def play(self, ai, difficult=False):
self.easyAI.destroy()
self.hardAI.destroy()
self.ai = None
self.cTrav = CollisionTraverser()
self.coll = CollisionHandlerEvent()
self.coll.addInPattern("%fn-into-%in")
self.clock = ClockObject()
terrain = GeoMipTerrain("worldTerrain")
terrain.setHeightfield("heightMap.png")
terrain.setColorMap("colormap.png")
terrain.setBruteforce(True)
root = terrain.getRoot()
root.reparentTo(self.render)
root.setSz(1)
terrain.generate()
self.player = Character("models/panda-model", 0.05, (300, 300, 0),
self.render, {"walk": "models/panda-walk4"},
self, self.path, 200, "player")
self.addControls()
self.loadUI()
self.startTasks()
self.accept("proj-into-player", self.player.changeLife, [-1])
self.others = dict()
self.roundOv = False
self.taskMgr.add(self.update, "Update")
self.gameOver = False
if ai:
self.aiBattle(difficult)
def __init__(self, data_source):
ShowBase.__init__(self)
if not os.path.isfile('world.bam'):
terrain = GeoMipTerrain("worldTerrain")
terrain.setHeightfield(os.path.join(RESOURCE_DIR, "uk_height_map_25.png"))
terrain.setColorMap(os.path.join(RESOURCE_DIR, "uk_flopped_rotated_25.png"))
terrain.setBruteforce(True)
root = terrain.getRoot()
root.reparentTo(render)
root.setSz(10)
terrain.generate()
root.writeBamFile('world.bam')
else:
world = loader.loadModel("world.bam")
world.reparentTo(render)
self.toasters = {}
self.toasters_by_zone = {}
for vm in data_source.get_vms():
height = len(self.toasters_by_zone.get(vm.zonename, []))
self.toasters[vm.name] = Toaster(vm.zonename, height, vm.state == "Running")
self.toasters_by_zone.setdefault(vm.zonename, []).append(self.toasters[vm.name])
# In Panda3D you have to cancel the default mouse control to set the camera explicitly
# Falsify the following 3 lines to allow it back again:
if True:
self.disableMouse()
self.camera.setPos(350, -100, 100)
self.camera.setHpr(0, -25, 0)
def __init__(self, data_source):
ShowBase.__init__(self)
if not os.path.isfile('world.bam'):
terrain = GeoMipTerrain("worldTerrain")
terrain.setHeightfield(
os.path.join(RESOURCE_DIR, "uk_height_map_25.png"))
terrain.setColorMap(
os.path.join(RESOURCE_DIR, "uk_flopped_rotated_25.png"))
terrain.setBruteforce(True)
root = terrain.getRoot()
root.reparentTo(render)
root.setSz(10)
terrain.generate()
root.writeBamFile('world.bam')
else:
world = loader.loadModel("world.bam")
world.reparentTo(render)
self.toasters = {}
self.toasters_by_zone = {}
for vm in data_source.get_vms():
height = len(self.toasters_by_zone.get(vm.zonename, []))
self.toasters[vm.name] = Toaster(vm.zonename, height,
vm.state == "Running")
self.toasters_by_zone.setdefault(vm.zonename,
[]).append(self.toasters[vm.name])
# In Panda3D you have to cancel the default mouse control to set the camera explicitly
# Falsify the following 3 lines to allow it back again:
if True:
self.disableMouse()
self.camera.setPos(350, -100, 100)
self.camera.setHpr(0, -25, 0)
def createGround(self, terrainData):
"""Create ground using a heightmap"""
# Create heightfield for physics
heightRange = terrainData["heightRange"]
# Image needs to have dimensions that are a power of 2 + 1
heightMap = PNMImage(self.basePath + terrainData["elevation"])
xdim = heightMap.getXSize()
ydim = heightMap.getYSize()
shape = BulletHeightfieldShape(heightMap, heightRange, ZUp)
shape.setUseDiamondSubdivision(True)
np = self.outsideWorldRender.attachNewNode(BulletRigidBodyNode("terrain"))
np.node().addShape(shape)
np.setPos(0, 0, 0)
self.physicsWorld.attachRigidBody(np.node())
# Create graphical terrain from same height map
terrain = GeoMipTerrain("terrain")
terrain.setHeightfield(heightMap)
terrain.setBlockSize(32)
terrain.setBruteforce(True)
rootNP = terrain.getRoot()
rootNP.reparentTo(self.worldRender)
rootNP.setSz(heightRange)
offset = xdim / 2.0 - 0.5
rootNP.setPos(-offset, -offset, -heightRange / 2.0)
terrain.generate()
# Apply texture
diffuse = self.loader.loadTexture(Filename(self.basePath + terrainData["texture"]))
diffuse.setWrapU(Texture.WMRepeat)
diffuse.setWrapV(Texture.WMRepeat)
rootNP.setTexture(diffuse)
textureSize = 6.0
ts = TextureStage.getDefault()
rootNP.setTexScale(ts, xdim / textureSize, ydim / textureSize)
# Create planes around area to prevent player flying off the edge
# Levels can define barriers around them but it's probably a good
# idea to leave this here just in case
sides = (
(Vec3(1, 0, 0), -xdim / 2.0),
(Vec3(-1, 0, 0), -xdim / 2.0),
(Vec3(0, 1, 0), -ydim / 2.0),
(Vec3(0, -1, 0), -ydim / 2.0),
)
for sideNum, side in enumerate(sides):
normal, offset = side
sideShape = BulletPlaneShape(normal, offset)
sideNode = BulletRigidBodyNode("side%d" % sideNum)
sideNode.addShape(sideShape)
self.physicsWorld.attachRigidBody(sideNode)
def __init__(self):
ShowBase.__init__(self) # initialise
terrain = GeoMipTerrain("worldTerrain") # create a terrain
terrain.setHeightfield("HM.jpg") # set the height map
#terrain.setColorMap("512xA_TN.jpg") # set the colour map
terrain.setBruteforce(True) # level of detail
root = terrain.getRoot() # capture root
root.reparentTo(render) # render from root
root.setSz(60) # maximum height
terrain.generate() # generate
def __init__(self):
ShowBase.__init__(self) # initialise
terrain = GeoMipTerrain("worldTerrain") # create a terrain
terrain.setHeightfield("mapheight.png") # set the height map
terrain.setColorMap("maptex.png") # set the colour map
terrain.setBruteforce(True) # level of detail
root = terrain.getRoot() # capture root
root.reparentTo(render) # render from root
root.setSz(60) # maximum height
terrain.generate() # generate
def __init__(self):
ShowBase.__init__(self)
terrain = GeoMipTerrain("worldTerrain")
terrain.setHeightfield("height-map.png")
terrain.setColorMap("texture-map.png")
terrain.setBruteforce(True)
root = terrain.getRoot()
root.reparentTo(render)
root.setSz(60)
terrain.generate()
def generate(self):
'''(Re)generate the entire terrain erasing any current changes'''
factor = self.blockSize*self.chunkSize
#print "Factor:", factor
for terrain in self.terrains:
terrain.getRoot().removeNode()
self.terrains = []
# Breaking master heightmap into subimages
heightmaps = []
self.xchunks = (self.heightfield.getXSize()-1)/factor
self.ychunks = (self.heightfield.getYSize()-1)/factor
#print "X,Y chunks:", self.xchunks, self.ychunks
n = 0
for y in range(0, self.ychunks):
for x in range(0, self.xchunks):
heightmap = PNMImage(factor+1, factor+1)
heightmap.copySubImage(self.heightfield, 0, 0, xfrom = x*factor, yfrom = y*factor)
heightmaps.append(heightmap)
n += 1
# Generate GeoMipTerrains
n = 0
y = self.ychunks-1
x = 0
for heightmap in heightmaps:
terrain = GeoMipTerrain(str(n))
terrain.setHeightfield(heightmap)
terrain.setBruteforce(self.bruteForce)
terrain.setBlockSize(self.blockSize)
terrain.generate()
self.terrains.append(terrain)
root = terrain.getRoot()
root.reparentTo(self.root)
root.setPos(n%self.xchunks*factor, (y)*factor, 0)
# In order to texture span properly we need to reiterate through every vertex
# and redefine the uv coordinates based on our size, not the subGeoMipTerrain's
root = terrain.getRoot()
children = root.getChildren()
for child in children:
geomNode = child.node()
for i in range(geomNode.getNumGeoms()):
geom = geomNode.modifyGeom(i)
vdata = geom.modifyVertexData()
texcoord = GeomVertexWriter(vdata, 'texcoord')
vertex = GeomVertexReader(vdata, 'vertex')
while not vertex.isAtEnd():
v = vertex.getData3f()
t = texcoord.setData2f((v[0]+ self.blockSize/2 + self.blockSize*x)/(self.xsize - 1),
