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43 lines
1.6 KiB
Python
43 lines
1.6 KiB
Python
import math
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exec(open("Modified_data/realtime.py").read())
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# Initialize the position (CG) of the vehicle 3 meters about the
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# surface of the water so that it drops into the water.
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crewModule.dyn.position[0] = 0.0;
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crewModule.dyn.position[1] = 0.0;
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crewModule.dyn.position[2] = 3.0;
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# Rotate the vehicle 120 degrees about the X axis.
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xrot = math.radians(120.0);
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crewModule.dyn.R[0][0] = 1.000000;
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crewModule.dyn.R[0][1] = 0.000000;
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crewModule.dyn.R[0][2] = 0.000000;
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crewModule.dyn.R[1][0] = 0.000000;
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crewModule.dyn.R[1][1] = math.cos(xrot);
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crewModule.dyn.R[1][2] = -math.sin(xrot);
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crewModule.dyn.R[2][0] = 0.000000;
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crewModule.dyn.R[2][1] = math.sin(xrot);
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crewModule.dyn.R[2][2] = math.cos(xrot);
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crewModule.dyn.mass_vehicle = 9300.0;
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# If the vehicle mass is changed, the inertia tensor needs to be re-calculated.
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crewModule.dyn.init_inertia_tensor(1,1,1);
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# ==========================================
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# Start the CM Display Graphics Client
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#==========================================
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varServerPort = trick.var_server_get_port();
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CMDisplay_path = "models/CrewModuleGraphics/build/CrewModuleDisplay.jar"
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if (os.path.isfile(CMDisplay_path)) :
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CMDisplay_cmd = "java -jar " \
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+ CMDisplay_path \
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+ " " + str(varServerPort) + " &" ;
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print(CMDisplay_cmd)
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os.system( CMDisplay_cmd);
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else :
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print('==================================================================================')
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print('CrewModuleDisplay needs to be built. Please \"cd\" into ../models/CrewModuleGraphics and type \"mvn package\".')
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print('==================================================================================')
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