def _get_posture_constraint(self, strict=False):
posture_state_constraint = self.body_posture_state_constraint
posture_state_constraint = posture_state_constraint.get_holster_version()
if posture_state_constraint.valid and not self.body_state_spec_only:
carry_left_constraint = carry.create_carry_constraint(self.left.target, Hand.LEFT, strict=strict)
posture_state_constraint = posture_state_constraint.intersect(carry_left_constraint)
if posture_state_constraint.valid:
carry_right_constraint = carry.create_carry_constraint(self.right.target, Hand.RIGHT, strict=strict)
posture_state_constraint = posture_state_constraint.intersect(carry_right_constraint)
return posture_state_constraint
def create_put_down_on_ground_constraint(sim, target, terrain_transform, cost=0):
if cost is None or terrain_transform is None:
return Nowhere()
swipe_constraint = CarryingObject.get_carry_transition_position_constraint(terrain_transform.translation, sim.routing_surface)
carry_constraint = create_carry_constraint(target, debug_name='CarryForPutDownOnGround')
final_constraint = swipe_constraint.intersect(carry_constraint).intersect(STAND_OR_SIT_CONSTRAINT)
return final_constraint.generate_constraint_with_cost(cost)
def _constraint_gen(cls,
inst,
sim,
target,
participant_type=ParticipantType.Actor):
for constraint in super(SuperInteraction, cls)._constraint_gen(
sim, target, participant_type=participant_type):
yield constraint
yield create_carry_constraint(target, debug_name='CarryForPutDown')
def _constraint_gen(cls,
inst,
sim,
target,
participant_type=ParticipantType.Actor):
for constraint in super(SuperInteraction, cls)._constraint_gen(
sim, target, participant_type=participant_type):
yield constraint
carry_constraint = create_carry_constraint(
target, debug_name='CarryForAddInWorld')
total_constraint = carry_constraint.intersect(STAND_OR_SIT_CONSTRAINT)
yield total_constraint
def create_put_down_on_ground_constraint(sim,
target,
terrain_transform,
cost=0):
if cost is None or terrain_transform is None:
return Nowhere()
swipe_constraint = CarryingObject.get_carry_transition_position_constraint(
terrain_transform.translation, sim.routing_surface)
carry_constraint = create_carry_constraint(
target, debug_name='CarryForPutDownOnGround')
final_constraint = swipe_constraint.intersect(carry_constraint).intersect(
STAND_OR_SIT_CONSTRAINT)
return final_constraint.generate_constraint_with_cost(cost)
def _constraint_gen(cls,
inst,
sim,
target,
participant_type=ParticipantType.Actor):
for constraint in super(TerrainSuperInteraction, cls)._constraint_gen(
sim, target, participant_type=participant_type):
yield constraint
yield create_carry_constraint(target, debug_name='CarryForPutDown')
if inst is not None and inst._carry_system_target._starting_transform is not None:
yield CarryingObject.get_carry_transition_position_constraint(
inst._carry_system_target._starting_transform.translation,
sim.routing_surface)
def create_put_down_in_inventory_constraint(inst, sim, target, targets_with_inventory, cost=0):
if cost is None or not targets_with_inventory:
return Nowhere()
carry_constraint = create_carry_constraint(target, debug_name='CarryForPutDownInInventory')
carry_constraint = carry_constraint.generate_constraint_with_cost(cost)
object_constraints = []
for target_with_inventory in targets_with_inventory:
constraint = target_with_inventory.get_inventory_access_constraint(sim, True, target)
constraint = constraint.apply_posture_state(None, inst.get_constraint_resolver(None))
object_constraints.append(constraint)
final_constraint = create_constraint_set(object_constraints)
final_constraint = carry_constraint.intersect(final_constraint)
return final_constraint
def create_put_down_in_inventory_constraint(inst,
sim,
target,
targets_with_inventory,
cost=0):
if cost is None or not targets_with_inventory:
return Nowhere()
carry_constraint = create_carry_constraint(
target, debug_name='CarryForPutDownInInventory')
carry_constraint = carry_constraint.generate_constraint_with_cost(cost)
object_constraints = []
for target_with_inventory in targets_with_inventory:
constraint = target_with_inventory.get_inventory_access_constraint(
sim, True, target)
constraint = constraint.apply_posture_state(
None, inst.get_constraint_resolver(None))
object_constraints.append(constraint)
final_constraint = create_constraint_set(object_constraints)
final_constraint = carry_constraint.intersect(final_constraint)
return final_constraint
def _constraint_gen(cls, inst, sim, target, participant_type=ParticipantType.Actor):
for constraint in super(SuperInteraction, cls)._constraint_gen(sim, target, participant_type=participant_type):
yield constraint
yield create_carry_constraint(target, debug_name='CarryForPutDown')
if inst is not None:
yield inst._carry_system_target.get_constraint(sim)
def _constraint_gen(cls, inst, sim, target, participant_type=ParticipantType.Actor):
for constraint in super(TerrainSuperInteraction, cls)._constraint_gen(sim, target, participant_type=participant_type):
yield constraint
yield create_carry_constraint(target, debug_name='CarryForPutDown')
if inst is not None and inst._carry_system_target._starting_transform is not None:
yield CarryingObject.get_carry_transition_position_constraint(inst._carry_system_target._starting_transform.translation, sim.routing_surface)
def _constraint_gen(cls, inst, sim, target, participant_type=ParticipantType.Actor):
for constraint in super(SuperInteraction, cls)._constraint_gen(sim, target, participant_type=participant_type):
yield constraint
carry_constraint = create_carry_constraint(target, debug_name='CarryForAddInWorld')
total_constraint = carry_constraint.intersect(STAND_OR_SIT_CONSTRAINT)
yield total_constraint