(v[1] + self.blockSize/2 + self.blockSize*y)/(self.ysize - 1))
x += 1
if x >= self.xchunks:
x = 0
y -= 1
n += 1
def __init__(self):
ShowBase.__init__(self) # initialise
terrain = GeoMipTerrain("worldTerrain") # create a terrain
terrain.setHeightfield("test_height_map.png") # set the height map
terrain.setColorMap("test_texture_map.png") # set the colour map
terrain.setBruteforce(True) # level of detail
root = terrain.getRoot() # capture root
root.reparentTo(self.render) # render from root
root.setSz(60) # maximum height
terrain.generate() # generate
root.writeBamFile('world.bam') # create 3D model
def __init__(self):
ShowBase.__init__(self)
terrain = GeoMipTerrain("worldTerrain")
terrain.setHeightfield("models/issue1terrain.png")
terrain.setColorMap("models/issue2terrain.png")
terrain.setBruteforce(True) # level of detail
root = terrain.getRoot()
root.reparentTo(render)
root.setSz(60) # maximum height
terrain.generate()
root.writeBamFile("models/world.bam")
def __init__(self):
ShowBase.__init__(self)
terrain = GeoMipTerrain("worldTerrain")
terrain.setHeightfield("models/issue1terrain.png")
terrain.setColorMap("models/issue2terrain.png")
terrain.setBruteforce(True) # level of detail
root = terrain.getRoot()
root.reparentTo(render)
root.setSz(60) # maximum height
terrain.generate()
root.writeBamFile("models/world.bam")
def __init__(self):
ShowBase.__init__(self) # initialise
terrain = GeoMipTerrain("worldTerrain") # create a terrain
terrain.setHeightfield(height) # set the height map
terrain.setColorMap(texture) # set the colour map
terrain.setBruteforce(True) # level of detail
root = terrain.getRoot() # capture root
root.reparentTo(render) # render from root
root.setSz(2) # maximum height
terrain.generate() # generate
root.writeBamFile('models/world' + worldNameSuffix +
".bam") # create 3D model
def __init__(self):
ShowBase.__init__(self)
self.debug = False
self.statusLabel = self.makeStatusLabel(0)
self.collisionLabel = self.makeStatusLabel(1)
if os.path.isfile("assets/1stmap.bam"):
self.world = self.loader.loadModel("assets/1stmap.bam")
self.world.reparentTo(self.render)
else:
print "generating terrain and saving bam for future use"
terrain = GeoMipTerrain("worldTerrain")
terrain.setHeightfield("./assets/1stmap_HF.png")
terrain.setColorMap("./assets/1stmap_TM.png")
terrain.setBruteforce(True)
root = terrain.getRoot()
root.reparentTo(self.render)
root.setSz(60)
terrain.generate()
root.writeBamFile("./assets/1stmap.bam")
self.worldsize = 1024
# Player
self.maxspeed = 100.0
self.startPos = Vec3(200, 200, 35)
self.startHpr = Vec3(225, 0, 0)
self.player = self.loader.loadModel("assets/alliedflanker.egg")
self.player.setScale(0.2, 0.2, 0.2)
self.player.reparentTo(self.render)
self.resetPlayer()
# Player destruction
self.explosionModel = loader.loadModel("assets/explosion")
self.explosionModel.reparentTo(self.render)
self.explosionModel.setScale(0.0)
self.explosionModel.setLightOff()
# Only one explosion at a time
self.exploding = False
self.taskMgr.add(self.updateTask, "update")
self.keyboardSetup()
self.maxdistance = 600
self.camLens.setFar(self.maxdistance)
self.camLens.setFov(60)
self.createEnvironment()
self.setupCollisions()
self.textCounter = 0
class MyApp(ShowBase): # our 'class'
def __init__(self):
ShowBase.__init__(self) # initialise
self.terrain = GeoMipTerrain("worldTerrain") # create a terrain
self.terrain.setHeightfield(
"heightmapper-1567436259173.png") # set the height map
self.terrain.setColorMap(
"TexturesCom_Moss0138_2_L.jpg") # set the colour map
self.terrain.setBruteforce(True) # level of detail
root = self.terrain.getRoot() # capture root
root.reparentTo(self.render) # render from root
root.setSz(80) # maximum height
self.terrain.generate() # generate
self.sphere = self.loader.loadModel("skysphere-1.egg")
self.sphere.setScale(700)
self.sphere.setPos(500, 500, 0)
self.tex = self.loader.loadTexture("TexturesCom_Skies0282_L.jpg")
self.sphere.setTexture(self.tex)
self.sphere.reparentTo(self.render)
self.setupLight()
def setupLight(self):
self.sunLight = DirectionalLight("sun")
# sunLight.setColor(get_vbase4_from_hex('fbfcde'))
self.sunLight.setColor(VBase4(.99, .99, .99, 1))
self.light = self.render.attach_new_node(self.sunLight)
self.light.setHpr(45, -45, 0)
self.light.setPos(0, 0, 300)
self.render.setLight(self.light)
ambientLight = AmbientLight("ambient")
ambientLight.setColor(VBase4(0.2, 0.2, 0.2, 1))
self.ambientLight = self.render.attach_new_node(ambientLight)
self.render.setLight(self.ambientLight)
return
def generate(self):
'''(Re)generate the entire terrain erasing any current changes'''
factor = self.blockSize * self.chunkSize
#print "Factor:", factor
for terrain in self.terrains:
terrain.getRoot().removeNode()
self.terrains = []
# Breaking master heightmap into subimages
heightmaps = []
self.xchunks = (self.heightfield.getXSize() - 1) / factor
self.ychunks = (self.heightfield.getYSize() - 1) / factor
#print "X,Y chunks:", self.xchunks, self.ychunks
n = 0
for y in range(0, self.ychunks):
for x in range(0, self.xchunks):
heightmap = PNMImage(factor + 1, factor + 1)
heightmap.copySubImage(self.heightfield,
0,
0,
xfrom=x * factor,
yfrom=y * factor)
heightmaps.append(heightmap)
n += 1
# Generate GeoMipTerrains
n = 0
y = self.ychunks - 1
x = 0
for heightmap in heightmaps:
terrain = GeoMipTerrain(str(n))
terrain.setHeightfield(heightmap)
terrain.setBruteforce(self.bruteForce)
terrain.setBlockSize(self.blockSize)
terrain.generate()
self.terrains.append(terrain)
root = terrain.getRoot()
root.reparentTo(self.root)
root.setPos(n % self.xchunks * factor, (y) * factor, 0)
# In order to texture span properly we need to reiterate through every vertex
# and redefine the uv coordinates based on our size, not the subGeoMipTerrain's
root = terrain.getRoot()
children = root.getChildren()
for child in children:
geomNode = child.node()
for i in range(geomNode.getNumGeoms()):
geom = geomNode.modifyGeom(i)
vdata = geom.modifyVertexData()
texcoord = GeomVertexWriter(vdata, 'texcoord')
vertex = GeomVertexReader(vdata, 'vertex')
while not vertex.isAtEnd():
v = vertex.getData3f()
t = texcoord.setData2f(
(v[0] + self.blockSize / 2 + self.blockSize * x) /
(self.xsize - 1),
(v[1] + self.blockSize / 2 + self.blockSize * y) /
(self.ysize - 1))
x += 1
if x >= self.xchunks:
x = 0
y -= 1
n += 1
def makeBlock(self, drawResourcesFactories, x, y, x1, y1, tileCenter, collision):
drawResourcesFactory = drawResourcesFactories[self.LOD]
tile = drawResourcesFactory.getTile()
resources = drawResourcesFactory.getDrawResources(self.dataIndex[self.LOD])
# Set up the GeoMipTerrain
terrain = GeoMipTerrain("TerrainTile")
heightTex = tile.bakedTile.renderMaps[self.specialMaps["height"]].tex
heightTexSize = heightTex.getXSize()
pnmImage = PNMImage()
# heightTex.makeRamImage() # Makes it run without having ran image in advance, but it all ends up flat.
heightTex.store(pnmImage)
terrain.setHeightfield(pnmImage)
# Set terrain properties
terrain.setBruteforce(True)
# Store the root NodePath for convenience
root = terrain.getRoot()
root.setPos(tile.bakedTile.x - tileCenter.getX(), tile.bakedTile.y - tileCenter.getY(), 0)
for t in self.texList:
texScale = 1.0 / (t[1])
root.setTexture(t[0], t[2])
root.setShaderInput("tex2D_" + t[3], t[2])
root.setTexScale(t[0], texScale * tile.tileScale)
root.setTexOffset(t[0], (tile.getX() % t[1]) * texScale, (tile.getY() % t[1]) * texScale)
for t in self.mapTexStages:
tex = tile.bakedTile.renderMaps[t].tex
root.setTexture(self.mapTexStages[t], tex)
