def _createBox(proxy, size, colour, moiScale, withMesh):
"""
Private function.
Use createBox() or createArticulatedBox() instead.
"""
# Mesh and cdps will be set manually
proxy.meshes = None
proxy.cdps = None
# Compute box moi
size = PyUtils.toVector3d(size)
proxy.moi = MathLib.Vector3d(
size.y * size.y + size.z * size.z,
size.x * size.x + size.z * size.z,
size.x * size.x + size.y * size.y,
) * 1.0 / 12.0 * proxy.mass * moiScale
box = proxy.createAndFillObject()
cdp = Physics.BoxCDP()
halfSize = PyUtils.toVector3d(size) * 0.5
cdp.setPoint1(MathLib.Point3d(halfSize * -1))
cdp.setPoint2(MathLib.Point3d(halfSize))
box.addCollisionDetectionPrimitive(cdp)
if withMesh:
mesh = Mesh.createBox(size=size, colour=colour)
box.addMesh(mesh)
return box
def _createEllipsoid(proxy, radius, colour, moiScale, withMesh):
"""
Private function.
Use createEllipsoid() or createArticulatedEllipsoid() instead.
"""
# Mesh and cdps will be set manually
proxy.meshes = None
proxy.cdps = None
# Compute box moi
moi = [0, 0, 0]
for i in range(3):
j = (i + 1) % 3
k = (i + 2) % 3
moi[i] = proxy.mass * (radius[j] * radius[j] +
radius[k] * radius[k]) / 5.0
proxy.moi = PyUtils.toVector3d(moi) * moiScale
ellipsoid = proxy.createAndFillObject()
cdp = Physics.SphereCDP()
cdp.setCenter(Point3d(0, 0, 0))
cdp.setRadius(min(radius))
ellipsoid.addCollisionDetectionPrimitive(cdp)
if withMesh:
mesh = Mesh.createEllipsoid((0, 0, 0), radius, colour)
ellipsoid.addMesh(mesh)
return ellipsoid
def createBox(size=(1, 1, 1), position=(0, 0, 0), colour=(0.6, 0.6, 0.6)):
"""
Creates the mesh for a box having the specified size and a specified position.
The size should be a 3-tuple (xSize, ySize, zSize).
The position should be a 3-tuple.
Colour should be a 3-tuple (R,G,B) or a 4-tuple (R,G,B,A)
"""
size = PyUtils.toVector3d(size)
position = PyUtils.toPoint3d(position)
vertices = []
delta = MathLib.Vector3d()
for repeat in range(3):
for x in (-0.5, 0.5):
delta.x = size.x * x
for y in (-0.5, 0.5):
delta.y = size.y * y
for z in (-0.5, 0.5):
delta.z = size.z * z
vertices.append(position + delta)
faces = [
(0, 1, 3, 2),
(5, 4, 6, 7), # YZ Faces
(9, 13, 15, 11),
(12, 8, 10, 14), # XY Faces
(18, 19, 23, 22),
(17, 16, 20, 21)
] # XZ Faces
return create(vertices, faces, colour)
def _createEllipsoid(proxy, radius, colour, moiScale, withMesh):
"""
Private function.
Use createEllipsoid() or createArticulatedEllipsoid() instead.
"""
# Mesh and cdps will be set manually
proxy.meshes = None
proxy.cdps = None
# Compute box moi
moi = [0, 0, 0]
for i in range(3):
j = (i + 1) % 3
k = (i + 2) % 3
moi[i] = proxy.mass * (radius[j] * radius[j] + radius[k] * radius[k]) / 5.0
proxy.moi = PyUtils.toVector3d(moi) * moiScale
ellipsoid = proxy.createAndFillObject()
cdp = Physics.SphereCDP()
cdp.setCenter(Point3d(0, 0, 0))
cdp.setRadius(min(radius))
ellipsoid.addCollisionDetectionPrimitive(cdp)
if withMesh:
mesh = Mesh.createEllipsoid((0, 0, 0), radius, colour)
ellipsoid.addMesh(mesh)
return ellipsoid
def createBox( size=(1,1,1), position=(0,0,0), colour=(0.6,0.6,0.6) ):
"""
Creates the mesh for a box having the specified size and a specified position.
The size should be a 3-tuple (xSize, ySize, zSize).
The position should be a 3-tuple.
Colour should be a 3-tuple (R,G,B) or a 4-tuple (R,G,B,A)
"""
size = PyUtils.toVector3d(size)
position = PyUtils.toPoint3d(position)
vertices = []
delta = MathLib.Vector3d()
for repeat in range(3):
for x in (-0.5,0.5) :
delta.x = size.x * x
for y in (-0.5,0.5) :
delta.y = size.y * y
for z in (-0.5,0.5) :
delta.z = size.z * z
vertices.append( position + delta )
faces = [(0,1,3,2),(5,4,6,7), # YZ Faces
(9,13,15,11),(12,8,10,14), # XY Faces
(18,19,23,22),(17,16,20,21)] # XZ Faces
return create( vertices, faces, colour )
def _createCylinder(proxy, axis, basePos, tipPos, radius, colour, moiScale,
withMesh):
"""
Private function.
Use createCylinder() or createArticulatedCylinder() instead.
