def create_sphere(position: agx.Vec3, scale): shape = agxCollide.Sphere(0.5 * scale) geometry = agxCollide.Geometry(shape) body = agx.RigidBody(geometry) body.setPosition(position) oneLegRobotApp.create_visual(body) return body
def add_second_joint_aft(): geometry = agxCollide.Geometry(second_joint_shape_aft.deepCopy(), agx.AffineMatrix4x4.translate(0, 0, 100)) geometry.setLocalRotation(agx.EulerAngles(0, 0, math.pi / 2)) print(geometry.getRotation()) geometry.setEnableCollisions(True) oneLegRobotApp.create_visual(geometry, agxRender.Color.Red()) oneLegRobotApp.add(geometry)
def create_cylinder(position: agx.Vec3, scale): shape = agxCollide.Cylinder(0.5 * scale, 1 * scale) geometry = agxCollide.Geometry(shape) body = agx.RigidBody(geometry) body.setPosition(position) oneLegRobotApp.create_visual(body) body.setRotation(agx.EulerAngles(agx.PI_2, 0, 0)) return body
def add_section_old(x, y, z, rotx, roty, rotz, path): geometry = agxCollide.Geometry(path.deepCopy(), agx.AffineMatrix4x4.translate(x, y, z)) geometry.setLocalRotation(agx.EulerAngles(rotx, roty, rotz)) #print(path + " were added with rotation " + geometry.getRotation()) geometry.setEnableCollisions(True) oneLegRobotApp.create_visual(geometry, agxRender.Color.Red()) #oneLegRobotApp.add(geometry) return geometry
def create_section(self, x, y, z, rotx, roty, rotz, path): geometry = agxCollide.Geometry(path.deepCopy(), agx.AffineMatrix4x4.translate(x, y, z)) geometry.setLocalRotation(agx.EulerAngles(rotx, roty, rotz)) geometry.setEnableCollisions(True) rigidBody = agx.RigidBody(geometry) rigidBody.setMotionControl(agx.RigidBody.DYNAMICS) oneLegRobotApp.create_visual(rigidBody, agxRender.Color.Red()) return rigidBody
def add_first_joint_aft(): geometry = agxCollide.Geometry(first_joint_shape_aft.deepCopy(), agx.AffineMatrix4x4.translate(0, 0, 200)) geometry.setLocalRotation(agx.EulerAngles(0, 0, math.pi / 2)) print(geometry.getRotation()) geometry.setEnableCollisions(True) rigidBody = agx.RigidBody(geometry) oneLegRobotApp.create_visual(rigidBody, agxRender.Color.Red()) oneLegRobotApp.add(rigidBody) rigidBody.setMotionControl(agx.RigidBody.STATIC)
def __init__(self): super().__init__() first_joint_geometry = agxCollide.Geometry( first_joint_shape.deepCopy()) first_joint_geometry.setEnableCollisions(True) oneLegRobotApp.create_visual(first_joint_geometry, agxRender.Color.Black()) self.add(first_joint_geometry)
def create_floor(): w = 200 b = 200 h = 10 #floor = agxCollide.Geometry(agxCollide.Box(2.5, 0.5, h), agx.AffineMatrix4x4.translate(0, 0, -h)) floor = agxCollide.Geometry(agxCollide.Box(w, b, h)) floor.setPosition(0, 0, 0) floor.setRotation(agx.EulerAngles(0, 0, 0)) oneLegRobotApp.create_visual(floor, diffuse_color=agxRender.Color.Green()) oneLegRobotApp.add(floor)
def create_floor(self): w = 200 b = 200 h = 10 # floor = agxCollide.Geometry(agxCollide.Box(2.5, 0.5, h), agx.AffineMatrix4x4.translate(0, 0, -h)) floor = agxCollide.Geometry(agxCollide.Box(w, b, h)) floor.setPosition(0, 0, 0) floor.setRotation(agx.EulerAngles(0, 0, 0)) floor.setEnableCollisions(True) rigidBody = agx.RigidBody(floor) rigidBody.setMotionControl(agx.RigidBody.STATIC) oneLegRobotApp.create_visual(rigidBody, diffuse_color=agxRender.Color.Green()) return floor