def main():
dynamicsWorld = DiscreteDynamicsWorld()
groundShape = BoxShape(Vector3(50, 50, 50))
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(0, -56, 0))
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
ground = RigidBody(groundMotion, groundShape)
dynamicsWorld.addRigidBody(ground)
ballShape = BoxShape(Vector3(1, 1, 1))
ballTransform = Transform()
ballTransform.setIdentity()
ballTransform.setOrigin(Vector3(2, 10, 0))
ballMotion = DefaultMotionState()
ballMotion.setWorldTransform(ballTransform)
ball = RigidBody(ballMotion, ballShape, 1.0)
dynamicsWorld.addRigidBody(ball)
for i in range(100):
dynamicsWorld.stepSimulation(1.0 / 60.0, 10)
for obj in ballMotion, groundMotion:
o = obj.getWorldTransform().getOrigin()
print 'world pos = %0.6f,%0.6f,%0.6f' % (o.x, o.y, o.z)
def main():
dynamicsWorld = DiscreteDynamicsWorld()
groundShape = BoxShape(Vector3(50, 50, 50))
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(0, -56, 0))
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
ground = RigidBody(groundMotion, groundShape)
dynamicsWorld.addRigidBody(ground)
ballShape = BoxShape(Vector3(1, 1, 1))
ballTransform = Transform()
ballTransform.setIdentity()
ballTransform.setOrigin(Vector3(2, 10, 0))
ballMotion = DefaultMotionState()
ballMotion.setWorldTransform(ballTransform)
ball = RigidBody(ballMotion, ballShape, 1.0)
dynamicsWorld.addRigidBody(ball)
for i in range(100):
dynamicsWorld.stepSimulation(1.0 / 60.0, 10)
for obj in ballMotion, groundMotion:
o = obj.getWorldTransform().getOrigin()
print 'world pos = %0.6f,%0.6f,%0.6f' % (o.x, o.y, o.z)
def main():
pygame.init()
pygame.display.set_mode((1024, 768), pygame.locals.OPENGL | pygame.locals.DOUBLEBUF)
glEnable(GL_DEPTH_TEST)
gluPerspective(60.0, 640.0 / 480.0, 0.5, 1000.0)
glTranslate(0, -15, -60)
objects = []
dynamicsWorld = DiscreteDynamicsWorld()
objects.append(Ground())
objects.append(Ball(Vector3(1, 10, 0), (255, 0, 0)))
objects.append(Ball(Vector3(0, 20, 1), (0, 255, 0)))
objects.append(Ball(Vector3(0, 30, 1), (255, 255, 0)))
objects.append(Ball(Vector3(0, 40, 1), (0, 255, 255, 0)))
for o in objects:
dynamicsWorld.addRigidBody(o.body)
simulate(dynamicsWorld, objects)
def main():
pygame.init()
pygame.display.set_mode(
(1024, 768), pygame.locals.OPENGL | pygame.locals.DOUBLEBUF)
glEnable(GL_DEPTH_TEST)
gluPerspective(60.0, 640.0 / 480.0, 0.5, 1000.0)
glTranslate(0, -15, -60)
objects = []
dynamicsWorld = DiscreteDynamicsWorld()
objects.append(Ground())
objects.append(Ball(Vector3(1, 10, 0), (255, 0, 0)))
objects.append(Ball(Vector3(0, 20, 1), (0, 255, 0)))
objects.append(Ball(Vector3(0, 30, 1), (255, 255, 0)))
objects.append(Ball(Vector3(0, 40, 1), (0, 255, 255, 0)))
for o in objects:
dynamicsWorld.addRigidBody(o.body)
simulate(dynamicsWorld, objects)
def main():
pygame.init()
pygame.display.set_mode((1024, 768),
pygame.locals.OPENGL | pygame.locals.DOUBLEBUF)
glEnable(GL_DEPTH_TEST)
gluPerspective(60.0, 640.0 / 480.0, 0.5, 1000.0)
glTranslate(0, -15, -60)
objects = []
dynamicsWorld = DiscreteDynamicsWorld()
debug = DebugDraw()
dynamicsWorld.setDebugDrawer(debug)
b1 = Ball(Vector3(-30, 0, 0), (255, 0, 0))
b1.body.applyCentralImpulse(Vector3(30, 40, 0))
objects.append(b1)
b2 = Ball(Vector3(+30, 0, 0), (0, 255, 0))
b2.body.applyCentralImpulse(Vector3(-30, 40, 0))
objects.append(b2)
