def createArticulatedCone(axis=1,
basePos=-1,
tipPos=1,
radius=1,
colour=(0.6, 0.6, 0.6),
moiScale=1,
withMesh=True,
**kwargs):
"""
Create an articulated rigid body for a cone with the specified attributes (axis is 0:x, 1:y, 2:z). Other articulated rigid body parameters can be specified with keyword arguments, look at
App.Proxys.ArticulatedRigidBody for more details on available arguments. The following arguments will not be used:
meshes, moi, cdps.
If a negative mass parameter is specified, it will be scaled by the box volume and made positive.
"""
_fixMass(kwargs, math.pi * radius * radius * math.fabs(tipPos - basePos))
from App import Proxys
proxy = Proxys.ArticulatedRigidBody(**kwargs)
return _createCone(proxy, axis, basePos, tipPos, radius, colour, moiScale,
withMesh)
def createArticulatedTaperedBox(size=(1, 1, 1),
colour=(0.6, 0.6, 0.6),
exponentBottom=5,
exponentTop=5,
exponentSide=5,
moiScale=1,
withMesh=True,
**kwargs):
"""
Create an articulated rigid body for a box of the specified size with tapered ends. Other articulated rigid body parameters can be specified with keyword arguments, look at
App.Proxys.ArticulatedRigidBody for more details on available arguments. The following arguments will not be used:
meshes, moi, cdps.
If mass is negative, it will be scaled by the box volume and made positive.
"""
_fixMass(kwargs, size[0] * size[1] * size[2])
from App import Proxys
proxy = Proxys.ArticulatedRigidBody(**kwargs)
return _createTaperedBox(proxy, size, colour, exponentBottom, exponentTop,
exponentSide, moiScale, withMesh)
def createCharacter(self):
"""Creates a 3D character that follows this description."""
from App import Proxys
blue = (0.5, 0.6, 0.8, 1)
green = (0.5, 0.8, 0.6, 1)
red = (0.892, 0.716, 0.602, 1)
gray = (0.5, 0.5, 0.5, 1)
character = Core.Character()
character.setName("Instant Character")
massScale = 900
pelvisSizeY = self.getWaistPosY() - self.getHipPosY()
pelvisBottomPos = -pelvisSizeY / 2.0 - self.getLegSizeY() * 0.1
pelvisTopPos = pelvisSizeY / 2.0
pelvisRadius = self.getPelvisDiameter() / 2.0
rootPosY = self.getHipPosY() + pelvisSizeY / 2.0 + 0.007
pelvis = PyUtils.RigidBody.createArticulatedTaperedBox(
name="pelvis",
size=(pelvisRadius * 2.0, pelvisSizeY * 1.5, pelvisRadius * 1.2),
moiScale=3,
exponentBottom=2,
exponentSide=2,
mass=-massScale,
pos=(0, rootPosY, 0),
colour=blue)
character.setRoot(pelvis)
totalLowerBackSizeY = self.getChestPosY() - self.getWaistPosY()
lowerBackOffsetY = 0 #0.15 * totalLowerBackSizeY
lowerBackSizeX = self.getTorsoDiameter() * 0.7
lowerBackSizeY = totalLowerBackSizeY - lowerBackOffsetY
lowerBackSizeZ = lowerBackSizeX * 0.7
lowerback = PyUtils.RigidBody.createArticulatedTaperedBox(
name="lowerBack",
size=(lowerBackSizeX, lowerBackSizeY, lowerBackSizeZ),
exponentTop=3,
exponentBottom=2,
exponentSide=2,
mass=-massScale,
colour=green)
character.addArticulatedRigidBody(lowerback)
joint = Proxys.BallInSocketJoint(
name="pelvis_lowerback",
posInParent=(0, pelvisSizeY / 2.0, 0),
