def setup_scene(i: int):
snake = Snake(NUM_SNAKE_MODULES, pitch_only=False,
with_camera=True) # type: Snake
snake.setPosition(agx.Vec3(0, 0, 0.1))
snakeapp.add(snake)
plane_body = agx.RigidBody(
agxCollide.Geometry(agxCollide.Box(2, 2, 0.1),
agx.AffineMatrix4x4.translate(0, 0, -0.1 / 2)))
plane_body.setMotionControl(agx.RigidBody.STATIC)
snakeapp.create_visual(plane_body, diffuse_color=agxRender.Color.Green())
snakeapp.add(plane_body)
snake_controller = SnakeControl(snake)
if i == FLAPPING:
snake_controller.init_flapping(math.pi / 9.0, math.pi / 9.0, 16.0,
-math.pi * 5.0 / 180.0)
elif i == TURNING:
snake_controller.init_turning(math.pi / 9.0, math.pi * 2.0 / 3.0, 8.0,
0.0, math.pi * 20.0 / 180.0)
elif i == SIDEWINDING:
snake_controller.init_sidewinding(math.pi / 9.0, math.pi * 2.0 / 3.0,
16.0)
elif i == ROLLING:
snake_controller.init_rolling(math.pi / 6.0, math.pi / 6.0, 16.0)
elif i == ROTATING:
snake_controller.init_rotating(math.pi / 6.0, math.pi / 6.0, 16.0)
snakeapp.add_event_listener(snake_controller)
snakeapp.init_camera(eye=agx.Vec3(-1, -1, 0.5),
center=plane_body.getPosition())
def __init__(self, material: agx.Material = None):
super().__init__()
visual_geometry = agxCollide.Geometry(intermediate_shape.deepCopy(),
agx.AffineMatrix4x4.rotate(math.pi / 2, 0, 1, 0) *
agx.AffineMatrix4x4.rotate(math.pi, 1, 0, 0))
visual_geometry.setEnableCollisions(False)
snakeapp.create_visual(visual_geometry, agxRender.Color.Orange())
collision_geometry = agxCollide.Geometry(agxCollide.Box(intermediate_bounds),
agx.AffineMatrix4x4.translate(intermediate_len / 2, 0, 0))
self.body = agx.RigidBody()
self.body.add(visual_geometry)
self.body.add(collision_geometry)
self.add(self.body)
sensor_geometry = agxCollide.Geometry(agxCollide.Box(sensor_bounds),
agx.AffineMatrix4x4.translate(intermediate_len / 2, -0.035, 0))
self.sensor = agx.RigidBody(sensor_geometry)
self.add(self.sensor)
if material is not None:
collision_geometry.setMaterial(material)
sensor_geometry.setMaterial(material)
self.merged_body = agx.MergedBody()
self.merged_body.add(agx.MergedBodyEmptyEdgeInteraction(self.body, self.sensor))
snakeapp.add(self.merged_body)
def __init__(self):
super().__init__()
upper_geometry = agxCollide.Geometry(upper_shape.deepCopy())
upper_geometry.setEnableCollisions(False)
snakeapp.create_visual(upper_geometry, agxRender.Color.Black())
self.add(upper_geometry)
def create_slope() -> agx.RigidBody:
slope_body = agx.RigidBody(agxCollide.Geometry(agxCollide.Box(1, 1, 0.05)))
snakeapp.create_visual(slope_body, diffuse_color=Color.Red())
# slope_body.setPosition(agx.Vec3(0, 0, 0))
slope_body.setRotation(agx.EulerAngles(0, -math.radians(slope_angle),
0)) # Rotate 30 deg around Y.