for o in objects:
dynamicsWorld.addRigidBody(o.body)
while True:
step(dynamicsWorld)
debug.reset()
dynamicsWorld.debugDrawWorld()
glBegin(GL_LINES)
for line in debug.lines:
glColor(*line[6:])
glVertex(*line[:3])
glVertex(*line[3:6])
if debug.contacts:
print 'Contact!', debug.contacts
glEnd()
render(objects)
def main():
pygame.init()
pygame.display.set_mode(
(1024, 768), pygame.locals.OPENGL | pygame.locals.DOUBLEBUF)
glEnable(GL_DEPTH_TEST)
gluPerspective(60.0, 640.0 / 480.0, 0.5, 1000.0)
glTranslate(0, -15, -60)
objects = []
dynamicsWorld = DiscreteDynamicsWorld()
debug = DebugDraw()
dynamicsWorld.setDebugDrawer(debug)
b1 = Ball(Vector3(-30, 0, 0), (255, 0, 0))
b1.body.applyCentralImpulse(Vector3(30, 40, 0))
objects.append(b1)
b2 = Ball(Vector3(+30, 0, 0), (0, 255, 0))
b2.body.applyCentralImpulse(Vector3(-30, 40, 0))
objects.append(b2)
for o in objects:
dynamicsWorld.addRigidBody(o.body)
while True:
step(dynamicsWorld)
debug.reset()
dynamicsWorld.debugDrawWorld()
glBegin(GL_LINES)
for line in debug.lines:
glColor(*line[6:])
glVertex(*line[:3])
glVertex(*line[3:6])
if debug.contacts:
print 'Contact!', debug.contacts
glEnd()
render(objects)
def __init__(self, *args, **kwargs):
super(PoolWindow, self).__init__(*args, **kwargs)
self.set_size(1680, 1000)
#self.set_fullscreen()
self.keys = key.KeyStateHandler()
self.push_handlers(self.keys)
# Setup GL
self.set_vsync(True)
glClearColor(.15, .15, .15, 1)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
glShadeModel(GL_SMOOTH)
self.lpos1 = (0, 0.5 * SCALE_FACTOR, 1 * SCALE_FACTOR, 0)
self.lpos2 = (0, -0.5 * SCALE_FACTOR, 1 * SCALE_FACTOR, 0)
glLightfv(GL_LIGHT0, GL_POSITION, vec(*self.lpos1))
glLightfv(GL_LIGHT1, GL_POSITION, vec(*self.lpos2))
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, GL_TRUE)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_LIGHT1)
# Scroll zoom
self.wheel_step = PoolWindow.ZOOM_SCROLL_STEP
# Setup view
self.view = View(eye=(0, -3 * SCALE_FACTOR, .75 * SCALE_FACTOR),
center=(0, 0, -SCALE_FACTOR))
self.view.set_distance(SCALE_FACTOR)
# The scene
self.table = Table('obj/table.obj', self.view)
self.rails = Rails('obj/rails.obj', self.view)
self.ball = {}
self.ball['cue'] = CueBall('obj/ball.obj', self.view, .260)
self.ball['red'] = CueBall('obj/red.obj', self.view, .260,
eVector3(0, 0.5 * SCALE_FACTOR, 0))
self.ball['yellow'] = CueBall('obj/yellow.obj', self.view, .260,
eVector3(0, -0.5 * SCALE_FACTOR, 0))
self.cue = CueStick('obj/cue.obj', self.view, self.ball['cue'].radius)
self.table.body.setUserPointer("Table")
self.rails.body.setUserPointer("Rails")
self.cue.body.setUserPointer("Cue")
self.ball['cue'].body.setUserPointer("Cue Ball")
self.ball['red'].body.setUserPointer("Red")
self.ball['yellow'].body.setUserPointer("Yellow")
# Set view center
pos = self.ball['cue'].motion.getWorldTransform().getOrigin()
self.view.set_center(eVector3(pos.x, pos.y, pos.z))
# Setup cue (position and orient)
self._reset_cue()
# Initialize physics
self.world = DiscreteDynamicsWorld()
self.debug = DebugDraw()
self.world.setDebugDrawer(self.debug)
self.world.addRigidBody(self.table.body)
self.world.addRigidBody(self.cue.body)
self.world.addRigidBody(self.rails.body)
for ball in self.ball.values():
self.world.addRigidBody(ball.body)
self.world.setGravity(bVector3(0, 0, -9.81 * SCALE_FACTOR))
