def Move(self, displacement):
if (self.refpoint):
self.refpoint = self.refpoint + np.array(displacement)
for _, comp in self.components.items():
comp.MoveBy(displacement)
for hidbod in self.hidden_bodies:
MiroAPI.MoveBodyBy(hidbod, displacement)
def MoveToMatch(self, pointname, other_component, other_pointname, dist=0):
'''Moves the component to match the provided linkpoint position with the position of a
linkpoint on the other component. Distance is calculated in the direction of the
linkpoint on the other, non-moving component.'''
marg = other_component.GetLinkDir(other_pointname)
marg = marg * dist
move = other_component.GetLinkPoint(
other_pointname) - self.GetLinkPoint(pointname) + marg
MiroAPI.MoveBodyBy(self.body, move)
def MoveToPosition(self, pos):
MiroAPI.MoveBodyBy(self.body, pos - self.GetPosition())
def MoveBy(self, delta_pos):
MiroAPI.MoveBodyBy(self.body, delta_pos)