def run(self, drag_on_land, angular_drag_on_land):
self.start()
self.communicate(TDWUtils.create_empty_room(40, 40))
# Create the avatar.
self.communicate(TDWUtils.create_avatar(avatar_type="A_Simple_Body",
position={"x": 0, "y": 1, "z": 0}))
# When the y value of the avatar's position is this value, the avatar is on the ground.
ground_y = 1
# When the y value of the avatar's position exceeds ground_y by this much, it is in the air.
in_air_threshold = 0.05
# If true, the avatar is in the air.
is_in_air = False
# Set high default drag values.
# Set a low mass.
# Apply a force.
# Request avatar data.
resp = self.communicate([{"$type": "set_avatar_drag",
"avatar_id": "a",
"drag": 30,
"angular_drag": 80},
{"$type": "send_avatars",
"frequency": "always"},
{"$type": "apply_force_to_avatar",
"avatar_id": "a",
"direction": {"x": 0.3, "y": 0.7, "z": 0},
"magnitude": 900}])
for i in range(500):
x, y, z = AvatarSimpleBody(resp[0]).get_position()
# If the avatar just launched in to the air, set its drag values to 0.
if y > ground_y + in_air_threshold and not is_in_air:
is_in_air = True
resp = self.communicate({"$type": "set_avatar_drag",
"avatar_id": "a",
"drag": 0,
"angular_drag": 0})
print("The avatar is in the air on frame: " + str(Controller.get_frame(resp[-1])))
# If the avatar just landed on the ground, set drag values.
elif y <= ground_y + in_air_threshold and is_in_air:
resp = self.communicate({"$type": "set_avatar_drag",
"avatar_id": "a",
"drag": drag_on_land,
"angular_drag": angular_drag_on_land})
is_in_air = False
print("The avatar is on the ground on frame: " + str(Controller.get_frame(resp[-1])))
# Wait.
else:
resp = self.communicate({"$type": "do_nothing"})
def __init__(self, resp: List[bytes], objects: Dict[int, StaticObjectInfo],
avatar: Avatar):
"""
:param resp: The response from the build.
:param objects: Static object info per object. Key = the ID of the object in the scene.
:param avatar: The avatar in the scene.
"""
self._frame_count = Controller.get_frame(resp[-1])
self.audio: List[Tuple[Base64Sound, int]] = list()
collisions, env_collisions, rigidbodies = FrameData._P.get_collisions(
resp=resp)
# Record avatar collisions.
if avatar is not None:
self.avatar_object_collisions = avatar.collisions
self.avatar_env_collisions = avatar.env_collisions
self.held_objects = {
Arm.left: avatar.frame.get_held_left(),
Arm.right: avatar.frame.get_held_right()
}
else:
self.avatar_object_collisions = None
self.avatar_env_collisions = None
self.held_objects = None
# Get the object transform data.
self.object_transforms: Dict[int, Transform] = dict()
tr = get_data(resp=resp, d_type=Transforms)
for i in range(tr.get_num()):
o_id = tr.get_id(i)
self.object_transforms[o_id] = Transform(
position=np.array(tr.get_position(i)),
rotation=np.array(tr.get_rotation(i)),
forward=np.array(tr.get_forward(i)))
# Get camera matrix data.
matrices = get_data(resp=resp, d_type=CameraMatrices)
self.projection_matrix = matrices.get_projection_matrix()
self.camera_matrix = matrices.get_camera_matrix()
# Get the transform data of the avatar.
self.avatar_transform = Transform(
position=np.array(avatar.frame.get_position()),
rotation=np.array(avatar.frame.get_rotation()),
forward=np.array(avatar.frame.get_forward()))
self.avatar_body_part_transforms: Dict[int, Transform] = dict()
for i in range(avatar.frame.get_num_body_parts()):
self.avatar_body_part_transforms[avatar.frame.get_body_part_id(
i)] = Transform(
position=np.array(avatar.frame.get_body_part_position(i)),
rotation=np.array(avatar.frame.get_body_part_rotation(i)),
forward=np.array(avatar.frame.get_body_part_forward(i)))
# Get the audio of each collision.
for coll in collisions:
if not FrameData._P.is_valid_collision(coll):
continue
collider_id = coll.get_collider_id()
collidee_id = coll.get_collidee_id()
collider_info: Optional[ObjectInfo] = None
collidee_info: Optional[ObjectInfo] = None
if collider_id in objects:
collider_info = objects[collider_id].audio
# Check if the object is a body part.
else:
if collider_id in avatar.body_parts_static:
collider_info = avatar.body_parts_static[collider_id].audio
if collidee_id in objects:
collidee_info = objects[collidee_id].audio
# Check if the object is a body part.
else:
if collidee_id in avatar.body_parts_static:
collidee_info = avatar.body_parts_static[collidee_id].audio
# If either object isn't a cached object, don't try to add audio.
if collider_info is None or collidee_info is None:
continue
if collider_info.mass < collidee_info.mass:
target_id = collider_id
target_amp = collider_info.amp
target_mat = collider_info.material.name
other_id = collidee_id
other_amp = collidee_info.amp
other_mat = collider_info.material.name
else:
target_id = collidee_id
target_amp = collidee_info.amp
target_mat = collidee_info.material.name
other_id = collider_id
other_amp = collider_info.amp
other_mat = collider_info.material.name
rel_amp = other_amp / target_amp
audio = FrameData._P.get_sound(coll, rigidbodies, other_id,
other_mat, target_id, target_mat,
rel_amp)
self.audio.append((audio, target_id))
# Get the audio of each environment collision.
for coll in env_collisions:
collider_id = coll.get_object_id()
if collider_id not in objects:
continue
v = FrameData._get_velocity(rigidbodies, collider_id)
if (v is not None) and (v > 0):
collider_info = objects[collider_id].audio
audio = FrameData._P.get_sound(
coll, rigidbodies, 1, FrameData._SURFACE_MATERIAL.name,
collider_id, collider_info.material.name, 0.01)
self.audio.append((audio, collider_id))
# Get the image data.
self.id_pass: Optional[np.array] = None
self.depth_pass: Optional[np.array] = None
self.image_pass: Optional[np.array] = None
for i in range(0, len(resp) - 1):
if OutputData.get_data_type_id(resp[i]) == "imag":
images = Images(resp[i])
for j in range(images.get_num_passes()):
if images.get_pass_mask(j) == "_id":
self.id_pass = images.get_image(j)
elif images.get_pass_mask(j) == "_depth_simple":
self.depth_pass = images.get_image(j)
elif images.get_pass_mask(j) == "_img":
self.image_pass = images.get_image(j)