# Register call-backs
# A 1/60 call-back to run physics (the same as render)
pyglet.clock.schedule(self._step)
# Physic clock callback (usually few times faster than render clock)
self.world.setInternalTickCallback(self.internal_tick_callback, True)
self._setup_pan()
self.topview = False
self.helper = True
self.push_handlers(on_key_press=self._on_key_press)
class PoolWindow(pyglet.window.Window):
ZOOM_SCROLL_STEP = 5
BALL_MAX_SPEED = 7500
def __init__(self, *args, **kwargs):
super(PoolWindow, self).__init__(*args, **kwargs)
self.set_size(1680, 1000)
#self.set_fullscreen()
self.keys = key.KeyStateHandler()
self.push_handlers(self.keys)
# Setup GL
self.set_vsync(True)
glClearColor(.15, .15, .15, 1)
glEnable(GL_DEPTH_TEST)
glEnable(GL_CULL_FACE)
glShadeModel(GL_SMOOTH)
self.lpos1 = (0, 0.5 * SCALE_FACTOR, 1 * SCALE_FACTOR, 0)
self.lpos2 = (0, -0.5 * SCALE_FACTOR, 1 * SCALE_FACTOR, 0)
glLightfv(GL_LIGHT0, GL_POSITION, vec(*self.lpos1))
glLightfv(GL_LIGHT1, GL_POSITION, vec(*self.lpos2))
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, GL_TRUE)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_LIGHT1)
# Scroll zoom
self.wheel_step = PoolWindow.ZOOM_SCROLL_STEP
# Setup view
self.view = View(eye=(0, -3 * SCALE_FACTOR, .75 * SCALE_FACTOR),
center=(0, 0, -SCALE_FACTOR))
self.view.set_distance(SCALE_FACTOR)
# The scene
self.table = Table('obj/table.obj', self.view)
self.rails = Rails('obj/rails.obj', self.view)
self.ball = {}
self.ball['cue'] = CueBall('obj/ball.obj', self.view, .260)
self.ball['red'] = CueBall('obj/red.obj', self.view, .260,
eVector3(0, 0.5 * SCALE_FACTOR, 0))
self.ball['yellow'] = CueBall('obj/yellow.obj', self.view, .260,
eVector3(0, -0.5 * SCALE_FACTOR, 0))
self.cue = CueStick('obj/cue.obj', self.view, self.ball['cue'].radius)
self.table.body.setUserPointer("Table")
self.rails.body.setUserPointer("Rails")
self.cue.body.setUserPointer("Cue")
self.ball['cue'].body.setUserPointer("Cue Ball")
self.ball['red'].body.setUserPointer("Red")
self.ball['yellow'].body.setUserPointer("Yellow")
# Set view center
pos = self.ball['cue'].motion.getWorldTransform().getOrigin()
self.view.set_center(eVector3(pos.x, pos.y, pos.z))
# Setup cue (position and orient)
self._reset_cue()
# Initialize physics
self.world = DiscreteDynamicsWorld()
self.debug = DebugDraw()
self.world.setDebugDrawer(self.debug)
self.world.addRigidBody(self.table.body)
self.world.addRigidBody(self.cue.body)
self.world.addRigidBody(self.rails.body)
for ball in self.ball.values():
self.world.addRigidBody(ball.body)
self.world.setGravity(bVector3(0, 0, -9.81 * SCALE_FACTOR))
# Register call-backs
# A 1/60 call-back to run physics (the same as render)
pyglet.clock.schedule(self._step)
# Physic clock callback (usually few times faster than render clock)
self.world.setInternalTickCallback(self.internal_tick_callback, True)
self._setup_pan()
self.topview = False
self.helper = True
self.push_handlers(on_key_press=self._on_key_press)
def _setup_pan(self):
self.view.pan(0, - self.width / 5.0)
def internal_tick_callback(self, timeStep):
if self._cue_ball_rest():
disp = self.world.getDispatcher()
n = disp.getNumManifolds()
for i in xrange(n):
cm = disp.getManifoldByIndexInternal(i)
contacts = cm.getNumContacts()
for c in xrange(contacts):
obA = cm.getBody0().getUserPointer()
obB = cm.getBody1().getUserPointer()
