class XMLTruck(XMLVehicle):
def __init__(self, xmlfile, datadir, spawnpos, world):
super(XMLTruck, self).__init__(xmlfile, datadir, spawnpos, world)
p = self.parser # For readability...
self.hitchConstraint = None
self.hitchedTrailer = None
# ===== Sound =====
self.sound = SoundController(p.getEngineRpmIdle(),
p.getEngineRpmMax() * 1./4.,
p.getEngineRpmMax() * 2./4.,
p.getEngineRpmMax() * 3./4.)
# ===== Steering =====
self.physMaxAngle = p.getSteeringAngleMax() # The absolute maximum angle possible
self.maxAngle = self.physMaxAngle # The maximum steering angle at the current speed (speed-sensitive)
self.rate = p.getSteeringRate()
self.curAngle = 0.0
self._steerDir = 0 # -1, 0, 1: Sets the direction of steering
# ===== Select a drivetrain =====
if p.getDrivetrainType() == "automatic":
#self.drivetrain = AutomaticDt(self.vehicle, self.parser)
self.drivetrain = Drivetrain(self.vehicle, self.parser)
else:
print "[WRN] The selected drivetrain type is unknown, choosing automatic!"
self.drivetrain = AutomaticDt(self.vehicle, self.parser)
def setGas(self, gas):
if gas <= 1. and gas >= 0.:
self.drivetrain.setGas(gas)
else:
print "Truck.py:setGas(gas) out of range! (0 < x < 1)"
def setBrake(self, brake):
if brake <= 1. and brake >= 0.:
self.drivetrain.setBrake(brake)
else:
print "Truck.py:setBrake(brake) out of range! (0 < x < 1)"
def getGbState(self):
return self.drivetrain.getGbState()
def shiftDrive(self):
self.drivetrain.shiftDrive()
def shiftNeutral(self):
self.drivetrain.shiftNeutral()
def shiftReverse(self):
self.drivetrain.shiftReverse()
def shiftPark(self):
self.drivetrain.shiftPark()
def steer(self, direction):
if direction >= -1 and direction <= 1:
self._steerDir = direction
else:
print "[WRN] XMLTruck:steer(): Invalid direction parameter."
def _steer(self):
# We are speed sensitive
speed = self.vehicle.getCurrentSpeedKmHour()
if speed > 0 and speed < 90:
self.maxAngle = (-.5) * speed + 45 # Graph this on WolframAlpha to make it obvious :)
elif speed > 90:
self.maxAngle = 1.0
if self._steerDir == 1 and self.curAngle < self.maxAngle:
if self.curAngle < 0:
self.curAngle += 2.0 * self.rate
else:
self.curAngle += self.rate
elif self._steerDir == -1 and self.curAngle > self.maxAngle * -1:
if self.curAngle > 0:
self.curAngle -= 2.0 * self.rate
else:
self.curAngle -= self.rate
else: # self._steerDir == 0
# steer straight
if self.curAngle > self.rate:
self.curAngle -= 2.0 * self.rate
elif self.curAngle < self.rate * -1.0:
self.curAngle += 2.0 * self.rate
else:
self.curAngle = 0.0
def update(self, dt):
super(XMLTruck, self).update(dt)
self._steer()
self.drivetrain.update(dt)
self._applyAirDrag()
self._makeSound()
if not self.hitchedTrailer == None:
self.hitchedTrailer.update(dt, self.curAngle)
for axle in range(0, self.parser.getAxleCount()):
if self.parser.isAxleSteerable(axle):
self.vehicle.setSteeringValue(self.curAngle * self.parser.getAxleSteeringFactor(axle), 2 * axle)
self.vehicle.setSteeringValue(self.curAngle * self.parser.getAxleSteeringFactor(axle), 2 * axle + 1)
def _applyAirDrag(self):
# air density 0.0012 g/cm3 (at sea level and 20 °C)
# cw-Value: 0.8 for a "truck", 0.5 for a modern 40 ton "with aero-kit" (see wikipedia), choosing 0.4 for now.
# force = (density * cw * A * vel) / 2
force = 0.0012 * 0.4 \
* (self.parser.getDimensions()[0] * self.parser.getDimensions()[1]) \
* (self.getSpeed() / 3.6) \
/ 2
# Its a braking force, after all
force *= -1.
