate(contr)
def rotate(co):
"""
Set the human orientation in reference to the camera orientation.
"""
ow = co.owner
# get the suffix of the human to reference the right objects
suffix = ow.name[-4:] if ow.name[-4] == "." else ""
keyboard = co.sensors['All_Keys']
scene = blenderapi.scene()
human_pos = co.owner
pos = scene.objects['POS_EMPTY' + suffix]
active_camera = scene.active_camera
# if the human is external, do nothing
if human_pos.get('External_Robot_Tag') or human_pos['disable_keyboard_control']:
return
if human_pos['move_cameraFP'] and active_camera.name != ('Human_Camera'+suffix):
return
keylist = keyboard.events
k = [] #initiate a list with all currently pressed keys
for key in keylist:
if key[1] == blenderapi.input_active():
k.append(key[0]) # add all pressed keys to a list - as ASCII CODES
pos.worldPosition = ow.worldPosition
# Get active camera
scene = blenderapi.scene()
active_camera = scene.active_camera
if ow['Manipulate']:
ow.worldOrientation = pos.worldOrientation
# lock camera to head in Manipulation Mode
else:
if FORWARDS in k and not(LEFT in k or RIGHT in k):
if active_camera.name == ("Human_Camera"+suffix):
applyrotate(pos.worldOrientation, ow)
else:
applyrotate(human_pos.worldOrientation, ow)
elif LEFT in k and not(FORWARDS in k or BACKWARDS in k):
if active_camera.name == ("Human_Camera"+suffix):
applyrotate(pos.worldOrientation *
Matrix.Rotation(math.pi / 2, 3, 'Z'), ow)
else:
applyrotate(human_pos.worldOrientation *
Matrix.Rotation(math.pi / 2, 3, 'Z'), ow)
# turn around 90 deg
elif RIGHT in k and not(FORWARDS in k or BACKWARDS in k):
if active_camera.name == ("Human_Camera"+suffix):
applyrotate(pos.worldOrientation *
Matrix.Rotation(math.pi * 3/2, 3, 'Z'), ow)
else:
applyrotate(human_pos.worldOrientation * Matrix.Rotation(math.pi * 3/2, 3, 'Z'), ow)
# turn around 270 deg
elif LEFT in k and FORWARDS in k:
if active_camera.name == ("Human_Camera"+suffix):
applyrotate(pos.worldOrientation *
Matrix.Rotation(math.pi / 4, 3, 'Z'), ow)
else:
applyrotate(human_pos.worldOrientation *
Matrix.Rotation(math.pi / 4, 3, 'Z'), ow)
# turn around 45 deg
elif RIGHT in k and FORWARDS in k:
if active_camera.name == ("Human_Camera"+suffix):
applyrotate(pos.worldOrientation *
Matrix.Rotation(math.pi * 7 / 4, 3, 'Z'), ow)
else:
applyrotate(human_pos.worldOrientation *
Matrix.Rotation(math.pi * 7 / 4, 3, 'Z'), ow)
# turn around 315 deg
elif BACKWARDS in k and not(LEFT in k or RIGHT in k):
if active_camera.name == ("Human_Camera"+suffix):
applyrotate(pos.worldOrientation * Matrix.Rotation(math.pi, 3, 'Z'), ow)
# turn around 180 deg if in game-mode
elif LEFT in k and BACKWARDS in k:
if active_camera.name == ("Human_Camera"+suffix):
applyrotate(pos.worldOrientation * Matrix.Rotation(math.pi * 3/4, 3, 'Z'), ow)
else:
applyrotate(human_pos.worldOrientation * Matrix.Rotation(math.pi / 4, 3, 'Z'), ow)
# turn around 135 deg if in game-mode, else turn 45 deg
elif RIGHT in k and BACKWARDS in k:
if active_camera.name == ("Human_Camera"+suffix):
applyrotate(pos.worldOrientation * Matrix.Rotation(math.pi * 5/4, 3, 'Z'), ow)
else:
applyrotate(human_pos.worldOrientation * Matrix.Rotation(math.pi * 7 / 4, 3, 'Z'), ow)
def default_action(self):
""" Interpret keyboard presses and assign them to movement
for the robot."""
