def _createEllipsoid(proxy, radius, colour, moiScale, withMesh):
"""
Private function.
Use createEllipsoid() or createArticulatedEllipsoid() instead.
"""
# Mesh and cdps will be set manually
proxy.meshes = None
proxy.cdps = None
# Compute box moi
moi = [0, 0, 0]
for i in range(3):
j = (i + 1) % 3
k = (i + 2) % 3
moi[i] = proxy.mass * (radius[j] * radius[j] +
radius[k] * radius[k]) / 5.0
proxy.moi = PyUtils.toVector3d(moi) * moiScale
ellipsoid = proxy.createAndFillObject()
cdp = Physics.SphereCDP()
cdp.setCenter(Point3d(0, 0, 0))
cdp.setRadius(min(radius))
ellipsoid.addCollisionDetectionPrimitive(cdp)
if withMesh:
mesh = Mesh.createEllipsoid((0, 0, 0), radius, colour)
ellipsoid.addMesh(mesh)
return ellipsoid
def _createCylinder(proxy, axis, basePos, tipPos, radius, colour, moiScale,
withMesh):
"""
Private function.
Use createCylinder() or createArticulatedCylinder() instead.
"""
if axis != 0 and axis != 1 and axis != 2:
raise ValueError('Axis must be 0 for x, 1 for y or 2 for z.')
# Mesh and cdps will be set manually
proxy.meshes = None
proxy.cdps = None
# Compute box moi
moi = [0, 0, 0]
height = math.fabs(tipPos - basePos)
for i in range(3):
if i == axis:
moi[i] = proxy.mass * radius * radius / 2.0
else:
moi[i] = proxy.mass * (3 * radius * radius +
height * height) / 12.0
### HACK!
moi[i] = max(moi[i], 0.01)
proxy.moi = PyUtils.toVector3d(moi) * moiScale
cylinder = proxy.createAndFillObject()
basePoint = [0, 0, 0]
tipPoint = [0, 0, 0]
basePoint[axis] = basePos
tipPoint[axis] = tipPos
basePoint3d = PyUtils.toPoint3d(basePoint)
tipPoint3d = PyUtils.toPoint3d(tipPoint)
baseToTipVector3d = Vector3d(basePoint3d, tipPoint3d)
if baseToTipVector3d.isZeroVector():
raise ValueError(
'Invalid points for cylinder: base and tip are equal!')
baseToTipUnitVector3d = baseToTipVector3d.unit()
if height <= radius * 2.0:
cdp = Physics.SphereCDP()
cdp.setCenter(basePoint3d + baseToTipVector3d * 0.5)
cdp.setRadius(height / 2.0)
else:
cdp = Physics.CapsuleCDP()
cdp.setPoint1(basePoint3d + baseToTipUnitVector3d * radius)
cdp.setPoint2(tipPoint3d + baseToTipUnitVector3d * -radius)
cdp.setRadius(radius)
cylinder.addCollisionDetectionPrimitive(cdp)
if withMesh:
mesh = Mesh.createCylinder(basePoint, tipPoint, radius, colour)
cylinder.addMesh(mesh)
return cylinder