relFVector = self.components[0].getBodyNp().getRelativeVector(render, Point3(0, force, 0))
self.components[0].getBodyNp().node().applyCentralForce(relFVector);
def _makeSound(self):
self.sound.playEngineSound(self.getRpm(), self.drivetrain.getGasPedal())
def getRpm(self):
return self.drivetrain.getRpm()
def getGear(self):
return self.drivetrain.getGear()
def reset(self):
for meshId in range(0, self.parser.getMeshCount()):
self.components[meshId].setR(0)
if meshId == 0:
self.components[meshId].setPos(self.components[meshId].getPos() + Vec3(0, 0, 1.5))
else:
parentComp = self.components[self.parser.getMeshParent(meshId)]
self.components[meshId].getBodyNp().setPos(self.components[meshId].getBodyNp().getPos()
+ self.parser.getMeshOffset(meshId)
+ Vec3(0, 0, 1.5))
if not self.hitchedTrailer == None:
self.hitchedTrailer.getChassis().setPos(self.hitchedTrailer.getChassis().getPos() + (0,0,1.5))
self.hitchedTrailer.getChassis().setR(0)
def control(self, conIndex, direction):
if not direction in [-1, 0, 1]:
raise ValueError("direction is none of [-1, 0, 1]")
if conIndex == 0:
if direction in [-1, 1]:
self.constraints[conIndex].getConstraint().enableAngularMotor(True, .4 * direction, 10000000.)
elif direction == 0:
self.constraints[conIndex].getConstraint().enableAngularMotor(True, .0, 1000000.)
else:
print "[WRN] XMLTruck:control0(direction): Direction is none of [1., 0., -1.]"
def couple(self, vehicles):
""" Checks if another vehicle is within 1 unit (meter) range of our hitch. If yes, it will be connected to us. """
if self.hitchConstraint == None:
ourHitchAbsolute = Util.getAbsolutePos(self.getTrailerHitchPoint(), self.getChassis().getBodyNp())
for vehicle in vehicles:
otherHitchAbsolute = Util.getAbsolutePos(vehicle.getTrailerHitchPoint(), vehicle.getChassis().getBodyNp())
if not self == vehicle and vehicle.getType() == "trailer" \
and Util.getDistance(ourHitchAbsolute, otherHitchAbsolute) <= 1:
self.hitchConstraint = self.createCouplingJoint(self.getTrailerHitchPoint(),
vehicle.getTrailerHitchPoint(), vehicle.getChassis().getBodyNp().node())
self.hitchedTrailer = vehicle
else:
self.world.removeConstraint(self.hitchConstraint)
self.hitchConstraint = None
self.hitchedTrailer = None
def createCouplingJoint(self, ourHitch, otherHitch, otherChassisNode):
#BulletConeTwistConstraint (BulletRigidBodyNode const node_a, BulletRigidBodyNode const node_b,
# TransformState const frame_a, TransformState const frame_b)
ourFrame = TransformState.makePosHpr(ourHitch, Vec3(0,0,0))
otherFrame = TransformState.makePosHpr(otherHitch, Vec3(0,0,0))
hitchConstraint = BulletConeTwistConstraint(self.getChassis().getBodyNp().node(), otherChassisNode, ourFrame, otherFrame)
hitchConstraint.setLimit(170, 40, 30)
self.world.attachConstraint(hitchConstraint)
return hitchConstraint
class Truck:
'''
The player truck.
'''
# steering
physMaxAngle = 45.0 # The absolute maximum angle
curAngle = 0.0
maxAngle = physMaxAngle # The maximum steering angle at the current speed (speed-sensitive)
rate = 1.1
_steerDir = 0 # -1, 0, 1: Sets the direction of steering
def __init__(self, chassismesh, wheelmesh, pos, SCALE, maskTrucks, world):
'''
Loads the chassismesh, sets the truck up and ignites the engine.