# Here we apply a transform to the textures so centers of the edge pixels fall on the edges of the tile
# Normally the edges of the edge pixels would fall on the edges of the tiles.
# The benifits of this should be visible, though they have not been varified sucessfully yet.
# In fact, these transforms appear to not do anything.
# This is troubling, but the problem they are supposed to fix is currently invisible as well.
# size=tex.getXSize()
# margin=bakery.texMargin(size)
# tile.setTexOffset(t,-margin,-margin)
# tile.setTexScale(t,float(size+margin*2)/size)
root.setShaderInput("offset", tile.bakedTile.x, tile.bakedTile.y, 0.0, 0.0)
root.setShaderInput("scale", tile.bakedTile.scale)
xyScale = float(tile.tileScale) / (heightTexSize - 1)
root.setScale(xyScale, xyScale, self.heightScale)
if self.shader:
root.setShader(self.shader)
# Generate it.
terrain.generate()
# root.flattenLight()
if collision:
col = collisionUtil.rebuildGeomNodesToColPolys(root, collision)
col.setCollideMask(collisionUtil.groundMask)
col.reparentTo(collision)
return root
class WorldGen(ShowBase): # our 'class'
def __init__(self):
if __name__ == '__main__':
ShowBase.__init__(self) # initialise
self.initTerrain()
self.initModels()
self.initPositions()
self.loadingStringParser(parameters["loadingString"])
# self.plotPosition()
if self.evenLoad:
self.evenInstance(self.evenObj,
scale=self.evenScale,
tex=self.evenTex,
z=self.evenZ)
if self.oddLoad:
self.oddInstance(self.oddObj,
scale=self.oddScale,
tex=self.oddTex,
z=self.oddZ)
# print " \n \n \n Generate is about to exit \n \n \n"
self.generate()
# print "kill is ", parameters["killWorldGen"]
# parameters["killWorldGen"]=False
if parameters["killWorldGen"]:
import sys
print " \n \n \n World Generate is about to exit \n \n \n"
sys.exit()
def initTerrain(self):
self.terrain = GeoMipTerrain("worldTerrain") # create a self.terrain
self.terrain.setHeightfield(
parameters["modelHeightMap"]) # set the height map
if parameters[
"loadNullModels"]: #if null, then create uniform back and sky
self.terrain.setColorMap(
parameters["modelTextureMapNull"]) # set the colour map
else:
self.terrain.setColorMap(
parameters["modelTextureMap"]) # set the colour map
self.terrain.setBruteforce(True) # level of detail
self.root = self.terrain.getRoot() # capture root
self.root.reparentTo(self.render) # render from root
self.root.setSz(0.2) # maximum height
self.terrain.generate() # generate
def initModels(self):
self.tree = self.loader.loadModel(parameters["treePath"])
self.greenSphere = self.loader.loadModel(parameters["spherePath"])
self.redSphere = self.loader.loadModel(parameters["spherePath"])
self.treeTex = self.loader.loadTexture(parameters["treeTexPath"])
self.greenTex = self.loader.loadTexture(parameters["greenTexPath"])
self.redTex = self.loader.loadTexture(parameters["redTexPath"])
def initPositions(self):
self.evenObj = self.oddObj = self.evenScale = self.oddScale = \
self.evenTex = self.oddTex = self.evenLoad = self.oddLoad =self.evenZ=self.oddZ= \
self.evenPlotColor=self.oddPlotColor=self.evenPlotMarker=self.oddPlotMarker=None
if parameters["hcp"]:
self.odd, self.even = self.hcpListGenerator(
heightObjects=parameters["heightObjects"],
widthObjects=parameters["widthObjects"],
lattice=parameters["lattice"])
elif parameters["quad"]:
self.odd, self.even = self.quadPositionGenerator()
# print "odd is",self.odd
# print "even is ", self.even
def hcpListGenerator(self, heightObjects, widthObjects, lattice):
self.posList = np.zeros([heightObjects * widthObjects, 2])
self.alternate = False
index = 0
for i in range(0, heightObjects):
y = i * lattice * (3**0.5) / 2
self.alternate = not self.alternate
for j in range(0, widthObjects):
if self.alternate:
x = j * lattice + (lattice / 2)
else:
x = j * lattice
self.posList[index, :] = [x, y]
index += 1
# self.posList[:,0]=np.linspace(0,100,num=(self.posList.shape)[0])
# self.posList[:,1]=np.linspace(0,100,num=(self.posList.shape)[0])
self.oddPosList = self.posList[1::2]
self.evenPosList = self.posList[0::2]
# print "odd is ",self.oddPosList
# print "even is", self.evenPosList
return self.oddPosList, self.evenPosList
def quadPositionGenerator(self):
offset = ((int(parameters["worldSize"]) - 1) / 2) + 1
quad3PosL = parameters["posL"]
quad3PosR = parameters["posR"]
quad4PosL = (parameters["posL"][0] + offset, parameters["posL"][1])
quad4PosR = (parameters["posR"][0] + offset, parameters["posR"][1])
quad2PosL = (parameters["posL"][0], parameters["posL"][1] + offset)
quad2PosR = (parameters["posR"][0], parameters["posR"][1] + offset)
quad1PosL = (parameters["posL"][0] + offset,
parameters["posL"][1] + offset)
quad1PosR = (parameters["posR"][0] + offset,
parameters["posR"][1] + offset)
#identical visual stim
# odd=np.array([quad1PosR,quad2PosR,quad3PosR,quad4PosR])
# even=np.array([quad1PosL,quad2PosL,quad3PosL,quad4PosL])
odd = np.array([quad1PosR, quad2PosL, quad3PosL, quad3PosR])
even = np.array([quad1PosL, quad2PosR, quad4PosL, quad4PosR])
# print offset
# print "even is ",odd
# print "even is ", even
return odd, even
def loadingStringParser(self, loadingString):
"""
Args:
loadingString:2 letter string,
r - red sphere
g - green sphere
t - tree
0 - None
1st letter is even instance
2nd letter is odd instance
Returns:
"""
if len(loadingString) > 2:
print "only 2 objects in world"
j = 0
for i in loadingString:
if i == "t":
obj = self.tree
tex = self.treeTex
scale = parameters["treeScale"]
z = parameters["treeZ"]
plotColor = "k"
plotMarker = "s"
load = True
elif i == "r":
obj = self.redSphere
tex = self.redTex
scale = parameters["sphereScale"]
z = parameters["sphereZ"]
plotColor = "r"
plotMarker = "o"
load = True
elif i == "g":
obj = self.greenSphere
tex = self.greenTex
scale = parameters["sphereScale"]
z = parameters["sphereZ"]
plotColor = "g"
plotMarker = "o"
load = True
else:
obj = None
tex = None
scale = None
z = None
plotColor = None
plotMarker = None
load = False
if j == 0:
self.evenObj = obj
self.evenTex = tex
self.evenScale = scale
self.evenZ = z
self.evenPlotColor = plotColor
self.evenPlotMarker = plotMarker
self.evenLoad = load
else:
self.oddObj = obj
self.oddTex = tex
self.oddScale = scale
self.oddZ = z
self.oddPlotColor = plotColor
self.oddPlotMarker = plotMarker
self.oddLoad = load
j += 1
def oddInstance(self, dummy, scale, tex, z):
dummy.setPos(tuple(parameters["origin"]))
dummy.setScale(scale)
dummy.setTexture(tex)
for i in range(self.odd.shape[0]):
self.oddPlaceholder = self.render.attach_new_node("odd Holder")
self.oddPlaceholder.setPos(self.odd[i][0], self.odd[i][1], z)
dummy.instanceTo(self.oddPlaceholder)
def evenInstance(self, dummy, scale, tex, z):
dummy.setPos(tuple(parameters["origin"]))
dummy.setScale(scale)
dummy.setTexture(tex)
for i in range(self.even.shape[0]):
evenPlaceholder = self.render.attach_new_node("even Holder")
evenPlaceholder.setPos(self.even[i][0], self.even[i][1], z)
dummy.instanceTo(evenPlaceholder)
def plotPositions(self):
self.tree = self.greenSphere = self.redSphere = self.treeTex = self.greenTex = self.redTex = None
self.loadingStringParser(parameters["loadingString"])
plt.scatter(self.odd[:, 0],
self.odd[:, 1],
color=self.oddPlotColor,
marker=self.oddPlotMarker,
s=80)
plt.scatter(self.even[:, 0],
self.even[:, 1],
color=self.evenPlotColor,
marker=self.evenPlotMarker,
s=80) #,marker='|',color='g')
def worldNameGen(self):
self.worldFilename = "models/world_" + "size:" + parameters["modelSizeSuffix"] \
+ "_obj:" + parameters["loadingString"] + "_num:" \
+ str(parameters["widthObjects"]) + "x" \
+ str(parameters["heightObjects"])+"_lattice:"\
+str(parameters["lattice"]) + ".bam"
print "world file name is ", self.worldFilename
def generate(self):
self.worldNameGen()
self.render.writeBamFile(self.worldFilename)
def makeBlock(self,drawResourcesFactories,x,y,x1,y1,tileCenter,collision):
drawResourcesFactory=drawResourcesFactories[self.LOD]
tile=drawResourcesFactory.getTile()
resources=drawResourcesFactory.getDrawResources(self.dataIndex[self.LOD])
# Set up the GeoMipTerrain
terrain = GeoMipTerrain("TerrainTile")
heightTex=tile.bakedTile.renderMaps[self.specialMaps["height"]].tex
heightTexSize=heightTex.getXSize()
pnmImage=PNMImage()
#heightTex.makeRamImage() # Makes it run without having ran image in advance, but it all ends up flat.
