def addAbsoluteOffset(self,
name,
offset=[0, 0, 0, 0, 0, 0, 1],
index=0):
## adding a offset given in absolute coordinates to the offset
return RigidBody.Offset(self.node, name,
(Rigid.Frame(offset) *
self.frame.inv()).offset(), index)
def __init__(self, node, name, offset, index):
self.node = node.createChild(name)
self.frame = Rigid.Frame(offset)
self.dofs = self.frame.insert(self.node, name='dofs')
self.mapping = self.node.createObject('AssembledRigidRigidMapping',
name="mapping",
source='0 ' +
str(self.frame))
def addVisualModel(self,
filepath,
scale3d=[1, 1, 1],
offset=[0, 0, 0, 0, 0, 0, 1]):
## adding a visual model to the rigid body with a relative offset
# @warning the translation due to the center of mass offset is automatically removed. If necessary a function without this mecanism could be added
return RigidBody.VisualModel(self.node, filepath, scale3d,
(self.framecom.inv() *
Rigid.Frame(offset)).offset())
def addCollisionMesh(self,
filepath,
scale3d=[1, 1, 1],
offset=[0, 0, 0, 0, 0, 0, 1]):
## adding a collision mesh to the rigid body with a relative offset
# (only a Triangle collision model is created, more models can be added manually)
# @warning the translation due to the center of mass offset is automatically removed. If necessary a function without this mecanism could be added
return RigidBody.CollisionMesh(self.node, filepath, scale3d,
(self.framecom.inv() *
Rigid.Frame(offset)).offset())
def setManually(self,
offset=[0, 0, 0, 0, 0, 0, 1],
mass=1,
inertia=[1, 1, 1],
inertia_forces=False):
## create the rigid body by manually giving its inertia
self.frame = Rigid.Frame(offset)
self.dofs = self.frame.insert(self.node, name='dofs')
self.mass = self.node.createObject('RigidMass',
template='Rigid',
name='mass',
mass=mass,
inertia=concat(inertia),
inertia_forces=inertia_forces)
def setFromMesh(self,
filepath,
density=1000.0,
offset=[0, 0, 0, 0, 0, 0, 1],
scale3d=[1, 1, 1],
inertia_forces=False):
## create the rigid body from a mesh (inertia and com are automatically computed)
info = Rigid.generate_rigid(filepath, density, scale3d)
self.framecom = Rigid.Frame()
self.framecom.rotation = info.inertia_rotation
self.framecom.translation = info.com
self.frame = Rigid.Frame(offset) * self.framecom
self.dofs = self.frame.insert(self.node, name='dofs')
self.mass = self.node.createObject('RigidMass',
template='Rigid',
name='mass',
mass=info.mass,
inertia=concat(
info.diagonal_inertia.tolist()),
inertia_forces=inertia_forces)
def setFromMesh(self, filepath, density = 1000.0, offset = [0,0,0,0,0,0,1], scale3d=[1,1,1], inertia_forces = False ):
## create the rigid body from a mesh (inertia and com are automatically computed)
info = Rigid.generate_rigid(filepath, density, scale3d)
self.framecom = Rigid.Frame()
self.framecom.rotation = info.inertia_rotation
self.framecom.translation = info.com
self.frame = Rigid.Frame(offset) * self.framecom
self.dofs = self.frame.insert( self.node, name = 'dofs' )
self.mass = self.node.createObject('RigidMass',
template = 'Rigid',
name = 'mass',
mass = info.mass,
inertia = concat(info.diagonal_inertia.tolist()),
inertia_forces = inertia_forces )
def addOffset(self, name, offset=[0, 0, 0, 0, 0, 0, 1], index=0):
## adding a relative offset to the rigid body (e.g. used as a joint location)
# @warning the translation due to the center of mass offset is automatically removed. If necessary a function without this mecanism could be added
return RigidBody.Offset(self.node, name,
(self.framecom.inv() *
Rigid.Frame(offset)).offset(), index)
def __init__(self, node, name):
self.node = node.createChild(name) # node
self.dofs = 0 # dofs
self.mass = 0 # mass
self.frame = Rigid.Frame()
self.framecom = Rigid.Frame()