"""
if axis != 0 and axis != 1 and axis != 2:
raise ValueError('Axis must be 0 for x, 1 for y or 2 for z.')
# Mesh and cdps will be set manually
proxy.meshes = None
proxy.cdps = None
# Compute box moi
moi = [0, 0, 0]
height = math.fabs(tipPos - basePos)
for i in range(3):
if i == axis:
moi[i] = proxy.mass * radius * radius / 2.0
else:
moi[i] = proxy.mass * (3 * radius * radius +
height * height) / 12.0
### HACK!
moi[i] = max(moi[i], 0.01)
proxy.moi = PyUtils.toVector3d(moi) * moiScale
cylinder = proxy.createAndFillObject()
basePoint = [0, 0, 0]
tipPoint = [0, 0, 0]
basePoint[axis] = basePos
tipPoint[axis] = tipPos
basePoint3d = PyUtils.toPoint3d(basePoint)
tipPoint3d = PyUtils.toPoint3d(tipPoint)
baseToTipVector3d = Vector3d(basePoint3d, tipPoint3d)
if baseToTipVector3d.isZeroVector():
raise ValueError(
'Invalid points for cylinder: base and tip are equal!')
baseToTipUnitVector3d = baseToTipVector3d.unit()
if height <= radius * 2.0:
cdp = Physics.SphereCDP()
cdp.setCenter(basePoint3d + baseToTipVector3d * 0.5)
cdp.setRadius(height / 2.0)
else:
cdp = Physics.CapsuleCDP()
cdp.setPoint1(basePoint3d + baseToTipUnitVector3d * radius)
cdp.setPoint2(tipPoint3d + baseToTipUnitVector3d * -radius)
cdp.setRadius(radius)
cylinder.addCollisionDetectionPrimitive(cdp)
if withMesh:
mesh = Mesh.createCylinder(basePoint, tipPoint, radius, colour)
cylinder.addMesh(mesh)
return cylinder
def _createCylinder(proxy, axis, basePos, tipPos, radius, colour, moiScale, withMesh):
"""
Private function.
Use createCylinder() or createArticulatedCylinder() instead.
"""
if axis != 0 and axis != 1 and axis != 2:
raise ValueError("Axis must be 0 for x, 1 for y or 2 for z.")
# Mesh and cdps will be set manually
proxy.meshes = None
proxy.cdps = None
# Compute box moi
moi = [0, 0, 0]
height = math.fabs(tipPos - basePos)
for i in range(3):
if i == axis:
moi[i] = proxy.mass * radius * radius / 2.0
else:
moi[i] = proxy.mass * (3 * radius * radius + height * height) / 12.0
### HACK!
moi[i] = max(moi[i], 0.01)
proxy.moi = PyUtils.toVector3d(moi) * moiScale
cylinder = proxy.createAndFillObject()
basePoint = [0, 0, 0]
tipPoint = [0, 0, 0]
basePoint[axis] = basePos
tipPoint[axis] = tipPos
basePoint3d = PyUtils.toPoint3d(basePoint)
tipPoint3d = PyUtils.toPoint3d(tipPoint)
baseToTipVector3d = Vector3d(basePoint3d, tipPoint3d)
if baseToTipVector3d.isZeroVector():
raise ValueError("Invalid points for cylinder: base and tip are equal!")
baseToTipUnitVector3d = baseToTipVector3d.unit()
if height <= radius * 2.0:
cdp = Physics.SphereCDP()
cdp.setCenter(basePoint3d + baseToTipVector3d * 0.5)
cdp.setRadius(height / 2.0)
else:
cdp = Physics.CapsuleCDP()
cdp.setPoint1(basePoint3d + baseToTipUnitVector3d * radius)
cdp.setPoint2(tipPoint3d + baseToTipUnitVector3d * -radius)
cdp.setRadius(radius)
cylinder.addCollisionDetectionPrimitive(cdp)
if withMesh:
mesh = Mesh.createCylinder(basePoint, tipPoint, radius, colour)
cylinder.addMesh(mesh)
return cylinder
def _createBox(proxy, size, colour, moiScale, withMesh):
"""
Private function.
Use createBox() or createArticulatedBox() instead.
"""
# Mesh and cdps will be set manually
proxy.meshes = None
proxy.cdps = None
# Compute box moi
size = PyUtils.toVector3d(size)
proxy.moi = (
MathLib.Vector3d(
size.y * size.y + size.z * size.z, size.x * size.x + size.z * size.z, size.x * size.x + size.y * size.y
)
* 1.0
/ 12.0
* proxy.mass
* moiScale
)
box = proxy.createAndFillObject()
cdp = Physics.BoxCDP()
halfSize = PyUtils.toVector3d(size) * 0.5
cdp.setPoint1(MathLib.Point3d(halfSize * -1))
cdp.setPoint2(MathLib.Point3d(halfSize))
box.addCollisionDetectionPrimitive(cdp)
if withMesh:
mesh = Mesh.createBox(size=size, colour=colour)
box.addMesh(mesh)
return box
def interpret(self, value):
value = self.basicInterpret(value)
if isinstance(value, MathLib.Vector3d) : return value
else : return PyUtils.toVector3d( value )
def interpret(self, value):
value = self.basicInterpret(value)
if isinstance(value, MathLib.Vector3d): return value
else: return PyUtils.toVector3d(value)
