link_motor.SetSpindleConstraint(
chrono.ChLinkMotorRotationSpeed.SpindleConstraint_CYLINDRICAL
) # Set_shaft_mode(chrono.ChLinkEngine.ENG_SHAFT_PRISM)
link_motor.SetMotorFunction(chrono.ChFunction_Const(
1.0 * chrono.CH_C_2PI)) # 1.0 Hz to rad/s
my_system.Add(link_motor)
if m_visualization == "pov":
# ---------------------------------------------------------------------
#
# Render a short animation by generating scripts
# to be used with POV-Ray
#
pov_exporter = postprocess.ChPovRay(my_system)
# Sets some file names for in-out processes.
pov_exporter.SetTemplateFile("_template_POV.pov")
pov_exporter.SetOutputScriptFile("rendering_frames.pov")
if not os.path.exists("output"):
os.mkdir("output")
if not os.path.exists("anim"):
os.mkdir("anim")
pov_exporter.SetOutputDataFilebase("output/my_state")
pov_exporter.SetPictureFilebase("anim/picture")
# Sets the viewpoint, aimed point, lens angle
pov_exporter.SetCamera(chrono.ChVectorD(0.4, 0.6, 0.9),
chrono.ChVectorD(0.2, 0, 0), 30)
def __init__(self,
step_size,
system,
track,
vehicle,
terrain,
irrlicht=False,
obstacles=None,
opponents=None,
draw_barriers=False,
draw_cones=False,
draw_track=True,
bind_all=True,
pov=False,
camera_save=False):
# Chrono parameters
self.step_size = step_size
self.irrlicht = irrlicht
self.step_number = 0
# Time interval between two render frames
self.render_step_size = 1.0 / 60 # FPS = 60
self.render_steps = int(
math.ceil(self.render_step_size / self.step_size))
# Track that vehicle is going through
self.track = track
# Static obstacles in the environment
self.obstacles = obstacles
# Dynamic opponents in the environment
self.opponents = opponents
self.system = system
self.vehicle = vehicle
self.terrain = terrain
if self.irrlicht:
if draw_track:
self.DrawPath(track.center)
if obstacles != None:
self.DrawObstacles(obstacles)
if opponents != None:
temp = dict()
for opponent in opponents:
temp[opponent] = (opponent.vehicle, opponent.vehicle.driver)
self.opponents = temp
if draw_barriers:
self.DrawBarriers(self.track.left.points)
self.DrawBarriers(self.track.right.points)
if draw_cones:
self.DrawCones(self.track.left.points, 'red')
self.DrawCones(self.track.right.points, 'green')
if self.irrlicht and bind_all:
self.app = veh.ChVehicleIrrApp(self.vehicle.vehicle)
self.app.SetHUDLocation(500, 20)
self.app.SetSkyBox()
self.app.AddTypicalLogo()
self.app.AddTypicalLights(chronoirr.vector3df(-150., -150., 200.),
chronoirr.vector3df(-150., 150., 200.),
100, 100)
self.app.AddTypicalLights(chronoirr.vector3df(150., -150., 200.),
chronoirr.vector3df(150., 150., 200.),
100, 100)
self.app.EnableGrid(False)
self.app.SetChaseCamera(self.vehicle.trackPoint, 6.0, 0.5)
self.app.SetTimestep(self.step_size)
# ---------------------------------------------------------------------
#
# Create an Irrlicht application to visualize the system
#
# ==IMPORTANT!== Use this function for adding a ChIrrNodeAsset to all items
# in the system. These ChIrrNodeAsset assets are 'proxies' to the Irrlicht meshes.
# If you need a finer control on which item really needs a visualization proxy
# Irrlicht, just use application.AssetBind(myitem); on a per-item basis.
self.app.AssetBindAll()
# ==IMPORTANT!== Use this function for 'converting' into Irrlicht meshes the assets
# that you added to the bodies into 3D shapes, they can be visualized by Irrlicht!
self.app.AssetUpdateAll()
self.pov = pov
if self.pov:
self.pov_exporter = postprocess.ChPovRay(self.system)
# Sets some file names for in-out processes.
self.pov_exporter.SetTemplateFile(
chrono.GetChronoDataFile('_template_POV.pov'))
self.pov_exporter.SetOutputScriptFile("rendering_frames.pov")
if not os.path.exists("output"):
os.mkdir("output")
if not os.path.exists("anim"):
os.mkdir("anim")
self.pov_exporter.SetOutputDataFilebase("output/my_state")
self.pov_exporter.SetPictureFilebase("anim/picture")
self.pov_exporter.SetCamera(chrono.ChVectorD(0.2, 0.3, 0.5),
chrono.ChVectorD(0, 0, 0), 35)
self.pov_exporter.SetLight(chrono.ChVectorD(-2, 2, -1),
chrono.ChColor(1.1, 1.2, 1.2), True)
self.pov_exporter.SetPictureSize(1280, 720)
self.pov_exporter.SetAmbientLight(chrono.ChColor(2, 2, 2))
# Add additional POV objects/lights/materials in the following way
self.pov_exporter.SetCustomPOVcommandsScript('''
light_source{ <1,3,1.5> color rgb<1.1,1.1,1.1> }
Grid(0.05,0.04, rgb<0.7,0.7,0.7>, rgbt<1,1,1,1>)
''')
# Tell which physical items you want to render
self.pov_exporter.AddAll()
# Tell that you want to render the contacts
# self.pov_exporter.SetShowContacts(True,
# postprocess.ChPovRay.SYMBOL_VECTOR_SCALELENGTH,
# 0.2, # scale
# 0.0007, # width
# 0.1, # max size
# True,0,0.5 ) # colormap on, blue at 0, red at 0.5
# 1) Create the two .pov and .ini files for POV-Ray (this must be done
# only once at the beginning of the simulation).
self.pov_exporter.ExportScript()