if obA == 'Cue' and obB == 'Cue Ball' \
or obA == 'Cue Ball' and obB == 'Cue':
p = cm.getContactPoint(c)
if p.getDistance() < 0.0: # test for penetration
# The cue's strike force is calculated from actual
# linear velocity applied to the cues orientation vector
b = self.cue.body.getLinearVelocity()
v = eVector3(b.x, b.y, b.z)
d = self.cue.direction if hasattr(self.cue, 'direction') \
else self.view.dir
# get force
impuls = v.magnitude() * SCALE_FACTOR * 25.
force = bVector3(d.x * impuls,
d.y * impuls,
0.0)
# span offset to [0..1]
offset = eVector3(self.cue.dx * 4., 0., self.cue.dy * 4.)
# calculate offset from cue's position [convert from eye into object space]
# TODO: (rewrite this in compact form of vector vs. matrix multiplication)
moffset = self.view.orient.inverse() * Matrix4.new_translate(*offset)
offset = eVector3(moffset.d, moffset.h, moffset.l)
cue = self.ball['cue']
cue.body.clearForces()
cue.body.applyGravity()
cue.body.applyForce(force, bVector3(offset.x, offset.y, offset.z))
# Restore cue
self._reset_cue()
def ball_cant_fly(ball):
# check for flying
pos = ball.motion.getWorldTransform().getOrigin()
if pos.z > ball.radius:
ball.body.applyCentralForce(bVector3(0, 0, -15 * SCALE_FACTOR))
# check for ball speed
v = ball.body.getLinearVelocity()
vel = eVector3(v.x, v.y, v.z)
if vel.magnitude_squared() > PoolWindow.BALL_MAX_SPEED:
ball.body.setLinearVelocity(v * 0.9)
for ball in self.ball.values():
ball_cant_fly(ball)
def on_mouse_press(self, x, y, button, modifiers):
if button & mouse.RIGHT:
self.view.zoom_distance = y
def on_mouse_motion(self, x, y, dx, dy):
if self.keys[key.LCTRL] and self._cue_ball_rest():
self.cue.delta = dy * -0.01 * SCALE_FACTOR
def on_mouse_drag(self, x, y, dx, dy, button, modifiers):
if button & mouse.LEFT:
if modifiers & key.MOD_WINDOWS:
self.view.rotate(dx, dy)
else:
self.view.rotate(dx, dy)
pos = self.ball['cue'].motion.getWorldTransform().getOrigin()
self.view.set_center(eVector3(pos.x, pos.y, pos.z))
self.cue.set_position(eVector3(pos.x, pos.y, pos.z + self.cue.pivot.z))
self.cue.orient_from_direction()
self._setup_pan()
elif button & mouse.RIGHT:
pos = self.ball['cue'].motion.getWorldTransform().getOrigin()
self.view.set_center(eVector3(pos.x, pos.y, pos.z))
self.view.zoom(y)
self._setup_pan()
elif button & mouse.MIDDLE:
if modifiers & key.MOD_SHIFT:
self.cue.move(dx, dy)
else:
self.view.pan(dx, dy)
def _update_scroll(self, dt):
distance = self.view.distance * self.zmul
self.view.set_distance(distance)
pos = self.ball['cue'].motion.getWorldTransform().getOrigin()
self.view.set_center(eVector3(pos.x, pos.y, pos.z))
self._setup_pan()
self.wheel_step -= 1
if self.wheel_step == 0:
pyglet.clock.unschedule(self._update_scroll)
def on_mouse_scroll(self, x, y, scroll_x, scroll_y):
# Regulate zooming direction depending on scroll wheel direction
# Schedule scroll update
self.zmul = .98 if scroll_y > 0 else 1.02
self.wheel_step += 2 if self.wheel_step > 0 else PoolWindow.ZOOM_SCROLL_STEP
pyglet.clock.schedule(self._update_scroll)
def _on_key_press(self, symbol, modifiers):
if symbol == key.TAB:
self.topview = not self.topview
if symbol == key.H:
self.helper = not self.helper
def on_resize(self, width, height):
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(40., width / float(height), .01, 1000.)
