def handlePOLS(self, polys):
"""Handle the polygons.
This method creates the actual object. It is assumed that the
points have been read before and are stored in the TriMeshGeom.
It is also assumed that a SRFS chunk was present and numsurfaces
is initialized.
"""
# Assume the mesh is a triangle mesh and initialize the TriMeshGeom
# first. If this fails, use a PolyhedronGeom instead...
if self._initTriMesh(polys):
geom = self.trimeshgeom
else:
# Copy the vertices into the polyhedron geom...
numverts = self.trimeshgeom.verts.size()
self.polyhedrongeom.verts.resize(numverts)
self.trimeshgeom.verts.copyValues(0, numverts,
self.polyhedrongeom.verts, 0)
del self.trimeshgeom
# Initialize the polys...
self._initPolyhedron(polys)
geom = self.polyhedrongeom
w = WorldObject(name="lwob", parent=self.parent)
w.setNumMaterials(self.numsurfaces)
w.geom = geom
self.worldobj = w
def __init__(self,
name="TriMesh",
dynamics=True,
static=False,
verts=[],
faces=[],
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = TriMeshGeom()
self.dynamics_slot = BoolSlot(dynamics)
self.static_slot = BoolSlot(static)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
tm = self.geom
if len(verts)>0:
tm.verts.resize(len(verts))
i = 0
for v in verts:
tm.verts.setValue(i, v)
i+=1
if len(faces)>0:
tm.faces.resize(len(faces))
i = 0
for f in faces:
tm.faces.setValue(i, f)
i+=1
def __init__(self,
name = "Polyhedron",
# dynamics = False,
# static = False,
verts = [],
polys = [],
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = PolyhedronGeom()
# self.dynamics = dynamics
# self.static_slot = BoolSlot(static)
ph = self.geom
if len(verts)>0:
ph.verts.resize(len(verts))
i = 0
for v in verts:
ph.verts.setValue(i, vec3(v))
i+=1
if len(polys)>0:
ph.setNumPolys(len(polys))
i = 0
for poly in polys:
ph.setPoly(i, poly)
i+=1
def __init__(self,
name="TriMesh",
dynamics=True,
static=False,
verts=[],
faces=[],
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = TriMeshGeom()
self.dynamics_slot = BoolSlot(dynamics)
self.static_slot = BoolSlot(static)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
tm = self.geom
if len(verts) > 0:
tm.verts.resize(len(verts))
i = 0
for v in verts:
tm.verts.setValue(i, v)
i += 1
if len(faces) > 0:
tm.faces.resize(len(faces))
i = 0
for f in faces:
tm.faces.setValue(i, f)
i += 1
def __init__(self,
name = "RIBArchive",
filename = None,
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = RIBArchiveGeom(filename)
def __init__(
self,
name="Polyhedron",
# dynamics = False,
# static = False,
verts=[],
polys=[],
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = PolyhedronGeom()
# self.dynamics = dynamics
# self.static_slot = BoolSlot(static)
ph = self.geom
if len(verts) > 0:
ph.verts.resize(len(verts))
i = 0
for v in verts:
ph.verts.setValue(i, vec3(v))
i += 1
if len(polys) > 0:
ph.setNumPolys(len(polys))
i = 0
for poly in polys:
ph.setPoly(i, poly)
i += 1
def handlePOLS(self, polys):
"""Handle the polygons.
This method creates the actual object. It is assumed that the
points have been read before and are stored in the TriMeshGeom.
It is also assumed that a SRFS chunk was present and numsurfaces
is initialized.
"""
# Assume the mesh is a triangle mesh and initialize the TriMeshGeom
# first. If this fails, use a PolyhedronGeom instead...
if self._initTriMesh(polys):
geom = self.trimeshgeom
else:
# Copy the vertices into the polyhedron geom...
numverts = self.trimeshgeom.verts.size()
self.polyhedrongeom.verts.resize(numverts)
self.trimeshgeom.verts.copyValues(0, numverts, self.polyhedrongeom.verts, 0)
