WorldViz User Forum - CompositeShape proximity sensor

You can create a custom vizproximity.Shape class that applies an arbitrary transformation on the underlying shape. Here is an example:
Code:
import viz

import vizcam

import vizshape

import vizproximity

viz.go()

viz.fov(60)



# Create manager tracked axes

manager = vizproximity.Manager()

manager.setDebug(True)

manager.addTarget(vizproximity.Target(viz.MainView))



class TransformedShape(vizproximity.Shape):

        def __init__(self, shape, transform):

                self._shape = shape

                self._transform = viz.Matrix(transform)

                self._inverseTransform = self._transform.inverse()



        def containsPoint(self,point):

                """Returns whether the point is inside the shape"""



                # Transform point into local reference frame

                point_local = self._inverseTransform.preMultVec(point)



                # Return whether point is inside shape

                return self._shape.containsPoint(point_local)



        def createDebugNode(self,data):

                """Create and return node object for visualizing proximity shape"""

                group = viz.addGroup()

                group.setMatrix(self._transform)

                s = self._shape.createDebugNode(data)

                s.setParent(group)

                return group



# Sensor callbacks

def onEnter(e):

        print 'Entered'



def onExit(e):

        print 'Exited'



shapes = []

shapes.append( vizproximity.Sphere(0.3,(0,1,0)) )

shapes.append( vizproximity.Box([0.4,1.0,0.2]) )



xform = viz.Matrix()

xform.setPosition((0.5,0.6,0))

xform.setEuler((0,0,-45))

shapes.append( TransformedShape(vizproximity.Box([0.2,0.5,0.2]),xform))



xform = viz.Matrix()

xform.setPosition((-0.5,0.6,0))

xform.setEuler((0,0,45))

shapes.append( TransformedShape(vizproximity.Box([0.2,0.5,0.2]),xform))



xform = viz.Matrix()

xform.setPosition((-0.3,-1,0))

xform.setEuler((0,0,-20))

shapes.append( TransformedShape(vizproximity.Box([0.2,0.8,0.2]),xform))



xform = viz.Matrix()

xform.setPosition((0.3,-1,0))

xform.setEuler((0,0,20))

shapes.append( TransformedShape(vizproximity.Box([0.2,0.8,0.2]),xform))



sensor = vizproximity.Sensor(vizproximity.CompositeShape(shapes),None)

manager.addSensor(sensor)

manager.onEnter(sensor,onEnter)

manager.onExit(sensor,onExit)



# Setup environment

vizshape.addGrid(color=[0.2]*3,pos=(0,-0.01,0))

viz.clearcolor(viz.GRAY)



# Setup pivot navigation

import vizcam

cam = vizcam.PivotNavigate(distance=10)

cam.rotateUp(60)

viz.cam.setHandler(cam)