def create_sphere(position: agx.Vec3):
shape = agxCollide.Sphere(0.5)
geometry = agxCollide.Geometry(shape)
body = agx.RigidBody(geometry)
body.setPosition(position)
demoutils.create_visual(body)
return body
def create_box(position: agx.Vec3):
shape = agxCollide.Box(agx.Vec3(0.5, 0.5, 0.5))
geometry = agxCollide.Geometry(shape)
body = agx.RigidBody(geometry)
body.setPosition(position)
demoutils.create_visual(body)
return body
def create_cylinder(position: agx.Vec3):
shape = agxCollide.Cylinder(0.5, 1)
geometry = agxCollide.Geometry(shape)
body = agx.RigidBody(geometry)
body.setPosition(position)
demoutils.create_visual(body)
body.setRotation(agx.EulerAngles(agx.PI_2, 0, 0))
return body
def build_scene():
sim = demoutils.sim()
# Create a geometry with a plane shape as our 'floor'
floor_geometry = agxCollide.Geometry(agxCollide.Box(agx.Vec3(10, 10, 0.1)))
demoutils.create_visual(floor_geometry, Color.Green())
sim.add(floor_geometry) # Add the geometry to the simulation
sim.add(create_box(agx.Vec3(-2, 3, 5)))
sim.add(create_sphere(agx.Vec3(0, 1, 5)))
sim.add(create_capsule(agx.Vec3(3, 5, 5)))
sim.add(create_cylinder(agx.Vec3(-3, -2, 5)))
def build_scene1():
# Create a geometry with a plane shape as our 'floor'
floor_geometry = agxCollide.Geometry(agxCollide.Box(agx.Vec3(10, 10, 0.1)))
demoutils.create_visual(floor_geometry)
demoutils.sim().add(floor_geometry) # Add the geometry to the simulation
rb1 = agx.RigidBody() # Create a rigid body
rb1.add(agxCollide.Geometry(agxCollide.Sphere(
0.5))) # Add a geometry with a sphere-shape of radius 0.5
rb1.setPosition(0, 0, 5.0) # Position the sphere somewhere above our plane
demoutils.create_visual(rb1)
demoutils.sim().add(
rb1) # Add the body to the simulation. The geometry will also be added
def build_scene2():
# Create a geometry with a plane shape as our 'floor'
floor_geometry = agxCollide.Geometry(agxCollide.Box(agx.Vec3(10, 10, 0.1)))
demoutils.create_visual(floor_geometry, diffuse_color=Color.Green())
demoutils.sim().add(floor_geometry) # Add the geometry to the simulation
for x in range(-5, 5):
for y in range(-5, 5):
for z in range(1, 8):
rb = agx.RigidBody() # Create a rigid body
rb.add(agxCollide.Geometry(agxCollide.Sphere(
0.2))) # Add a geometry with a sphere-shape of radius 0.2
rb.setPosition(
x + random(), y + random(),
z) # Position the sphere somewhere above our plane
demoutils.create_visual(rb)
demoutils.sim().add(
rb
) # Add the body to the simulation. The geometry will also be added
def __init__(self):
super().__init__()
len1 = 2
len2 = 1
self.link1 = create_link(len1)
self.link2 = create_link(len2)
self.link2.setPosition(len2, 0, len1)
self.link2.setRotation(agx.EulerAngles(0, math.radians(-90), 0))
self.link1.getGeometries()[0].setEnableCollisions(self.link2.getGeometries()[0], False)
demoutils.create_visual(self.link1)
demoutils.create_visual(self.link2)
self.hinge = demoutils.create_constraint(
pos=agx.Vec3(width, 0, len1),
axis=agx.Vec3(0, 1, 0),
rb1=self.link1,
rb2=self.link2,
c=agx.Hinge) # type: agx.Hinge
self.hinge.setCompliance(1e-8)
self.hinge.getLock1D().setEnable(False)
self.hinge.getMotor1D().setEnable(False)