posInChild=(0, -lowerBackSizeY / 2.0 - lowerBackOffsetY, 0),
swingAxis1=(1, 0, 0),
twistAxis=(0, 0, 1),
limits=(-1.6, 1.6, -1.6, 1.6, -1.6, 1.6)).createAndFillObject()
joint.setParent(pelvis)
joint.setChild(lowerback)
character.addJoint(joint)
totalTorsoSizeY = self.getShoulderPosY() - self.getChestPosY()
torsoOffsetY = -0.2 * totalTorsoSizeY
torsoSizeX = self.getTorsoDiameter()
torsoSizeY = totalTorsoSizeY - torsoOffsetY
torsoSizeZ = torsoSizeX * 0.6
torso = PyUtils.RigidBody.createArticulatedTaperedBox(
name="torso",
size=(torsoSizeX, torsoSizeY, torsoSizeZ),
exponentTop=2.2,
exponentBottom=4,
exponentSide=3,
mass=-massScale,
colour=green)
character.addArticulatedRigidBody(torso)
joint = Proxys.BallInSocketJoint(
name="lowerback_torso",
posInParent=(0, lowerBackSizeY / 2.0, 0),
posInChild=(0, -torsoSizeY / 2.0 - torsoOffsetY, 0),
swingAxis1=(1, 0, 0),
twistAxis=(0, 0, 1),
limits=(-1.6, 1.6, -1.6, 1.6, -1.6, 1.6)).createAndFillObject()
joint.setParent(lowerback)
joint.setChild(torso)
character.addJoint(joint)
headOffsetY = self.getNeckSizeY()
headSizeX = self.getHeadSizeX()
headSizeY = self.getHeadSizeY()
headSizeZ = self.getHeadSizeZ()
head = PyUtils.RigidBody.createArticulatedEllipsoid(
name="head",
radius=(headSizeX / 2.0, headSizeY / 2.0, headSizeZ / 2.0),
mass=-massScale,
withMesh=False)
character.addArticulatedRigidBody(head)
head.addMeshObj(
"data/StockMeshes/head.obj", Vector3d(0, -0.064, 0),
Vector3d(headSizeX * 6.5, headSizeY * 4.6, headSizeZ * 5.5))
head.setColour(*red)
head.addMesh(
PyUtils.Mesh.createCylinder(
basePoint=(0,
-headSizeY / 2.0 - headOffsetY - torsoSizeY * 0.1,
0),
tipPoint=(0, -headSizeY * 0.2, 0),
radius=0.12 * headSizeX,
colour=red))
joint = Proxys.BallInSocketJoint(
name="torso_head",
posInParent=(0, torsoSizeY / 2.0, 0),
posInChild=(0, -headSizeY / 2.0 - headOffsetY, 0),
swingAxis1=(1, 0, 0),
twistAxis=(0, 0, 1),
limits=(-1.6, 1.6, -1.6, 1.6, -1.6, 1.6)).createAndFillObject()
joint.setParent(torso)
joint.setChild(head)
character.addJoint(joint)
leftUpperArmSizeY = self.getShoulderPosY() - self.getElbowPosY(1)
leftUpperArmDiameter = self.getUpperArmDiameter(1)
lUpperArm = PyUtils.RigidBody.createArticulatedCylinder(
name="lUpperArm",
moiScale=3,
axis=0,
basePos=-leftUpperArmSizeY / 2.0,
tipPos=leftUpperArmSizeY / 2.0,
radius=leftUpperArmDiameter / 2.0,
mass=-massScale,
colour=green)
character.addArticulatedRigidBody(lUpperArm)
lUpperArm.addMesh(
PyUtils.Mesh.createSphere((-leftUpperArmSizeY / 2.0, 0, 0),
leftUpperArmDiameter * 0.65,
colour=green))
lUpperArm.addMesh(
PyUtils.Mesh.createSphere((leftUpperArmSizeY / 2.0, 0, 0),
leftUpperArmDiameter * 0.5,
colour=green))
joint = Proxys.BallInSocketJoint(
name="lShoulder",
posInParent=(torsoSizeX * 0.52, torsoSizeY * 0.32, 0),
posInChild=(-leftUpperArmSizeY / 2.0, 0, 0),
swingAxis1=(0, 0, 1),
twistAxis=(1, 0, 0),
limits=(-100, 100, -1.5, 1.5, -100, 100)).createAndFillObject()
joint.setParent(torso)
joint.setChild(lUpperArm)
