def addStand(self, k="3", d="10", width="5", height="20", springShift="0", orientation="0. -1 0. 0.", scale="1", obj=None, restitution=None, friction=None, thickness="1", pinned="false", weirdCoeff="10"):
composite = Composite(self.root, name="stand", obj=obj, position="0 0 0", orientation=orientation, scale=scale, restitution=restitution, friction=friction, pinned=pinned)
composite.addBox(dim=str(float(width)*2.+float(thickness))+" "+thickness+" "+thickness, position="0 "+height+" 0")
composite.addBox(dim=thickness+" "+height+" "+thickness, position=width+" "+str(float(height)/2.)+" 0")
composite.addBox(dim=thickness+" "+height+" "+thickness, position="-"+width+" "+str(float(height)/2.)+" 0")
composite.addBox(dim=thickness+" "+thickness+" 10", position=width+" 0 0")
composite.addBox(dim=thickness+" "+thickness+" 10", position="-"+width+" 0 0")
stand = composite.get()
dim = self.dim
x = str(float(dim[0])/2.)
y = str(float(dim[1])/2.)
z = str(float(dim[2])/2.)
pB = [x+" "+y+" "+z,
"-"+x+" "+y+" "+z,
"-"+x+" "+y+" -"+z,
x+" "+y+" -"+z,]
ybody2=self.position.split()[1]
#com is moving weirdly with respect to width... (something wrong in Java code...)
y = str(float(height)/2.+float(thickness)*2+float(weirdCoeff))
pB2 = [springShift+" "+y+" 0",
"-"+springShift+" "+y+" 0",
"-"+springShift+" "+y+" 0",
springShift+" "+y+" 0",]
for i in range(4):
spring = ET.SubElement(stand, 'spring')
spring.set('pB', pB2[i])
spring.set('k', k)
spring.set('d', d)
spring.set('body2', "platform")
spring.set('pB2', pB[i])
def __init__(self,
root,
body2,
dimBody2,
ybody2,
k="100",
d="10",
width="5",
height="20",
orientation="0. -1 0. 0.",
scale="1",
restitution=None,
friction=None,
thickness="1",
pinned="false"):
composite = Composite(root,
obj=None,
name="stand",
position="0 0 0",
orientation=orientation,
scale=scale,
restitution=restitution,
friction=friction,
pinned=pinned)
composite.addBox(dim=str(float(width) * 2. + float(thickness)) + " " +
thickness + " " + thickness,
position="0 " + height + " " + width)
composite.addBox(dim=str(float(width) * 2. + float(thickness)) + " " +
thickness + " " + thickness,
position="0 " + height + " -" + width)
composite.addBox(dim=thickness + " " + thickness + " " +
str(float(width) * 2. + float(thickness)),
position=width + " " + height + " 0")
composite.addBox(dim=thickness + " " + thickness + " " +
str(float(width) * 2. + float(thickness)),
position=" -" + width + " " + height + " 0")
composite.addBox(dim=thickness + " " + height + " " + thickness,
position=width + " " + str(float(height) / 2.) + " " +
width)
composite.addBox(dim=thickness + " " + height + " " + thickness,
position="-" + width + " " + str(float(height) / 2.) +
" " + width)
composite.addBox(dim=thickness + " " + height + " " + thickness,
position=width + " " + str(float(height) / 2.) +
" -" + width)
composite.addBox(dim=thickness + " " + height + " " + thickness,
position="-" + width + " " + str(float(height) / 2.) +
" -" + width)
stand = composite.get()
dim = dimBody2.split()
x = str(float(dim[0]) / 2.)
y = str(float(dim[1]) / 2.)
z = str(float(dim[2]) / 2.)
pB2 = [
x + " " + y + " " + z,
"-" + x + " " + y + " " + z,
"-" + x + " " + y + " -" + z,
x + " " + y + " -" + z,
]
y = str(float(height) - float(ybody2) + float(thickness) * 2)
pB = [
str(float(width)) + " " + y + " " + str(float(width)),
"-" + str(float(width)) + " " + y + " " + str(float(width)),
"-" + str(float(width)) + " " + y + " -" + str(float(width)),
str(float(width)) + " " + y + " -" + str(float(width))
]
for i in range(4):
spring = ET.SubElement(stand, 'spring')
spring.set('pB', pB[i])
spring.set('k', k)
spring.set('d', d)
spring.set('body2', body2)
spring.set('pB2', pB2[i])