PythonSpr/自由曲線可動域 をテンプレートにして作成
開始行:
[[Python with Springhead]]
from Spr import *
import time
import datetime
import threading
INF = 3.4e+38
rad = 3.14/180.0;
hiTrackball.SetPosition(Vec3f(3, 5, 10))
fwScene.EnableRenderLimit(True)
fwScene.EnableRenderAxis(False, False, False)
fwScene.EnableRenderForce(False, False)
## -----
phScene = fwScene.GetPHScene()
phSdk = phScene.GetSdk()
phScene.SetGravity(Vec3d(0,-9.8,0))
## ----- ----- ----- ----- -----
descSolid = PHSolidDesc()
descCapsule = CDRoundConeDesc()
descCapsule.radius = Vec2f(0.1, 0.1)
descCapsule.length = 2
descSphere = CDSphereDesc()
descSphere.radius = 0.1
shapePose = Posed()
## -----
so0 = phScene.CreateSolid(descSolid)
so0.SetFramePosition(Vec3d(0,2,0))
so0.AddShape(phSdk.CreateShape(CDRoundCone.GetIfInfoStat...
shapePose.setPos(Vec3d(0,0,1))
so0.SetShapePose(0, shapePose)
so0.SetDynamical(False)
so1 = phScene.CreateSolid(descSolid)
so1.AddShape(phSdk.CreateShape(CDRoundCone.GetIfInfoStat...
shapePose.setPos(Vec3d(0,0,-1))
so1.SetShapePose(0, shapePose)
# Pointer
soPointer = phScene.CreateSolid(descSolid)
soPointer.SetFramePosition(Vec3d(5,0,0))
soPointer.AddShape(phSdk.CreateShape(CDSphere.GetIfInfoS...
soPointer.SetDynamical(False)
## ----- ----- ----- ----- -----
descJoint = PHBallJointDesc()
descJoint.poseSocket = Posed(1,0,0,0, 0,0, 2)
descJoint.posePlug = Posed(1,0,0,0, 0,0,-2)
descJoint.spring = 10.0
descJoint.damper = 1.0
descJoint.targetPosition = Quaterniond.Rot(3.14/4.0,'x')
descLimit = PHBallJointSplineLimitDesc()
jo0 = phScene.CreateJoint(so0, so1, PHBallJoint.GetIfInf...
limit0 = jo0.CreateLimit(PHBallJointSplineLimit.GetIfInf...
limit0.AddNode( 90*rad, 0*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 87*rad, 48*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 65*rad, 132*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode(173*rad, 226*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 55*rad, 232*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 62*rad, 247*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode(147*rad, 291*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 90*rad, 360*rad, 10*rad, 50*rad, -85*rad...
## ----- ----- ----- ----- -----
descSpring = PHSpringDesc()
descSpring.spring = Vec3d( 10.0, 10.0, 10.0)
descSpring.damper = Vec3d( 1.0, 1.0, 1.0)
joPointer = phScene.CreateJoint(so1, soPointer, PHSpring...
## ----- ----- ----- ----- -----
phScene.SetContactMode(0)
st = ObjectStates().Create()
st.SaveState(phScene)
class SpaceNavigatorThread(threading.Thread):
def __init__(self, soPointer):
self.soPointer = soPointer
threading.Thread.__init__(self)
def run(self):
while True:
p = spaceNavigator.GetPose().getPos()
self.soPointer.SetFramePosition(Vec3d(p.x, p.y, p.z))
spaceNav = SpaceNavigatorThread(soPointer)
spaceNav.start()
終了行:
[[Python with Springhead]]
from Spr import *
import time
import datetime
import threading
INF = 3.4e+38
rad = 3.14/180.0;
hiTrackball.SetPosition(Vec3f(3, 5, 10))
fwScene.EnableRenderLimit(True)
fwScene.EnableRenderAxis(False, False, False)
fwScene.EnableRenderForce(False, False)
## -----
phScene = fwScene.GetPHScene()
phSdk = phScene.GetSdk()
phScene.SetGravity(Vec3d(0,-9.8,0))
## ----- ----- ----- ----- -----
descSolid = PHSolidDesc()
descCapsule = CDRoundConeDesc()
descCapsule.radius = Vec2f(0.1, 0.1)
descCapsule.length = 2
descSphere = CDSphereDesc()
descSphere.radius = 0.1
shapePose = Posed()
## -----
so0 = phScene.CreateSolid(descSolid)
so0.SetFramePosition(Vec3d(0,2,0))
so0.AddShape(phSdk.CreateShape(CDRoundCone.GetIfInfoStat...
shapePose.setPos(Vec3d(0,0,1))
so0.SetShapePose(0, shapePose)
so0.SetDynamical(False)
so1 = phScene.CreateSolid(descSolid)
so1.AddShape(phSdk.CreateShape(CDRoundCone.GetIfInfoStat...
shapePose.setPos(Vec3d(0,0,-1))
so1.SetShapePose(0, shapePose)
# Pointer
soPointer = phScene.CreateSolid(descSolid)
soPointer.SetFramePosition(Vec3d(5,0,0))
soPointer.AddShape(phSdk.CreateShape(CDSphere.GetIfInfoS...
soPointer.SetDynamical(False)
## ----- ----- ----- ----- -----
descJoint = PHBallJointDesc()
descJoint.poseSocket = Posed(1,0,0,0, 0,0, 2)
descJoint.posePlug = Posed(1,0,0,0, 0,0,-2)
descJoint.spring = 10.0
descJoint.damper = 1.0
descJoint.targetPosition = Quaterniond.Rot(3.14/4.0,'x')
descLimit = PHBallJointSplineLimitDesc()
jo0 = phScene.CreateJoint(so0, so1, PHBallJoint.GetIfInf...
limit0 = jo0.CreateLimit(PHBallJointSplineLimit.GetIfInf...
limit0.AddNode( 90*rad, 0*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 87*rad, 48*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 65*rad, 132*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode(173*rad, 226*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 55*rad, 232*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 62*rad, 247*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode(147*rad, 291*rad, 10*rad, 50*rad, -85*rad...
limit0.AddNode( 90*rad, 360*rad, 10*rad, 50*rad, -85*rad...
## ----- ----- ----- ----- -----
descSpring = PHSpringDesc()
descSpring.spring = Vec3d( 10.0, 10.0, 10.0)
descSpring.damper = Vec3d( 1.0, 1.0, 1.0)
joPointer = phScene.CreateJoint(so1, soPointer, PHSpring...
## ----- ----- ----- ----- -----
phScene.SetContactMode(0)
st = ObjectStates().Create()
st.SaveState(phScene)
class SpaceNavigatorThread(threading.Thread):
def __init__(self, soPointer):
self.soPointer = soPointer
threading.Thread.__init__(self)
def run(self):
while True:
p = spaceNavigator.GetPose().getPos()
self.soPointer.SetFramePosition(Vec3d(p.x, p.y, p.z))
spaceNav = SpaceNavigatorThread(soPointer)
spaceNav.start()
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