def begin_round(self):
global j1, j2, pend, scene, pole, ball, grabScreens, frNum
global pauseState
damping = 0.1
if (pauseState == 1):
self.next()
return
# Calls the super implementation.
soya.World.begin_round(self)
#~ print(j1.getFeedback(), "#", j2.getFeedback()) # (force1, torque1, force2, torque2) : ((0.0, 332.9216613769531, -257.0126647949219), (180.77870178222656, 0.0, 0.0), (0.0, 1.0, 0.0), (0.0, 0.0, 1.0)) ..... (((0.0, 426.10772705078125, -1055.581298828125), (-5704.71435546875, 0.0, 0.0), (1.1854985008187952e-42, 2.312142466135948e-43, 9.164491956684304e-43), (1.4461400151832112e-42, 7.777206477002735e-43, 7.903323338791968e-43)), '#', ((0.0, 173.71861267089844, -6280.154296875), (-96.6642074584961, 0.0, 0.0), (0.0, -173.71861267089844, 6280.154296875), (-504.1296081542969, 0.0, 0.0)))
self.j1f = j1.getFeedback()
self.j2f = j2.getFeedback()
frc1 = self.j2f[0] #[0]
# note - vector should be referenced to scene, NOT pend,
# for the damping to work!
dampvect = Vector(scene, -damping * frc1[0], -damping * frc1[1],
-damping * frc1[2])
pend.add_force(dampvect)
#~ j1fp = j1.getFeedback() # same as j1f
#~ print(frc1, "#", j1fp[0])
self.dj1fp = Vector(scene, frc1[0], frc1[1], frc1[2]) + dampvect
#~ print(frc1, "#", self.dj1fp)
#~ print(bp)
#~ frep=bp+0.1*self.dj1fp # float required; no parse
#~ frep=bp.add_mul_vector(0.1, self.dj1fp) # awful
#~ frep=bp+self.dj1fp.__mul__(0.000001) # ??
#~ frep=Vector(ball,0,0,2) # ref to ball don't seem to matter!
# AH - for these kind of transform with convert_to, should have Point, not Vector!
# frcpball coord syst: 2 units in each direction, moved 1 unit along x so as not to be hidden by ball
movx = 0
if (self.coordViewState == 0):
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = self.bp
self.bp2 = self.bp1
if (self.coordViewState == 1):
movx = 1
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = self.bp
self.bp2 = self.bp1
elif (self.coordViewState == 2):
movx = 1
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = ball.position().add_vector(soya.Vector(ball, 2, 0, 1))
self.bp2 = self.bp1
elif (self.coordViewState == 3):
movx = 1
self.bp = ball.position().add_vector(soya.Vector(ball, movx, 0, 0))
self.bp1 = ball.position().add_vector(soya.Vector(ball, 2, 0, 1))
self.bp2 = ball.position().add_vector(soya.Vector(ball, 3, 0, 2))
self.bp1b = self.bp1.copy().add_vector(soya.Vector(ball, -0.5, 0, 0))
self.frepx = Point(ball, 2 + movx, 0, 0)
self.frepy = Point(ball, movx, 2, 0)
self.frepz = Point(ball, movx, 0, 2)
self.frepx.convert_to(scene)
self.frepy.convert_to(scene)
self.frepz.convert_to(scene)
# scaled so they're approx the same
scale_grav = scene.gravity.__mul__(0.5)
scale_dfor = self.dj1fp.__mul__(0.03)
self.epg = self.bp1 + scale_grav
self.epfor = self.bp2 + scale_dfor
tp = Vector(ball, 2, 0,
0) # convert_to must go separate! can be vector
tp.convert_to(scene) # IN PLACE
grav_lx = self.vecProjectionAontoB(scale_grav, tp)
tp = Vector(ball, 0, 2, 0)
tp.convert_to(scene)
grav_ly = self.vecProjectionAontoB(scale_grav, tp)
tp = Vector(ball, 0, 0, 2)
tp.convert_to(scene)
grav_lz = self.vecProjectionAontoB(scale_grav, tp)
self.epgx = self.bp1 + grav_lx
self.epgy = self.bp1 + grav_ly
self.epgz = self.bp1 + grav_lz
tp = Vector(ball, 2, 0, 0)
tp.convert_to(scene)
dfor_lx = self.vecProjectionAontoB(scale_dfor, tp)
tp = Vector(ball, 0, 2, 0)
tp.convert_to(scene)
dfor_ly = self.vecProjectionAontoB(scale_dfor, tp)
tp = Vector(ball, 0, 0, 2)
tp.convert_to(scene)
dfor_lz = self.vecProjectionAontoB(scale_dfor, tp)
self.epforx = self.bp2 + dfor_lx
self.epfory = self.bp2 + dfor_ly
self.epforz = self.bp2 + dfor_lz
tp = Vector(scene, 2, 0, 0)
grav_lz_mx = self.vecProjectionAontoB(grav_lz, tp)
tp = Vector(scene, 0, 2, 0)
grav_lz_my = self.vecProjectionAontoB(grav_lz, tp)
tp = Vector(scene, 0, 0, 2)
grav_lz_mz = self.vecProjectionAontoB(grav_lz, tp)
self.epglzx = self.bp1b + grav_lz_mx
self.epglzy = self.bp1b + grav_lz_my
self.epglzz = self.bp1b + grav_lz_mz
if (grabScreens):
frNum += 1
tfname = "/dev/shm/soya-pend%05d.png" % (frNum)
soya.screenshot(filename=tfname, use_back_buffer=False)