character.addJoint(joint)
rightUpperArmSizeY = self.getShoulderPosY() - self.getElbowPosY(-1)
rightUpperArmDiameter = self.getUpperArmDiameter(-1)
rUpperArm = PyUtils.RigidBody.createArticulatedCylinder(
name="rUpperArm",
moiScale=3,
axis=0,
basePos=-rightUpperArmSizeY / 2.0,
tipPos=rightUpperArmSizeY / 2.0,
radius=rightUpperArmDiameter / 2.0,
mass=-massScale,
colour=green)
character.addArticulatedRigidBody(rUpperArm)
rUpperArm.addMesh(
PyUtils.Mesh.createSphere((rightUpperArmSizeY / 2.0, 0, 0),
rightUpperArmDiameter * 0.65,
colour=green))
rUpperArm.addMesh(
PyUtils.Mesh.createSphere((-rightUpperArmSizeY / 2.0, 0, 0),
rightUpperArmDiameter * 0.5,
colour=green))
joint = Proxys.BallInSocketJoint(
name="rShoulder",
posInParent=(-torsoSizeX * 0.52, torsoSizeY * 0.32, 0),
posInChild=(rightUpperArmSizeY / 2.0, 0, 0),
swingAxis1=(0, 0, 1),
twistAxis=(1, 0, 0),
limits=(-100, 100, -1.5, 1.5, -100, 100)).createAndFillObject()
joint.setParent(torso)
joint.setChild(rUpperArm)
character.addJoint(joint)
leftLowerArmSizeY = self.getElbowPosY(1) - self.getWristPosY(1)
leftLowerArmDiameter = self.getLowerArmDiameter(1)
lLowerArm = PyUtils.RigidBody.createArticulatedCylinder(
name="lLowerArm",
moiScale=3,
axis=0,
basePos=-leftLowerArmSizeY / 2.0,
tipPos=leftLowerArmSizeY / 2.0,
radius=leftLowerArmDiameter / 2.0,
mass=-massScale,
colour=red)
character.addArticulatedRigidBody(lLowerArm)
lLowerArm.addMesh(
PyUtils.Mesh.createTaperedBox(
position=(leftLowerArmSizeY * 0.5 + leftLowerArmDiameter * 0.8,
0, 0),
size=(leftLowerArmDiameter * 1.6, leftLowerArmDiameter * 0.5,
leftLowerArmDiameter * 1.15),
colour=red))
joint = Proxys.HingeJoint(name="lElbow",
posInParent=(leftUpperArmSizeY / 2.0, 0, 0),
posInChild=(-leftLowerArmSizeY / 2.0, 0, 0),
axis=(0, 1, 0),
limits=(-2.7, 0)).createAndFillObject()
joint.setParent(lUpperArm)
joint.setChild(lLowerArm)
character.addJoint(joint)
rightLowerArmSizeY = self.getElbowPosY(-1) - self.getWristPosY(-1)
rightLowerArmDiameter = self.getLowerArmDiameter(-1)
rLowerArm = PyUtils.RigidBody.createArticulatedCylinder(
name="rLowerArm",
moiScale=3,
axis=0,
basePos=-rightLowerArmSizeY / 2.0,
tipPos=rightLowerArmSizeY / 2.0,
radius=rightLowerArmDiameter / 2.0,
mass=-massScale,
colour=red)
character.addArticulatedRigidBody(rLowerArm)
rLowerArm.addMesh(
PyUtils.Mesh.createTaperedBox(
position=(-rightLowerArmSizeY * 0.5 -
rightLowerArmDiameter * 0.8, 0, 0),
size=(rightLowerArmDiameter * 1.6, rightLowerArmDiameter * 0.5,
rightLowerArmDiameter * 1.15),
colour=red))
joint = Proxys.HingeJoint(name="rElbow",
posInParent=(-rightUpperArmSizeY / 2.0, 0,
0),
posInChild=(rightLowerArmSizeY / 2.0, 0, 0),
axis=(0, -1, 0),
limits=(-2.7, 0)).createAndFillObject()
joint.setParent(rUpperArm)
joint.setChild(rLowerArm)
character.addJoint(joint)
leftUpperLegSizeY = self.getHipPosY() - self.getKneePosY(1)
leftUpperLegDiameter = self.getUpperLegDiameter(1)
lUpperLeg = PyUtils.RigidBody.createArticulatedCylinder(
name="lUpperLeg",
axis=1,
