def LogData(self):
if (self.logging):
acc = MiroAPI.GetBodyAcceleration(self.GetBody())
g = -9.8
# Rescales so all instances of momentary acceleration act under 1/300 seconds
if hasattr(self, 'Hz'):
acc = acc * (self.Hz * self.dt)
g = g * (self.Hz * self.dt)
data = str(acc[0]) + ' ' + str(acc[1] - g) + ' ' + str(
acc[2]) + '\n'
self.filestream.write(data)
def CheckTrigger(self):
if not self.triggered:
if not self.trigger:
self.triggered = True
else:
position = MiroAPI.GetBodyPosition(self.GetBody())
velocity = MiroAPI.GetBodyVelocity(self.GetBody())
acceleration = MiroAPI.GetBodyAcceleration(self.GetBody())
if self.trigger(position, velocity, acceleration):
self.triggered = True
self.F = MiroAPI.AddBodyForce(self.GetBody(),
self.force, [0, 1, 0],
new=True)
elif self.fuel > 0:
MiroAPI.AddBodyForce(self.GetBody(),
self.force, [0, 1, 0],
new=False)
self.fuel = self.fuel - self.cons * self.dt
elif not self.expended:
MiroAPI.RemoveBodyForce(self.GetBody(), self.F)
self.expended = True