def make_battery(world, position=(0, 0, 0)):
mass = Mass()
mass.setBox(battery_density, 70, 25, 35)
body = Body(world)
body.setMass(mass)
body.setPosition(position)
return body
def make_servo(world, position=(0, 0, 0)):
mass = Mass()
mass.setBox(servo_density, 40, 20, 35)
body = Body(world)
body.setMass(mass)
body.setPosition(position)
return body
def make_lower_leg(world):
lower_leg_mass = Mass()
lower_leg_mass.setBox(body_density, 30, 100, 5)
lower_leg = Body(world)
lower_leg.setMass(lower_leg_mass)
servo = make_servo(world)
fix(world, lower_leg, servo)
return lower_leg
def __init__(self, world, pos, size, mass):
self.world = world
self.pos = pos
# Create a body inside the world
self.body = Body(world)
M = Mass()
M.setSphere(2500.0, size)
M.mass = mass
self.body.setMass(M)
self.body.setPosition(pos)
# draw body
self.rbody = sphere(pos=pos, radius=size)
def make_body(world):
mass = Mass()
mass.setBox(body_density, 240, 27, 150)
body = Body(world)
body.setMass(mass)
fix(world, body, make_battery(world, (0, 27 / 2, -(150 / 2 - 35 / 2))))
fix(world, body, make_battery(world, (0, 27 / 2, 150 / 2 - 35 / 2)))
fix(world, body, make_servo(world, (240 / 2 - 30, 0, 150 / 2)))
fix(world, body, make_servo(world, (240 / 2 - 30, 0, -150 / 2)))
fix(world, body, make_servo(world, (-(240 / 2 - 30), 0, 150 / 2)))
fix(world, body, make_servo(world, (-(240 / 2 - 30), 0, -150 / 2)))
return body
def __init__(self, gui):
self.gui = gui
self.vDHistory = []
self.bPHistory = []
self.th = TimeHelper()
self.w = World()
self.w.setGravity((0.0, 0.0, 0.0))
self.b = Body(self.w)
self.b.setPosition((0.0, 0.0, 0.0))
self.lt = self.th.getTimestamp(microsec=True)
self.lastVal = None
def __init__(self, world, space, pos, size, mass, color=(0.7, 0.7, 0.7)):
self.world = world
self.pos = pos
# Create a body inside the world
self.body = Body(world)
M = Mass()
M.setSphere(2500, size)
M.mass = mass
self.body.setMass(M)
self.body.setPosition(pos)
if space:
# setect colisions
self.geom = GeomSphere(space, size)
self.geom.setBody(self.body)
# draw body
self.rbody = sphere(pos=pos, radius=size, color=color)
def addToODE(self, simulator, x0, y0, z0):
world = simulator.getWorld()
morphology = self.morphology
self.bodies = {}
for part in morphology.getParts():
self.bodies[part] = Body(world)
for part in self.bodies:
self.bodies[part].setMass(morphology.getWeight(part))
#on commence par le bas !
self.bodies['mollet_d'].setPosition(
morphology.getLength('largeur') / 2, 0,
morphology.getLength('mollet') / 2)
self.bodies['mollet_g'].setPosition(
-morphology.getLength('largeur') / 2, 0,
morphology.getLength('mollet') / 2)
self.bodies['cuisse_d'].setPosition(
morphology.getLength('largeur') / 2, 0,
morphology.getLength('mollet') +
morphology.getLength('cuisse') / 2)
self.bodies['cuisse_g'].setPosition(
-morphology.getLength('largeur') / 2, 0,
morphology.getLength('mollet') +
morphology.getLength('cuisse') / 2)
self.bodies['tronc_bassin_bas'].setPosition(
0, 0,
morphology.getLength('mollet') + morphology.getLength('cuisse') +
morphology.getLength('tronc_bassin_bas') / 2)
self.bodies['tronc_bassin_haut'].setPosition(
0, 0,
morphology.getLength('mollet') + morphology.getLength('cuisse') +
morphology.getLength('tronc_bassin_bas') +
morphology.getLength('tronc_bassin_haut') / 2)
def make_upper_leg(world):
upper_leg_mass = Mass()
upper_leg_mass.setBox(body_density, 30, 100, 5)
upper_leg = Body(world)
upper_leg.setMass(upper_leg_mass)
return upper_leg
def __init__(self, scene):
self.scene = scene
self.body = Body(scene.world)
self.scene.on_update(self.update)