heightTex.store(pnmImage)
terrain.setHeightfield(pnmImage)
# Set terrain properties
terrain.setBruteforce(True)
# Store the root NodePath for convenience
root = terrain.getRoot()
root.setPos(tile.bakedTile.x-tileCenter.getX(),tile.bakedTile.y-tileCenter.getY(),0)
for t in self.texList:
texScale=1.0/(t[1])
root.setTexture(t[0],t[2])
root.setShaderInput('tex2D_'+t[3],t[2])
root.setTexScale(t[0],texScale*tile.tileScale)
root.setTexOffset(t[0],(tile.getX() % t[1])*texScale,(tile.getY() % t[1])*texScale)
for t in self.mapTexStages:
tex=tile.bakedTile.renderMaps[t].tex
root.setTexture(self.mapTexStages[t],tex)
# Here we apply a transform to the textures so centers of the edge pixels fall on the edges of the tile
# Normally the edges of the edge pixels would fall on the edges of the tiles.
# The benifits of this should be visible, though they have not been varified sucessfully yet.
# In fact, these transforms appear to not do anything.
# This is troubling, but the problem they are supposed to fix is currently invisible as well.
#size=tex.getXSize()
#margin=bakery.texMargin(size)
#tile.setTexOffset(t,-margin,-margin)
#tile.setTexScale(t,float(size+margin*2)/size)
root.setShaderInput("offset",tile.bakedTile.x,tile.bakedTile.y,0.0,0.0)
root.setShaderInput("scale",tile.bakedTile.scale)
xyScale=float(tile.tileScale)/(heightTexSize-1)
root.setScale(xyScale,xyScale,self.heightScale)
if self.shader: root.setShader(self.shader)
# Generate it.
terrain.generate()
#root.flattenLight()
if collision:
col=collisionUtil.rebuildGeomNodesToColPolys(root,collision)
col.setCollideMask(collisionUtil.groundMask)
col.reparentTo(collision)
return root
class SMWorld(DirectObject):
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Constructor
# (Game state, Map name, Height of death plane)
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def __init__(self, mapID, tObj, aObj):
self.mapID = mapID
# EX: maps/map-1/map-1.yetimap
metaFile = open(
"../maps/map" + str(self.mapID) + "/map" + str(self.mapID) +
".yetimap", 'r')
metaLines = metaFile.readlines()
lineCount = len(metaLines)
self.snowflakeCount = lineCount - 2
self.snowCount = 0
# First Line: Player's starting position
# EX: 50,50,50 (NO SPACES)
playerLine = metaLines[0]
playerPosList = playerLine.split(",")
playerInitX = int(playerPosList[0])
playerInitY = int(playerPosList[1])
playerInitZ = int(playerPosList[2])
self.playerStart = Point3(playerInitX, playerInitY, playerInitZ)
# 2nd Line: Deathzone Height
# ONE INTEGER
self.deathHeight = int(metaLines[1])
# Get dem snowflakes
self.snowflakePositions = []
print("Snowflake Count: " + str(self.snowflakeCount))
for i in xrange(0, self.snowflakeCount):
sfline = metaLines[i + 2]
sfList = sfline.split(",")
sfx = int(sfList[0])
sfy = int(sfList[1])
sfz = int(sfList[2])
self.snowflakePositions.append(Point3(sfx, sfy, sfz))
print("New snowflake to add: (" + str(sfx) + "," + str(sfy) + "," +
str(sfz) + ")")
#load in controls
ctrlFl = open("ctrConfig.txt")
#will skip n lines where [n,]
#makes a list of controls
self.keymap = eval(ctrlFl.read())
#close file
ctrlFl.close()
# Create new instances of our various objects
self.mapName = str(mapID)
self.audioMgr = aObj
self.worldObj = self.setupWorld()
self.heightMap = self.setupHeightmap(self.mapName)
self.deathZone = self.setupDeathzone(self.deathHeight)
self.debugNode = self.setupDebug()
# Player Init
self.playerObj = SMPlayer(self.worldBullet, self.worldObj, self,
self.playerStart, self.audioMgr)
self.playerNP = self.playerObj.getNodePath()
self.playerNP.setH(180)
self.canUseShift = True
self.canAirDash = True
# Snowball Init
self.ballObj = SMBall(self.worldBullet, self.worldObj, self.playerObj,
self.playerNP)
self.sbCollideFlag = False
self.ballNP = self.ballObj.getNodePath()
# Key Handler
self.kh = SMKeyHandler()
self.lastMousePos = self.kh.getMouse()
# Collision Handler
self.colObj = self.setupCollisionHandler()
# Lighting
self.ligObj = SMLighting(Vec4(.4, .4, .4, 1), Vec3(-5, -5, -5),
Vec4(2.0, 2.0, 2.0, 1.0))
# Camera
self.camObj = SMCamera(self.playerObj, self.worldBullet, self.worldObj)
self.cameraControl = False
# GUI
self.GUI = SMGUI()
self.snowflakeCounter = SMGUICounter(
"snowflake",
self.snowflakeCount) # Replace 3 with # of snowflakes in level.
self.snowMeter = SMGUIMeter(100)
self.GUI.addElement("snowflake", self.snowflakeCounter)
self.GUI.addElement("snowMeter", self.snowMeter)
#Snowy Outside
# base.enableParticles()
# self.p = ParticleEffect()
# self.p.cleanup()
# self.p = ParticleEffect()
# self.p.loadConfig('snow.ptf')
# self.p.start(self.camObj.getNodePath())
# self.p.setPos(0.00, 0.500, 0.000)
# AI
# self.goat1 = SMAI("../res/models/goat.egg", 75.0, self.worldBullet, self.worldObj, -70, -95, 5)
# self.goat1.setBehavior("flee", self.playerNP)
# self.goat2 = SMAI("../res/models/goat.egg", 75.0, self.worldBullet, self.worldObj, -80, -83, 5)
# self.goat2.setBehavior("flee", self.playerNP)
# print("AI Initialized")
# Debug Text
self.textObj = tObj
self.textObj.addText("yetiPos", "Position: ")
self.textObj.addText("yetiVel", "Velocity: ")
self.textObj.addText("yetiFric", "Friction: ")
self.textObj.addText("onIce", "Ice(%): ")
self.textObj.addText("onSnow", "Snow(%): ")
self.textObj.addText("terrHeight", "T Height: ")
self.textObj.addText("terrSteepness", "Steepness: ")
# Pause screen transition
self.transition = Transitions(loader)
# Method-based keybindings
# self.accept('b', self.spawnBall)
self.accept('escape', base.userExit)
self.accept('enter', self.pauseUnpause)
self.accept('f1', self.toggleDebug)
self.accept('lshift-up', self.enableShiftActions)
self.accept('mouse1', self.enableCameraControl)
self.accept('mouse1-up', self.disableCameraControl)
self.accept('wheel_up', self.camObj.zoomIn)
self.accept('wheel_down', self.camObj.zoomOut)
self.pauseUnpause()
# Disable the mouse
base.disableMouse()
props = WindowProperties()
props.setCursorHidden(True)
base.win.requestProperties(props)
# Uncomment this to see everything being rendered.
self.printSceneGraph()
# Play the BGM
self.audioMgr.playBGM("snowmanWind")
# Skybox formed
skybox = loader.loadModel("../res/models/skybox.egg")
# skybox.set_two_sided(true)
skybox.setScale(500)
skybox.setPos(0, 0, -450)
skybox.reparentTo(render)
mountain = loader.loadModel("../res/models/mountain.egg")
mountain.reparentTo(render)
mountain.setPos(650, 800, 20)
mountain.setScale(120)
self.colObjects = []
self.caveNew = SMCollide("../res/models/cave_new.egg",
self.worldBullet, self.worldObj,
Point3(-50, 95, -13), 11, Vec3(0, 0, 0))
self.colObjects.append(self.caveNew)
self.planeFront = SMCollide("../res/models/plane_front",
self.worldBullet, self.worldObj,
Point3(190, -100,
-15), 8, Vec3(190, 0, 30))
self.colObjects.append(self.planeFront)
self.caveModel = SMCollide("../res/models/cave_tunnel.egg",
self.worldBullet, self.worldObj,
Point3(233, 68, 32), 4, Vec3(135, 180, 0))
self.colObjects.append(self.caveModel)
self.planeTail = SMCollide("../res/models/plane_tail.egg",
self.worldBullet, self.worldObj,
Point3(-40, -130, -7), 10, Vec3(230, 0, 0))
self.colObjects.append(self.planeTail)
self.ropeBridge = SMCollide("../res/models/rope_bridge.egg",
self.worldBullet, self.worldObj,
Point3(180, 115, 30), 6, Vec3(50, 0, 0))
self.colObjects.append(self.ropeBridge)
self.colObjectCount = len(self.colObjects)
print("World initialized.")