slope_body.setMotionControl(agx.RigidBody.STATIC)
material = agx.Material("slopeMaterial")
slope_body.getGeometries()[0].setMaterial(material)
return slope_body
def add_slope():
half_extents = agx.Vec3(length, 0.1, 0.005)
slope = agxCollide.Geometry(agxCollide.Box(half_extents),
agx.AffineMatrix4x4.translate(half_extents.x(), 0, -half_extents.z()))
slope.setRotation(agx.EulerAngles(0, -self._slope_angle, 0))
snakeapp.create_visual(slope, diffuse_color=agxRender.Color.Red())
slope.setMaterial(self.material)
self.add(slope)
return slope
def add_box():
height = math.sin(self._slope_angle) * length
half_extents = agx.Vec3(0.5, 0.1, height)
box = agxCollide.Geometry(agxCollide.Box(half_extents),
agx.AffineMatrix4x4.translate(0, 0, half_extents.z()))
box.setParentFrame(self.slope.getParentFrame())
box.setLocalPosition(0.5 + math.cos(self._slope_angle), 0, 0)
snakeapp.create_visual(box, diffuse_color=agxRender.Color.Yellow())
box.setMaterial(self.material)
self.add(box)
def __init__(self):
super().__init__()
servo_geometry = agxCollide.Geometry(servo_shape.deepCopy())
servo_geometry.setEnableCollisions(False)
snakeapp.create_visual(servo_geometry, agxRender.Color.Gray())
bottom_geometry = agxCollide.Geometry(bottom_shape.deepCopy())
bottom_geometry.setEnableCollisions(False)
snakeapp.create_visual(bottom_geometry, agxRender.Color.Black())
self.add(servo_geometry)
self.add(bottom_geometry)
def build_scene(): # application entry point. Do not change method signature
snake1 = Snake(num_modules=5, pitch_only=True)
snake1.setLocalPosition(0, -0.1, 0)
snakeapp.add(snake1)
snake2 = Snake(num_modules=5, pitch_only=False)
snake2.setLocalPosition(0, 0.1, 0)
snakeapp.add(snake2)
snake3 = Snake2(num_modules=5, pitch_only=False, with_camera=True)
snake3.setLocalPosition(0, 0.4, 0)
snakeapp.add(snake3)
plane = agxCollide.Geometry(agxCollide.Box(2, 2, 0.1), agx.AffineMatrix4x4.translate(0, 0, -0.1 / 2))
snakeapp.create_visual(plane, diffuse_color=agxRender.Color.Green())
snakeapp.add(plane)
def __init__(self, material: agx.Material = None):
super().__init__()
servo = agxCollide.Geometry(servo_shape.deepCopy())
servo.setEnableCollisions(False)
snakeapp.create_visual(servo, diffuse_color=agxRender.Color.Black())
self.bottom = agx.RigidBody(
agxCollide.Geometry(bottom_shape.deepCopy()))
self.bottom.add(servo)
snakeapp.create_visual(self.bottom, agxRender.Color.Orange())
self.upper = agx.RigidBody(agxCollide.Geometry(upper_shape.deepCopy()))
snakeapp.create_visual(self.upper, agxRender.Color.Orange())
if material is not None:
self.bottom.getGeometries()[0].setMaterial(material)
self.upper.getGeometries()[0].setMaterial(material)
self.hinge = create_constraint(pos=agx.Vec3(0.0, 0.0007, 0),
axis=agx.agx.Vec3(0, 0, -1),
rb1=self.bottom,
rb2=self.upper,
c=agx.Hinge) # type: agx.Hinge
self.hinge.setCompliance(1E-12)
self.hinge.getMotor1D().setCompliance(1E-10)
self.hinge.getMotor1D().setEnable(True)
self.hinge.getLock1D().setEnable(False)
self.hinge.getRange1D().setRange(-math.pi / 2, math.pi / 2)
self.add(self.bottom)
self.add(self.hinge)
self.add(self.upper)
def build_scene(): # application entry point. Do not change method signature
snakeapp.register_additional_scenes('build_scene_2')
snake = Snake(NUM_SNAKE_MODULES, pitch_only=False)#, with_camera=True) # type: snake_module.Snake
snake.setPosition(agx.Vec3(0, 0, 0.1))
snakeapp.add(snake)
plane = agxCollide.Geometry(agxCollide.Box(2, 2, 0.1), agx.AffineMatrix4x4.translate(0, 0, -0.1/2))
snakeapp.create_visual(plane, diffuse_color=agxRender.Color.Green())
snakeapp.add(plane)
ball = agxCollide.Geometry(agxCollide.Sphere(0.035), agx.AffineMatrix4x4.translate(0, 0, 0))
snakeapp.create_visual(ball, diffuse_color=agxRender.Color.YellowGreen())
ball.setPosition(agx.Vec3(-0.5, 0, 0.1))
snakeapp.add(ball)
snakeapp.add_event_listener(MyKeyEvent(ball))
snakeapp.init_camera(eye=agx.Vec3(-1, -1, 0.5))
snake_controller = SnakeBallControl(snake, ball)
snake_controller.init_turning(math.pi / 9.0, math.pi * 2.0 / 3.0, 8.0, 0.0, math.pi * 0.0 / 180.0)
snakeapp.add_event_listener(snake_controller)
def add_floor():
h = 0.1
floor = agxCollide.Geometry(agxCollide.Box(2.5, 0.5, h), agx.AffineMatrix4x4.translate(0, 0, -h))
snakeapp.create_visual(floor, diffuse_color=agxRender.Color.Green())
self.add(floor)