import os
from morse.builder import AbstractComponent, MORSE_COMPONENTS, bpymorse
[docs]class ComponentCreator(AbstractComponent):
def __init__(self, cname, category, filename=''):
""" ComponentCreator constructor
This class allow to create Python component for MORSE. It consists of an
Empty object, to which you can then add meshs of your choice. It adds
automaticaly the logic (Always sensor link to a Python controller). And
set the default physics_type to 'NO_COLLISION'.
:param cname: (string) component name (Empty object in Blender scene)
:param category: (string) in ['actuators', 'sensors', 'robots']
:param filename: (string, optional) used for the datastream configuration
name of the Blender file in MORSE_COMPONENTS/category/filename.blend
see morse.builder.data.MORSE_DATASTREAM_DICT (default: None)
:return: a new AbstractComponent instance.
"""
AbstractComponent.__init__(self, filename=filename, category=category)
bpymorse.deselect_all()
bpymorse.add_morse_empty()
obj = bpymorse.get_first_selected_object()
if cname:
obj.name = cname
self.basename = cname
# no collision by default for components
obj.game.physics_type = 'NO_COLLISION'
self.set_blender_object(obj)
# Add MORSE logic
self.morseable()
[docs] def parent_root(self, objects):
# Parent the root objects with this Component
for child in objects:
if not child.parent:
child.matrix_parent_inverse.identity()
child.parent = self._bpy_object
[docs] def append_meshes(self, objects=None, component=None, prefix=None):
""" Append the objects to this component
Overloads :py:meth:`morse.builder.abstractcomponent.AbstractComponent.append_meshes`
:param objects: list of the objects names to append
:param component: component in which the objects are located
:return: list of the imported Blender objects
"""
imported_objects = AbstractComponent.append_meshes(self, objects, \
component, prefix)
self.parent_root(imported_objects)
return imported_objects
[docs] def append_collada(self, component=None):
""" Append Collada objects to this component
Overloads :py:meth:`morse.builder.abstractcomponent.AbstractComponent.append_collada`
:param component: component in which the objects are located
:return: list of the imported Blender objects
"""
imported_objects = AbstractComponent.append_collada(self, component)
self.parent_root(imported_objects)
return imported_objects
[docs]class SensorCreator(ComponentCreator):
def __init__(self, name="SensorCreator", classpath="morse.core.sensor.Sensor",\
blendname=None):
ComponentCreator.__init__(self, name, 'sensors', blendname)
self.properties(Component_Tag = True, classpath = classpath)
[docs]class ActuatorCreator(ComponentCreator):
def __init__(self, name="ActuatorCreator", classpath="morse.core.actuator.Actuator",\
blendname=None):
ComponentCreator.__init__(self, name, 'actuators', blendname)
self.properties(Component_Tag = True, classpath = classpath)
[docs]class RobotCreator(ComponentCreator):
def __init__(self, name="RobotCreator", classpath="morse.core.robot.Robot",\
blendname=None):
ComponentCreator.__init__(self, name, 'robots', blendname)
self.properties(Robot_Tag = True, classpath = classpath)
# helpers
[docs]def get_properties_str(name):
""" Returns the Game properties of the Blender object represented by the name
get_properties_str('Sick') gives
laser_range = 30.0, Component_Tag = True, scan_window = 180.0,
Visible_arc = True, resolution = 0.25,
classpath = 'morse.sensors.sick.LaserScannerClass'
"""
obj = bpymorse.get_object(name)
properties_dictionary = get_properties(obj)
return ", ".join(["%s = %s"%(pname, properties_dictionary[pname]) \
for pname in properties_dictionary])
[docs]def get_properties(obj):
import json
properties_dictionary = {}
properties = obj.game.properties
for name in properties.keys():
properties_dictionary[name] = properties[name].value
if properties[name].type == 'TIMER':
properties_dictionary[name] = "timer(%f)"%properties_dictionary[name]
elif type(properties_dictionary[name]) is str:
properties_dictionary[name] = json.dumps(properties_dictionary[name])
return properties_dictionary