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Enables the camera to be rotated by moving the mouse horizontally.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def enableCameraControl(self):
self.cameraControl = True
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Disables the camera control.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def disableCameraControl(self):
self.cameraControl = False
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Enables the use of shift actions again.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def enableShiftActions(self):
self.canUseShift = True
def disableShiftActions(self):
self.canUseShift = False
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Respawns the yeti's snowball.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def spawnBall(self):
if (not (self.playerObj.getAirborneFlag())):
self.ballObj.respawn()
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Toggles the pause screen
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def pauseUnpause(self):
if taskMgr.hasTaskNamed('UpdateTask'):
taskMgr.remove('UpdateTask')
self.transition.fadeScreen(0.5)
else:
taskMgr.add(self.update, 'UpdateTask')
self.transition.noFade()
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Sets up the world and returns a NodePath of the BulletWorld
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupWorld(self):
self.worldBullet = BulletWorld()
self.worldBullet.setGravity(Vec3(0, 0, -GRAVITY))
self.terrSteepness = -1
wNP = render.attachNewNode('WorldNode')
self.audioMgr.loadSFX("snowCrunch01")
self.audioMgr.loadBGM("snowmanWind")
return wNP
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Prints all nodes that are a child of render.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def printSceneGraph(self):
print(render.ls())
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Initializes and returns a DebugNode NodePath.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupDebug(self):
debug = BulletDebugNode()
debug.showWireframe(
False
) # Yeah, don't set this to true unless you want to emulate an 80's computer running Crysis on Ultra settings.
debug.showConstraints(True)
debug.showBoundingBoxes(True) # This is the main use I have for it.
debug.showNormals(True)
debugNP = render.attachNewNode(debug)
self.worldBullet.setDebugNode(debugNP.node())
debugNP.hide()
return debugNP
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Initializes and returns a BulletRigidBodyNode of the terrain, which loads the map with the specified name.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupHeightmap(self, name):
# Automatically generate a heightmap mesh from a monochrome image.
self.hmHeight = 120
hmPath = "../maps/map" + name + "/map" + name + "-h.png"
imPath = "../maps/map" + name + "/map" + name + "-i.png"
smPath = "../maps/map" + name + "/map" + name + "-s.png"
scmPath = "../maps/map" + name + "/map" + name + "-sc.png"
print(hmPath)
print(imPath)
print(smPath)
print(scmPath)
hmImg = PNMImage(Filename(hmPath))
hmShape = BulletHeightfieldShape(hmImg, self.hmHeight, ZUp)
hmNode = BulletRigidBodyNode('Terrain')
hmNode.addShape(hmShape)
hmNode.setMass(0)
self.hmNP = render.attachNewNode(hmNode)
self.worldBullet.attachRigidBody(hmNode)
self.hmOffset = hmImg.getXSize() / 2.0 - 0.5
self.hmTerrain = GeoMipTerrain('gmTerrain')
self.hmTerrain.setHeightfield(hmImg)
# Optimizations and fixes
self.hmTerrain.setBruteforce(
True) # I don't think this is actually needed.
self.hmTerrain.setMinLevel(3) # THIS is what triangulates the terrain.
self.hmTerrain.setBlockSize(
128) # This does a pretty good job of raising FPS.
# Level-of-detail (not yet working)
# self.hmTerrain.setNear(40)
# self.hmTerrain.setFar(200)
self.hmTerrain.generate()
self.hmTerrainNP = self.hmTerrain.getRoot()
self.hmTerrainNP.setSz(self.hmHeight)
self.hmTerrainNP.setPos(-self.hmOffset, -self.hmOffset,
-self.hmHeight / 2.0)
self.hmTerrainNP.flattenStrong(
) # This only reduces the number of nodes; nothing to do with polys.
self.hmTerrainNP.analyze()
# Here begins the scenery mapping
treeModel = loader.loadModel("../res/models/tree_1.egg")
rockModel = loader.loadModel("../res/models/rock_1.egg")
rock2Model = loader.loadModel("../res/models/rock_2.egg")
rock3Model = loader.loadModel("../res/models/rock_3.egg")
# caveModel = loader.loadModel("../res/models/cave_new.egg")
# planeFrontModel = loader.loadModel("../res/models/plane_front.egg")
# planeWingModel = loader.loadModel("../res/models/plane_wing.egg")
texpk = loader.loadTexture(scmPath).peek()
# GameObject nodepath for flattening
self.objNP = render.attachNewNode("gameObjects")
self.treeNP = self.objNP.attachNewNode("goTrees")
self.rockNP = self.objNP.attachNewNode("goRocks")
self.rock2NP = self.objNP.attachNewNode("goRocks2")
self.rock3NP = self.objNP.attachNewNode("goRocks3")
# self.caveNP = self.objNP.attachNewNode("goCave")
# self.planeFrontNP = self.objNP.attachNewNode("goPlaneFront")
# self.planeWingNP = self.objNP.attachNewNode("goPlaneWing")
for i in range(0, texpk.getXSize()):
for j in range(0, texpk.getYSize()):
color = VBase4(0, 0, 0, 0)
texpk.lookup(color,
float(i) / texpk.getXSize(),
float(j) / texpk.getYSize())
if (int(color.getX() * 255.0) == 255.0):
newTree = self.treeNP.attachNewNode("treeNode")
treeModel.instanceTo(newTree)
newTree.setPos(
i - texpk.getXSize() / 2, j - texpk.getYSize() / 2,
self.hmTerrain.get_elevation(i, j) * self.hmHeight -
self.hmHeight / 2)
# newTree.setScale(randint(0,4))
newTree.setScale(2)
if (int(color.getX() * 255.0) == 128):
newRock = self.rockNP.attachNewNode("newRock")
newRock.setPos(
i - texpk.getXSize() / 2, j - texpk.getYSize() / 2,
self.hmTerrain.get_elevation(i, j) * self.hmHeight -
self.hmHeight / 2)
rockModel.instanceTo(newRock)
if (int(color.getX() * 255.0) == 77):
newRock2 = self.rock2NP.attachNewNode("newRock2")
newRock2.setPos(
i - texpk.getXSize() / 2, j - texpk.getYSize() / 2,
self.hmTerrain.get_elevation(i, j) * self.hmHeight -
self.hmHeight / 2)
rock2Model.instanceTo(newRock2)
if (int(color.getX() * 255.0) == 102):
newRock3 = self.rock3NP.attachNewNode("newRock3")
newRock3.setPos(
i - texpk.getXSize() / 2, j - texpk.getYSize() / 2,
self.hmTerrain.get_elevation(i, j) * self.hmHeight -
self.hmHeight / 2)
rock3Model.instanceTo(newRock3)
# if(int(color.getX() * 255.0) == 64):
# newCave = self.caveNP.attachNewNode("newCave")
# newCave.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
# newCave.setScale(5)
# newCave.setP(180)
# caveModel.instanceTo(newCave)
# if(int(color.getX() * 255.0) == 191):
# newPlaneFront = self.planeFrontNP.attachNewNode("newPlaneFront")
# newPlaneFront.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
# newPlaneFront.setScale(6)
# planeFrontModel.instanceTo(newPlaneFront)
# if(int(color.getX() * 255.0) == 179):
# newPlaneWing = self.planeWingNP.attachNewNode("newPlaneWing")
# newPlaneWing.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
# newPlaneWing.setScale(6)
# newPlaneWing.setH(250)
# newPlaneWing.setR(180)
# newPlaneWing.setP(135)
# planeWingModel.instanceTo(newPlaneWing)
self.snowflakes = []
for i in xrange(0, self.snowflakeCount):
print("Call " + str(i))
sf = SMCollect(self.worldBullet, self.worldObj,
self.snowflakePositions[i])
self.snowflakes.append(sf)
# render.flattenStrong()
self.hmTerrainNP.reparentTo(render)
# Here begins the attribute mapping
ts = TextureStage("stage-alpha")
ts.setSort(0)
ts.setPriority(1)
ts.setMode(TextureStage.MReplace)
ts.setSavedResult(True)
