def AttachWheelToBody(self, wheel, parent, wheelPos):
""" Attaches the wheel to the given parent using a 6DOF constraint """
# set the wheel positions relative to the robot in case the
# chassis was moved by the builder script or manually in blender
"""
globalWheelPos=wheelPos+parent.worldPosition
wheel.worldPosition=globalWheelPos
"""
result = parent.getVectTo(wheel)
## result is a unit vector (result[2]) and a length(result[0])
## multiply them together to get the complete vector
wheelPos = result[0] * result[2]
logger.debug("Added wheel '%s' at ('%f','%f','%f')" %
(wheel.name, wheelPos[0], wheelPos[1], wheelPos[2]))
# create constraint to allow wheel to spin
# For an explanation on the parameters, see:
# http://www.tutorialsforblender3d.com/GameModule/ClassKX_PyConstraintBinding_1f.html
joint = blenderapi.constraints().createConstraint(
parent.getPhysicsId(), # get physics ID of the parent object
wheel.getPhysicsId(), # get physics ID of the wheel object
12, # 6dof constraint
wheelPos[0],
wheelPos[1],
wheelPos[2], # pivot position
0,
0,
0, # pivot axis
128) # flag, 128=disable collision between wheel and parent
# no parameters are set on x axis to allow full rotation about it
joint.setParam(4, 0.0, 0.0) # no rotation about Y axis - min=0, max=0
joint.setParam(5, 0.0, 0.0) # no rotation about Z axis - min=0, max=0
return joint # return a reference to the constraint
def AttachCasterWheelToBody(self, wheel, parent, wheelPos):
""" Attaches a freely rotating wheel to the given parent
using a 6DOF constraint. It can also rotate around the Z axis """
result = parent.getVectTo(wheel)
## result is a unit vector (result[2]) and a length(result[0])
## multiply them together to get the complete vector
wheelPos = result[0] * result[2]
logger.debug("Added caster wheel '%s' at ('%f','%f','%f')" %
(wheel.name, wheelPos[0], wheelPos[1], wheelPos[2]))
# create constraint to allow wheel to spin
joint = blenderapi.constraints().createConstraint(
parent.getPhysicsId(), # get physics ID of the parent object
wheel.getPhysicsId(), # get physics ID of the wheel object
12, # 6dof constraint
wheelPos[0],
wheelPos[1],
wheelPos[2], # pivot position
0,
0,
0, # pivot axis
128) # flag, 128=disable collision between wheel and parent
# no parameters are set on x and z axis to allow full rotation about it
joint.setParam(4, 0.0, 0.0) # no rotation about Y axis - min=0, max=0
joint.setParam(5, 0.0, 0.0) # no rotation about Z axis - min=0, max=0
return joint # return a reference to the constraint
def attach_wheel_to_body(self, wheel, parent, wheel_pos):
""" Attaches the wheel to the given parent using a 6DOF constraint
Set the wheel positions relative to the robot in case the
chassis was moved by the builder script or manually in blender
"""
result = parent.getVectTo(wheel)
## result is a unit vector (result[2]) and a length(result[0])
## multiply them together to get the complete vector
wheel_pos = result[0] * result[2]
logger.debug("Added wheel '%s' at ('%f','%f','%f')" %
(wheel.name, wheel_pos[0], wheel_pos[1], wheel_pos[2]))
# create constraint to allow wheel to spin
# For an explanation on the parameters, see:
# http://www.tutorialsforblender3d.com/GameModule/ClassKX_PyConstraintBinding_1f.html
joint = blenderapi.constraints().createConstraint(
parent.getPhysicsId(), # get physics ID of the parent object
wheel.getPhysicsId(), # get physics ID of the wheel object
12, # 6dof constraint
wheel_pos[0], wheel_pos[1], wheel_pos[2], # pivot position
0,0,0, # pivot axis
128) # flag, 128=disable collision between wheel and parent
# no parameters are set on x axis to allow full rotation about it
joint.setParam(4, 0.0, 0.0) # no rotation about Y axis - min=0, max=0
joint.setParam(5, 0.0, 0.0) # no rotation about Z axis - min=0, max=0
return joint # return a reference to the constraint
def __init__(self, obj1, obj2, pos_pivot =[0.0, 0.0, 0.0],
rot_pivot =[0.0, 0.0, 0.0],
may_collide =False):
"""
Construct a 6DoF joint between obj1 and obj2. By default, all
axis are locked and should be explicitly unlocked
:param obj1: the first physical object to link
:param obj2: the second physical object to link
:param pos_pivot: the position of the pivot, relative to obj1
frame. Default to (0.0, 0.0, 0.0), i.e. obj1's center.
