import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.robot
import PhysicsConstraints
from morse.helpers.components import add_property
[docs]class Hummer(morse.core.robot.Robot):
"""
This is a generic car like robot. It is driven using steering, power
and braking as provided by the :doc:`steer/force actuator
<../actuators/steer_force>`. This vehicle uses the Blender `vehicle
wrapper
<http://www.blender.org/documentation/blender_python_api_2_59_0/bge.types.html#bge.types.KX_VehicleWrapper>`_
constraint, to give it a realistic behaviour, including the
interaction of the wheels with the ground and suspension.
"""
_name = 'Hummer car robot'
add_property('friction', 200.0, 'friction', 'double',
"Wheel's friction to the ground. Determines how fast \
the robot can accelerate from a standstill. Also \
affects steering wheel's ability to turn the vehicle.\
A value of ``0`` gives very low acceleration. Higher \
values permit a higher acceleration. ")
def __init__(self, obj, parent=None):
# Call the constructor of the parent class
logger.info('%s initialization' % obj.name)
morse.core.robot.Robot.__init__(self, obj, parent)
#
# This section runs only once to create the vehicle:
#
for child in obj.children:
if 'wheel1' in child.name:
wheel1 = child
wheel1.removeParent()
if 'wheel2' in child.name:
wheel2 = child
wheel2.removeParent()
if 'wheel3' in child.name:
wheel3 = child
wheel3.removeParent()
if 'wheel4' in child.name:
wheel4 = child
wheel4.removeParent()
obj['init'] = 1
physicsid = obj.getPhysicsId()
vehicle = PhysicsConstraints.createConstraint(physicsid, 0, 11)
obj['cid'] = vehicle.getConstraintId()
self.vehicle = PhysicsConstraints.getVehicleConstraint(obj['cid'])
# Wheel location from vehicle center
wx = 1.3
wy = 1.6
wz = -.5
#wheelAttachDirLocal:
#Direction the suspension is pointing
wheelAttachDirLocal = [0, 0, -1]
#wheelAxleLocal:
#Determines the rotational angle where the
#wheel is mounted.
wheelAxleLocal = [-1, 0, 0]
#suspensionRestLength:
#The length of the suspension when it's fully
#extended:
suspensionRestLength = .3
#wheelRadius:
#Radius of the Physics Wheel.
#Turn on Game:Show Physics Visualization to see
#a purple line representing the wheel radius.
wheelRadius = .5
#hasSteering:
#Determines whether or not the coming wheel
#assignment will be affected by the steering
#value:
hasSteering = 1
#
# Front wheels:
#
logger.debug(dir(wheel1))
#Where the wheel is attached to the car based
#on the vehicle's Center
wheelAttachPosLocal = [wx, wy, wz]
#creates the first wheel using all of the variables
#created above:
self.vehicle.addWheel(wheel1, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)
#Positions this wheel on the opposite side of the car by using a
#negative values for the x position.
wheelAttachPosLocal = [-wx, wy, wz]
#creates the second wheel:
self.vehicle.addWheel(wheel2, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)
#
# Rear Wheels:
#
#Change the hasSteering value to 0 so the rear wheels don't turn
#when the steering value is changed.
hasSteering = 0
# Adjust the location the rear wheels are attached.
wx = 1.3
wy = 2.3
# Set the wheelAttachPosLocal to the new location for rear wheels:
# -y moves the position toward the back of the car
wheelAttachPosLocal = [wx, -wy, wz]
#Creates the 3rd wheel (first rear wheel)
self.vehicle.addWheel(wheel3, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)
#Adjust the attach position for the next wheel:
# changed to -x to place the wheel on the opposite side of the car
# the same distance away from the vehicle's center
wheelAttachPosLocal = [-wx, -wy, wz]
#create the last wheel using the above variables:
self.vehicle.addWheel(wheel4, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)
#The Rolling Influence:
#How easy it will be for the vehicle to roll over while turning:
#0 = Little to no rolling over
# .1 and higher easier to roll over
#Wheels that loose contact with the ground will be unable to
#steer the vehicle as well.
#influence = 0.1
influence = 0.05
self.vehicle.setRollInfluence(influence, 0)
self.vehicle.setRollInfluence(influence, 1)
self.vehicle.setRollInfluence(influence, 2)
self.vehicle.setRollInfluence(influence, 3)
#Stiffness:
#Affects how quickly the suspension will 'spring back'
#0 = No Spring back
# .001 and higher = faster spring back
#stiffness = 10.0
stiffness = 15
self.vehicle.setSuspensionStiffness(stiffness, 0)
self.vehicle.setSuspensionStiffness(stiffness, 1)
self.vehicle.setSuspensionStiffness(stiffness, 2)
self.vehicle.setSuspensionStiffness(stiffness, 3)
#Dampening:
#Determines how much the suspension will absorb the
#compression.
#0 = Bounce like a super ball
#greater than 0 = less bounce
damping = 10
self.vehicle.setSuspensionDamping(damping, 0)
self.vehicle.setSuspensionDamping(damping, 1)
self.vehicle.setSuspensionDamping(damping, 2)
self.vehicle.setSuspensionDamping(damping, 3)
#Compression:
#Resistance to compression of the overall suspension length.
#0 = Compress the entire length of the suspension
#Greater than 0 = compress less than the entire suspension length.
#10 = almost no compression
compression = 2
self.vehicle.setSuspensionCompression(compression, 0)
self.vehicle.setSuspensionCompression(compression, 1)
self.vehicle.setSuspensionCompression(compression, 2)
self.vehicle.setSuspensionCompression(compression, 3)
#Friction:
#Wheel's friction to the ground
#How fast you can accelerate from a standstill.
#Also affects steering wheel's ability to turn vehicle.
#0 = Very Slow Acceleration:
# .1 and higher = Faster Acceleration / more friction:
self.vehicle.setTyreFriction(self.friction, 0)
self.vehicle.setTyreFriction(self.friction, 1)
self.vehicle.setTyreFriction(self.friction, 2)
self.vehicle.setTyreFriction(self.friction, 3)
logger.info('Component initialized')
[docs] def default_action(self):
""" Main function of this component. """
#
# This section runs continuously after the initial set up:
# Updating Speed, Friction, Braking, Suspension, etc:
#
pass