'''
self.world = world
# eggmesh: center-side 1m, center-front 2.5m, center-top 1.7m, height exhaust: 0.1m
# chassis box: .51m high, cabin box 1.18m high (without exhaust tips)
# platform: 3.15m x 2m x 0.6m (l,w,h)
# === Chassis ===
npBody = render.attachNewNode(BulletRigidBodyNode('truckBox'))
# TransformState: compensate for the exhausts sticking out of the top
npBody.node().addShape(BulletBoxShape(Vec3(1, 2.5, .51/2.0)), TransformState.makePos(Vec3(0, 0, -.65)))
npBody.node().addShape(BulletBoxShape(Vec3(1, .75, 1.18/2.0)), TransformState.makePos(Vec3(0, 1.75, .2)))
npBody.node().setMass(3362.0)
npBody.node().setDeactivationEnabled(False)
npBody.setPos(pos)
self.world.attachRigidBody(npBody.node())
npTruckMdl = npBody.attachNewNode(loader.loadModel(chassismesh).node())
self.chassis = VComponent(npTruckMdl, npBody)
# === Platform / Dumper ===
npDump = npBody.attachNewNode(BulletRigidBodyNode("dumpBox"))
npDump.node().addShape(BulletBoxShape(Vec3(1., 3.15/2., 0.6/2.)))
npDump.node().setMass(300.0)
npDump.node().setDeactivationEnabled(False)
npDump.setPos(pos + (0, -.925, -2.1))
self.world.attachRigidBody(npDump.node())
npDumpMdl = npDump.attachNewNode(loader.loadModel("../../data/mesh/mulde.egg").node())
self.dump = VComponent(npDumpMdl, npDump)
# === Connect Chassis and Dumper ===
#BulletHingeConstraint (BulletRigidBodyNode const node_a, BulletRigidBodyNode const node_b,
# Point3 const pivot_a, Point3 const pivot_b,
# Vec3 const axis_a, Vec3 const axis_b,
# bool use_frame_a)
con = BulletHingeConstraint(npBody.node(), npDump.node(),
Point3(0, -2.5, -.4), Point3(0, -3.15/2., -.4),
Vec3(1,0,0), Vec3(1,0,0), True)
con.setAxis(Vec3(1,0,0))
con.setLimit(0, 50)
con.setDebugDrawSize(2.0)
self.world.attachConstraint(con)
self.dumperCon = con
# Keep the dumper down
self.dumperCon.enableAngularMotor(True, -5., 300.)
# === BulletVehicle setup ===
self.vehicle = BulletVehicle(self.world, npBody.node())
self.vehicle.setCoordinateSystem(ZUp)
self.world.attachVehicle(self.vehicle)
self.tuningGui = TuningGui(self.vehicle.getTuning())
tuning = self.vehicle.getTuning()
self.drivetrain = AutomaticDt(self.vehicle)
# === We need rolling devices! ===
self.wheels = []
for i in range(0, 4):
rideHeight = -0.3
pos = Point3(0, 0, rideHeight)
if i == 0:
pos += (-.85, 1.8, rideHeight)
if i == 1:
pos += (.85, 1.8, rideHeight)
if i == 2:
pos += (-.85, -1.5, rideHeight)
if i == 3:
pos += (.85, -1.5, rideHeight)
# Prepare bullet nodes
npBody = render.attachNewNode(BulletRigidBodyNode('wheelBox'))
npBody.node().setMass(25.0)
npBody.setPos(pos)
self.world.attachRigidBody(npBody.node())
npWheelMdl = npBody.attachNewNode(loader.loadModel(wheelmesh).node())
if i % 2 == 0:
npWheelMdl.setH(180.0) # We need to turn around the meshes of wheel 0 and 2, the left ones
wheel = self.vehicle.createWheel()
wheel.setNode(npBody.node())
wheel.setChassisConnectionPointCs(pos)
wheel.setWheelDirectionCs(Vec3(0, 0, -1))
wheel.setWheelAxleCs(Vec3(1, 0, 0))
wheel.setWheelRadius(.45)
isPowered = False
# suspension setup
if i in range(0, 2): # [0, 1]
# front axle
wheel.setFrontWheel(True)
wheel.setMaxSuspensionTravelCm(35.0)
wheel.setMaxSuspensionForce(60000.0) # 3362 kg * 10 N/kg + some extra
wheel.setSuspensionStiffness(20.0)
wheel.setWheelsDampingRelaxation(2.)
