def create_cylinder(self,key,density,length,radius,pos,base=0,rot=0,R=0.):
"""Creates a cylinder body and corresponding geom.
Arguments:
key : number id to assign to the cylinder
density : density of the given body
length : length of the cylinder
radius : radius of the cylinder
pos : position of the center of the cylinder (x,y,z list)
base : place new object at negative end of base object
"""
# Auto label the joint key or not.
key = len(self.bodies) if key == -1 else key
# create cylinder body (aligned along the z-axis so that it matches the
# GeomCylinder created below, which is aligned along the z-axis by
# default)
body = ode.Body(self.world)
M = ode.Mass()
M.setCylinder(density, 3, radius, length)
body.setMass(M)
# create a cylinder geom for collision detection
geom = ode.GeomCylinder(self.space, radius, length)
geom.setBody(body)
# set the position of the cylinder
body.setPosition((pos[0],pos[1],pos[2]))
# set parameters for drawing the body
body.shape = "cylinder"
body.length = length
body.radius = radius
# set the rotation of the cylinder
if(rot):
body.setRotation(self.form_rotation(rot))
# set the rotation of the cylinder directly
if R:
body.setRotation(R)
self.bodies[key] = body
self.geoms[key] = geom
if(base):
Placement.place_object(self.bodies[base],body)
if(self.fluid_dynamics):
self.create_surfaces(key,1.)
return key
def create_capsule(self,key,density,length,radius,pos,base=0,rot=0):
"""Creates a capsule body and corresponding geom.
Arguments:
key : number id to assign to the capsule
density : density of the given body
length : length of the capsule
radius : radius of the capsule
pos : position of the center of the capsule (x,y,z list)
base : place new object at negative end of base object
"""
# create capsule body (aligned along the z-axis so that it matches the
# GeomCCylinder created below, which is aligned along the z-axis by
# default)
body = ode.Body(self.world)
M = ode.Mass()
M.setCapsule(density, 3, radius, length)
body.setMass(M)
# create a capsule geom for collision detection
geom = ode.GeomCCylinder(self.space, radius, length)
geom.setBody(body)
# set the position of the capsule
body.setPosition((pos[0],pos[1],pos[2]))
# set parameters for drawing the body
body.shape = "capsule"
body.length = length
body.radius = radius
# set the rotation of the capsule
if(rot):
body.setRotation(self.form_rotation(rot))
self.bodies[key] = body
self.geoms[key] = geom
if(base):
Placement.place_object(self.bodies[base],body)
def create_capsule(self, key, density, length, radius, pos, base=0, rot=0):
"""Creates a capsule body and corresponding geom.
Arguments:
key : number id to assign to the capsule
density : density of the given body
length : length of the capsule
radius : radius of the capsule
pos : position of the center of the capsule (x,y,z list)
base : place new object at negative end of base object
"""
# create capsule body (aligned along the z-axis so that it matches the
# GeomCCylinder created below, which is aligned along the z-axis by
# default)
body = ode.Body(self.world)
M = ode.Mass()
M.setCapsule(density, 3, radius, length)
body.setMass(M)
# create a capsule geom for collision detection
geom = ode.GeomCCylinder(self.space, radius, length)
geom.setBody(body)
# set the position of the capsule
body.setPosition((pos[0], pos[1], pos[2]))
# set parameters for drawing the body
body.shape = "capsule"
body.length = length
body.radius = radius
# set the rotation of the capsule
if (rot):
body.setRotation(self.form_rotation(rot))
self.bodies[key] = body
self.geoms[key] = geom
if (base):
Placement.place_object(self.bodies[base], body)