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Fix hummer robot body axis alignment and scale usage #819

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Fix hummer robot body axis alignment and scale usage #819

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Binary file modified data/robots/hummer.blend
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34 changes: 18 additions & 16 deletions src/morse/robots/hummer.py
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Expand Up @@ -24,6 +24,8 @@ class Hummer(morse.core.robot.Robot):
affects steering wheel's ability to turn the vehicle.\
A value of ``0`` gives very low acceleration. Higher \
values permit a higher acceleration. ")
add_property('scale', 1.0, 'scale', 'double',
"pass scale of the robot to have correct wheel locations")

def __init__(self, obj, parent=None):
# Call the constructor of the parent class
Expand Down Expand Up @@ -54,9 +56,9 @@ def __init__(self, obj, parent=None):
self.vehicle = PhysicsConstraints.getVehicleConstraint(obj['cid'])

# Wheel location from vehicle center
wx = 1.3
wy = 1.6
wz = -.5
wx = 1.6 * self.scale
wy = 1.3 * self.scale
wz = -.5 * self.scale

#wheelAttachDirLocal:
#Direction the suspension is pointing
Expand All @@ -65,18 +67,18 @@ def __init__(self, obj, parent=None):
#wheelAxleLocal:
#Determines the rotational angle where the
#wheel is mounted.
wheelAxleLocal = [-1, 0, 0]
wheelAxleLocal = [0, 1, 0]

#suspensionRestLength:
#The length of the suspension when it's fully
#extended:
suspensionRestLength = .3
suspensionRestLength = .3 * self.scale

#wheelRadius:
#Radius of the Physics Wheel.
#Turn on Game:Show Physics Visualization to see
#a purple line representing the wheel radius.
wheelRadius = .5
wheelRadius = .5 * self.scale

#hasSteering:
#Determines whether or not the coming wheel
Expand All @@ -94,15 +96,15 @@ def __init__(self, obj, parent=None):
#on the vehicle's Center
wheelAttachPosLocal = [wx, wy, wz]

#creates the first wheel using all of the variables
#creates the first (left) 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
#Positions this wheel (right) on the opposite side of the car by using a
#negative values for the x position.
wheelAttachPosLocal = [-wx, wy, wz]
wheelAttachPosLocal = [wx, -wy, wz]

#creates the second wheel:
self.vehicle.addWheel(wheel2, wheelAttachPosLocal, wheelAttachDirLocal,
Expand All @@ -118,19 +120,19 @@ def __init__(self, obj, parent=None):
hasSteering = 0

# Adjust the location the rear wheels are attached.
wx = 1.3
wy = 2.3
wx = 2.3 * self.scale
wy = 1.3 * self.scale

# Set the wheelAttachPosLocal to the new location for rear wheels:
# -y moves the position toward the back of the car
wheelAttachPosLocal = [wx, -wy, wz]
wheelAttachPosLocal = [-wx, wy, wz]

#Creates the 3rd wheel (first rear wheel)
#Creates the 3rd wheel (first/left rear wheel)
self.vehicle.addWheel(wheel3, wheelAttachPosLocal, wheelAttachDirLocal,
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)

#Adjust the attach position for the next wheel:
#Adjust the attach position for the next/right 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]
Expand All @@ -140,7 +142,7 @@ def __init__(self, obj, parent=None):
wheelAxleLocal, suspensionRestLength,
wheelRadius, hasSteering)

#The Rolling Influence:
#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
Expand Down Expand Up @@ -205,4 +207,4 @@ def default_action(self):
# This section runs continuously after the initial set up:
# Updating Speed, Friction, Braking, Suspension, etc:
#
pass
pass