def __init__(self,
name,
category,
action = APPEND_EMPTY,
blendfile = "",
blendobject = None,
make_morseable = True):
""" ComponentCreator constructor
This class allow to create simulation components from MORSE builder
scripts. It initially consists in an Empty object, to which you can
then add meshs of your choice. It adds automaticaly the logic (Always
sensor link to a Python controller). And set the default physics_type
to 'NO_COLLISION'.
:param name: (string) component name (used as Blender object name)
:param category: (string) one of ['actuators', 'sensors', 'robots']
:param action: indicate what to do with the `blendfile` and
`blendobject` parameters. Must be one of [APPEND_EMPTY, USE_BLEND,
LINK_EXISTING_OBJECT].
- If APPEND_EMPTY (default), a new Blender `Empty` is created and
`blendfile` and `blendobject` are ignored.
- If USE_BLEND, `blendfile` is treated as the path to a Blender file,
and if `blendobject` is also specified, the given object is
selected (otherwise, the last object selected in the Blender file
is returned).
- If LINK_EXISTING_OBJECT, `blendfile` is ignored and `blendobject`
is treated as the name of a Blender object which is already present
in the scene.
:param blendfile: (string, default:"") path to a Blender file (.blend)
containing meshes for the component. Must be in MORSE_RESOURCE_PATH.
:param blendobject: (string, default:None) Name of the Blender object
to use (cf above for details).
:param make_morseable: (boolean) Add Morse logic. Make it false
if you add some blend file which already contains the
necessary logic (default: True).
"""
AbstractComponent.__init__(self, filename=blendfile, category=category)
bpymorse.deselect_all()
if action == ComponentCreator.APPEND_EMPTY:
bpymorse.add_morse_empty()
elif action == ComponentCreator.USE_BLEND:
self.append_meshes()
if blendobject:
bpymorse.select_only(bpymorse.get_object(blendobject))
elif action == ComponentCreator.LINK_EXISTING_OBJECT:
bpymorse.select_only(bpymorse.get_object(blendobject))
obj = bpymorse.get_first_selected_object()
if name:
obj.name = name
self.basename = name
# no collision by default for components
obj.game.physics_type = 'NO_COLLISION'
self.set_blender_object(obj)
# Add MORSE logic
if make_morseable:
self.morseable()
self.properties(Component_Tag = True, classpath = self.__class__._classpath)
def after_renaming(self):
if self._blender_filename == 'mocap_human':
# no need for mocap
return
# Store the human real name (ie, after renaming) in its link 'POS_EMPTY' and 'Human_Camera' object, for later control.
pos_empty = bpymorse.get_object("POS_EMPTY" + self.suffix)
bpymorse.select_only(pos_empty)
bpymorse.new_game_property()
prop = pos_empty.game.properties
# select the last property in the list (which is the one we just added)
prop[-1].name = "human_name"
prop[-1].type = "STRING"
prop[-1].value = self.name
human_camera = bpymorse.get_object("Human_Camera" + self.suffix)
bpymorse.select_only(human_camera)
bpymorse.new_game_property()
prop = human_camera.game.properties
# select the last property in the list (which is the one we just added)
prop[-1].name = "human_name"
prop[-1].type = "STRING"
prop[-1].value = self.name
def after_renaming(self):
if self._blender_filename == 'mocap_human':
# no need for mocap
return
# Store the human real name (ie, after renaming) in its link 'POS_EMPTY' and 'Human_Camera' object, for later control.
pos_empty = bpymorse.get_object("POS_EMPTY" + self.suffix)
bpymorse.select_only(pos_empty)
bpymorse.new_game_property()
prop = pos_empty.game.properties
# select the last property in the list (which is the one we just added)
prop[-1].name = "human_name"
prop[-1].type = "STRING"
prop[-1].value = self.name
human_camera = bpymorse.get_object("Human_Camera" + self.suffix)
bpymorse.select_only(human_camera)
bpymorse.new_game_property()
prop = human_camera.game.properties
# select the last property in the list (which is the one we just added)
prop[-1].name = "human_name"
prop[-1].type = "STRING"
prop[-1].value = self.name
def __init__(self, armature_name = None, model_name = None):
""" Initialize an Armature
:param armature_name: Armature object name
:param model_name: Armature model name, if any
"""
Actuator.__init__(self, filename = model_name)
if not armature_name and not model_name:
raise MorseBuilderError("You need to specify either the name of " \
"an armature or a Blender model in order to create an " \
"armature actuator.")
if armature_name:
if not model_name:
# no model name given -> MORSE automatically added an empty
# for this actuator, which we do not want since we provide
# our own Blender armature.
bpymorse.delete([self._bpy_object])
self.set_blender_object(bpymorse.get_object(armature_name))
self.properties(Component_Tag = True)
# default classpath for Armature (can be modified)
self.properties(classpath="morse.actuators.armature.Armature")
self.ik_targets = []
def __init__(self, armature_name = None, model_name = None):
""" Initialize an Armature
:param armature_name: Armature object name
:param model_name: Armature model name, if any
"""
Actuator.__init__(self, filename = model_name)
if not armature_name and not model_name:
raise MorseBuilderError("You need to specify either the name of " \
"an armature or a Blender model in order to create an " \
"armature actuator.")