self.hmTerrainNP.setTexture(ts, loader.loadTexture(imPath, smPath))
ts = TextureStage("stage-stone")
ts.setSort(1)
ts.setPriority(1)
ts.setMode(TextureStage.MReplace)
self.hmTerrainNP.setTexture(
ts, loader.loadTexture("../res/textures/stone_tex.png"))
self.hmTerrainNP.setTexScale(ts, 32, 32)
ts = TextureStage("stage-ice")
ts.setSort(2)
ts.setPriority(1)
ts.setCombineRgb(TextureStage.CMInterpolate, TextureStage.CSTexture,
TextureStage.COSrcColor, TextureStage.CSPrevious,
TextureStage.COSrcColor,
TextureStage.CSLastSavedResult,
TextureStage.COSrcColor)
self.hmTerrainNP.setTexture(
ts, loader.loadTexture("../res/textures/ice_tex.png"))
self.hmTerrainNP.setTexScale(ts, 32, 32)
ts = TextureStage("stage-snow")
ts.setSort(3)
ts.setPriority(0)
ts.setCombineRgb(TextureStage.CMInterpolate, TextureStage.CSTexture,
TextureStage.COSrcColor, TextureStage.CSPrevious,
TextureStage.COSrcColor,
TextureStage.CSLastSavedResult,
TextureStage.COSrcAlpha)
self.hmTerrainNP.setTexture(
ts, loader.loadTexture("../res/textures/snow_tex_1.png"))
self.hmTerrainNP.setTexScale(ts, 32, 32)
# print(self.snowflakes)
return hmNode
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Sets up and returns the death zone plane (returns its NodePath) with the specified height.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupDeathzone(self, height):
planeShape = BulletPlaneShape(Vec3(0, 0, 1), 1)
planeNode = BulletRigidBodyNode('DeathZone')
planeNode.addShape(planeShape)
planeNP = render.attachNewNode(planeNode)
planeNP.setPos(0, 0, height)
self.worldBullet.attachRigidBody(planeNode)
return planeNP
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Sets up and returns the collision handler.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupCollisionHandler(self):
colHand = SMCollisionHandler(self.worldBullet)
return colHand
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Toggles showing bounding boxes.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def toggleDebug(self):
if self.debugNode.isHidden():
self.debugNode.show()
else:
self.debugNode.hide()
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Returns the terrain height of the nearest vertical descending raycast from the passed Point3.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def getTerrainHeight(self, pos):
result = 0
x = pos.getX()
y = pos.getY()
z = pos.getZ()
rayTerrA = Point3(x, y, z)
rayTerrB = Point3(x, y, z - 256)
rayTest = self.worldBullet.rayTestClosest(rayTerrA, rayTerrB)
rayNode = rayTest.getNode()
if (rayTest.hasHit()):
rayPos = rayTest.getHitPos()
result = rayPos.getZ()
else:
self.playerObj.respawn()
return result
# return self.hmTerrain.get_elevation(x + self.hmOffset, y + self.hmOffset) * self.hmHeight
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Handles player movement
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def playerMove(self):
# Go through the collision and flag tests, and update them
self.doPlayerTests()
# Rotation and camera movement
if self.kh.poll(self.keymap['Left']):
self.playerObj.turn(True)
elif self.kh.poll(self.keymap['Right']):
self.playerObj.turn(False)
elif (self.cameraControl):
newMousePos = self.kh.getMouse()
mx = newMousePos.getX()
self.camObj.rotateCamera(mx)
self.camObj.calculatePosition()
# Movement
if self.kh.poll(self.keymap['Forward']):
self.playerObj.move(True)
self.camObj.rotateTowards(90)
elif self.kh.poll(self.keymap['Back']):
self.playerObj.move(False)
else:
self.playerObj.stop()
# Jump
if (self.kh.poll(self.keymap['Space']) and self.terrSteepness <
0.25): #and not(self.ballObj.isRolling())):
self.playerObj.jump()
else:
self.playerObj.resetJump()
# Air Dash
if (
self.kh.poll(self.keymap['airDash'])
): #and self.playerObj.getAirborneFlag() == True and self.canAirDash == True):
self.canAirDash = False
self.playerObj.airDash()
# Shift-based actions
if (self.kh.poll("lshift") and not (self.sbCollideFlag)
and not (self.playerObj.getAirborneFlag())
and self.canUseShift):
# If there's another snowball already placed
if (self.ballObj.exists() and not (self.ballObj.isRolling())):
self.ballObj.respawn()
# If we're rolling a snowball
elif (self.ballObj.isRolling()):
# Absorb snowball
if (self.kh.poll("v")):
self.canUseShift = False
snowAmt = self.ballObj.getSnowAmount()
self.playerObj.addSnow(snowAmt)
# self.snowMeter.fillBy(snowAmt)
self.ballObj.destroy()
# Go to iceball throwing mode
elif (self.kh.poll("b")):
print("TODO: Ice ball throwing mode.")
# Grow the snowball
elif (self.kh.poll("w")):
self.ballObj.grow()
# Spawn a new snowball
elif (self.ballObj.exists() == False):
self.ballObj.respawn()
# If the player is not pressing shift
else:
if (self.ballObj.isRolling()):
self.ballObj.dropBall()
base.win.movePointer(0, 400, 300)
# So updating the stats is VERY expensive.
if (self.debugNode.isHidden() == False):
self.updateStats()
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Various tests concerning the player flags and collisions.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def doPlayerTests(self):
# Player's position
plPos = self.playerObj.getPosition()
px = plPos.getX()
py = plPos.getY()
pz = plPos.getZ()
# Raycast directly down for terrain steepness
rayYetiA = Point3(px, py, pz)
rayYetiB = Point3(px, py, pz - 300)
self.downRayTest = self.worldBullet.rayTestClosest(
rayYetiA, rayYetiB).getHitNormal()
rx = self.downRayTest.getX()
ry = self.downRayTest.getY()
rz = self.downRayTest.getZ()
self.terrSteepness = 1.0 - rz
# Redo collision flags later
objCollisionFlag = False
# Snow/Ice height adjust
self.playerObj.updateTerrain()
# Collision: Player x Objects
for i in xrange(0, self.colObjectCount):
if (self.colObj.didCollide(self.playerNP.node(),
self.colObjects[i].AINode)):
objCollisionFlag = True
self.playerObj.setAirborneFlag(False)
self.canAirDash = True
self.playerObj.setFactor(1, 1, 1)
# Collision: Player x Snowball
if (self.ballObj.exists() and self.colObj.didCollide(
self.playerNP.node(), self.ballObj.getRigidbody())):
self.sbCollideFlag = True
self.playerObj.setAirborneFlag(False)
self.playerObj.setFactor(1, 1, 1)
else:
self.sbCollideFlag = False
# Collision: Player x Terrain
if (self.colObj.didCollide(self.playerNP.node(), self.heightMap)):
if (self.playerObj.getAirborneFlag()):
self.audioMgr.playSFX("snowCrunch01")
self.playerObj.setAirborneFlag(False)
self.canAirDash = True
self.playerObj.setFactor(1, 1, 1)
objCollisionFlag = False
# Collision: Player x Death Zone
# if(pz - 7 <= self.deathHeight or (self.colObj.didCollide(self.playerNP.node(), self.deathZone.node()))):
if (self.colObj.didCollide(self.playerNP.node(),
self.deathZone.node())):
print("Player confirmed #REKT")
self.playerObj.respawn()
# Out of bounds checking
if (abs(px) > 254 or abs(py) > 254):
print("Player out of bounds!")
self.playerObj.respawn()
# Snap to terrain if... something. I need to restructure this. Don't read it.
if (not (self.playerObj.getAirborneFlag()) and not (self.sbCollideFlag)
and not (objCollisionFlag)):
z = self.getTerrainHeight(Point3(px, py, pz))
self.playerObj.snapToTerrain(z)
# self.playerObj.snapToTerrain(th, self.hmHeight)
# Collision: Player x Snowflakes
for i in xrange(0, self.snowflakeCount):
if (self.snowflakes[i].exists() and self.colObj.didCollide(
self.playerNP.node(), self.snowflakes[i].getNode())):
self.snowflakes[i].destroy()
self.snowflakeCounter.increment()
self.snowCount += 1
self.snowMeter.updateSnow(self.playerObj)
#Check if there is a "next" level. If there is, load it. Otherwise display end game screen.
