Basic Shapes

Description

Basic shapes are building blocks to modify and customize your environment. All shapes are spawned by default as static objects complete with collision boundaries which can be useful to create walls and other obstacles. Dynamics can be enabled and disabled to facilitate dynamic events that are triggered by actor locations such as the sudden appearance of an obstacle crossing the path. The physics properties can also be modified to tune the physics response depending on the number of interacting actors and what they are colliding with.

Basic shapes include full support for parenting to build long kinematic chains or simply to group multiple shapes together so they can be moved by manipulating a single parent actor.

If you are using a large number of dynamic shapes, consider using Widgets instead. They have both limitations and additional features, but are more efficient when spawning large numbers of dynamic actors.

See the Basic Shapes Tutorial to get a better understanding of using people in Quanser Interactive Labs.

Library

class library_qlabs_basic_shape.QLabsBasicShape(qlabs, verbose=False)[source]

This class is for spawning both static and dynamic basic shapes.

Constants

QLabsBasicShape.ID_BASIC_SHAPE = 200

Class ID

QLabsBasicShape.SHAPE_CUBE = 0
QLabsBasicShape.SHAPE_CYLINDER = 1
QLabsBasicShape.SHAPE_SPHERE = 2
QLabsBasicShape.COMBINE_AVERAGE = 0
QLabsBasicShape.COMBINE_MIN = 1
QLabsBasicShape.COMBINE_MULTIPLY = 2
QLabsBasicShape.COMBINE_MAX = 3

Member Variables

QLabsBasicShape.actorNumber = None

The current actor number of this class to be addressed. This will be set by spawn methods and cleared by destroy methods. It will not be modified by the destroy all actors. This can be manually altered at any time to use one object to address multiple actors.

Methods

QLabsBasicShape.__init__(qlabs, verbose=False)[source]

Constructor Method

Parameters

  • qlabs (object) – A QuanserInteractiveLabs object

  • verbose (boolean) – (Optional) Print error information to the console.

QLabsBasicShape.spawn(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsBasicShape.spawn_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

  • status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.

  • actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsBasicShape.spawn_id(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsBasicShape.spawn_id_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsBasicShape.spawn_id_and_parent_with_relative_transform(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsBasicShape.spawn_id_and_parent_with_relative_transform_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsBasicShape.set_material_properties(color, roughness=0.4, metallic=False, waitForConfirmation=True)[source]

Sets the visual surface properties of the shape.

Parameters

  • color (float array[3]) – Red, Green, Blue components of the RGB color on a 0.0 to 1.0 scale.

  • roughness (float) – A value between 0.0 (completely smooth and reflective) to 1.0 (completely rough and diffuse). Note that reflections are rendered using screen space reflections. Only objects visible in the camera view will be rendered in the reflection of the object.

  • metallic (boolean) – Metallic (True) or non-metallic (False)

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the operation before proceeding. This makes the method a blocking operation.

Returns

True if successful, False otherwise

Return type

boolean

QLabsBasicShape.set_enable_dynamics(enableDynamics, waitForConfirmation=True)[source]

Sets the visual surface properties of the shape.

Parameters

  • enableDynamics (boolean) – Enable (True) or disable (False) the shape dynamics. A dynamic actor can be pushed with other static or dynamic actors. A static actor will generate collisions, but will not be affected by interactions with other actors.

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the operation before proceeding. This makes the method a blocking operation.

Returns

True if successful, False otherwise

Return type

boolean

QLabsBasicShape.set_enable_collisions(enableCollisions, waitForConfirmation=True)[source]

Enables and disables physics collisions. When disabled, other physics or velocity-based actors will be able to pass through.

Parameters

  • enableCollisions (boolean) – Enable (True) or disable (False) the collision.

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the operation before proceeding. This makes the method a blocking operation.

