def __init__(self,
World,
Length,
Diameter,
MinSpringForce=0,
MaxSpringForce=0):
"""Create a visualized pistion with spring, damping, and actuation properties.
World: The pyode world that this object resides in
Length: The fully extended length of the pistion
Diameter: The diameter of the outer cylinder
MinSpringForce: The spring force applied at the minimum length position
MaxSpringForce: The spring force applied at the maximum length position
Note: A positive spring force makes the pistons expand
A negative spring force makes the pistons contract
"""
# Initialize the vpyode.GDMFrameAssembly class
vpyode.GDMFrameAssembly.__init__(self, World)
self._length = Length # We might want to keep this around
cylLength = Length / 2.0 # The le3ngth of each cylinder is half of the total.
# Create the two halves of the piston -- Build it collapsed
innerCylBody = vpyode.GDMFrameBody(World)
innerCylElement = vpyode.GDMElement(False).DefineCylinder(
2000, 0.75 * Diameter, cylLength)
innerCylBody.AddGDMElement('cyl', innerCylElement)
innerCylBody.DefineConnectionPoint('Tip', (0, 0, cylLength / 2.0))
innerCylBody.DefineConnectionPoint('Slider', (0, 0, 0),
(0, 0, 1)) # Along the z-axis
outerCylBody = vpyode.GDMFrameBody(World)
outerCylElement = vpyode.GDMElement(False).DefineCylinder(
2000, Diameter, cylLength)
outerCylBody.AddGDMElement('cyl', outerCylElement)
outerCylBody.DefineConnectionPoint('Tip', (0, 0, -cylLength / 2.0))
outerCylBody.DefineConnectionPoint('Slider', (0, 0, 0),
(0, 0, 1)) # Along the z-axis
self._linearActuatorJoint = odelib.LinearActuator(World)
# This order gives us positive slider positions whith fully extended being cylLength
innerCylBody.Connect(self._linearActuatorJoint, 'Slider', outerCylBody,
'Slider')
# Add these bodies to the assembly
self.AddBody('Inner', innerCylBody)
self.AddBody('Outer', outerCylBody)
# MinSpringForce is the force you get at MinStop
# MaxSpringForce is the force you get at MaxStop
# A positive spring force makes the pistons expand
# A negative spring force makes the pistons contract
self._linearActuatorJoint.ChangeProperties(
MinSpringForce=MinSpringForce,
MaxSpringForce=MaxSpringForce,
MinStop=0,
MaxStop=cylLength)
def makeWorld(self):
body = vpyode.GDMFrameBody(self.world)
element = vpyode.GDMElement()
mesh = self.makeMesh()
element.DefineMeshTotal(100.0, (0, 0, 0), self.faces[0], mesh)
body.AddGDMElement('Mesh', element)
return body
def create_box(world, density, lx, ly, lz,position,rotation, colour):
"""Create a box body and its corresponding geom."""
# Create body
body = vpyode.GDMFrameBody(world)
element = vpyode.GDMElement()
element.DefineBox(density, lx, ly, lz, colour)
body.AddGDMElement('box', element)
body.setPosition(position)
body.setQuaternion((rotation,0,1,0))
return body
def create_cylinder(world, density, radius, length):
'''Create a cylinder body and its corresponding geom.'''
body = vpyode.GDMFrameBody(world)
element = vpyode.GDMElement()
element.DefineCylinder(density, radius, length)
element.GetDisplayObject().color = (random.uniform(0, 1),
random.uniform(0, 1),
random.uniform(0, 1))
body.AddGDMElement('Cylinder', element)
return body
def create_box(world, density, lx, ly, lz):
"""Create a box body and its corresponding geom."""
# Create body
body = vpyode.GDMFrameBody(world)
element = vpyode.GDMElement()
element.DefineBox(density, lx, ly, lz)
element.GetDisplayObject().color = (random.uniform(0, 1),
random.uniform(0, 1),
random.uniform(0, 1))
body.AddGDMElement('Box', element)
return body
def makeCamera(self):
camera = vpyode.GDMElement()
camera.DefineBox(1000,0.15,0.1,0.1,color.red,self.box.GetFeature("box").pos + (0.25,0.25,0))
self.box.AddGDMElement("camera",camera)