del self.trimeshgeom
# Initialize the polys...
self._initPolyhedron(polys)
geom = self.polyhedrongeom
w = WorldObject(name="lwob", parent=self.parent)
w.setNumMaterials(self.numsurfaces)
w.geom = geom
self.worldobj = w
def __init__(self,
name="HingeJoint",
transform=None,
pos=None,
rot=None,
scale=None,
pivot=None,
offsetTransform=None,
body1=None,
body2=None,
auto_insert=True):
WorldObject.__init__(self,
name=name,
transform=transform,
pos=pos,
rot=rot,
scale=scale,
pivot=pivot,
offsetTransform=offsetTransform,
auto_insert=auto_insert)
self.lostop_slot = DoubleSlot()
self.histop_slot = DoubleSlot()
self.motorvel_slot = DoubleSlot()
self.motorfmax_slot = DoubleSlot()
self.bounce_slot = DoubleSlot()
self.body1 = body1
self.body2 = body2
def __init__(self, p1, p2, p3, clr, kd=0.0, ks=0.0, se=6, kr=0.0):
WorldObject.__init__(self, clr, kd, ks, se, kr) # Call base class init
self.p1 = p1 # 1st point on the Plane
self.p2 = p2 # 2nd point on the Plane
self.p3 = p3 # 3rd point on the Plane
self.norm = pow(p2 - p1, p3 - p1).normalize() # Normal to the Plane
self.dist = self.norm * p1 * -1 # Distance from the origin
self.uNorm = (p2 - p1).normalize() # U-Axis for uv coordinates
self.vNorm = pow(self.norm,
p2 - p1).normalize() # V-Axis for uv coordinates
def __init__(self,
name="Torus",
major=1.0,
minor=0.1,
segmentsu=16,
segmentsv=8,
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = TorusGeom(major, minor, segmentsu, segmentsv)
def __init__(self,
name = "Torus",
major = 1.0,
minor = 0.1,
segmentsu = 16,
segmentsv = 8,
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = TorusGeom(major, minor, segmentsu, segmentsv)
def __init__(self, name="", body1=None, body2=None, **params):
WorldObject.__init__(self, name=name, **params)
# ODEDynamics component
self.odedynamics = None
# The corresponding ODE joint
self.odejoint = None
self.body1 = body1
self.body2 = body2
def __init__(self,
auto_nearfar = True,
nearplane = 0.1,
farplane = 1000,
**params):
WorldObject.__init__(self, **params)
self.nearplane_slot = slots.DoubleSlot(nearplane)
self.farplane_slot = slots.DoubleSlot(farplane)
self.autonearfar_slot = slots.BoolSlot(auto_nearfar)
self.addSlot("nearplane", self.nearplane_slot)
self.addSlot("farplane", self.farplane_slot)
self.addSlot("autonearfar", self.autonearfar_slot)
def __init__(self,
auto_nearfar=True,
nearplane=0.1,
farplane=1000,
**params):
WorldObject.__init__(self, **params)
self.nearplane_slot = slots.DoubleSlot(nearplane)
self.farplane_slot = slots.DoubleSlot(farplane)
self.autonearfar_slot = slots.BoolSlot(auto_nearfar)
self.addSlot("nearplane", self.nearplane_slot)
self.addSlot("farplane", self.farplane_slot)
self.addSlot("autonearfar", self.autonearfar_slot)
def __init__(self,
name="Plane",
dynamics=True,
lx=1.0, ly=1.0, segmentsx=1, segmentsy=1,
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = PlaneGeom(lx, ly, segmentsx, segmentsy)
self.dynamics_slot = BoolSlot(dynamics)