basePos=-leftUpperLegSizeY / 2.0,
tipPos=leftUpperLegSizeY / 2.0,
radius=leftUpperLegDiameter / 2.0,
moiScale=4,
mass=-massScale,
colour=blue)
character.addArticulatedRigidBody(lUpperLeg)
lUpperLeg.addMesh(
PyUtils.Mesh.createSphere((0, leftUpperLegSizeY / 2.0, 0),
leftUpperLegDiameter * 0.5,
colour=blue))
lUpperLeg.addMesh(
PyUtils.Mesh.createSphere((0, -leftUpperLegSizeY / 2.0, 0),
leftUpperLegDiameter * 0.5,
colour=blue))
joint = Proxys.BallInSocketJoint(
name="lHip",
posInParent=(pelvisRadius * self.getLegRelativeAnchorX(1),
-pelvisSizeY / 2.0, 0),
posInChild=(0, leftUpperLegSizeY / 2.0, 0),
swingAxis1=(1, 0, 0),
twistAxis=(0, 0, 1),
limits=(-1.3, 1.9, -1, 1, -1, 1)).createAndFillObject()
joint.setParent(pelvis)
joint.setChild(lUpperLeg)
character.addJoint(joint)
rightUpperLegSizeY = self.getHipPosY() - self.getKneePosY(-1)
rightUpperLegDiameter = self.getUpperLegDiameter(-1)
rUpperLeg = PyUtils.RigidBody.createArticulatedCylinder(
name="rUpperLeg",
axis=1,
basePos=-rightUpperLegSizeY / 2.0,
tipPos=rightUpperLegSizeY / 2.0,
radius=rightUpperLegDiameter / 2.0,
moiScale=4,
mass=-massScale,
colour=blue)
character.addArticulatedRigidBody(rUpperLeg)
rUpperLeg.addMesh(
PyUtils.Mesh.createSphere((0, -rightUpperLegSizeY / 2.0, 0),
rightUpperLegDiameter * 0.5,
colour=blue))
rUpperLeg.addMesh(
PyUtils.Mesh.createSphere((0, rightUpperLegSizeY / 2.0, 0),
rightUpperLegDiameter * 0.5,
colour=blue))
joint = Proxys.BallInSocketJoint(
name="rHip",
posInParent=(-pelvisRadius * self.getLegRelativeAnchorX(-1),
-pelvisSizeY / 2.0, 0),
posInChild=(0, rightUpperLegSizeY / 2.0, 0),
swingAxis1=(1, 0, 0),
twistAxis=(0, 0, 1),
limits=(-1.3, 1.9, -1, 1, -1, 1)).createAndFillObject()
joint.setParent(pelvis)
joint.setChild(rUpperLeg)
character.addJoint(joint)
leftLowerLegSizeY = self.getKneePosY(1) - self.getAnklePosY(1)
leftLowerLegDiameter = self.getLowerLegDiameter(1)
lLowerLeg = PyUtils.RigidBody.createArticulatedCylinder(
name="lLowerLeg",
axis=1,
basePos=-leftLowerLegSizeY / 2.0,
tipPos=leftLowerLegSizeY / 2.0,
radius=leftLowerLegDiameter / 2.0,
moiScale=4,
mass=-massScale,
colour=blue)
character.addArticulatedRigidBody(lLowerLeg)
joint = Proxys.HingeJoint(name="lKnee",
posInParent=(0, -leftUpperLegSizeY / 2.0, 0),
posInChild=(0, leftLowerLegSizeY / 2.0, 0),
axis=(1, 0, 0),
limits=(0, 2.5)).createAndFillObject()
joint.setParent(lUpperLeg)
joint.setChild(lLowerLeg)
character.addJoint(joint)
rightLowerLegSizeY = self.getKneePosY(-1) - self.getAnklePosY(-1)
rightLowerLegDiameter = self.getLowerLegDiameter(-1)
rLowerLeg = PyUtils.RigidBody.createArticulatedCylinder(
name="rLowerLeg",
axis=1,
basePos=-rightLowerLegSizeY / 2.0,
tipPos=rightLowerLegSizeY / 2.0,
radius=rightLowerLegDiameter / 2.0,
moiScale=4,
mass=-massScale,
colour=blue)
character.addArticulatedRigidBody(rLowerLeg)
joint = Proxys.HingeJoint(name="rKnee",
posInParent=(0, -rightUpperLegSizeY / 2.0,
0),
posInChild=(0, rightLowerLegSizeY / 2.0, 0),
axis=(1, 0, 0),
limits=(0, 2.5)).createAndFillObject()
