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EmbodiedAvatar

from tdw.add_ons.embodied_avatar import EmbodiedAvatar

An EmbodiedAvatar is an avatar with a physical body. The body has a simple shape and responds to physics (just like objects and robots).

Class Variables

Variable Type Description Value
RENDER_ORDER int The render order. Third person cameras will always render "on top" of any other cameras. 100

Fields

  • transform Transform data for the avatar.

  • rigidbody Rigidbody data for the avatar.

  • camera_rotation The rotation of the camera as an [x, y, z, w] numpy array.

  • is_moving If True, the avatar is currently moving or turning.

  • avatar_id The ID of the avatar that (this camera).

  • position The position of the camera. If None, defaults to {"x": 0, "y": 0, "z": 0}.

  • commands These commands will be appended to the commands of the next communicate() call.

  • initialized If True, this module has been initialized.

Functions

__init__

EmbodiedAvatar()

EmbodiedAvatar(avatar_id=None, position=None, rotation=None, field_of_view=None, color=None, body=AvatarBody.capsule, scale_factor=None, mass=80, dynamic_friction=0.3, static_friction=0.3, bounciness=0.7)

Parameter Type Default Description
avatar_id str None The ID of the avatar. If None, a random ID is generated.
position Dict[str, float] None The initial position of the avatar. If None, defaults to {"x": 0, "y": 0, "z": 0}.
rotation Dict[str, float] None The initial rotation of the avatar. Can be Euler angles (keys are (x, y, z)) or a quaternion (keys are (x, y, z, w)). If None, defaults to {"x": 0, "y": 0, "z": 0}.
field_of_view int None The initial field of view.
color Dict[str, float] None The color of the avatar as an r, g, b, a dictionary where each value is between 0 and 1. Can be None.
body AvatarBody AvatarBody.capsule The body of the avatar.
scale_factor Dict[str, float] None Scale the avatar by this factor. Can be None.
mass float 80 The mass of the avatar.
dynamic_friction float 0.3 The dynamic friction coefficient of the avatar.
static_friction float 0.3 The static friction coefficient of the avatar.
bounciness float 0.7 The bounciness of the avatar.

on_send

self.on_send(resp)

This is called after commands are sent to the build and a response is received.

Use this function to send commands to the build on the next frame, given the resp response. Any commands in the self.commands list will be sent on the next frame.

Parameter Type Default Description
resp List[bytes] The response from the build.

get_initialization_commands

self.get_initialization_commands()

This function gets called exactly once per add-on. To re-initialize, set self.initialized = False.

Returns: A list of commands that will initialize this add-on.

before_send

self.before_send(commands)

This is called before sending commands to the build. By default, this function doesn't do anything.

Parameter Type Default Description
commands List[dict] The commands that are about to be sent to the build.

get_early_initialization_commands

self.get_early_initialization_commands()

This function gets called exactly once per add-on. To re-initialize, set self.initialized = False.

These commands are added to the list being sent on communicate() before any other commands, including those added by the user and by other add-ons.

Usually, you shouldn't override this function. It is useful for a small number of add-ons, such as loading screens, which should initialize before anything else.

Returns: A list of commands that will initialize this add-on.

apply_force

self.apply_force(force)

Apply a force to the avatar to begin moving it.

Parameter Type Default Description
force Union[float, int, Dict[str, float] The force. If float: apply a force along the forward (positive value) or backward (negative value) directional vector of the avatar. If dictionary or numpy array: Apply a force defined by the x, y, z vector.

apply_torque

self.apply_torque(torque)

Apply a torque to the avatar so that it starts turning.

Parameter Type Default Description
torque float The torque. Positive value = clockwise rotation.

set_drag

self.set_drag()

self.set_drag(drag=1, angular_drag=0.5)

Set the drag of the avatar. Increase this to force the avatar to slow down.

Parameter Type Default Description
drag float 1 The drag of the rigidbody. A higher drag value will cause the avatar slow down faster.
angular_drag float 0.5 The angular drag of the rigidbody. A higher angular drag will cause the avatar's rotation to slow down faster.

rotate_camera

self.rotate_camera(rotation)

Rotate the camera.

Parameter Type Default Description
rotation Dict[str, float] Rotate the camera by these angles (in degrees). Keys are "x", "y", "z" and correspond to (pitch, yaw, roll).

look_at

self.look_at(target)

Look at a target object or position.

Parameter Type Default Description
target TARGET The target. If int: an object ID. If a dictionary or numpy array: an x, y, z position.

reset_camera

self.reset_camera()

Reset the rotation of the camera.