if (self.snowCount >= self.snowflakeCount):
file_path = "../maps/map" + str(self.mapID +
1) + "/map" + str(self.mapID +
1) + ".yetimap"
if os.path.lexists(file_path):
self.snowCount = 0
self.snowflakeCount = 0
self.snowflakeCounter.setValue(0)
self.snowflakeCounter.setState(2)
#Loading Screen
self.transition.fadeScreen(0.7)
self.loadingText = OnscreenText("Loading...",
1,
fg=(1, 1, 1, 0),
pos=(0, 0),
align=TextNode.ACenter,
scale=.07,
mayChange=1)
base.graphicsEngine.renderFrame()
base.graphicsEngine.renderFrame()
base.graphicsEngine.renderFrame()
base.graphicsEngine.renderFrame()
self.transition.noFade()
#destroy objects
self.worldBullet.removeRigidBody(self.heightMap)
self.hmTerrainNP.removeNode()
self.objNP.removeNode()
self.treeNP.removeNode()
self.rockNP.removeNode()
self.rock2NP.removeNode()
self.rock3NP.removeNode()
# self.caveNP.removeNode()
# self.planeFrontNP.removeNode()
# self.planeWingNP.removeNode()
self.hmNP.removeNode()
if (int(self.mapID) == 1):
self.ropeBridge.AIChar.setPos(-200, -300, -200)
# self.ropeBridge.AIChar.removeNode()
self.planeFront.AIChar.removeNode()
self.planeTail.AIChar.setPos(-200, -200, -200)
# self.planeTail.AIChar.removeNode()
self.caveNew.AIChar.setPos(-1000, -1000, -1000)
self.caveModel.AIChar.removeNode()
#Added More Props here!
self.boulder = SMCollide("../res/models/rock_3.egg",
self.worldBullet, self.worldObj,
Point3(117, 123, 17), 15,
Vec3(0, 0, 0))
elif (int(self.mapID) == 2):
self.boulder.AIChar.setPos(-222, -222, -222)
self.caveNew.AIChar.setScale(150)
self.caveNew.AIChar.setPos(-50, 95, -50)
# self.skybox.setScale(600)
# self.caveNew.setH(0)
# self.boulder.removeNode()
self.mapID += 1
print self.mapID
# EX: maps/map-1/map-1.yetimap
metaFile = open(
"../maps/map" + str(self.mapID) + "/map" +
str(self.mapID) + ".yetimap", 'r')
metaLines = metaFile.readlines()
lineCount = len(metaLines)
self.snowflakeCount = lineCount - 2
# First Line: Player's starting position
# EX: 50,50,50 (NO SPACES)
playerLine = metaLines[0]
playerPosList = playerLine.split(",")
playerInitX = int(playerPosList[0])
playerInitY = int(playerPosList[1])
playerInitZ = int(playerPosList[2])
self.playerObj.playerNP.setPos(playerInitX, playerInitY,
playerInitZ)
self.playerObj.startX = playerInitX
self.playerObj.startY = playerInitY
self.playerObj.startZ = playerInitZ
# 2nd Line: Deathzone Height
# ONE INTEGER
self.deathHeight = int(metaLines[1])
self.snowflakePositions = []
print("Snowflake Count: " + str(self.snowflakeCount))
for i in xrange(0, self.snowflakeCount):
sfline = metaLines[i + 2]
sfList = sfline.split(",")
sfx = int(sfList[0])
sfy = int(sfList[1])
sfz = int(sfList[2])
self.snowflakePositions.append(Point3(sfx, sfy, sfz))
print("New snowflake to add: (" + str(sfx) + "," +
str(sfy) + "," + str(sfz) + ")")
self.snowflakeCounter.setMaxValue(self.snowflakeCount)
#load new map
self.mapName = str(self.mapID)
self.heightMap = self.setupHeightmap(self.mapName)
self.deathZone = self.setupDeathzone(self.deathHeight)
self.loadingText.cleanup()
else:
taskMgr.remove('UpdateTask')
self.endImage = OnscreenImage(
image="../res/icons/endgame1.png",
pos=(0.0, 0.0, 0.0),
scale=(1.35, 2, 1))
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Update the debug text.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def updateStats(self):
pos = self.playerObj.getPosition()
x = pos.getX()
y = pos.getY()
z = pos.getZ()
vel = self.playerObj.getVelocity()
vx = str(round(vel.getX(), 1))
vy = str(round(vel.getY(), 1))
vz = str(round(vel.getZ(), 1))
sx = str(round(x, 1))
sy = str(round(y, 1))
sz = str(round(z, 1))
rx = str(round(self.downRayTest.getX(), 2))
ry = str(round(self.downRayTest.getY(), 2))
rz = str(round(self.terrSteepness, 2))
fric = str(round(self.playerObj.getFriction(), 2))
ip = str(round(self.playerObj.getIceCoefficient(), 2))
sp = str(round(self.playerObj.getSnowCoefficient(), 2))
tHeight = str(round(self.getTerrainHeight(Point3(x, y, z)), 1))
self.textObj.editText("yetiPos",
"Position: (" + sx + ", " + sy + ", " + sz + ")")
self.textObj.editText("yetiVel",
"Velocity: (" + vx + ", " + vy + ", " + vz + ")")
self.textObj.editText("yetiFric", "Friction: " + fric)
self.textObj.editText("onIce", "Ice(%): " + ip)
self.textObj.editText("onSnow", "Snow(%): " + sp)
self.textObj.editText("terrHeight", "T Height: " + tHeight)
self.textObj.editText("terrSteepness", "Steepness: " + rz)
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# throw Snowball
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def throw(self):
self.throwing = True
size = self.ballObj.getSize()
#zoom camera and grab pos you wish to throw
self.camObj.aimMode()
taskMgr.add(self.controlCamera, "camera-task")
rotation = self.camObj.getH()
pitch = self.camObj.getP()
self.ballObj.throwBall(size, pitch, rotation)
#fix camera
#self.throwing = False
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Update the world. Called every frame.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def update(self, task):
dt = globalClock.getDt()
self.worldBullet.doPhysics(dt)
# self.goat1.AIUpdate()
# self.goat2.AIUpdate()
self.playerMove()
return task.cont
class SMWorld(DirectObject):
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Constructor
# (Game state, Map name, Height of death plane)
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def __init__(self, mapID, tObj, aObj):
self.mapID = mapID
# EX: maps/map-1/map-1.yetimap
metaFile = open("../maps/map" + str(self.mapID) + "/map" + str(self.mapID) + ".yetimap", 'r')
metaLines = metaFile.readlines()
lineCount = len(metaLines)
self.snowflakeCount = lineCount - 2
self.snowCount = 0
# First Line: Player's starting position
# EX: 50,50,50 (NO SPACES)
playerLine = metaLines[0]
playerPosList = playerLine.split(",")
playerInitX = int(playerPosList[0])
playerInitY = int(playerPosList[1])
playerInitZ = int(playerPosList[2])
self.playerStart = Point3(playerInitX, playerInitY, playerInitZ)
# 2nd Line: Deathzone Height
# ONE INTEGER
self.deathHeight = int(metaLines[1])
# Get dem snowflakes
self.snowflakePositions = []
print("Snowflake Count: " + str(self.snowflakeCount))
for i in xrange(0, self.snowflakeCount):
sfline = metaLines[i+2]
sfList = sfline.split(",")
sfx = int(sfList[0])
sfy = int(sfList[1])
sfz = int(sfList[2])
self.snowflakePositions.append(Point3(sfx, sfy, sfz))
print("New snowflake to add: (" + str(sfx) + "," + str(sfy) + "," + str(sfz) + ")")
#load in controls
ctrlFl = open("ctrConfig.txt")
#will skip n lines where [n,]
#makes a list of controls
self.keymap = eval(ctrlFl.read())
#close file
ctrlFl.close()
# Create new instances of our various objects
self.mapName = str(mapID)
self.audioMgr = aObj
self.worldObj = self.setupWorld()
self.heightMap = self.setupHeightmap(self.mapName)
self.deathZone = self.setupDeathzone(self.deathHeight)
self.debugNode = self.setupDebug()
# Player Init
self.playerObj = SMPlayer(self.worldBullet, self.worldObj, self, self.playerStart, self.audioMgr)
self.playerNP = self.playerObj.getNodePath()
self.playerNP.setH(180);
self.canUseShift = True
self.canAirDash = True
# Snowball Init
self.ballObj = SMBall(self.worldBullet, self.worldObj, self.playerObj, self.playerNP)
self.sbCollideFlag = False
self.ballNP = self.ballObj.getNodePath()
# Key Handler
self.kh = SMKeyHandler()
self.lastMousePos = self.kh.getMouse()
# Collision Handler
self.colObj = self.setupCollisionHandler()
# Lighting
self.ligObj = SMLighting(Vec4(.4, .4, .4, 1), Vec3(-5, -5, -5), Vec4(2.0, 2.0, 2.0, 1.0))
# Camera
self.camObj = SMCamera(self.playerObj, self.worldBullet, self.worldObj)
self.cameraControl = False
# GUI
self.GUI = SMGUI()
self.snowflakeCounter = SMGUICounter("snowflake", self.snowflakeCount) # Replace 3 with # of snowflakes in level.
