def set_mass(self, mass: float) -> None:
"""Sets the mass of the shape.
:param mass: The new mass value.
"""
sim.simSetObjectFloatParameter(self._handle,
sim.sim_shapefloatparam_mass, mass)
def set_far_clipping_plane(self, far_clipping: float) -> None:
""" Set the Sensor's far clipping plane.
:param far_clipping: New far clipping plane (in metres)
"""
sim.simSetObjectFloatParameter(self._handle,
sim.sim_visionfloatparam_far_clipping,
far_clipping)
def set_orthographic_size(self, ortho_size: float) -> None:
""" Set the Sensor's orthographic size.
:param angle: New orthographic size (in metres)
"""
sim.simSetObjectFloatParameter(self._handle,
sim.sim_visionfloatparam_ortho_size,
ortho_size)
def set_perspective_angle(self, angle: float) -> None:
""" Set the Sensor's perspective angle.
:param angle: New perspective angle (in degrees)
"""
sim.simSetObjectFloatParameter(
self._handle, sim.sim_visionfloatparam_perspective_angle,
math.radians(angle))
def set_intensity_properties(self,
cast_shadows=None,
spot_exponent=None,
spot_cutoff=None,
const_atten_factor=None,
linear_atten_factor=None,
quad_atten_factor=None):
""" Set light intensity properties.
:param cast_shadows: POV-Ray light casts shadows
:param spot_exponent: light spot exponent
:param spot_cutoff: light spot cutoff
:param const_atten_factor: light constant attenuation factor, currently not supported
:param linear_atten_factor: light linear attenuation factor, currently not supported
:param quad_atten_factor: light quadratic attenuation factor, currently not supported
"""
if cast_shadows is not None:
sim.simSetObjectInt32Parameter(
self._handle, sim.sim_lightintparam_pov_casts_shadows,
int(cast_shadows))
if spot_exponent is not None:
if spot_exponent % 1 != 0:
warnings.warn(
'spot exponent must be an integer, rounding input of {} to {}'
.format(spot_exponent, round(spot_exponent)))
sim.simSetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_spot_exponent,
float(round(spot_exponent)))
if spot_cutoff is not None:
spot_cutoff = float(spot_cutoff)
if spot_cutoff > np.pi / 2:
warnings.warn(
'Tried to set spot_cutoff to {}, but the maximum allowed value is pi/2,'
'therefore setting to pi/2'.format(spot_cutoff))
sim.simSetObjectFloatParameter(self._handle,
sim.sim_lightfloatparam_spot_cutoff,
float(spot_cutoff))
if const_atten_factor is not None:
raise Exception(
'CoppeliaSim currently does not support setting attenuation factors'
)
# sim.simSetObjectFloatParameter(
# self._handle, sim.sim_lightfloatparam_const_attenuation, float(const_atten_factor))
if linear_atten_factor is not None:
raise Exception(
'CoppeliaSim currently does not support setting attenuation factors'
)
# sim.simSetObjectFloatParameter(
# self._handle, sim.sim_lightfloatparam_lin_attenuation, float(linear_atten_factor))
if quad_atten_factor is not None:
raise Exception(
'CoppeliaSim currently does not support setting attenuation factors'
)
def _set_velocity(handle, lin_velocity=[0, 0, 0], ang_velocity=[0, 0, 0]):
# reset dynamic object
sim.simResetDynamicObject(handle)
# shapefloatparam_init_velocity_x
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_x, lin_velocity[0])
# shapefloatparam_init_velocity_y
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_y, lin_velocity[1])
# shapefloatparam_init_velocity_z
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_z, lin_velocity[2])
# shapefloatparam_init_velocity_a
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_a, ang_velocity[0])
# shapefloatparam_init_velocity_b
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_b, ang_velocity[1])
# shapefloatparam_init_velocity_g
sim.simSetObjectFloatParameter(handle, sim.sim_shapefloatparam_init_velocity_g, ang_velocity[2])
