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Viewing changes to sample/python/ShakeBodies.py

  • Committer: Shin'ichiro Nakaoka
  • Date: 2018-04-28 18:39:29 UTC
  • Revision ID: git-v1:7936c41284e86a0ed5c069d2628dbc72286f8aab
Fix python script samples

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Lines of Context:
sample/python/ShakeBodies.py
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        self.button = toolBar.addToggleButton("Shake")
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        self.button.setChecked(True)
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        self.button.toggled.connect(self.onButtonToggled)
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        MainWindow.getInstance().addToolBar(toolBar)
 
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        MainWindow.instance.addToolBar(toolBar)
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        self.bodyItems = []
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        self.dp = array([0.0, 0.0, 0.01])
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        self.connections = ScopedConnectionSet()
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        self.connections.add(
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            ItemTreeView.getInstance().getSigSelectionChanged().connect(self.onSelectionChanged))
 
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            ItemTreeView.instance.sigSelectionChanged.connect(self.onSelectionChanged))
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        self.timer = Timer()
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        self.connections.add(
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            self.timer.timeout.connect(self.onTimeout))
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    def onButtonToggled(self, on):
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        self.onSelectionChanged(ItemTreeView.getInstance().getSelectedItems())
 
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        self.onSelectionChanged(ItemTreeView.instance.getSelectedItems())
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    def onSelectionChanged(self, items):
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        self.bodyItems = BodyItemList(items)
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    def onTimeout(self):
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        for bodyItem in self.bodyItems:
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            body = bodyItem.getBody()
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            body.getRootLink().p += self.dp
 
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            body = bodyItem.body
 
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            body.rootLink.p += self.dp
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            body.calcForwardKinematics()
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            bodyItem.notifyKinematicStateChange()
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        self.dp = -self.dp