:param rot_pivot: the rotation of the pivot frame, related to
obj1 frame. Defaults to (0.0,0.0,0.0), ie aligned with obj1's
orientation.
:param bool may_collide: indicates if collisions should be
enabled or not between the two linked rigid-bodies
"""
self._joint = blenderapi.constraints().createConstraint(
obj1.getPhysicsId(),
obj2.getPhysicsId(),
12, # 6DoF
pos_pivot[0], pos_pivot[1], pos_pivot[2],
rot_pivot[0], rot_pivot[1], rot_pivot[2],
0 if may_collide else 128)
for i in range(0, 5):
self._lock_axis(i)
def __init__(self,
obj1,
obj2,
pos_pivot=[0.0, 0.0, 0.0],
rot_pivot=[0.0, 0.0, 0.0],
may_collide=False):
"""
Construct a 6DoF joint between obj1 and obj2. By default, all
axis are locked and should be explicitly unlocked
:param obj1: the first physical object to link
:param obj2: the second physical object to link
:param pos_pivot: the position of the pivot, relative to obj1
frame. Default to (0.0, 0.0, 0.0), i.e. obj1's center.
:param rot_pivot: the rotation of the pivot frame, related to
obj1 frame. Defaults to (0.0,0.0,0.0), ie aligned with obj1's
orientation.
:param bool may_collide: indicates if collisions should be
enabled or not between the two linked rigid-bodies
"""
self._joint = blenderapi.constraints().createConstraint(
obj1.getPhysicsId(),
obj2.getPhysicsId(),
12, # 6DoF
pos_pivot[0],
pos_pivot[1],
pos_pivot[2],
rot_pivot[0],
rot_pivot[1],
rot_pivot[2],
0 if may_collide else 128)
for i in range(0, 5):
self._lock_axis(i)
def attach_wheel_to_body(self, wheel, parent):
""" Attaches the wheel to the given parent using a 6DOF constraint
Set the wheel positions relative to the robot in case the
chassis was moved by the builder script or manually in blender
"""
# create constraint to allow wheel to spin
# For an explanation on the parameters, see:
# http://www.tutorialsforblender3d.com/GameModule/ClassKX_PyConstraintBinding_1f.html
joint = blenderapi.constraints().createConstraint(
wheel.getPhysicsId(), # get physics ID of the wheel object
parent.getPhysicsId(), # get physics ID of the parent object
12, # 6dof constraint
0.0, 0.0, 0.0, # Pivot around the center of the wheel
0,0,0, # pivot axis
128) # flag, 128=disable collision between wheel and parent
# no parameters are set on x axis to allow full rotation about it
joint.setParam(3, 0.0, 0.0) # no rotation about X axis - min=0, max=0
joint.setParam(4, 0.0, 0.0) # no rotation about Y axis - min=0, max=0
return joint # return a reference to the constraint
def AttachCasterWheelToBody(self, wheel, parent, wheelPos):
""" Attaches a freely rotating wheel to the given parent
using a 6DOF constraint. It can also rotate around the Z axis """
result = parent.getVectTo(wheel);
## result is a unit vector (result[2]) and a length(result[0])
## multiply them together to get the complete vector
wheelPos=result[0]*result[2]
logger.debug("Added caster wheel '%s' at ('%f','%f','%f')" %(wheel.name, wheelPos[0], wheelPos[1], wheelPos[2]))
# create constraint to allow wheel to spin
joint = blenderapi.constraints().createConstraint(
parent.getPhysicsId(), # get physics ID of the parent object
wheel.getPhysicsId(), # get physics ID of the wheel object
12, # 6dof constraint
wheelPos[0], wheelPos[1], wheelPos[2], # pivot position
0,0,0, # pivot axis
128) # flag, 128=disable collision between wheel and parent
# no parameters are set on x and z axis to allow full rotation about it
joint.setParam(4,0.0,0.0) # no rotation about Y axis - min=0, max=0
return joint # return a reference to the constraint
