def MarkLinkpoint(self,
component_name,
linkpoint_name,
color='red',
marking_radius=0.01):
'''Add a colored sphere to the linkpoint of a component to identify it during simulation. \nUse 'red', 'blue' or 'green'.'''
if not self.use_helpers:
return
if color != 'blue' and color != 'green':
color = 'red'
if MiroAPI.API == 'AGX' and self.warning_print:
print(
'Warning: MiroModule.MarkLinkPoint is not stable in the AGX api, may cause unstable systems. Consider using MiroModule.DisableHelpers().'
)
texture = 'textures/markpattern_' + color + '.png'
backup_color = [(color == 'red') * 1, (color == 'green') * 1,
(color == 'blue') * 1]
comp = self.components[component_name]
pos = comp.GetLinkPoint(linkpoint_name)
ball = MiroAPI.add_sphereShape(False,
marking_radius,
pos,
texture=texture,
Collide=False,
Fixed=False,
color=backup_color)
link = MiroAPI.LinkBodies_Hinge(comp.GetBody(), ball, pos, [0, 1, 0])
self.hidden_bodies.append(ball)
self.hidden_links.append(link)
def DUMMY(rot=[0, 0, 0], pos=[0, 0, 0], Fixed=False, radius=0.025):
body_ball = MiroAPI.add_sphereShape(False,
radius,
pos,
texture='test_texture.png',
scale=[0.07, 0.07],
Collide=False)
# Generate MiroComponent with above body
COMPONENT = mc.MiroComponent(body_ball)
COMPONENT.AddLinkPoint('A', [0, 0, 0], [0, 0, 0])
COMPONENT.Rotate(rot)
COMPONENT.MoveToPosition(pos)
return COMPONENT
def AddToSystem(self, system):
MiroAPI.add_boxShape(system, self.width, self.height, 0.05, self.position, 'textures/notifboard.png', rotX=self.tilt_angle, rotY=self.turn_angle, rotDegrees=False)
self.bulb = MiroAPI.add_sphereShape(system, self.radius, self.position+self.bulb_pos, 'textures/notifbulb.png', rotX=self.tilt_angle+np.pi/2, rotY=self.turn_angle, rotDegrees=False)
def eyeball(MiroSystem, pos, radius=0.1):
MiroAPI.add_sphereShape(MiroSystem, radius, [pos[0], pos[1]+radius, pos[2]], texture='eyeball.png', density = 100, Fixed=False, rotY=-30)
def pokeball(MiroSystem, pos, rot = 0):
r = 0.05
MiroAPI.add_sphereShape(MiroSystem, r, [pos[0], pos[1]+r, pos[2]], texture='pokeball.jpg', density = 100, Fixed=False, rotY=rot)