122 lines
4.0 KiB
Python
122 lines
4.0 KiB
Python
from LinearAlgebra.Spherical import *
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from LinearAlgebra.Quaternion import *
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from LinearAlgebra.SwingTwist import *
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from Messages import *
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class Thing:
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"""! A thing is the basic building block"""
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class Type:
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"""! Predefined thing types
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"""
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Undetermined = 0x00
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# Sensor
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Switch = 0x01
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DistanceSensor = 0x02
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DirectionalSensor = 0x03
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TemperatureSensor = 0x04
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Animator = 0x40
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Position = 0x01
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Orientation = 0x02
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LinearVelocity = 0x04
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AngularVelocity = 0x08
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def __init__(self, owner = None, network_id = 0, thing_id = 0, type = Type.Undetermined, parent = None, name = None):
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"""! Create a new thing """
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## The parent thing
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self.parent = None
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if parent is not None:
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owner = parent.owner
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self.SetParent(parent)
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self.children = []
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## The participant owning this thing
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self.owner = owner
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## The network ID of this thing
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## @note This field will likely disappear in future versions
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self.network_id = network_id
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## The ID of the thing
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self.id = thing_id
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## The type of the thing
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self.type = type
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## The name of the thing
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self.name = name
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## An URL pointing to the location where a model of the thing can be found
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self.model_url = None
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## The position of the thing in local space, in meters
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self.position: Spherical = Spherical.zero
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self.position_updated: bool = False
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## The new orientation in local space
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self.orientation: Quaternion = Quaternion.identity
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self.orientation_updated: bool = False
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## The linear velocity of the thing in local space, in meters per second
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self.linear_velocity: Spherical = Spherical.zero
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self.linear_velocity_updated: bool = False
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## The angular velocity of the thing in local space, in degrees per second
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self.angular_velocity: Spherical = Spherical.zero
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self.angular_velocity_updated: bool = False
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self.pose_updated = 0x00 # the bits indicate which fields have been updated
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self.owner.Add(self)
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def SetPosition(self, position):
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"""! Set the position of the thing
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@param position The new position in local space, in meters
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"""
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self.position = position
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self.position_updated = True
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def SetOrientation(self, orientation):
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"""! Set the orientation of the thing
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@param orientation The new orientation in local space
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"""
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self.orientation = orientation
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self.orientation_updated = True
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def SetLinearVelocity(self, linear_velocity):
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"""! Set the linear velocity of the thing
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@param linearVelocity The new linear velocity in local space, in meters per second
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"""
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self.linear_velocity = linear_velocity
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self.linear_velocity_updated = True
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def SetAngularVelocity(self, angular_velocity):
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"""! Set the angular velocity of the thing
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@param angularVelocity the new angular velocity in local space
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"""
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self.angular_velocity = angular_velocity
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self.angular_velocity_updated = True
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def Update(self, currentTime):
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pose_msg = PoseMsg(self.network_id, self)
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for other in self.owner.others:
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self.owner.Send(other, pose_msg)
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def ProcessBinary(self, data):
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print('default binary processor')
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pass
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def SetParent(self, parent):
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if parent is None:
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parentThing = self.parent
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if parentThing is not None:
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parentThing.RemoveChild(self)
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self.parent = None
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else:
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parent.AddChild(self)
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def AddChild(self, child):
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if child in self.children:
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return
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child.parent = self
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self.children.append(child)
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def RemoveChild(self, child):
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self.children.remove(child)
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def GenerateBinary(self, buffer, ix_ref):
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pass |