def default_action(self):
""" Run attitude controller and apply resulting force and torque to the parent robot. """
# Get the the parent robot
robot = self.robot_parent
engines_input = Vector(self.local_data['engines'])
engines_input_sq = Vector.Fill(len(engines_input), 0.0)
for i in range(0, len(engines_input)):
engines_input_sq[i] = engines_input[i] * engines_input[i]
moment_vector = self.transformation * engines_input_sq
logger.debug("%s => %s" % (engines_input, moment_vector))
force = (0.0, 0.0, moment_vector[0])
torque = (moment_vector[1], moment_vector[2], moment_vector[3])
# directly apply local forces and torques to the blender object of the parent robot
robot.bge_object.applyForce(force, True)
robot.bge_object.applyTorque(torque, True)