Returns

True if successful, False otherwise

Return type

boolean

QLabsBasicShape.set_physics_properties(enableDynamics, mass=1.0, linearDamping=0.01, angularDamping=0.0, staticFriction=0.0, dynamicFriction=0.7, frictionCombineMode=COMBINE_AVERAGE, restitution=0.3, restitutionCombineMode=COMBINE_AVERAGE, waitForConfirmation=True)[source]

Sets the dynamic properties of the shape.

Parameters

  • enableDynamics (boolean) – Enable (True) or disable (False) the shape dynamics. A dynamic actor can be pushed with other static or dynamic actors. A static actor will generate collisions, but will not be affected by interactions with other actors.

  • mass (float) – (Optional) Sets the mass of the actor in kilograms.

  • linearDamping (float) – (Optional) Sets the damping of the actor for linear motions.

  • angularDamping (float) – (Optional) Sets the damping of the actor for angular motions.

  • staticFriction (float) – (Optional) Sets the coefficient of friction when the actor is at rest. A value of 0.0 is frictionless.

  • dynamicFriction (float) – (Optional) Sets the coefficient of friction when the actor is moving relative to the surface it is on. A value of 0.0 is frictionless.

  • frictionCombineMode (byte) – (Optional) Defines how the friction between two surfaces with different coefficients should be calculated (see COMBINE constants).

  • restitution (float) – (Optional) The coefficient of restitution defines how plastic or elastic a collision is. A value of 0.0 is plastic and will absorb all energy. A value of 1.0 is elastic and will bounce forever. A value greater than 1.0 will add energy with each collision.

  • restitutionCombineMode (byte) – (Optional) Defines how the restitution between two surfaces with different coefficients should be calculated (see COMBINE constants).

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the operation before proceeding. This makes the method a blocking operation.

Returns

True if successful, False otherwise

Return type

boolean

QLabsBasicShape.set_transform(location, rotation, scale, waitForConfirmation=True)[source]

Sets the location, rotation in radians, and scale. If a shape is parented to another actor then the location, rotation, and scale are relative to the parent actor.

Parameters

  • location (float array[3]) – An array of floats for x, y and z coordinates in full-scale units. Multiply physical QCar locations by 10 to get full scale locations.

  • rotation (float array[3]) – An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – An array of floats for the scale in the x, y, and z directions.

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the operation before proceeding. This makes the method a blocking operation.

Returns

True if successful or False otherwise

Return type

boolean

QLabsBasicShape.set_transform_degrees(location, rotation, scale, waitForConfirmation=True)[source]

Sets the location, rotation in degrees, and scale. If a shape is parented to another actor then the location, rotation, and scale are relative to the parent actor.

Parameters

  • location (float array[3]) – An array of floats for x, y and z coordinates in full-scale units. Multiply physical QCar locations by 10 to get full scale locations.

  • rotation (float array[3]) – An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – An array of floats for the scale in the x, y, and z directions.

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the operation before proceeding. This makes the method a blocking operation.

Returns

True if successful or False otherwise

Return type

boolean

QLabsBasicShape.spawn_id_box_walls_from_end_points(actorNumber, startLocation, endLocation, height, thickness, color=[1, 1, 1], waitForConfirmation=True)[source]

Given a start and end point, this helper method calculates the position, rotation, and scale required to place a box on top of this line.

Parameters

  • actorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • startLocation (float array[3]) – An array of floats for x, y and z coordinates.

  • endLocation (float array[3]) – An array of floats for x, y and z coordinates.

  • height (float) – The height of the wall.

  • thickness (float) – The width or thickness of the wall.

  • color (float array[3]) – Red, Green, Blue components of the RGB color on a 0.0 to 1.0 scale.

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the operation before proceeding. This makes the method a blocking operation.

Returns

True if successful or False otherwise

Return type

boolean

QLabsBasicShape.spawn_id_box_walls_from_center(actorNumbers, centerLocation, yaw, xSize, ySize, zHeight, wallThickness, floorThickness=0, wallColor=[1, 1, 1], floorColor=[1, 1, 1], waitForConfirmation=True)[source]

Creates a container-like box with 4 walls and an optional floor.