joint.setParent(rUpperLeg)
joint.setChild(rLowerLeg)
character.addJoint(joint)
leftFootSizeX = self.getFootSizeX(1)
leftFootSizeY = self.getAnklePosY(1) - self.getGroundPosY()
leftFootSizeZ = self.getFootSizeZ(1) * 0.75
lFoot = PyUtils.RigidBody.createArticulatedTaperedBox(
name="lFoot",
size=(leftFootSizeX, leftFootSizeY, leftFootSizeZ),
exponentSide=20,
groundCoeffs=(0.0005, 0.2),
moiScale=3,
mass=-massScale,
colour=gray)
character.addArticulatedRigidBody(lFoot)
joint = Proxys.UniversalJoint(
name="lAnkle",
posInParent=(0, -leftLowerLegSizeY / 2.0, 0),
posInChild=(0, leftFootSizeY / 2.0,
-leftFootSizeZ * 0.33 + leftLowerLegDiameter / 2.0),
parentAxis=(0, 0, 1),
childAxis=(1, 0, 0),
limits=(-0.75, 0.75, -0.75, 0.75)).createAndFillObject()
joint.setParent(lLowerLeg)
joint.setChild(lFoot)
character.addJoint(joint)
rightFootSizeX = self.getFootSizeX(-1)
rightFootSizeY = self.getAnklePosY(-1) - self.getGroundPosY()
rightFootSizeZ = self.getFootSizeZ(-1) * 0.75
rFoot = PyUtils.RigidBody.createArticulatedTaperedBox(
name="rFoot",
size=(rightFootSizeX, rightFootSizeY, rightFootSizeZ),
exponentSide=20,
groundCoeffs=(0.0005, 0.2),
moiScale=3,
mass=-massScale,
colour=gray)
character.addArticulatedRigidBody(rFoot)
joint = Proxys.UniversalJoint(
name="rAnkle",
posInParent=(0, -rightLowerLegSizeY / 2.0, 0),
posInChild=(0, rightFootSizeY / 2.0,
-rightFootSizeZ * 0.33 + rightLowerLegDiameter / 2.0),
parentAxis=(0, 0, -1),
childAxis=(1, 0, 0),
limits=(-0.75, 0.75, -0.75, 0.75)).createAndFillObject()
joint.setParent(rLowerLeg)
joint.setChild(rFoot)
character.addJoint(joint)
leftToesSizeX = leftFootSizeX
leftToesSizeY = leftFootSizeY * 0.66
leftToesSizeZ = self.getFootSizeZ(1) - leftFootSizeZ
lToes = PyUtils.RigidBody.createArticulatedTaperedBox(
name="lToes",
size=(leftToesSizeX, leftToesSizeY, leftToesSizeZ),
exponentSide=20,
groundCoeffs=(0.0005, 0.2),
moiScale=3,
mass=-massScale,
colour=gray)
character.addArticulatedRigidBody(lToes)
joint = Proxys.HingeJoint(
name="lToeJoint",
posInParent=(0, (leftToesSizeY - leftFootSizeY) / 2.0 + 0.003,
leftFootSizeZ / 2.0),
posInChild=(0, 0, -leftToesSizeZ / 2.0),
axis=(1, 0, 0),
limits=(-0.52, 0.1)).createAndFillObject()
joint.setParent(lFoot)
joint.setChild(lToes)
character.addJoint(joint)
rightToesSizeX = rightFootSizeX
rightToesSizeY = rightFootSizeY * 0.66
rightToesSizeZ = self.getFootSizeZ(-1) - rightFootSizeZ
rToes = PyUtils.RigidBody.createArticulatedTaperedBox(
name="rToes",
size=(rightToesSizeX, rightToesSizeY, rightToesSizeZ),
exponentSide=20,
groundCoeffs=(0.0005, 0.2),
moiScale=3,
mass=-massScale,
colour=gray)
character.addArticulatedRigidBody(rToes)
joint = Proxys.HingeJoint(
name="rToeJoint",
posInParent=(0, (rightToesSizeY - rightFootSizeY) / 2.0 + 0.003,
rightFootSizeZ / 2.0),
posInChild=(0, 0, -rightToesSizeZ / 2.0),
axis=(1, 0, 0),
limits=(-0.52, 0.1)).createAndFillObject()
joint.setParent(rFoot)
joint.setChild(rToes)
character.addJoint(joint)
return character