def create_sphere(position: agx.Vec3, scale):
shape = agxCollide.Sphere(0.5 * scale)
geometry = agxCollide.Geometry(shape)
body = agx.RigidBody(geometry)
body.setPosition(position)
oneLegRobotApp.create_visual(body)
return body
def add_second_joint_aft():
geometry = agxCollide.Geometry(second_joint_shape_aft.deepCopy(),
agx.AffineMatrix4x4.translate(0, 0, 100))
geometry.setLocalRotation(agx.EulerAngles(0, 0, math.pi / 2))
print(geometry.getRotation())
geometry.setEnableCollisions(True)
oneLegRobotApp.create_visual(geometry, agxRender.Color.Red())
oneLegRobotApp.add(geometry)
def create_cylinder(position: agx.Vec3, scale):
shape = agxCollide.Cylinder(0.5 * scale, 1 * scale)
geometry = agxCollide.Geometry(shape)
body = agx.RigidBody(geometry)
body.setPosition(position)
oneLegRobotApp.create_visual(body)
body.setRotation(agx.EulerAngles(agx.PI_2, 0, 0))
return body
def add_section_old(x, y, z, rotx, roty, rotz, path):
geometry = agxCollide.Geometry(path.deepCopy(),
agx.AffineMatrix4x4.translate(x, y, z))
geometry.setLocalRotation(agx.EulerAngles(rotx, roty, rotz))
#print(path + " were added with rotation " + geometry.getRotation())
geometry.setEnableCollisions(True)
oneLegRobotApp.create_visual(geometry, agxRender.Color.Red())
#oneLegRobotApp.add(geometry)
return geometry
def create_section(self, x, y, z, rotx, roty, rotz, path):
geometry = agxCollide.Geometry(path.deepCopy(),
agx.AffineMatrix4x4.translate(x, y, z))
geometry.setLocalRotation(agx.EulerAngles(rotx, roty, rotz))
geometry.setEnableCollisions(True)
rigidBody = agx.RigidBody(geometry)
rigidBody.setMotionControl(agx.RigidBody.DYNAMICS)
oneLegRobotApp.create_visual(rigidBody, agxRender.Color.Red())
return rigidBody
def add_first_joint_aft():
geometry = agxCollide.Geometry(first_joint_shape_aft.deepCopy(),
agx.AffineMatrix4x4.translate(0, 0, 200))
geometry.setLocalRotation(agx.EulerAngles(0, 0, math.pi / 2))
print(geometry.getRotation())
geometry.setEnableCollisions(True)
rigidBody = agx.RigidBody(geometry)
oneLegRobotApp.create_visual(rigidBody, agxRender.Color.Red())
oneLegRobotApp.add(rigidBody)
rigidBody.setMotionControl(agx.RigidBody.STATIC)
def __init__(self):
super().__init__()
first_joint_geometry = agxCollide.Geometry(
first_joint_shape.deepCopy())
first_joint_geometry.setEnableCollisions(True)
oneLegRobotApp.create_visual(first_joint_geometry,
agxRender.Color.Black())
self.add(first_joint_geometry)
def create_floor():
w = 200
b = 200
h = 10
#floor = agxCollide.Geometry(agxCollide.Box(2.5, 0.5, h), agx.AffineMatrix4x4.translate(0, 0, -h))
floor = agxCollide.Geometry(agxCollide.Box(w, b, h))
floor.setPosition(0, 0, 0)
floor.setRotation(agx.EulerAngles(0, 0, 0))
oneLegRobotApp.create_visual(floor, diffuse_color=agxRender.Color.Green())
oneLegRobotApp.add(floor)
def create_floor(self):
w = 200
b = 200
h = 10
# floor = agxCollide.Geometry(agxCollide.Box(2.5, 0.5, h), agx.AffineMatrix4x4.translate(0, 0, -h))
floor = agxCollide.Geometry(agxCollide.Box(w, b, h))
floor.setPosition(0, 0, 0)
floor.setRotation(agx.EulerAngles(0, 0, 0))
floor.setEnableCollisions(True)
rigidBody = agx.RigidBody(floor)
rigidBody.setMotionControl(agx.RigidBody.STATIC)
oneLegRobotApp.create_visual(rigidBody,
diffuse_color=agxRender.Color.Green())
return floor
