def __init__(self, app, model_name):
model_file_name = 'assets/cars/{}/{}.bam'.format(
model_name, model_name)
self.app = app
def animation_path(model, animation):
base_path = 'assets/cars/animations/{}/{}-{}.bam'
return base_path.format(model, model, animation)
self.model = Actor(
model_file_name,
{
# AIRBRAKE: 'assets/cars/animations/{}-{}.bam'.format(model_name, AIRBRAKE),
# AIRBRAKE: animation_path(model_name, AIRBRAKE),
# STABILIZER_FINS: animation_path(model_name, STABILIZER_FINS),
})
self.model.enableBlend()
self.model.setControlEffect(AIRBRAKE, 1)
self.model.setControlEffect(STABILIZER_FINS, 1)
# FIXME: This code fails due to a bug in Actor
# airbrake_joints = [joint.name
# for joint in self.model.getJoints()
# if joint.name.startswith(AIRBRAKE)
# ]
# self.model.makeSubpart(AIRBRAKE, airbrake_joints)
# stabilizer_joints = [joint.name
# for joint in self.model.getJoints()
# if joint.name.startswith(STABILIZER_FINS)
# ]
# self.model.makeSubpart(STABILIZER_FINS, stabilizer_joints)
puppet = self.app.loader.load_model(model_file_name)
puppet.find("**/armature").hide()
puppet.reparentTo(self.model)
# Get the vehicle data
self.vehicle_data = VehicleData(puppet, model_name, 'cars')
# Configure the physics node
self.physics_node = BulletRigidBodyNode('vehicle')
self.physics_node.set_friction(self.vehicle_data.friction)
self.physics_node.set_linear_sleep_threshold(0)
self.physics_node.set_angular_sleep_threshold(0)
self.physics_node.setCcdMotionThreshold(1e-7)
self.physics_node.setCcdSweptSphereRadius(0.5)
self.physics_node.setMass(self.vehicle_data.mass)
shape = BulletConvexHullShape()
for geom_node in self.model.find_all_matches("**/+GeomNode"):
for geom in geom_node.node().get_geoms():
vertices = GeomVertexReader(geom.get_vertex_data(), 'vertex')
while not vertices.is_at_end():
v_geom = vertices.getData3f()
v_model = self.model.get_relative_point(geom_node, v_geom)
shape.add_point(v_model)
self.physics_node.add_shape(shape)
self.vehicle = NodePath(self.physics_node)
self.vehicle.set_collide_mask(CM_VEHICLE | CM_COLLIDE)
self.model.reparent_to(self.vehicle)
# Navigational aids
self.target_node = self.app.loader.load_model('models/zup-axis')
self.target_node.reparent_to(self.model)
self.target_node.set_scale(1)
self.target_node.set_render_mode_wireframe()
self.target_node.hide()
self.delta_node = self.app.loader.load_model('models/smiley')
self.delta_node.set_pos(1, 10, 1)
self.delta_node.reparent_to(base.cam)
self.delta_node.hide()
self.airbrake_state = 0.0
self.airbrake_factor = 0.5
self.airbrake_speed = 1 / self.vehicle_data.airbrake_duration
self.stabilizer_fins_state = 0.0
self.stabilizer_fins_speed = 1 / self.vehicle_data.stabilizer_fins_duration
self.centroid = base.loader.load_model('models/smiley')
self.centroid.reparent_to(self.vehicle)
self.centroid.hide()
# Gyro sound
sound_file = 'assets/cars/{}/{}.wav'.format(
model_name,
GYROSCOPE_SOUND,
)
sound = base.audio3d.load_sfx(sound_file)
self.model.set_python_tag(GYROSCOPE_SOUND, sound)
base.audio3d.attach_sound_to_object(sound, self.model)
sound.set_volume(0)
sound.set_play_rate(0)
sound.set_loop(True)
sound.play()
# Thruster limiting
self.thruster_state = 0.0
self.thruster_heat = 0.0
for repulsor in self.vehicle_data.repulsor_nodes:
self.add_repulsor(repulsor, model_name)
for thruster in self.vehicle_data.thruster_nodes:
self.add_thruster(thruster, model_name)
# ECU data storage from frame to frame
self.last_flight_height = None
# FIXME: Move into a default controller
self.inputs = {
# Repulsors
REPULSOR_ACTIVATION: 0.0,
ACCELERATE: 0.0,
TURN: 0.0,
STRAFE: 0.0,
HOVER: 0.0,
FULL_REPULSORS: False,
# Gyro
ACTIVE_STABILIZATION_ON_GROUND: PASSIVE,
ACTIVE_STABILIZATION_CUTOFF_ANGLE: PASSIVE,
ACTIVE_STABILIZATION_IN_AIR: PASSIVE,
TARGET_ORIENTATION: Vec3(0, 0, 0),
# Thrust
THRUST: 0.0,
# Air foils
AIRBRAKE: 0.0,
STABILIZER_FINS: 0.0,
}
self.sensors = {}
self.commands = {}
