def _spawnCube(self):
# Now lets spawn an object
obj = scene.SceneObject()
position = self._robot._main_part._node.position
robotOrient = self._robot._main_part._node.orientation
# 30cm below robot
offset = ogre.Vector3(0.4, 0.30 - (self._count * 0.2), 0)
position = position + robotOrient * offset
cfg = {
'name' : self._name + str(self._count),
'position' : position,
'Graphical' : {
'mesh' : 'cylinder.mesh',
'scale' : [0.127, 0.0127, 0.0127],
'material' : 'Simple/Yellow',
'orientation' : robotOrient
},
'Physical' : {
'mass' : 0.005,
'orientation' : robotOrient,
'Shape' : {
'type' : 'cylinder',
'radius' : 0.0127,
'height' : 0.0127
}
}
}
obj.load((self._scene, None, cfg))
self._scene._objects.append(obj)
def _spawnMarker(self):
# Now lets spawn an object
obj = scene.SceneObject()
position = self._robot._main_part._node.position
robotOrient = self._robot._main_part._node.orientation
# 30cm below robot
offset = ogre.Vector3(0.15, 0.30 - (self._count * 0.2), -0.10)
position = position + robotOrient * offset
orientation = ogre.Quaternion(ogre.Degree(90), ogre.Vector3.UNIT_X)
cfg = {
'name' : self._name + str(self._count),
'position' : position,
'Graphical' : {
'mesh' : 'cylinder.mesh',
'scale' : [0.0762, 0.0127, 0.0127],
'material' : 'Simple/Red',
'orientation' : orientation * robotOrient
},
'Physical' : {
'mass' : 0.01,
'center_of_mass' : [0, 0, 0.0127], # Top heavy
'orientation' : orientation * robotOrient,
'Shape' : {
'type' : 'cylinder',
'radius' : 0.0127,
'height' : 0.0762
}
}
}
obj.load((self._scene, None, cfg))
self._scene._objects.append(obj)