if armature_name:
if not model_name:
# no model name given -> MORSE automatically added an empty
# for this actuator, which we do not want since we provide
# our own Blender armature.
bpymorse.delete([self._bpy_object])
self.set_blender_object(bpymorse.get_object(armature_name))
self.properties(Component_Tag = True)
# default classpath for Armature (can be modified)
self.properties(classpath="morse.actuators.armature.Armature")
self.ik_targets = []
# the user may have created IK constraints on the armature, without
# setting an IK target. In that case, we add such a target
for bone in self._bpy_object.pose.bones:
for c in bone.constraints:
if c.type == 'IK' and c.ik_type == 'DISTANCE':
if not c.target:
self.create_ik_targets([bone.name])
def get_properties_str(name):
""" Returns the Game properties of the Blender object represented by the name
get_properties_str('Sick') gives
laser_range = 30.0, Component_Tag = True, scan_window = 180.0,
Visible_arc = True, resolution = 0.25,
classpath = 'morse.sensors.sick.LaserScannerClass'
"""
obj = bpymorse.get_object(name)
properties_dictionary = get_properties(obj)
return ", ".join(["%s = %s"%(pname, properties_dictionary[pname]) \
for pname in properties_dictionary])
def make_grasper(self, obj_name):
obj = bpymorse.get_object(obj_name)
bpymorse.select_only(obj)
bpymorse.add_sensor(type='NEAR')
sens = obj.game.sensors[-1]
sens.name = 'Near'
sens.distance = 5.0
sens.reset_distance = 0.075
sens.property = "Graspable"
bpymorse.add_controller()
contr = obj.game.controllers[-1]
contr.link(sensor=sens)
def get_properties_str(name):
""" Returns the Game properties of the Blender object represented by the name
get_properties_str('Sick') gives
laser_range = 30.0, Component_Tag = True, scan_window = 180.0,
Visible_arc = True, resolution = 0.25,
classpath = 'morse.sensors.sick.LaserScannerClass'
"""
obj = bpymorse.get_object(name)
properties_dictionary = get_properties(obj)
return ", ".join(["%s = %s"%(pname, properties_dictionary[pname]) \
for pname in properties_dictionary])
def make_grasper(self, obj_name):
obj = bpymorse.get_object(obj_name)
bpymorse.select_only(obj)
bpymorse.add_sensor(type = 'NEAR')
sens = obj.game.sensors[-1]
sens.name = 'Near'
sens.distance = 5.0
sens.reset_distance = 0.075
sens.property = "Graspable"
bpymorse.add_controller()
contr = obj.game.controllers[-1]
contr.link(sensor = sens)
def __init__(self, armature_name = None, model_name = None):
""" Initialize an Armature
:param armature_name: Armature object name
:param model_name: Armature model name, if any
"""
Actuator.__init__(self, filename = model_name)
if not armature_name and not model_name:
raise MorseBuilderError("You need to specify either the name of " \
"an armature or a Blender model in order to create an " \
"armature actuator.")
if armature_name:
if not model_name:
# no model name given -> MORSE automatically added an empty
# for this actuator, which we do not want since we provide
# our own Blender armature.
bpymorse.delete([self._bpy_object])
self.set_blender_object(bpymorse.get_object(armature_name))
# explictly recall morseable(), as it impacts on
# blender_objer, and we just change it.
self.morseable()
self.properties(Component_Tag = True)
# default classpath for Armature (can be modified)
self.properties(classpath="morse.actuators.armature.Armature")
self.ik_targets = []
# the user may have created IK constraints on the armature, without
# setting an IK target. In that case, we add such a target
for bone in self._bpy_object.pose.bones:
for c in bone.constraints:
if c.type == 'IK' and c.ik_type == 'DISTANCE':
if not c.target:
self.create_ik_targets([bone.name])
def __init__(self,
name,
category,
action=APPEND_EMPTY,
blendfile="",
blendobject=None,
make_morseable=True):
""" ComponentCreator constructor
This class allow to create simulation components from MORSE builder
scripts. It initially consists in an Empty object, to which you can
then add meshs of your choice. It adds automaticaly the logic (Always
sensor link to a Python controller). And set the default physics_type
to 'NO_COLLISION'.
:param name: (string) component name (used as Blender object name)
:param category: (string) one of ['actuators', 'sensors', 'robots']
:param action: indicate what to do with the `blendfile` and
`blendobject` parameters. Must be one of [APPEND_EMPTY, USE_BLEND,
LINK_EXISTING_OBJECT].
- If APPEND_EMPTY (default), a new Blender `Empty` is created and
`blendfile` and `blendobject` are ignored.
- If USE_BLEND, `blendfile` is treated as the path to a Blender file,
and if `blendobject` is also specified, the given object is
selected (otherwise, the last object selected in the Blender file
is returned).
- If LINK_EXISTING_OBJECT, `blendfile` is ignored and `blendobject`
is treated as the name of a Blender object which is already present
in the scene.
:param blendfile: (string, default:"") path to a Blender file (.blend)
containing meshes for the component. Must be in MORSE_RESOURCE_PATH.
:param blendobject: (string, default:None) Name of the Blender object
to use (cf above for details).
:param make_morseable: (boolean) Add Morse logic. Make it false
if you add some blend file which already contains the
necessary logic (default: True).
"""
AbstractComponent.__init__(self, filename=blendfile, category=category)
bpymorse.deselect_all()
if action == ComponentCreator.APPEND_EMPTY:
bpymorse.add_morse_empty()
elif action == ComponentCreator.USE_BLEND:
self.append_meshes()
if blendobject:
bpymorse.select_only(bpymorse.get_object(blendobject))
elif action == ComponentCreator.LINK_EXISTING_OBJECT:
bpymorse.select_only(bpymorse.get_object(blendobject))
obj = bpymorse.get_first_selected_object()
if name:
obj.name = name
self.basename = name
# no collision by default for components
obj.game.physics_type = 'NO_COLLISION'
self.set_blender_object(obj)
# Add MORSE logic
if make_morseable:
self.morseable()
self.properties(Component_Tag=True,
classpath=self.__class__._classpath)
