def __init__(self, world):
"""Arguments:
- world: a RobotWorld instance.
"""
GLPluginInterface.__init__(self)
self.world = world
#Put your initialization code here
#the current example creates a collision class, simulator,
#simulation flag, and screenshot flags
self.collider = collide.WorldCollider(world)
self.sim = SimpleSimulator(world)
self.simulate = False
self.dt = 0.02
#turn this on to draw contact points
self.drawContacts = False
#turn this on to draw sensors
self.drawSensors = False
#turn this on to save screenshots
self.saveScreenshots = False
self.nextScreenshotTime = 0
self.screenshotCount = 0
self.verbose = 0
self.htmlSharePath = None
def toggle_simulate():
self.simulate = not self.simulate
print "Simulating:", self.simulate
def toggle_movie_mode():
self.saveScreenshots = not self.saveScreenshots
print "Movie mode:", self.saveScreenshots
def toggle_draw_contacts():
self.drawContacts = not self.drawContacts
if self.drawContacts:
self.sim.enableContactFeedbackAll()
def toggle_draw_sensors():
if self.drawSensors == False:
self.drawSensors = True
elif self.drawSensors == True:
self.drawSensors = 'full'
else:
self.drawSensors = False
def single_step():
print "Advancing by 0.01s"
self.simStep(0.01)
self.add_action(toggle_simulate, 'Toggle simulation', 's')
self.add_action(single_step, 'Step simulation', ' ')
#self.add_action(toggle_movie_mode,'Toggle movie mode','m')
self.add_action(self.sim.toggleLogging, 'Toggle simulation logging',
'l')
self.add_action(toggle_draw_contacts, 'Toggle draw contacts', 'c')
self.add_action(toggle_draw_sensors, 'Toggle draw sensors', 'v')
def __init__(self):
from ..robotsim import WidgetSet
GLPluginInterface.__init__(self)
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
def __init__(self):
from ..robotsim import WidgetSet
GLPluginInterface.__init__(self)
self.klamptwidgetbutton = 2
self.klamptwidgetmaster = WidgetSet()
self.klamptwidgetdragging = False
def __init__(self,world):
"""Args:
world (WorldModel): the world to draw
"""
GLPluginInterface.__init__(self)
self.world = world
#Put your initialization code here
#the current example creates a collision class, simulator,
#simulation flag, and screenshot flags
self.collider = collide.WorldCollider(world)
def __init__(self, world):
"""Args:
world (WorldModel): the world to draw
"""
GLPluginInterface.__init__(self)
self.world = world
#Put your initialization code here
#the current example creates a collision class, simulator,
#simulation flag, and screenshot flags
self.collider = collide.WorldCollider(world)
def motionfunc(self,x,y,dx,dy):
return GLPluginInterface.motionfunc(self,x,y,dx,dy)
def mousefunc(self,button,state,x,y):
#Put your mouse handler here
#the current example prints out the list of objects clicked whenever
#you right click
if self.verbose: print "mouse",button,state,x,y
return GLPluginInterface.mousefunc(self,button,state,x,y)
def initialize(self):
#match window refresh rate
self.dt = self.window.program.dt
return GLPluginInterface.initialize(self)
def motionfunc(self, x, y, dx, dy):
return GLPluginInterface.motionfunc(self, x, y, dx, dy)
def mousefunc(self, button, state, x, y):
#Put your mouse handler here
#the current example prints out the list of objects clicked whenever
#you right click
if self.verbose: print "mouse", button, state, x, y
return GLPluginInterface.mousefunc(self, button, state, x, y)
def __init__(self, world):
"""Arguments:
- world: a RobotWorld instance.
"""
GLPluginInterface.__init__(self)
self.world = world
#Put your initialization code here
#the current example creates a collision class, simulator,
#simulation flag, and screenshot flags
self.collider = collide.WorldCollider(world)
self.sim = SimpleSimulator(world)
self.simulate = False
self.dt = 0.02
#turn this on to draw contact points
self.drawContacts = False
#turn this on to draw sensors
self.drawSensors = False
#turn this on to save screenshots
self.saveScreenshots = False
self.nextScreenshotTime = 0
self.screenshotCount = 0
self.verbose = 0
self.htmlSharePath = None
def toggle_simulate():
self.simulate = not self.simulate
print "Simulating:", self.simulate
def toggle_movie_mode():
self.saveScreenshots = not self.saveScreenshots
print "Movie mode:", self.saveScreenshots
def toggle_draw_contacts():
self.drawContacts = not self.drawContacts
if self.drawContacts:
self.sim.enableContactFeedbackAll()
def toggle_draw_sensors():
if self.drawSensors == False:
self.drawSensors = True
elif self.drawSensors == True:
self.drawSensors = 'full'
else:
self.drawSensors = False
def share_path():
from ..io import html
if self.htmlSharePath is None:
self.htmlSharePath = html.HTMLSharePath(
filename="simulation_path.html",
name="Klamp't Simulation Path")
#20FPS is sufficient...
self.htmlSharePath.dt = 0.05
self.htmlSharePath.start(self.sim)
else:
try:
from PyQt4.QtGui import QFileDialog
patterns = "HTML files (*.html)"
fn = QFileDialog.getSaveFileName(
None, "Save path HTML file to...",
self.htmlSharePath.fn, patterns)
if fn:
self.htmlSharePath.fn = fn
else:
return
except ImportError:
pass
self.htmlSharePath.end()
def single_step():
print "Advancing by 0.01s"
self.simStep(0.01)
self.add_action(toggle_simulate, 'Toggle simulation', 's')
self.add_action(single_step, 'Step simulation', ' ')
self.add_action(toggle_movie_mode, 'Toggle movie mode', 'm')
self.add_action(self.sim.toggleLogging, 'Toggle simulation logging',
'l')
self.add_action(toggle_draw_contacts, 'Toggle draw contacts', 'c')
self.add_action(toggle_draw_sensors, 'Toggle draw sensors', 'v')
self.add_action(share_path, 'Begin/finalize logging path to HTML', 'w')