def updateClients(self):
self.updateDone = False
if not self.updateLock.acquire(False):
return
# build message to send
message = []
for (body, geom) in self.body_geom:
item = {}
# real bodies (boxes, spheres, ...)
if body != None:
# transform (rotate, translate) body accordingly
item["position"] = body.getPosition()
item["rotation"] = body.getRotation()
if hasattr(body, "color"):
item["color"] = body.color
# switch different geom objects
if type(geom) == ode.GeomBox:
# cube
item["type"] = "GeomBox"
item["scale"] = geom.getLengths()
elif type(geom) == ode.GeomSphere:
# sphere
item["type"] = "GeomSphere"
item["radius"] = geom.getRadius()
elif type(geom) == ode.GeomCCylinder:
# capped cylinder
item["type"] = "GeomCCylinder"
item["radius"] = geom.getParams()[0]
item["length"] = geom.getParams()[1] - 2 * item["radius"]
elif type(geom) == ode.GeomCylinder:
# solid cylinder
item["type"] = "GeomCylinder"
item["radius"] = geom.getParams()[0]
item["length"] = geom.getParams()[1]
else:
# TODO: add other geoms here
pass
else:
# no body found, then it must be a plane (we only draw planes)
if type(geom) == ode.GeomPlane:
# plane
item["type"] = "GeomPlane"
item["normal"] = geom.getParams()[0] # the normal vector to the plane
item["distance"] = geom.getParams()[1] # the distance to the origin
message.append(item)
# Listen for clients
self.server.listen()
if self.server.clients > 0:
# If there are clients send them the new data
self.server.send(message)
time.sleep(0.02)
self.updateLock.release()
self.updateDone = True
def updateClients(self):
self.updateDone = False
if not self.updateLock.acquire(False):
return
# build message to send
message = []
for (body, geom) in self.body_geom:
item = {}
# real bodies (boxes, spheres, ...)
if body != None:
# transform (rotate, translate) body accordingly
item['position'] = body.getPosition()
item['rotation'] = body.getRotation()
if hasattr(body, 'color'): item['color'] = body.color
# switch different geom objects
if type(geom) == ode.GeomBox:
# cube
item['type'] = 'GeomBox'
item['scale'] = geom.getLengths()
elif type(geom) == ode.GeomSphere:
# sphere
item['type'] = 'GeomSphere'
item['radius'] = geom.getRadius()
elif type(geom) == ode.GeomCCylinder:
# capped cylinder
item['type'] = 'GeomCCylinder'
item['radius'] = geom.getParams()[0]
item['length'] = geom.getParams()[1] - 2*item['radius']
elif type(geom) == ode.GeomCylinder:
# solid cylinder
item['type'] = 'GeomCylinder'
item['radius'] = geom.getParams()[0]
item['length'] = geom.getParams()[1]
else:
# TODO: add other geoms here
pass
else:
# no body found, then it must be a plane (we only draw planes)
if type(geom) == ode.GeomPlane:
# plane
item['type'] = 'GeomPlane'
item['normal'] = geom.getParams()[0] # the normal vector to the plane
item['distance'] = geom.getParams()[1] # the distance to the origin
message.append(item)
# Listen for clients
self.server.listen()
if self.server.clients > 0:
# If there are clients send them the new data
self.server.send(message)
time.sleep(0.02)
self.updateLock.release()
self.updateDone=True
def updateClients(self):
self.updateDone = False
if not self.updateLock.acquire(False):
return
# build message to send
message = {}
for body, geom in self.body_geom:
item = {}
item_name = ''
if body != None:
item_name = body.name
if item_name in self.invisible_bodies:
continue
item_pos = body.getPosition()
item_rot = body.getRotation()
# Try to find this body from the previous message. See if
# the item exists and has changed. If it is modified, then
# the item must be sent. If not, it is implied that the body
# has not changed.
if item_name in self.prev_message:
# The item has been sent before
prev_item = self.prev_message[item_name]
# See if the item has been modified
if (prev_item['position'] == item_pos and
prev_item['rotation'] == item_rot):
# The item has not changed. Don't add it to the message
continue
# The item wasn't in the previous message or has been altered.
# Send the new info to the viewer
# transform (rotate, translate) body accordingly
item['position'] = item_pos
item['rotation'] = item_rot
if hasattr(body, 'color'):
item['color'] = body.color
# switch different geom objects
if type(geom) == ode.GeomBox:
# cube
item['type'] = 'box'
item['scale'] = geom.getLengths()
elif type(geom) == ode.GeomSphere:
# sphere
item['type'] = 'sphere'
item['radius'] = geom.getRadius()
elif type(geom) == ode.GeomCCylinder:
# capped cylinder
item['type'] = 'ccylinder'
item['radius'] = geom.getParams()[0]
item['length'] = geom.getParams()[1] - 2 * item['radius']
elif type(geom) == ode.GeomCylinder:
# solid cylinder
item['type'] = 'cylinder'
item['radius'] = geom.getParams()[0]
item['length'] = geom.getParams()[1]
else:
item_name = geom.name
# See if the item exists in the previous message. If so, the
# viewer is already aware of it.
if item_name in self.prev_message:
continue
# no body found, then it must be a plane (we only draw planes)
if type(geom) == ode.GeomPlane:
item['type'] = 'plane'
item['normal'] = geom.getParams()[0] # the normal vector to the plane
item['distance'] = geom.getParams()[1] # the distance to the origin
message[item_name] = item
# Listen for clients
self.server.listen()
if self.server.clients > 0:
# If there are clients send them the new data
self.server.send(message)
# Store the message items in their current positions and rotations
self.prev_message = message
self.updateLock.release()
self.updateDone = True
return