wheel.setWheelsDampingCompression(5.)
wheel.setFrictionSlip(1.5)
wheel.setRollInfluence(0.3)
if i in range(2, 4): # [2, 3]
# rear axle
wheel.setMaxSuspensionTravelCm(40.0)
wheel.setMaxSuspensionForce(60000.0)
wheel.setSuspensionStiffness(35.0)
wheel.setWheelsDampingRelaxation(2.)
wheel.setWheelsDampingCompression(5.)
wheel.setFrictionSlip(1.5)
wheel.setRollInfluence(0.3)
isPowered = True
self.wheels.append(VWheel(npWheelMdl, npBody, wheel, isPowered))
# =========================
# === Setup the trailer ===
npTrailer = render.attachNewNode(BulletRigidBodyNode('trailerBox'))
npTrailer.node().addShape(BulletBoxShape(Vec3(1, 3.15/2., .27/2.0)), TransformState.makePos(Vec3(0,-.5, .15/2.)))
npTrailer.node().setMass(800.0)
npTrailer.node().setDeactivationEnabled(False)
npTrailer.setPos(self.chassis.getPos() + (0,-5,0))
self.world.attachRigidBody(npTrailer.node())
npTrailerMdl = npTrailer.attachNewNode(loader.loadModel("../../data/mesh/trailer.egg").node())
self.tChassis = VComponent(npTrailerMdl, npTrailer)
self.trailer = BulletVehicle(self.world, npTrailer.node())
self.trailer.setCoordinateSystem(ZUp)
self.world.attachVehicle(self.trailer)
tuning = self.trailer.getTuning()
tuning.setMaxSuspensionTravelCm(40.0)
tuning.setMaxSuspensionForce(40000.0) # 1500 kg * 10 N/kg + a little extra
tuning.setSuspensionStiffness(20.0)
tuning.setSuspensionDamping(3.0)
tuning.setSuspensionCompression(5.0)
tuning.setFrictionSlip(1.5)
# === We need rolling devices! ===
self.tWheels = []
for i in range(0, 4):
pos = Point3(0,0,0)
rideHeight = 0
if i == 0:
pos += (-.85, 0, rideHeight)
if i == 1:
pos += (.85, 0, rideHeight)
if i == 2:
pos += (-.85, -1, rideHeight)
if i == 3:
pos += (.85, -1, rideHeight)
# Prepare bullet nodes
npBody = render.attachNewNode(BulletRigidBodyNode('tWheelBox'))
npBody.node().setMass(25.0)
npBody.setPos(pos)
self.world.attachRigidBody(npBody.node())
npWheelMdl = npBody.attachNewNode(loader.loadModel(wheelmesh).node())
if i % 2 == 0:
npWheelMdl.setH(180.0) # We need to turn around the meshes of wheel 0 and 2, the left ones
wheel = self.trailer.createWheel()
wheel.setNode(npBody.node())
wheel.setChassisConnectionPointCs(pos)
wheel.setWheelDirectionCs(Vec3(0, 0, -1))
wheel.setWheelAxleCs(Vec3(1, 0, 0))
wheel.setWheelRadius(.45)
wheel.setRollInfluence(0.3)
self.tWheels.append(VWheel(npWheelMdl, npBody, wheel, False))
# === Connect truck and trailer ===
# Truck hook point: (0, -2.511, -.515)
# Trailer hook poi: (0, 2.086, .075)
#BulletConeTwistConstraint (BulletRigidBodyNode const node_a, BulletRigidBodyNode const node_b, TransformState const frame_a, TransformState const frame_b)
t1 = TransformState.makePosHpr(Point3(0, -2.511, -.515), Vec3(0,0,0))
t2 = TransformState.makePosHpr(Point3(0, 2.086, .075), Vec3(0, 0, 0))
hitch = BulletConeTwistConstraint(self.chassis.getBody().node(), self.tChassis.getBody().node(), t1, t2)
hitch.setLimit(170, 40, 30)
self.world.attachConstraint(hitch)
# === Put a dumper onto the trailer ===
nptDump = npTrailer.attachNewNode(BulletRigidBodyNode("tdumpBox"))
nptDump.node().addShape(BulletBoxShape(Vec3(1., 3.15/2., 0.6/2.)))