# The slot value must not be changed (should be enforced!)
self.static_slot = BoolSlot(True)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
def __init__(self,
name = "Box",
dynamics = True,
static = False,
lx=1.0, ly=1.0, lz=1.0,
segmentsx=1, segmentsy=1, segmentsz=1, **params):
WorldObject.__init__(self, name=name, **params)
self.geom = BoxGeom(lx, ly, lz, segmentsx, segmentsy, segmentsz)
self.dynamics_slot = BoolSlot(dynamics)
self.static_slot = BoolSlot(static)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
def __init__(self,
center,
radius,
clr,
kd=0.0,
ks=0.0,
se=6,
kr=0.0,
kt=0.0,
ni=1.6):
WorldObject.__init__(self, clr, kd, ks, se, kr, kt,
ni) # Call base class init
self.center = center # Center point of the sphere (vector)
self.radius = radius # Radius of the sphere (int)
def __init__(self,
name = "",
body1 = None,
body2 = None,
**params):
WorldObject.__init__(self, name=name, **params)
# ODEDynamics component
self.odedynamics = None
# The corresponding ODE joint
self.odejoint = None
self.body1 = body1
self.body2 = body2
def __init__(self,
name = "BezierCurve",
pnts = None,
closed = False,
epsilon = 0.01,
subdiv = 4,
show_tangents = False,
curvegeom = None,
**params):
WorldObject.__init__(self, name=name, **params)
if curvegeom!=None:
self.geom = curvegeom
else:
self.geom = BezierCurveGeom(pnts=pnts, closed=closed, epsilon=epsilon, subdiv=subdiv, show_tangents=show_tangents)
def __init__(self,
name="Sphere",
dynamics=True,
static=False,
radius=1.0,
segmentsu=16,
segmentsv=8,
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = SphereGeom(radius, segmentsu, segmentsv)
self.dynamics_slot = BoolSlot(dynamics)
self.static_slot = BoolSlot(static)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
def __init__(self,
name="Plane",
dynamics=True,
lx=1.0,
ly=1.0,
segmentsx=1,
segmentsy=1,
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = PlaneGeom(lx, ly, segmentsx, segmentsy)
self.dynamics_slot = BoolSlot(dynamics)
# The slot value must not be changed (should be enforced!)
self.static_slot = BoolSlot(True)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
def __init__(self,
center,
a,
b,
c,
clr,
kd=0.0,
ks=0.0,
se=6,
kr=0.0,
kt=0.0,
ni=1.6):
WorldObject.__init__(self, clr, kd, ks, se, kr, kt,
ni) # Call base class init
self.center = center # Center point of the sphere (vector)
self.a = a # Radius of the sphere on X Axis
self.b = b # Radius of the sphere on Y Axis
self.c = c # Radius of the sphere on Z Axis
def __init__(self,
name="Box",
dynamics=True,
static=False,
lx=1.0,
ly=1.0,
lz=1.0,
segmentsx=1,
segmentsy=1,
segmentsz=1,
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = BoxGeom(lx, ly, lz, segmentsx, segmentsy, segmentsz)
self.dynamics_slot = BoolSlot(dynamics)
self.static_slot = BoolSlot(static)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
def __init__(self,
name="BezierCurve",
pnts=None,
closed=False,
epsilon=0.01,
subdiv=4,
show_tangents=False,
curvegeom=None,
**params):
WorldObject.__init__(self, name=name, **params)
if curvegeom != None:
self.geom = curvegeom
else:
self.geom = BezierCurveGeom(pnts=pnts,
closed=closed,
epsilon=epsilon,
subdiv=subdiv,
show_tangents=show_tangents)
def __init__(self,
name="CCylinder",
dynamics=True,
static=False,
radius=1.0,
length=1.0,
segmentsu=16,
segmentsvl=1,
segmentsvr=4,
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = CCylinderGeom(radius, length, segmentsu, segmentsvl,
segmentsvr)
self.dynamics_slot = BoolSlot(dynamics)
self.static_slot = BoolSlot(static)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
def __init__(
self,
name="CCylinder",
dynamics=True,
static=False,
radius=1.0,
length=1.0,
segmentsu=16,
segmentsvl=1,
segmentsvr=4,
**params
):
WorldObject.__init__(self, name=name, **params)
self.geom = CCylinderGeom(radius, length, segmentsu, segmentsvl, segmentsvr)
self.dynamics_slot = BoolSlot(dynamics)
self.static_slot = BoolSlot(static)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
def __init__(self,
name = "Joint",
radius = 0.05,
rotationorder = "xyz",
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = JointGeom(self, radius=radius)