self.hinge.getRange1D().setEnable(True)
self.hinge.getRange1D().setRange(math.radians(-45), math.radians(75))
f1 = agx.Frame()
f1.setTranslate(agx.Vec3(width, 0, len1 - (len1 * 0.7)))
f2 = agx.Frame()
f2.setTranslate(agx.Vec3(-width, 0, 0))
self.distance = agx.DistanceJoint(self.link1, f1, self.link2, f2)
self.distance.getMotor1D().setEnable(False)
self.distance.getLock1D().setEnable(True)
self.add(self.link1)
self.add(self.link2)
self.add(self.hinge)
self.add(self.distance)
def __init__(self, keyboard):
"""
Args:
keyboard:
seaFloor:
wing_scale:
depth:
"""
super().__init__()
self.keyboard = keyboard
self.plot_pitch = []
self.plot_wing_angle = []
self.plot_depth = []
self.plot_roll = []
self.plotted = False
print("initilaized master and vields")
# building models
rov_material = self.build_material('AluminumMaterial',
ROV_BODY_DENSITY)
wing_material = self.build_material('AluminumMaterial',
ROV_WING_DENSITY)
tank_material = self.build_material('AluminumMaterial',
ROV_TANK_DENSITY)
builder = rov_builder()
print("rov builder ready")
# rov body
self.link1 = builder.create_rov_body(rov_material,
name='rovBody',
scale=ROV_SCALE,
cm=(0.27511, -0.18095, 0.0494),
tank_material=tank_material)
print("buildt rov body")
print("volumebounds: ",
self.link1.getGeometry("Rov_body").getBoundingVolume().size())
# wing left
self.link2 = builder.create_wing_right(wing_material,
WING_SCALE,
"wing_r",
rot=(0, 0, 0))
link2rot = self.link2.getPosition()
print("buildt right wing", link2rot)
# wing right
self.link3 = builder.create_wing_left(wing_material,
WING_SCALE,
"wing_l",
rot=(0, 0, 0))
link3rot = self.link3.getPosition()
print("buildt left wing")
# disabling internal collisions
self.link1.getGeometry('Rov_body').setEnableCollisions(
self.link2.getGeometry('wing_r'), False)
self.link1.getGeometry('Rov_body').setEnableCollisions(
self.link3.getGeometry('wing_l'), False)
print("removed internal collitions")
# adding visualisation
demoutils.create_visual(self.link1)
demoutils.create_visual(self.link2)
demoutils.create_visual(self.link3)
print("created visuals")
# conecting models
# left wing
self.hinge1 = self.build_hinge(link=self.link1,
part=self.link2,
pos=link2rot,
axis=agx.Vec3(0, 1, 0),
lock=False,
motor=True,
range=(MIN_WING_ANGLE, MAX_WING_ANGLE),
compliance=1e-5)
# right wing
self.hinge2 = self.build_hinge(self.link1,
self.link3,
pos=link3rot,
axis=agx.Vec3(0, 1, 0),
lock=False,
motor=True,
range=(MIN_WING_ANGLE, MAX_WING_ANGLE),
compliance=1e-5)
# sonar
print("buildt joints")
# adding models to assembly
self.add(self.link1)
self.add(self.link2)
self.add(self.link3)
print("added models to assembly")
self.add(self.hinge1)
self.add(self.hinge2)
print("aded links to assembly")
self.left_wing_angle = lambda: self.hinge1.getAngle()
self.right_wing_angle = lambda: self.hinge2.getAngle()
print("set the wing controll functions")
self.wing_step_length = deg2rad(2)
print("added wing step lenght")
self.setName('rov')
print("set name")
Sec.postCallback(self.post)
def create_and_add_ground():
ground = agxCollide.Geometry(agxCollide.Box(1, 1, 0.05))
demoutils.create_visual(ground, Color.Green())
demoutils.sim().add(ground)
return ground