Re: [Visualpython-users] Help about frame in frame world position

[Bruce S. <Bru...@nc...>]

Here is an example:

from visual import *
f = frame(pos=(2,1,0))
b = box(frame=f, pos=(-3,1,1), size=(.2,.2,.2))
print b.pos
print f.frame_to_world(b.pos)
print f.world_to_frame(vector(2,1,0))

This yields

<-3, 1, 1>
<-1, 2, 1>
<0, 0, 0>

Bruce Sherwood

ale ale wrote:
> Hi
> 
> I need help to determine the position of an object that is part of a 
> frame and I don't really understand how to use  
> *
>  world_pos = f.frame_to_world (frame_pos) *
>  
> found in online documentation and I'm looking for some examples
> 
> I use a class to define the frame that is composed by a main frame that 
> contains two frames composed by many objects.
> The object ( a servo)  is composed by two parts (servo_box and 
> servo_frame), I can turn the servo_frame arround its axis , but I need 
> to connect two servo  to create a joint like hip, knee ....
> Could you show me some examples or documentation that I can study to 
> better understand how to calculate the points I need?
> 
> 
> AleAle99
> 
> 
> 
> code like this:
> 
> class ServoWithFrame():   
> 
>     def __init__ (self,offset=(0,0,0)):
>        
>         self.servo =frame(pos=offset)
>               
>         self.servo_box =frame(frame=self.servo)
>         self.servo_asse =frame(frame=self.servo)
> 
>         self.main_box =box(frame=self.servo_box, 
> pos=(offset),axis=(self.servo_box.lenght,0,0), height = 
> self.servo_box.height, width 
> =self.servo_box.width,color=(0.4,0.4,0.4),material=materials.plastic)
>         self.secondary_box= box(frame=self.servo_box, 
> pos=((self.main_box.x -(self.servo_box.lenght 
> -self.servo_box.lenghtb)/2. ),(self.main_box.y+ 
> self.servo_box.heightb/2.+self.servo_box.height/2.),self.main_box.z 
> ),axis=(self.servo_box.lenghtb,0,0), height = self.servo_box.heightb, 
> width =self.servo_box.width,color=(0.4,0.4,0.4),material=materials.plastic)
>         self.motor_cyl= cylinder (frame=self.servo_box, 
> pos=((self.main_box.x + self.servo_box.lenghtb/2. - self.servo_box.motor 
> ),(self.main_box.y -self.servo_box.height -self.servo_box.heightb/2.+1.5 
> ),self.main_box.z ), axis=(0,self.servo_box.motor,0), radius 
> =self.servo_box.width/2.,color=(0.4,0.4,0.4),material=materials.plastic)
>         self.motor_main= cylinder (frame=self.servo_asse, 
> pos=((self.main_box.x - self.servo_box.lenght/2. + 
> self.servo_box.width/2.  ),(self.main_box.y -self.servo_box.height/2 - 
> self.servo_box.attacw),self.main_box.z ), 
> axis=(0,self.servo_box.attacl,0), radius =self.servo_box.attacw/2., 
> color=(0.9,0.9,0.95),material=materials.plastic)
>         self.motor_cylb= cylinder (frame=self.servo_box, 
> pos=(self.motor_main.x ,self.motor_main.y+ self.servo_box.height+ 
> self.servo_box.heightb+4.5,self.motor_main.z ), axis=(0,2,0), radius 
> =self.servo_box.motor/2.,color=(0.4,0.4,0.4),material=materials.plastic)
>    
>         self.servo_frame =frame(frame=self.servo)
>         self.left_circle = cylinder (frame=self.servo_frame, pos = 
> self.motor_cylb.pos,radius =self.servo_frame.width/2., 
> lenght=self.servo_frame.thick,material=materials.rough)
>         self.left_box =box(frame=self.servo_frame, 
> pos=(self.left_circle.x+0.5,self.left_circle.y 
> -(self.servo_frame.width/2. -1) , self.left_circle.z), height = 
> self.servo_frame.height-self.servo_frame.width/2., width 
> =self.servo_frame.width, 
> lenght=self.servo_frame.thick,material=materials.rough)
>         self.right_circle = cylinder (frame=self.servo_frame, 
> pos=(self.left_circle.x + self.servo_frame.lenght - 
> self.servo_frame.thick,self.left_circle.y,self.left_circle.z), radius 
> =self.servo_frame.width/2., 
> lenght=self.servo_frame.thick,material=materials.rough)
>         self.right_box =box(frame=self.servo_frame, 
> pos=(self.right_circle.x+0.5,self.right_circle.y-(self.servo_frame.width/2. 
> -1) , self.right_circle.z), height = 
> self.servo_frame.height-self.servo_frame.width/2., width 
> =self.servo_frame.width, 
> lenght=self.servo_frame.thick,material=materials.rough)
>        
>         self.low_box = box(frame=self.servo_frame, 
> pos=(self.left_circle.x+self.servo_frame.lenght/2.,self.left_circle.y-self.servo_frame.width/2. 
> - (self.servo_frame.height-self.servo_frame.width) - 
> self.servo_frame.thick 
> ,self.left_circle.z),axis=(self.servo_frame.lenght,0,0),  height = 1, 
> width =self.servo_frame.width,material=materials.rough)
>         self.side_dx = box(frame=self.servo_frame, pos=(self.low_box.x 
> -self.servo_frame.thick/2. 
> ,self.low_box.y+1,self.low_box.z+self.servo_frame.width/2),axis=(self.servo_frame.lenght-4*self.servo_frame.thick,0,0),  
> height = 3, width =self.servo_frame.thick,material=materials.rough)
>         self.side_sx = box(frame=self.servo_frame, pos=(self.low_box.x 
> -self.servo_frame.thick/2. 
> ,self.low_box.y+1,self.low_box.z-self.servo_frame.width/2),axis=(self.servo_frame.lenght-4*self.servo_frame.thick,0,0),  
> height = 3, width =self.servo_frame.thick,material=materials.rough)
> 
> 
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