Parameters

  • actorNumbers (uint32 array[5]) – An array of 5 user defined unique identifiers for the class actors in QLabs.

  • centerLocation (float array[3]) – An array of floats for x, y and z coordinates.

  • yaw (float) – Rotation about the z axis in radians.

  • xSize (float) – Size of the box in the x direction.

  • ySize (float) – Size of the box in the y direction.

  • zSize (float) – Size of the box in the z direction.

  • wallThickness (float) – The thickness of the walls.

  • floorThickness (float) – (Optional) The thickness of the floor. Setting this to 0 will spawn a box without a floor.

  • wallColor (float array[3]) – (Optional) Red, Green, Blue components of the wall color on a 0.0 to 1.0 scale.

  • floorColor (float array[3]) – (Optional) Red, Green, Blue components of the floor color on a 0.0 to 1.0 scale.

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the operation before proceeding. This makes the method a blocking operation.

Returns

True if successful or False otherwise

Return type

boolean

QLabsBasicShape.spawn_id_box_walls_from_center_degrees(actorNumbers, centerLocation, yaw, xSize, ySize, zHeight, wallThickness, floorThickness=0, wallColor=[1, 1, 1], floorColor=[1, 1, 1], waitForConfirmation=True)[source]

Creates a container-like box with 4 walls and an optional floor.

Parameters

  • actorNumbers (uint32 array[5]) – An array of 5 user defined unique identifiers for the class actors in QLabs.

  • centerLocation (float array[3]) – An array of floats for x, y and z coordinates.

  • yaw (float) – Rotation about the z axis in degrees.

  • xSize (float) – Size of the box in the x direction.

  • ySize (float) – Size of the box in the y direction.

  • zSize (float) – Size of the box in the z direction.

  • wallThickness (float) – The thickness of the walls.

  • floorThickness (float) – (Optional) The thickness of the floor. Setting this to 0 will spawn a box without a floor.

  • wallColor (float array[3]) – (Optional) Red, Green, Blue components of the wall color on a 0.0 to 1.0 scale.

  • floorColor (float array[3]) – (Optional) Red, Green, Blue components of the floor color on a 0.0 to 1.0 scale.

  • waitForConfirmation (boolean) – (Optional) Wait for confirmation of the operation before proceeding. This makes the method a blocking operation.

Returns

True if successful or False otherwise

Return type

boolean

QLabsBasicShape.destroy()

Find and destroy a specific actor. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsBasicShape.destroy_all_actors_of_class()

Find and destroy all actors of this class. This is a blocking operation.

Returns

  • numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsBasicShape.get_world_transform()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsBasicShape.get_world_transform_degrees()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

  • status - True if successful, False otherwise

  • location

  • rotation

  • scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsBasicShape.ping()

Checks if the actor is still present in the environment. Note that if you did not spawn the actor with one of the spawn functions, you may need to manually set the actorNumber member variable.

Returns

  • status - True if successful, False otherwise

Return type

boolean

QLabsBasicShape.parent_with_relative_transform(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsBasicShape.parent_with_relative_transform_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

  • location (float array[3]) – (Optional) An array of floats for x, y and z coordinates

  • rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees

  • scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsBasicShape.parent_with_current_world_transform(parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship while preserving the current world transform of the child actor.

Parameters

  • parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier

  • parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs

  • parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options

  • waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsBasicShape.parent_break(waitForConfirmation=True)

Breaks any relationship with a parent actor (if it exists) and preserves the current world transform

Parameters

waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

  • status - 0 if successful, 1 cannot find this actor, -1 communications error

Return type

int32

Configurations

There are 3 configurations (0-2) for the basic shape actor class. 0 - Sphere, 1 - Cylinder, 2 - Square

../_images/basicshapes.png

Connection Points

There are no connection points for this actor class.