self.euleradapter = EulerAdapter(order=rotationorder, outtype="mat3", auto_insert=False)
self.nullrot = Mult(auto_insert=False)
# self.euleradapter.output_slot.connect(self.rot_slot)
self.nullrot.op1 = mat3(1)
self.euleradapter.output_slot.connect(self.nullrot.op2_slot)
self.nullrot.output_slot.connect(self.rot_slot)
self.anglex_slot = self.euleradapter.anglex_slot
self.angley_slot = self.euleradapter.angley_slot
self.anglez_slot = self.euleradapter.anglez_slot
def __init__(self,
name="HingeJoint",
transform=None,
pos=None, rot=None, scale=None,
pivot=None,
offsetTransform=None,
body1=None, body2=None,
auto_insert=True):
WorldObject.__init__(self, name=name, transform=transform,
pos=pos, rot=rot, scale=scale, pivot=pivot,
offsetTransform=offsetTransform,
auto_insert=auto_insert)
self.lostop_slot = DoubleSlot()
self.histop_slot = DoubleSlot()
self.motorvel_slot = DoubleSlot()
self.motorfmax_slot = DoubleSlot()
self.bounce_slot = DoubleSlot()
self.body1 = body1
self.body2 = body2
def __init__(self,
name="Joint",
radius=0.05,
rotationorder="xyz",
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = JointGeom(self, radius=radius)
self.euleradapter = EulerAdapter(order=rotationorder,
outtype="mat3",
auto_insert=False)
self.nullrot = Mult(auto_insert=False)
# self.euleradapter.output_slot.connect(self.rot_slot)
self.nullrot.op1 = mat3(1)
self.euleradapter.output_slot.connect(self.nullrot.op2_slot)
self.nullrot.output_slot.connect(self.rot_slot)
self.anglex_slot = self.euleradapter.anglex_slot
self.angley_slot = self.euleradapter.angley_slot
self.anglez_slot = self.euleradapter.anglez_slot
def __init__(self,
name="group",
dynamics=True,
static=False,
childs=[],
**params):
"""Constructor.
\param name (\c str) Object name
\param childs (\c list) A list of WorldObjects or object names.
"""
WorldObject.__init__(self, name=name, **params)
self.dynamics_slot = BoolSlot(dynamics)
self.static_slot = BoolSlot(static)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
for c in childs:
c = cmds.worldObject(c)
if c.parent!=None:
c.parent.removeChild(c)
self.addChild(c)
def __init__(self,
name="group",
dynamics=True,
static=False,
childs=[],
**params):
"""Constructor.
\param name (\c str) Object name
\param childs (\c list) A list of WorldObjects or object names.
"""
WorldObject.__init__(self, name=name, **params)
self.dynamics_slot = BoolSlot(dynamics)
self.static_slot = BoolSlot(static)
self.addSlot("dynamics", self.dynamics_slot)
self.addSlot("static", self.static_slot)
for c in childs:
c = cmds.worldObject(c)
if c.parent != None:
c.parent.removeChild(c)
self.addChild(c)
def __init__(self, norm, dist, clr, kd=0.0, ks=0.0, se=6, kr=0.0):
WorldObject.__init__(self, clr, kd, ks, se, kr) # Call base class init
self.norm = norm.normalize() # Normal to the Plane
self.dist = dist # Scalar Distance from origin
def init_test_object():
global _test_object, _child1, _child2, _child3, _child4
color = np.array(
[[1.0, 0.0, 0.0, 1.0], [0.5, 0.0, 0.0, 1.0], [0.0, 1.0, 0.0, 1.0],
[0.0, 0.5, 0.0, 1.0], [0.0, 0.0, 1.0, 1.0], [0.0, 0.0, 0.5, 1.0]],
c_float)
long_rect = RectPrismMesh(0.5, 0.1, 0.1, face_colors=color)
_child1 = WorldObject(long_rect)
_child2 = WorldObject(long_rect)
_child3 = WorldObject(long_rect)
_child4 = WorldObject(long_rect)
_child1.set_local_position((1.25, 0.0, 0.0))
_child2.set_local_position((0.0, 1.25, 0.0))
_child3.set_local_position((-1.25, 0.0, 0.0))
_child4.set_local_position((0.0, -1.25, 0.0))
_child1.set_local_rotation((0.0, 0.0, 0.0))
_child2.set_local_rotation((0.0, 0.0, glm.radians(90.0)))
_child3.set_local_rotation((0.0, 0.0, glm.radians(180.0)))
_child4.set_local_rotation((0.0, 0.0, glm.radians(270.0)))
cube = RectPrismMesh(0.5, 0.5, 0.5, face_colors=color)
_test_object = WorldObject(cube)
_test_object.set_render_mode(gl.GL_LINE_LOOP)
_test_object.add_child(_child1)
_test_object.add_child(_child2)
_test_object.add_child(_child3)
_test_object.add_child(_child4)
def __init__(self,
name="Draw",
**params):
WorldObject.__init__(self, name=name, **params)
self.geom = DrawGeom()