self.view.load_matrix()
glMatrixMode(GL_MODELVIEW)
return pyglet.event.EVENT_HANDLED
def on_draw(self):
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glViewport(0, 0, self.width, self.height)
def redraw_scene(self, debug=False):
# table
self.table.render()
# rails
self.rails.render()
# balls
for ball in self.ball.values():
p = ball.motion.getWorldTransform().getOrigin()
q = ball.motion.getWorldTransform().getRotation()
a = q.getAxis()
ball.set_position((p.x, p.y, p.z))
ball.orient_from_axis_angle(q.getAngle(), eVector3(a.x, a.y, a.z))
ball.render()
# cue stick (only if cue ball is resting)
if self._cue_ball_rest():
self.cue.render()
# debug draw
if debug:
self.debug.reset()
self.world.debugDrawWorld()
glDisable(GL_LIGHTING)
glBegin(GL_LINES)
for line in self.debug.lines:
glColor3f(*line[6:])
glVertex3f(*line[:3])
glVertex3f(*line[3:6])
glEnd()
glEnable(GL_LIGHTING)
def render_top_cue(self):
# Redraw helper top-right (top view)
glViewport(self.width - self.width / 3, self.height - self.height / 3, self.width / 3, self.height / 3)
glLoadIdentity()
# top-view
pos = self.ball['cue'].position
gluLookAt(pos.x, pos.y, pos.z + SCALE_FACTOR / 2,
pos.x, pos.y, pos.z,
1., 0., 0.)
redraw_scene(self)
def render_front_cue(self):
# Redraw helper top-right (front view)
glViewport(self.width - self.width / 3, self.height - self.height / 3, self.width / 3, self.height / 3)
glLoadIdentity()
eye = eVector3(self.cue.mtransform.d, self.cue.mtransform.h, self.cue.mtransform.l)
eye += self.cue.direction * 6.
# render front
pos = self.ball['cue'].position
gluLookAt(eye.x, eye.y, eye.z,
pos.x, pos.y, pos.z,
0., 0., 1.)
redraw_scene(self, True)
def render_top_table(self):
# render top
glLoadIdentity()
gluLookAt(0, 0, 3 * SCALE_FACTOR,
0, 0, 0,
1, 0., 0.)
redraw_scene(self)
# render table
if not self.topview:
self.view.load_matrix()
redraw_scene(self)
else:
render_top_table(self)
# render helper windows (for aim and shoot)
if self._cue_ball_rest() and self.helper:
if self.keys[key.LSHIFT]:
render_front_cue(self)
elif not self.topview:
render_top_cue(self)
def _step(self, dt):
timeStep = fixedTimeStep = 1.0 / 300.0
self.world.stepSimulation(dt, 5, fixedTimeStep)
now = time.time()
delay = now % timeStep
time.sleep(delay)
# Cancel cue stick motion
self.cue.delta = 0.0
def _cue_ball_rest(self):
vel = self.ball['cue'].body.getLinearVelocity()
mag = eVector3(vel.x, vel.y, vel.z).magnitude()
return mag < 0.001
def _reset_cue(self):
# Position and orient the cue
pos = self.ball['cue'].motion.getWorldTransform().getOrigin()
p = self.cue.org_pivot
self.cue.set_pivot(eVector3(p.x, p.y, p.z + SCALE_FACTOR * 0.1))
self.cue.set_position(eVector3(pos.x, pos.y, pos.z + self.cue.pivot.z))
self.cue.orient_from_direction()