Basic Shapes Tutorial

Example
  1"""
  2Basic Shape Library Example
  3---------------------------
  4
  5.. note:: Make sure you have Quanser Interactive Labs open before running any of these examples.
  6
  7.. tip:: If you are struggling to get this example running check out our _Troubleshooting page.
  8
  9"""
 10# imports to important libraries
 11import sys
 12import math
 13import time
 14sys.path.append('../libraries/')
 15
 16from library_qlabs import QuanserInteractiveLabs
 17from library_qlabs_free_camera import QLabsFreeCamera
 18from library_qlabs_basic_shape import QLabsBasicShape
 19
 20def main():
 21
 22    # creates a server connection with Quanser Interactive Labs and manages 
 23    # the communications
 24    qlabs = QuanserInteractiveLabs()
 25
 26    # initialize our desired variables 
 27    # note that you can use the coordinate helper to pick locations for your camera.
 28    loc = [-25.0, 31.5, 4.6]
 29    rot = [-0, 18.815, -0.326]
 30
 31    loc1 = -22.365, 31.502, 13.307
 32    rot1 = 0, 53.196, -0.652
 33
 34    # trying to connect to QLabs and open the instance we have created - program will end if this fails
 35    print("Connecting to QLabs...")
 36    try:
 37        qlabs.open("localhost")
 38    except:
 39        print("Unable to connect to QLabs")
 40        return
 41
 42    # destroy any spawned actors in our QLabs that currently exist
 43    qlabs.destroy_all_spawned_actors()
 44    # create a camera in this qlabs instance
 45    camera = QLabsFreeCamera(qlabs)
 46    # add a custom camera at a specified location and rotation using degrees
 47    camera.spawn_degrees(location=loc, rotation=rot)
 48    # to switch our view from our current camera to the new camera we just initialized
 49    camera.possess()
 50
 51    # initialize 4 cubes in our qlabs instance
 52    cube0 = QLabsBasicShape(qlabs)
 53    cube1 = QLabsBasicShape(qlabs)
 54    cube2 = QLabsBasicShape(qlabs, True)
 55    cube3 = QLabsBasicShape(qlabs, True)
 56
 57    # spawn one of the cubes using radians
 58    cube0.spawn_id(actorNumber=0, location=[-15.202, 36.005, 0.5], rotation=[0,0,math.pi/4], scale=[0.5,0.5,0.5], configuration=cube0.SHAPE_CUBE, waitForConfirmation=True)
 59    # ping this cube, expect True if cube does exist and the actorNumber hasn't been changed
 60    cube0.ping()
 61    # collecting the world transform coordinates of the cube
 62    x, loc, rot, scale = cube0.get_world_transform()
 63    print(x, loc, rot, scale)
 64    
 65    # spawn a second cube using degrees
 66    cube1.spawn_id_degrees(actorNumber=1, location=[-18.503, 33.677, 0.5], rotation=[0,0,45], scale=[0.5,0.5,0.5], configuration=cube1.SHAPE_CUBE, waitForConfirmation=True)
 67    # wait to see visualization
 68    time.sleep(1)
 69    # destroy this created block
 70    cube1.destroy()
 71    # spawn a third and fourth cube relative to another parent actor already created in our qlabs instance using radians and then degrees respectively
 72    cube2.spawn_id_and_parent_with_relative_transform(actorNumber=2, location=[0,2,0], rotation=[0,0,math.pi/4], scale=[1,1,1], configuration=cube2.SHAPE_CUBE, parentClassID=cube0.ID_BASIC_SHAPE, parentActorNumber=cube0.actorNumber, parentComponent=0, waitForConfirmation=True)
