1. German Larrain
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Author Commit Message Date Builds
German Larrain
new Simulation attribute: pre_frame_callback. It stores a function which is called inside on_idle, just before perform_sim_steps_per_frame. app.Program has 2 new methods to use the new feature: set_pre_frame_callback and on_pre_frame.
German Larrain
new method get_angular_velocity in simulator's Simulation and physics.Body classes
German Larrain
new set_speed method in joints.Rotary
German Larrain
VehicleWithControlledArm now derives from VehicleWithArm, eliminating a lot of duplicated code. Methods docs updated.
German Larrain
VehicleWithArm now has friction proportional to speed, for both joints, but it can be disabled
German Larrain
ControlledSimpleArm now has friction proportional to speed, for both joints
German Larrain
model.geometry.shapes.Trimesh: new method "get_heightfield_faces", which replaces get_faces. It no longers uses code from other sources, and it does not need to swap faces. RSS2 demo uses the new method.
German Larrain
simulator.Simulation: code cleanup and formatting
German Larrain
model.geometry.shapes.Trimesh can now have its position specified at initialization. Simulation.add_trimesh_floor changes accordingly, and RSS2 demo uses the new feature.
German Larrain
RSS2 now derives from VehicleWithArm instead of Vehicle2
German Larrain
new demo VehicleWithControlledArm, which is a mix between ControlledSimpleArm and VehicleWithArm
German Larrain
VehicleWithArm's description updated
German Larrain
ODE test TrimeshCollision updated late, it should have been modified previously, in the trimesh-floor branch
German Larrain
German Larrain
RSS2 demo now works fine: -new methods to create sinusoidal and constant heightfield -get_faces returned indices are modified before given to ODE -new OFFSET attribute in Vehicle2, allowing modifications in RSS2
Branches
trimesh-floor
German Larrain
model.geometry.shapes.Trimesh: new swap_faces_indices method; get_faces returned faces indices are no lorger composed randomly, because it didn't help in any way
Branches
trimesh-floor
German Larrain
new demo ControlledSimpleArm: it is the same as SimpleArm but the second joint has a PD controller attached
German Larrain
Vehicle2 demo now uses the ars.constants module
German Larrain
German Larrain
new module ars.constants. It contains the definition of X, Y and Z unit vectors, as well as those pointing upwards, rightwards and outwards, as displayed by the graphics library.
German Larrain
RSS1's length2 function moved to utilities.mathematical module
German Larrain
SimpleArm demo: changes analogous to those made in VehicleWithArm
German Larrain
VehicleWithArm and RSS1 demos: -the robotic arm has 2 links & joints intead of 3 -get_kinematic_data now returns the information of both joints
German Larrain
bin.RSS1 demo: -new attributes r1_angle_rate_prev, r2_angle_rate_prev, to store previous angular velocities, allowing the calculation of the average acceleration. -new get_kinematic_data method, which calculates and returns all the desired bodies' kimatic data for any instant
German Larrain
bin.VehicleWithArm demo: new class attributes (BALL_PARAMS, CHASSIS_PARAMS, WHEEL_R_PARAMS, WHEEL_L_PARAMS), refactoring code to use those instead of literals inside the create_sim_objects method
German Larrain
simulator.Simulation: new method get_time_step, which computes the value based in FPS and steps per frame variables.
German Larrain
old code enclosed in triple quotes is now commented
German Larrain
joints.Rotary: new methods get_angle and get_angle_rate
German Larrain
RSS1: comments cleanup
German Larrain
RSS1: new module function "output_data"
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