def morseable(self, calling_module=None):
""" Make this component simulable in MORSE
:param calling_module: Module called each simulation cycle.
enum in ['calling.sensor_action',
'calling.actuator_action',
'calling.robot_action']
"""
if not calling_module:
calling_module = "calling." + self._category[:-1] + "_action"
# add default class to this component
if calling_module == "calling.robot_action":
self.properties(Robot_Tag=True, classpath="morse.core.robot.Robot")
elif calling_module == "calling.sensor_action":
self.properties(Component_Tag=True, classpath="morse.core.sensor.Sensor")
elif calling_module == "calling.actuator_action":
self.properties(Component_Tag=True, classpath="morse.core.actuator.Actuator")
else:
logger.warning(self.name + ": unknown category: " + calling_module)
# add Game Logic sensor and controller to simulate the component
# Sensor: Always --- Controller: Python: module = 'calling.XXX_action'
self.select()
bpymorse.add_sensor(type="ALWAYS", name="MORSE_LOGIC")
sensor = self._bpy_object.game.sensors[-1]
sensor.use_pulse_true_level = True
bpymorse.add_controller(type="PYTHON")
controller = self._bpy_object.game.controllers[-1]
controller.mode = "MODULE"
controller.module = calling_module
controller.link(sensor=sensor)
def morseable(self, calling_module=None):
""" Make this component simulable in MORSE
:param calling_module: Module called each simulation cycle.
enum in ['calling.sensor_action',
'calling.actuator_action',
'calling.robot_action']
"""
if not calling_module:
calling_module = 'calling.' + self._category[:-1] + '_action'
# add default class to this component
if calling_module == 'calling.robot_action':
self.properties(Robot_Tag=True, classpath='morse.core.robot.Robot')
elif calling_module == 'calling.sensor_action':
self.properties(Component_Tag=True,
classpath='morse.core.sensor.Sensor')
elif calling_module == 'calling.actuator_action':
self.properties(Component_Tag=True,
classpath='morse.core.actuator.Actuator')
else:
logger.warning(self.name + ": unknown category: " + calling_module)
# add Game Logic sensor and controller to simulate the component
# Sensor: Always --- Controller: Python: module = 'calling.XXX_action'
self.select()
bpymorse.add_sensor(type='ALWAYS', name='MORSE_LOGIC')
sensor = self._bpy_object.game.sensors[-1]
sensor.use_pulse_true_level = True
bpymorse.add_controller(type='PYTHON')
controller = self._bpy_object.game.controllers[-1]
controller.mode = 'MODULE'
controller.module = calling_module
controller.link(sensor=sensor)
def setgraspable(self):
"""
Makes an object graspable to the human avatar by adding a NEAR collision
sensor to the object.
This function also set the object to be an active game object (property
'Object' set to true), and set the object label to the Blender object
name (if not already set).
"""
obj = self._bpy_object
if not "Label" in obj.game.properties:
self.properties(Object=True, Graspable=True, Label=obj.name)
else:
self.properties(Object=True, Graspable=True)
# Add collision sensor for object placement
if not 'Collision' in obj.game.sensors:
bpymorse.add_sensor(type='NEAR')
sens = obj.game.sensors[-1]
sens.name = 'Collision'
sens.distance = 0.05
sens.reset_distance = 0.075
bpymorse.add_controller()
contr = obj.game.controllers[-1]
contr.link(sensor=sens)
def setgraspable(self):
"""
Makes an object graspable to the human avatar by adding a NEAR collision
sensor to the object.
This function also set the object to be an active game object (property
'Object' set to true), and set the object label to the Blender object
name (if not already set).
"""
obj = self._bpy_object
if not "Label" in obj.game.properties:
self.properties(Object=True, Graspable=True, Label=obj.name)
else:
self.properties(Object=True, Graspable=True)
# Add collision sensor for object placement
if not "Collision" in obj.game.sensors:
bpymorse.add_sensor(type="NEAR")
sens = obj.game.sensors[-1]
sens.name = "Collision"
sens.distance = 0.05
sens.reset_distance = 0.075
bpymorse.add_controller()
contr = obj.game.controllers[-1]
contr.link(sensor=sens)
def morseable(self, calling_module=None):
""" Make this component simulable in MORSE
:param calling_module: Module called each simulation cycle.
enum in ['calling.sensor_action', 'calling.actuator_action',
'calling.robot_action']
"""
if not calling_module:
calling_module = 'calling.'+self._category[:-1]+'_action'
# add default class to this component
if calling_module == 'calling.robot_action':
self.properties(Robot_Tag = True, Path = 'morse/core/robot', \
Class = 'Robot')
elif calling_module == 'calling.sensor_action':
self.properties(Component_Tag = True, Path = 'morse/core/sensor', \
Class = 'Sensor')
elif calling_module == 'calling.actuator_action':
self.properties(Component_Tag = True, Path = 'morse/core/actuator',\
Class = 'Actuator')
else:
logger.warning(self.name + ": unknown category: " + calling_module)
# add Game Logic sensor and controller to simulate the component
self.select()
bpymorse.add_sensor(type='ALWAYS')
sensor = self._bpy_object.game.sensors[-1]
sensor.use_pulse_true_level = True
bpymorse.add_controller(type='PYTHON')
controller = self._bpy_object.game.controllers[-1]
controller.mode = 'MODULE'
controller.module = calling_module
controller.link(sensor = sensor)
def make_grasper(self, obj_name):
obj = bpymorse.get_object(obj_name)
bpymorse.select_only(obj)
bpymorse.add_sensor(type='NEAR')
sens = obj.game.sensors[-1]
sens.name = 'Near'
sens.distance = 5.0
sens.reset_distance = 0.075
sens.property = "Graspable"
bpymorse.add_controller()
contr = obj.game.controllers[-1]
contr.link(sensor=sens)
def make_grasper(self, obj_name):
obj = bpymorse.get_object(obj_name)
bpymorse.select_only(obj)
bpymorse.add_sensor(type = 'NEAR')
sens = obj.game.sensors[-1]
sens.name = 'Near'
sens.distance = 5.0
sens.reset_distance = 0.075
sens.property = "Graspable"
bpymorse.add_controller()
contr = obj.game.controllers[-1]
contr.link(sensor = sens)