def build_scene():
floor = agxCollide.Geometry(agxCollide.Box(10, 10, 0.1))
floor.setPosition(0, 0, -4)
demoutils.sim().add(floor)
# Create each and every one of the scenes
create_hinge_scene()
demoutils.app().getSceneDecorator().setEnableShadows(False)
demoutils.app().setEnableDebugRenderer(True)
def display_forces(self, t):
demoutils.app().getSceneDecorator().setText(6, "Target set point : {} M".format(
self.pid.setpoint))
self.plot_setpoint.append(self.pid.setpoint)
self.plot_time.append(t)
if self.plot and not self.plotted:
"""plots stored values to csv file"""
plot_setpoint = np.array(self.plot_setpoint)
plot_time = np.array(self.plot_time)
# pd.DataFrame(plot_setpoint).to_csv(
# "C:/Users/Ishmael/PycharmProjects/pythonProject1/TowedRov-Sim/plotSetpoint.csv")
# pd.DataFrame(plot_time).to_csv(
# "C:/Users/Ishmael/PycharmProjects/pythonProject1/TowedRov-Sim/plotTime.csv")
self.plotted = True
def contact(
self, time: "agx::TimeStamp const &",
geometryContact: "GeometryContact"
) -> "agxSDK::ContactEventListener::KeepContactPolicy":
"""
Args:
time:
geometryContact:
Returns:
"""
for p in geometryContact.points():
d = p.getPoint()[2]
x = p.getPoint()[0]
y = p.getPoint()[1]
""" send depth awayhere as D"""
demoutils.app().getSceneDecorator().setText(
10, "depth to seafloor : {}".format(str(d), ))
return True
def post(self, time: "agx::TimeStamp const &") -> "void":
pos = self.rov.link1.getPosition()
rot = self.rov.link1.getRotation()
decorator = demoutils.app().getSceneDecorator()
decorator.setText(
9, "pid : {}, wing: {}".format(
self.pid.output, round(rad2deg(self.rov.left_wing_angle()),
2)))
decorator.setText(
3,
"Rov Position in Z direction : {} M".format(str(round(pos[2], 2))))
decorator.setText(4, "Pitch : {}".format(str(round(rot[0] * 100, 2))))
decorator.setText(5, "Roll : {}".format(str(round(rot[1] * 100, 2))))
x, y = int(WATER_LENGTH + pos[0]), int(pos[1])
decorator.setText(
7, "distance : {}M".format(
str(round(self.rov.link1.getPosition()[0], 2))))
def display_forces(self, t):
tot_contact_force = agx.Vec3()
contacts = demoutils.sim().getSpace().getGeometryContacts()
for contact in contacts:
points = contact.points()
for p in points:
f = p.getForce()
tot_contact_force = tot_contact_force + f
demoutils.app().getSceneDecorator().setText(0, "Towed-Rov simulation")
demoutils.app().getSceneDecorator().setText(1, "Thrust : {} kN".format(
self.m_propulsion_force / 500)) # 2/1000 ( 2 because of the 2 propellers )
demoutils.app().getSceneDecorator().setText(2, "Speed in X direction : {} knots".format(
str(round(self.m_body.getVelocity()[0] * 1.94384449, 2))))
def post(self, t):
""" can send depth and everything form here aswell
Args:
t:
"""
pos = self.rov.link1.getPosition()
rot = self.rov.link1.getRotation()
decorator = demoutils.app().getSceneDecorator()
decorator.setText(9, "pid : {}, wing: {}".format(str(self.pid.output), round(
rad2deg(self.rov.left_wing_angle()), 2)))
decorator.setText(3, "Rov Position in Z direction : {} M".format(str(round(pos[2], 2))))
decorator.setText(4, "Pitch : {}".format(str(round(rot[0] * 100, 2))))
decorator.setText(5, "Roll : {}".format(str(round(rot[1] * 100, 2))))
x, y = int(WATER_LENGTH + pos[0]), int(pos[1])
# print(int(pos[0]),int(pos[1]),int(pos[2]))
decorator.setText(11, "seafloor actual : {}".format(str(round(self.depth.getHeight(x, y) - pos[2], 2))))
decorator.setText(7, "distance : {}M".format(str(WATER_LENGTH + round( self.rov.link1.getPosition()[0], 2))))
def post(self, t):
demoutils.app().getSceneDecorator().setText(
8, "Depth under boat : {} m".format(
str(round(self.get_depth_under_boat(), 2))))