 73    cube3.spawn_id_and_parent_with_relative_transform_degrees(actorNumber=3, location=[0,-2,0], rotation=[0,0,45], scale=[1,1,1], configuration=cube3.SHAPE_CUBE, parentClassID=cube0.ID_BASIC_SHAPE, parentActorNumber=cube0.actorNumber, parentComponent=0, waitForConfirmation=True)
 74    # set the material properties to a metallic red and gold reflective surface
 75    cube2.set_material_properties(color=[1,0,0], roughness=0.0, metallic=True, waitForConfirmation=True)
 76    cube3.set_material_properties(color=[252/255,144/255,3/255], roughness=0.0, metallic=True, waitForConfirmation=True)
 77    # have child actors rotate around the parent actor as their scale grows in size simultaneously
 78    for y in range(51):
 79        cube0.set_transform(location=[-15.202, 36.005, 0.5], rotation=[0,0,math.pi/4+2*math.pi/50*y], scale=[0.5+0.5*y/50,0.5+0.5*y/50,0.5+0.5*y/50])
 80        cube2.set_transform(location=[0,2,0], rotation=[0,0,math.pi/4-math.pi/25*y], scale=[1,1,1])
 81        cube3.set_transform_degrees(location=[0,-2,0], rotation=[0,0,45-180/25*y], scale=[1,1,1])
 82    
 83    # initialize 6 spheres in our qlabs instance
 84    sphere10 = QLabsBasicShape(qlabs)
 85    sphere11 = QLabsBasicShape(qlabs)
 86    sphere12 = QLabsBasicShape(qlabs)
 87
 88    sphere13 = QLabsBasicShape(qlabs)
 89    sphere14 = QLabsBasicShape(qlabs)
 90    sphere15 = QLabsBasicShape(qlabs)
 91
 92    # for the three first spheres, spawns spheres increasing in size using radians
 93    sphere10.spawn_id(actorNumber=10, location=[-18.75, 32.5, 0.25], rotation=[0,0,0], scale=[0.5,0.5,0.5], configuration=sphere10.SHAPE_SPHERE, waitForConfirmation=True)
 94    sphere11.spawn_id(actorNumber=11, location=[-18.75, 31.5, 1], rotation=[0,0,0], scale=[0.6,0.6,0.6], configuration=sphere11.SHAPE_SPHERE, waitForConfirmation=True)
 95    sphere12.spawn_id(actorNumber=12, location=[-18.75, 30.5, 0.25], rotation=[0,0,0], scale=[0.7,0.7,0.7], configuration=sphere12.SHAPE_SPHERE, waitForConfirmation=True)
 96    
 97    # in qlabs, the color of shapes uses the RGB color space with 0 to 255 represented between 0 and 1.
 98    # if you know what color you'd like to set your shape in RGB simply devide the red, green and blue numbers by 255.
 99    # this script sets these spheres to red, green and blue respectively while increasing in roughness
100    sphere10.set_material_properties(color=[1,0,0], roughness=0.0, metallic=False, waitForConfirmation=True)
101    sphere11.set_material_properties(color=[0,1,0], roughness=0.5, metallic=False, waitForConfirmation=True)
102    sphere12.set_material_properties(color=[0,0,1], roughness=1.0, metallic=False, waitForConfirmation=True)
103    
104    # we want to now look at physics properties that are available to us in qlabs
105    # if we spawn three more spheres and set the properties of these spheres to
106    sphere13.spawn_id(actorNumber=13, location=[-16.253, 28.614, 1], rotation=[0,0,0], scale=[0.6,0.6,0.6], configuration=sphere13.SHAPE_SPHERE, waitForConfirmation=True)
107    sphere14.spawn_id(actorNumber=14, location=[-13.899, 26.174, 1], rotation=[0,0,0], scale=[0.6,0.6,0.6], configuration=sphere14.SHAPE_SPHERE, waitForConfirmation=True)
108    sphere15.spawn_id(actorNumber=15, location=[-16.253, 28.614, 1], rotation=[0,0,0], scale=[0.6,0.6,0.6], configuration=sphere13.SHAPE_SPHERE, waitForConfirmation=True)