keyboard = blenderapi.keyboard()
is_actived = blenderapi.input_active()
# Reset movement variables
vx, vy, vz = 0.0, 0.0, 0.0
rx, ry, rz = 0.0, 0.0, 0.0
# move forward
if keyboard.events[blenderapi.UPARROWKEY] == is_actived:
vx = self._speed
# move backward
if keyboard.events[blenderapi.DOWNARROWKEY] == is_actived:
vx = -self._speed
# turn left
if keyboard.events[blenderapi.LEFTARROWKEY] == is_actived:
rz = self._speed
# turn right
if keyboard.events[blenderapi.RIGHTARROWKEY] == is_actived:
rz = -self._speed
# move up
if keyboard.events[blenderapi.TKEY] == is_actived:
vz = self._speed
# move down
if keyboard.events[blenderapi.GKEY] == is_actived:
vz = -self._speed
# strafe left
if keyboard.events[blenderapi.UKEY] == is_actived:
vy = self._speed
# strafe right
if keyboard.events[blenderapi.OKEY] == is_actived:
vy = -self._speed
# roll left
if keyboard.events[blenderapi.JKEY] == is_actived:
rx = -self._speed
# roll right
if keyboard.events[blenderapi.LKEY] == is_actived:
rx = self._speed
# pitch forward
if keyboard.events[blenderapi.IKEY] == is_actived:
ry = self._speed
# pitch backward
if keyboard.events[blenderapi.KKEY] == is_actived:
ry = -self._speed
# Send a 'zero motion' only once in a row.
if self.zero_motion and (vx,vy,vz,rx,ry,rz) == (0,0,0,0,0,0):
return
if self._type == 'Position' or self._type == 'Velocity':
self.robot_parent.apply_speed(self._type, [vx, vy, vz], [rx, ry, rz / 2.0])
elif self._type == 'Differential':
self.robot_parent.apply_vw_wheels(vx, rz)
if (vx,vy,vz,rx,ry,rz) == (0,0,0,0,0,0):
self.zero_motion = True
else:
self.zero_motion = False
def move(contr):
""" Read the keys for specific combinations
that will make the camera move in 3D space. """
# get the object this script is attached to
camera = contr.owner
scene = blenderapi.scene()
if not scene:
# not ready, main reload(blenderapi)
return
# Do not move the camera if the current view is using another camera
if camera != scene.active_camera:
return
# Do not move the camera if another object has set move_cameraFP
for obj in keyboard_ctrl_objects:
if not obj['move_cameraFP']:
return
# set camera position increment from the movement speed
pos_inc = camera['Speed'] / blenderapi.getfrequency()
# Get Blender keyboard sensor
keyboard = contr.sensors['All_Keys']
# Default movement
move_translation = [0.0, 0.0, 0.0]
keylist = keyboard.events
for key in keylist:
if key[1] == blenderapi.input_active():
# Also add the corresponding key for an AZERTY keyboard
if key[0] == blenderapi.WKEY or key[0] == blenderapi.ZKEY:
move_translation[2] = -pos_inc
elif key[0] == blenderapi.SKEY:
move_translation[2] = pos_inc
# Also add the corresponding key for an AZERTY keyboard
elif key[0] == blenderapi.AKEY or key[0] == blenderapi.QKEY:
move_translation[0] = -pos_inc
elif key[0] == blenderapi.DKEY:
move_translation[0] = pos_inc
elif key[0] == blenderapi.RKEY:
move_translation[1] = pos_inc
elif key[0] == blenderapi.FKEY:
move_translation[1] = -pos_inc
else:
move_translation[0] = 0
move_translation[1] = 0
move_translation[2] = 0
# The second parameter of 'applyMovement' determines
# a movement with respect to the object's local
# coordinate system
camera.applyMovement( move_translation, True )
elif key[1] == blenderapi.input_just_activated():
# Other actions activated with the keyboard
# Reset camera to center
if key[0] == blenderapi.F8KEY and keyboard.positive:
reset_position(contr)
def move(contr):
""" Read the keys for specific combinations
that will make the camera move in 3D space. """
# get the object this script is attached to
camera = contr.owner
scene = blenderapi.scene()
if not scene:
# not ready, main reload(blenderapi)
return
# Do not move the camera if the current view is using another camera
if camera != scene.active_camera:
return
# Do not move the camera if another object has set move_cameraFP
for obj in keyboard_ctrl_objects:
if not obj['move_cameraFP']:
return
# set camera position increment from the movement speed
pos_inc = camera['Speed'] / blenderapi.getfrequency()
# Get Blender keyboard sensor
keyboard = contr.sensors['All_Keys']
# Default movement
move_translation = [0.0, 0.0, 0.0]
keylist = keyboard.events
for key in keylist:
if key[1] == blenderapi.input_active():
# Also add the corresponding key for an AZERTY keyboard
if key[0] == blenderapi.WKEY or key[0] == blenderapi.ZKEY:
move_translation[2] = -pos_inc
elif key[0] == blenderapi.SKEY:
move_translation[2] = pos_inc
# Also add the corresponding key for an AZERTY keyboard
elif key[0] == blenderapi.AKEY or key[0] == blenderapi.QKEY:
move_translation[0] = -pos_inc
elif key[0] == blenderapi.DKEY:
move_translation[0] = pos_inc
elif key[0] == blenderapi.RKEY:
move_translation[1] = pos_inc
elif key[0] == blenderapi.FKEY:
move_translation[1] = -pos_inc
else:
move_translation[0] = 0
move_translation[1] = 0
move_translation[2] = 0
# The second parameter of 'applyMovement' determines
# a movement with respect to the object's local
# coordinate system
camera.applyMovement(move_translation, True)
elif key[1] == blenderapi.input_just_activated():
# Other actions activated with the keyboard
# Reset camera to center
if key[0] == blenderapi.F8KEY and keyboard.positive:
reset_position(contr)
def default_action(self):
""" Main loop of the actuator.
Implements the component behaviour
"""
keyboardController = blenderapi.keyboard()
active_state = blenderapi.input_active()
linear_change = 0.0
angular_change = 0.0
local_x = self.local_data['XDot']
local_y = self.local_data['YDot']
#if self.Mode == "Acceleration":
# logger.info("Acc Mode")
if keyboardController.events[blenderapi.UPARROWKEY] == active_state:
linear_change += self.Acceleration
if keyboardController.events[blenderapi.DOWNARROWKEY] == active_state:
linear_change -= self.Acceleration
if keyboardController.events[blenderapi.LEFTARROWKEY] == active_state:
angular_change += self.AngularAcc
if keyboardController.events[blenderapi.RIGHTARROWKEY] == active_state:
angular_change -= self.AngularAcc
local_x += linear_change
local_y += angular_change
if local_x < 0:
local_x = max(local_x,-self.MaxSpeed)
else:
local_x = min(local_x,self.MaxSpeed)
if local_y < 0:
local_y = max(local_y,-self.MaxAngularSpeed)
else:
local_y = min(local_y,self.MaxAngularSpeed)
if linear_change == 0:
local_x *= self.decay
if abs(local_x) < 0.005:
local_x = 0.0
if angular_change == 0:
local_y *= self.decay
if abs(local_y) < 0.005:
local_y = 0.0
# logger.info("YDot: %s" % self.local_data['YDot'])
self.local_data['XDot'] = local_x
self.local_data['YDot'] = local_y
self.local_data["LastData"] -= 1
self.robot_parent.apply_speed('Position',[local_x ,0 ,0],[0,0,local_y / 2.0])