nptDump.node().setMass(300.0)
nptDump.node().setDeactivationEnabled(False)
nptDump.setPos(Point3(0, -.5, .5))
self.world.attachRigidBody(nptDump.node())
nptDumpMdl = nptDump.attachNewNode(loader.loadModel("../../data/mesh/mulde.egg").node())
self.tdump = VComponent(nptDumpMdl, npTrailer)
# === Connect trailer and dumper ===
#BulletHingeConstraint (BulletRigidBodyNode const node_a, BulletRigidBodyNode const node_b,
# Point3 const pivot_a, Point3 const pivot_b,
# Vec3 const axis_a, Vec3 const axis_b,
# bool use_frame_a)
tcon = BulletHingeConstraint(npTrailer.node(), nptDump.node(),
Point3(0, -3.15/2, .1), Point3(0, -3.15/2., .1),
Vec3(1,0,0), Vec3(1,0,0), True)
tcon.setAxis(Vec3(1,0,0))
tcon.setLimit(0, 50)
tcon.setDebugDrawSize(2.0)
self.world.attachConstraint(tcon)
# Keep the dumper down
tcon.enableAngularMotor(True, -5., 300.)
def update(self, dt):
self._steer()
self.drivetrain.update(dt)
def setGas(self, gas):
if gas <= 1. and gas >= 0.:
self.drivetrain.setGas(gas)
else:
print "Truck.py:setGas(gas) out of range! (0 < x < 1)"
def setBrake(self, brake):
if brake <= 1. and brake >= 0.:
self.drivetrain.setBrake(brake)
else:
print "Truck.py:setBrake(brake) out of range! (0 < x < 1)"
def getGbState(self):
return self.drivetrain.getGbState()
def shiftDrive(self):
self.drivetrain.shiftDrive()
def shiftNeutral(self):
self.drivetrain.shiftNeutral()
def shiftReverse(self):
self.drivetrain.shiftReverse()
def shiftPark(self):
self.drivetrain.shiftPark()
def steer(self, direction):
if direction in [-1, 0, 1]:
self._steerDir = direction
else:
print "[WRN] Truck.py:steer(): Invalid direction parameter."
def _steer(self):
# We are speed sensitive
speed = self.vehicle.getCurrentSpeedKmHour()
if speed > 0 and speed < 90:
self.maxAngle = (-.5) * speed + 45 # Graph this on WolframAlpha to make it obvious :)
elif speed > 90:
self.maxAngle = 1.0
if self._steerDir == 1 and self.curAngle < self.maxAngle:
if self.curAngle < 0:
self.curAngle += 2.0 * self.rate
else:
self.curAngle += self.rate
elif self._steerDir == -1 and self.curAngle > self.maxAngle * -1:
if self.curAngle > 0:
self.curAngle -= 2.0 * self.rate
else:
self.curAngle -= self.rate
else: # self._steerDir == 0
# steer straight
if self.curAngle > self.rate:
self.curAngle -= 2.0 * self.rate
elif self.curAngle < self.rate * -1.0:
self.curAngle += 2.0 * self.rate
else:
self.curAngle = 0.0
self.vehicle.setSteeringValue(self.curAngle, 0)
self.vehicle.setSteeringValue(self.curAngle, 1)
def getRpm(self):
return self.drivetrain.getRpm()
def getGear(self):
return self.drivetrain.getGear()
def reset(self):
self.chassis.setPos(self.chassis.getPos() + (0,0,1.5))
self.chassis.setR(0)
def tiltDumper(self, direction):
if direction in [-1., 1.]:
self.dumperCon.enableAngularMotor(True, .4 * direction, 10000000.)
elif direction == 0.:
self.dumperCon.enableAngularMotor(True, .0, 1000000.)
else:
print "[WRN] Truck.py:tiltDumper(direction): Direction is none of [1., 0., -1.]"
def getChassisNp(self):
return self.chassis.getNp()
def getChassis(self):
return self.chassis
def getSpeed(self):
return self.vehicle.getCurrentSpeedKmHour()