109    sphere13.set_physics_properties(mass=10, linearDamping=0, angularDamping=0, enableDynamics=True, waitForConfirmation=True)
110    sphere13.set_enable_collisions(enableCollisions=True, waitForConfirmation=True)
111    sphere15.set_physics_properties(mass=0.5, linearDamping=0, angularDamping=0, enableDynamics=True, waitForConfirmation=True)
112    sphere15.set_enable_collisions(enableCollisions=True, waitForConfirmation=True)
113
114    sphere10.set_enable_dynamics(enableDynamics=True, waitForConfirmation=True)
115    sphere11.set_enable_dynamics(enableDynamics=True, waitForConfirmation=True)
116    sphere12.set_enable_dynamics(enableDynamics=True, waitForConfirmation=True)
117    sphere13.set_enable_dynamics(enableDynamics=True, waitForConfirmation=True)
118
119    
120
121    boxSpawn = QLabsBasicShape(qlabs)
122    boxSpawn.spawn_id_box_walls_from_center(actorNumbers=[210, 211, 212, 213, 214], centerLocation=[-14.35, 26.5, 0.005], yaw=math.pi/4, xSize=2, ySize=2, zHeight=0.5, wallThickness=0.1, floorThickness=0.1, wallColor=[1,0,0], floorColor=[0,0,0], waitForConfirmation=True)
123
124
125    boxSpawn.spawn_id_box_walls_from_center_degrees(actorNumbers=[270, 271, 272, 273, 274], centerLocation=[-16.35, 28.5, 0.005], yaw=45, xSize=2, ySize=2, zHeight=0.5, wallThickness=0.1, floorThickness=0.1, wallColor=[1,0,0], floorColor=[0,0,0], waitForConfirmation=True)
126
127
128    boxSpawn.spawn_id_box_walls_from_end_points(actorNumber=280, startLocation=[-15.5, 32.5, 0.005], endLocation=[-15.5, 30.5, 0.005], height=0.1, thickness=0.1, color=[0.2,0.2,0.2], waitForConfirmation=True)
129
130
131    x, shapeHandle1 = boxSpawn.spawn(location=[-11.945, 31.5, 0.5], rotation=[0,0,math.pi/4], scale=[1,1,1], configuration=boxSpawn.SHAPE_CUBE, waitForConfirmation=True)
132    x, shapeHandle2 = boxSpawn.spawn(location=[-11.945, 31.5, 1.375], rotation=[0,0,0], scale=[0.75,0.75,0.75], configuration=boxSpawn.SHAPE_CUBE, waitForConfirmation=True)
133    x, shapeHandle3 = boxSpawn.spawn(location=[-11.945, 31.5, 2], rotation=[0,0,math.pi/4], scale=[0.5,0.5,0.5], configuration=boxSpawn.SHAPE_CUBE, waitForConfirmation=True)
134
135
136    x, shapeHandle4 = boxSpawn.spawn_degrees(location=[-11.945, 31.5, 2.50], rotation=[0,0,0], scale=[0.5,0.5,0.5], configuration=boxSpawn.SHAPE_CUBE, waitForConfirmation=True)
137    x, shapeHandle5 = boxSpawn.spawn_degrees(location=[-11.945, 31.5, 2.875], rotation=[0,0,45], scale=[0.25,0.25,0.25], configuration=boxSpawn.SHAPE_CUBE, waitForConfirmation=True)
138
139
140    boxSpawn.actorNumber = shapeHandle1
141    boxSpawn.set_material_properties(color=[0,0,0], roughness=0.0, metallic=False, waitForConfirmation=True)
142    boxSpawn.actorNumber = shapeHandle2
143    boxSpawn.set_material_properties(color=[1,1,1], roughness=0.0, metallic=False, waitForConfirmation=True)
144    boxSpawn.actorNumber = shapeHandle3
145    boxSpawn.set_material_properties(color=[0.5,0.5,0.5], roughness=0.0, metallic=False, waitForConfirmation=True)
146    boxSpawn.actorNumber = shapeHandle4
147    boxSpawn.set_material_properties(color=[0,0,0], roughness=0.0, metallic=False, waitForConfirmation=True)
148
149    
150
151if __name__ == "__main__":
152    main()