def create_laser_arc(self):
""" Create an arc for use with the laserscanner sensor
The arc is created using the parameters in the laserscanner Empty.
'resolution and 'scan_window' are used to determine how many points
will be added to the arc.
"""
scene = bpymorse.get_context_scene()
laserscanner_obj = self._bpy_object
# Delete previously created arc
for child in laserscanner_obj.children:
if child.name.startswith("Arc_"):
scene.objects.unlink( child )
# Read the parameters to create the arc
properties = laserscanner_obj.game.properties
resolution = properties['resolution'].value
window = properties['scan_window'].value
# Parameters for multi layer sensors
try:
layers = properties['layers'].value
layer_separation = properties['layer_separation'].value
layer_offset = properties['layer_offset'].value
except KeyError as detail:
layers = 1
layer_separation = 0.0
layer_offset = 0.0
logger.debug ("Creating %d arc(s) of %.2f degrees, resolution %.2f" % \
(layers, window, resolution))
mesh = bpymorse.new_mesh( "ArcMesh" )
# Add the center vertex to the list of vertices
verts = [ [0.0, 0.0, 0.0] ]
faces = []
vertex_index = 0
# Set the vertical angle, in case of multiple layers
if layers > 1:
v_angle = layer_separation * (layers-1) / 2.0
else:
v_angle = 0.0
# Initialise the parameters for every layer
for layer_index in range(layers):
start_angle = -window / 2.0
end_angle = window / 2.0
# Offset the consecutive layers
if (layer_index % 2) == 0:
start_angle += layer_offset
end_angle += layer_offset
logger.debug ("Arc from %.2f to %.2f" % (start_angle, end_angle))
logger.debug ("Vertical angle: %.2f" % v_angle)
arc_angle = start_angle
# Create all the vertices and faces in a layer
while arc_angle <= end_angle:
# Compute the coordinates of the new vertex
new_vertex = [ math.cos(math.radians(arc_angle)),
math.sin(math.radians(arc_angle)),
math.sin(math.radians(v_angle)) ]
verts.append(new_vertex)
vertex_index += 1
# Add the faces after inserting the 2nd vertex
if arc_angle > start_angle:
faces.append([0, vertex_index-1, vertex_index])
# Increment the angle by the resolution
arc_angle = arc_angle + resolution
v_angle -= layer_separation
mesh.from_pydata( verts, [], faces )
mesh.update()
# Compose the name of the arc
arc_name = "Arc_%d" % window
arc = bpymorse.new_object( arc_name, mesh )
arc.data = mesh
# Remove collision detection for the object
arc.game.physics_type = 'NO_COLLISION'
arc.hide_render = True
# Link the new object in the scene
scene.objects.link( arc )
# Set the parent to be the laserscanner Empty
arc.parent = laserscanner_obj
# Set the material of the arc
arc.active_material = self.get_ray_material()
return arc
def create_laser_arc(self):
""" Create an arc for use with the laserscanner sensor
The arc is created using the parameters in the laserscanner Empty.
'resolution and 'scan_window' are used to determine how many points
will be added to the arc.
"""
scene = bpymorse.get_context_scene()
laserscanner_obj = self._bpy_object
# Delete previously created arc
for child in laserscanner_obj.children:
if child.name.startswith("Arc_"):
scene.objects.unlink( child )
# Read the parameters to create the arc
properties = laserscanner_obj.game.properties
resolution = properties['resolution'].value
window = properties['scan_window'].value
# Parameters for multi layer sensors
try:
layers = properties['layers'].value
layer_separation = properties['layer_separation'].value
layer_offset = properties['layer_offset'].value
except KeyError as detail:
layers = 1
layer_separation = 0.0
layer_offset = 0.0
logger.debug ("Creating %d arc(s) of %.2f degrees, resolution %.2f" % \
(layers, window, resolution))
mesh = bpymorse.new_mesh( "ArcMesh" )
# Add the center vertex to the list of vertices
verts = [ [0.0, 0.0, 0.0] ]
faces = []
vertex_index = 0
# Set the vertical angle, in case of multiple layers
if layers > 1:
v_angle = layer_separation * (layers-1) / 2.0
else:
v_angle = 0.0
# Initialise the parameters for every layer
for layer_index in range(layers):
start_angle = -window / 2.0
end_angle = window / 2.0
# Offset the consecutive layers
if (layer_index % 2) == 0:
start_angle += layer_offset
end_angle += layer_offset
logger.debug ("Arc from %.2f to %.2f" % (start_angle, end_angle))
logger.debug ("Vertical angle: %.2f" % v_angle)
arc_angle = start_angle
# Create all the vertices and faces in a layer
while arc_angle <= end_angle:
# Compute the coordinates of the new vertex
new_vertex = [ math.cos(math.radians(arc_angle)),
math.sin(math.radians(arc_angle)),
math.sin(math.radians(v_angle)) ]
verts.append(new_vertex)
vertex_index += 1
# Add the faces after inserting the 2nd vertex
if arc_angle > start_angle:
faces.append([0, vertex_index-1, vertex_index])
# Increment the angle by the resolution
arc_angle = arc_angle + resolution
v_angle -= layer_separation
mesh.from_pydata( verts, [], faces )
mesh.update()
# Compose the name of the arc
arc_name = "Arc_%d" % window
arc = bpymorse.new_object( arc_name, mesh )
arc.data = mesh
# Remove collision detection for the object
arc.game.physics_type = 'NO_COLLISION'
arc.hide_render = True
# Link the new object in the scene
scene.objects.link( arc )
# Set the parent to be the laserscanner Empty
arc.parent = laserscanner_obj
# Set the material of the arc
arc.active_material = self.get_ray_material()
return arc