def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# initial vehicles
self.vehicles = []
#self.vehicles.append(basicVehicle(self,[13,2,0.5],18)) # [10,0.1,0.5] is vehicle start position
self.vehicles.append(
basicVehicle(self, [10, 0.1, 0.5],
18)) # [10,0.1,0.5] is vehicle start position
sensor = basicSensor(self) # initial sensor
sensor.setVehicle(self.vehicles[0])
self.vehicles[0].setSensor(sensor)
self.vehicles[0].sensor.align()
agent = basicAgent(50, 10.8, 15) # initial agent
agent.setVehicle(self.vehicles[0])
self.vehicles[0].setAgent(agent)
def createPlane(self):
rb = BulletRigidBodyNode('Ground')
rb.addShape(BulletPlaneShape(Vec3(0, 0, 1), 1))
rb.setFriction(1.0)
np = self.render.attachNewNode(rb)
np.setPos(Vec3(0, 0, -100))
np.setCollideMask(BitMask32.bit(0))
self.world.attachRigidBody(rb)
return np
def createPlane(self, pos):
rb = BulletRigidBodyNode("plane")
rb.addShape(BulletPlaneShape(Vec3(0, 0, 1), 1))
rb.setFriction(1.0)
rb.setAnisotropicFriction(1.0)
rb.setRestitution(1.0)
np = self.render.attachNewNode(rb)
np.setPos(pos)
np.setCollideMask(BitMask32.bit(0))
self.world.attachRigidBody(rb)
return np
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
# self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# initial vehicles
length = 2.8
width = 1.2
height = 1
axisDis = 2.1
wheelDis = 1.4
wheelH = 0.3
radius = 0.25
self.vehicles = []
self.sensors = []
# Adding autonomous vehicles
for i in range(len(self.initAV)):
self.vehicles.append(
basicVehicle(self,
[self.initAV[i][0], self.initAV[i][1], -0.6],
self.initAV[i][2], length, width, height, axisDis,
wheelDis, radius, wheelH))
self.sensors.append(basicSensor(self)) # initial sensor
self.sensors[i].setVehicle(self.vehicles[i])
self.vehicles[i].setSensor(self.sensors[i])
self.vehicles[i].sensor.align()
self.agents[i].setVehicle(self.vehicles[i])
self.vehicles[i].setAgent(self.agents[i])
def createPlane(self, pos):
rb = BulletRigidBodyNode("GroundPlane")
rb.addShape(BulletPlaneShape(Vec3(0, 0, 1), 1))
rb.setFriction(1.0)
rb.setAnisotropicFriction(1.0)
rb.setRestitution(1.0)
np = self.render.attachNewNode(rb)
np.setPos(pos)
np.setCollideMask(BitMask32.bit(0))
plane = self.loader.loadModel("cube")
plane.setScale(Vec3(100, 100, 1))
plane.setPos(Vec3(0, 0, -0.5))
plane.setColor(VBase4(0.8, 0.8, 0.8, 1.0))
plane.reparentTo(np)
self.world.attachRigidBody(rb)
return np
def createCuttingPlanes(self):
self.planes = self.render.attachNewNode("planes")
pl = self.planes.attachNewNode("pl")
data = EggData()
self.planedata = []
vp = EggVertexPool('plane')
data.addChild(vp)
fac = 1.0
expanse = 10.0
rng = 4
for i in range(-rng, rng):
poly = EggPolygon()
data.addChild(poly)
self.planedata.append(i * fac)
v = EggVertex()
v.setPos(Point3D(i * fac, -expanse, -expanse))
poly.addVertex(vp.addVertex(v))
v = EggVertex()
v.setPos(Point3D(i * fac, -expanse, +expanse))
poly.addVertex(vp.addVertex(v))
v = EggVertex()
v.setPos(Point3D(i * fac, +expanse, +expanse))
poly.addVertex(vp.addVertex(v))
v = EggVertex()
v.setPos(Point3D(i * fac, +expanse, -expanse))
poly.addVertex(vp.addVertex(v))
node = loadEggData(data)
np = NodePath(node)
np.reparentTo(pl)
np.setColor(0, 1, 0, 1)
np.setTwoSided(True)
np.setTransparency(TransparencyAttrib.MAlpha)
np.setAlphaScale(0.1)
np.setCollideMask(BitMask32(0x0))
return self.planes
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
self.vehicles = dict()
def createBox(self, mass, pos, scale, color):
rb = BulletRigidBodyNode('box')
rb.addShape(BulletBoxShape(scale))
rb.setMass(mass)
rb.setLinearDamping(0.2)
rb.setAngularDamping(0.9)
rb.setFriction(1.0)
rb.setAnisotropicFriction(1.0)
rb.setRestitution(0.0)
self.world.attachRigidBody(rb)
np = self.render.attachNewNode(rb)
np.setPos(pos)
np.setCollideMask(BitMask32.bit(1))
cube = self.loader.loadModel('cube')
cube.setScale(scale)
cube.setColor(color)
cube.reparentTo(np)
return np
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
# self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# initial vehicles
length=2.8
width=1.2
height=1
axisDis=2.1
wheelDis=1.4
wheelH=0.3
radius=0.25
self.vehicles=[]
self.sensors=[]
self.vehicles.append(basicVehicle(self,[self.initAV[0],self.initAV[1],-0.6],self.initAV[2],length,width,height,axisDis,wheelDis,radius,wheelH)) # [10,0.1,0.5] is vehicle start position
self.sensors.append(basicSensor(self)) # initial sensor
self.sensors[0].setVehicle(self.vehicles[0])
self.vehicles[0].setSensor(self.sensors[0])
self.vehicles[0].sensor.align()
self.agents[0].setVehicle(self.vehicles[0])
self.vehicles[0].setAgent(self.agents[0])
#Adding laneKeeping vehicles
for i in range(len(self.initSV)):
self.vehicles.append(surroundingVehicle(self,[self.initSV[i][0],self.initSV[i][1],-0.6],self.initSV[i][2],length,width,height,axisDis,wheelDis,radius,wheelH)) # [10,0.1,0.5] is vehicle start position
self.sensors.append(basicSensor(self)) # initial sensor
self.sensors[i+1].setVehicle(self.vehicles[i+1])
self.vehicles[i+1].setSensor(self.sensors[i+1])
self.vehicles[i+1].sensor.align()
self.agents[i+1].setVehicle(self.vehicles[i+1])
self.vehicles[i+1].setAgent(self.agents[i+1])
'''self.vehicles.append(basicVehicle(self,[50,-6,-0.6],30)) # [10,0.1,0.5] is vehicle start position
sensor1=basicSensor(self) # initial sensor
sensor1.setVehicle(self.vehicles[1])
self.vehicles[1].setSensor(sensor1)
self.vehicles[1].sensor.align()
#agent1=planningAgent(20,5,40,0,1) # initial agent
agent1=laneKeepingAgent(20,20,30,1)
agent1.setVehicle(self.vehicles[1])
self.vehicles[1].setAgent(agent1)'''
#Surrounding vehicles' speed
v1=25
v2=25
v3=25
v4=25
'''self.vehicles.append(basicVehicle(self,[60,-6.1,-0.6],v1))