self.snowMeter = SMGUIMeter(100)
self.GUI.addElement("snowflake", self.snowflakeCounter)
self.GUI.addElement("snowMeter", self.snowMeter)
#Snowy Outside
# base.enableParticles()
# self.p = ParticleEffect()
# self.p.cleanup()
# self.p = ParticleEffect()
# self.p.loadConfig('snow.ptf')
# self.p.start(self.camObj.getNodePath())
# self.p.setPos(0.00, 0.500, 0.000)
# AI
# self.goat1 = SMAI("../res/models/goat.egg", 75.0, self.worldBullet, self.worldObj, -70, -95, 5)
# self.goat1.setBehavior("flee", self.playerNP)
# self.goat2 = SMAI("../res/models/goat.egg", 75.0, self.worldBullet, self.worldObj, -80, -83, 5)
# self.goat2.setBehavior("flee", self.playerNP)
# print("AI Initialized")
# Debug Text
self.textObj = tObj
self.textObj.addText("yetiPos", "Position: ")
self.textObj.addText("yetiVel", "Velocity: ")
self.textObj.addText("yetiFric", "Friction: ")
self.textObj.addText("onIce", "Ice(%): ")
self.textObj.addText("onSnow", "Snow(%): ")
self.textObj.addText("terrHeight", "T Height: ")
self.textObj.addText("terrSteepness", "Steepness: ")
# Pause screen transition
self.transition = Transitions(loader)
# Method-based keybindings
# self.accept('b', self.spawnBall)
self.accept('escape', base.userExit)
self.accept('enter', self.pauseUnpause)
self.accept('f1', self.toggleDebug)
self.accept('lshift-up', self.enableShiftActions)
self.accept('mouse1', self.enableCameraControl)
self.accept('mouse1-up', self.disableCameraControl)
self.accept('wheel_up', self.camObj.zoomIn)
self.accept('wheel_down', self.camObj.zoomOut)
self.pauseUnpause()
# Disable the mouse
base.disableMouse()
props = WindowProperties()
props.setCursorHidden(True)
base.win.requestProperties(props)
# Uncomment this to see everything being rendered.
self.printSceneGraph()
# Play the BGM
self.audioMgr.playBGM("snowmanWind")
# Skybox formed
skybox = loader.loadModel("../res/models/skybox.egg")
# skybox.set_two_sided(true)
skybox.setScale(500)
skybox.setPos(0, 0, -450)
skybox.reparentTo(render)
mountain = loader.loadModel("../res/models/mountain.egg")
mountain.reparentTo(render)
mountain.setPos(650,800,20)
mountain.setScale(120)
self.colObjects = []
self.caveNew = SMCollide("../res/models/cave_new.egg", self.worldBullet, self.worldObj, Point3(-50, 95, -13), 11, Vec3(0,0,0))
self.colObjects.append(self.caveNew)
self.planeFront = SMCollide("../res/models/plane_front", self.worldBullet, self.worldObj, Point3(190, -100, -15), 8, Vec3(190,0,30))
self.colObjects.append(self.planeFront)
self.caveModel = SMCollide("../res/models/cave_tunnel.egg", self.worldBullet, self.worldObj, Point3(233, 68, 32), 4, Vec3(135,180,0))
self.colObjects.append(self.caveModel)
self.planeTail = SMCollide("../res/models/plane_tail.egg", self.worldBullet, self.worldObj, Point3(-40, -130, -7), 10, Vec3(230,0,0))
self.colObjects.append(self.planeTail)
self.ropeBridge = SMCollide("../res/models/rope_bridge.egg", self.worldBullet, self.worldObj, Point3(180, 115, 30), 6, Vec3(50,0,0))
self.colObjects.append(self.ropeBridge)
self.colObjectCount = len(self.colObjects)
print("World initialized.")
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Enables the camera to be rotated by moving the mouse horizontally.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def enableCameraControl(self):
self.cameraControl = True
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Disables the camera control.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def disableCameraControl(self):
self.cameraControl = False
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Enables the use of shift actions again.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def enableShiftActions(self):
self.canUseShift = True
def disableShiftActions(self):
self.canUseShift = False
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Respawns the yeti's snowball.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def spawnBall(self):
if(not(self.playerObj.getAirborneFlag())):
self.ballObj.respawn()
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Toggles the pause screen
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def pauseUnpause(self):
if taskMgr.hasTaskNamed('UpdateTask'):
taskMgr.remove('UpdateTask')
self.transition.fadeScreen(0.5)
else:
taskMgr.add(self.update, 'UpdateTask')
self.transition.noFade()
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Sets up the world and returns a NodePath of the BulletWorld
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupWorld(self):
self.worldBullet = BulletWorld()
self.worldBullet.setGravity(Vec3(0, 0, -GRAVITY))
self.terrSteepness = -1
wNP = render.attachNewNode('WorldNode')
self.audioMgr.loadSFX("snowCrunch01")
self.audioMgr.loadBGM("snowmanWind")
return wNP
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Prints all nodes that are a child of render.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def printSceneGraph(self):
print(render.ls())
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Initializes and returns a DebugNode NodePath.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupDebug(self):
debug = BulletDebugNode()
debug.showWireframe(False) # Yeah, don't set this to true unless you want to emulate an 80's computer running Crysis on Ultra settings.
debug.showConstraints(True)
debug.showBoundingBoxes(True) # This is the main use I have for it.
debug.showNormals(True)
debugNP = render.attachNewNode(debug)
self.worldBullet.setDebugNode(debugNP.node())
debugNP.hide()
return debugNP
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Initializes and returns a BulletRigidBodyNode of the terrain, which loads the map with the specified name.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupHeightmap(self, name):
# Automatically generate a heightmap mesh from a monochrome image.
self.hmHeight = 120
hmPath = "../maps/map" + name + "/map" + name + "-h.png"
imPath = "../maps/map" + name + "/map" + name + "-i.png"
smPath = "../maps/map" + name + "/map" + name + "-s.png"
scmPath = "../maps/map" + name + "/map" + name + "-sc.png"
print(hmPath)
print(imPath)
print(smPath)
print(scmPath)
hmImg = PNMImage(Filename(hmPath))
hmShape = BulletHeightfieldShape(hmImg, self.hmHeight, ZUp)
hmNode = BulletRigidBodyNode('Terrain')
hmNode.addShape(hmShape)
hmNode.setMass(0)
self.hmNP = render.attachNewNode(hmNode)
self.worldBullet.attachRigidBody(hmNode)
self.hmOffset = hmImg.getXSize() / 2.0 - 0.5
self.hmTerrain = GeoMipTerrain('gmTerrain')
self.hmTerrain.setHeightfield(hmImg)
# Optimizations and fixes
self.hmTerrain.setBruteforce(True) # I don't think this is actually needed.
self.hmTerrain.setMinLevel(3) # THIS is what triangulates the terrain.
self.hmTerrain.setBlockSize(128) # This does a pretty good job of raising FPS.
# Level-of-detail (not yet working)
# self.hmTerrain.setNear(40)
# self.hmTerrain.setFar(200)
self.hmTerrain.generate()
self.hmTerrainNP = self.hmTerrain.getRoot()
self.hmTerrainNP.setSz(self.hmHeight)
self.hmTerrainNP.setPos(-self.hmOffset, -self.hmOffset, -self.hmHeight / 2.0)
self.hmTerrainNP.flattenStrong() # This only reduces the number of nodes; nothing to do with polys.
self.hmTerrainNP.analyze()
# Here begins the scenery mapping
treeModel = loader.loadModel("../res/models/tree_1.egg")
rockModel = loader.loadModel("../res/models/rock_1.egg")
rock2Model = loader.loadModel("../res/models/rock_2.egg")
rock3Model = loader.loadModel("../res/models/rock_3.egg")
# caveModel = loader.loadModel("../res/models/cave_new.egg")
# planeFrontModel = loader.loadModel("../res/models/plane_front.egg")
# planeWingModel = loader.loadModel("../res/models/plane_wing.egg")
texpk = loader.loadTexture(scmPath).peek()
# GameObject nodepath for flattening
self.objNP = render.attachNewNode("gameObjects")
self.treeNP = self.objNP.attachNewNode("goTrees")
self.rockNP = self.objNP.attachNewNode("goRocks")
self.rock2NP = self.objNP.attachNewNode("goRocks2")
self.rock3NP = self.objNP.attachNewNode("goRocks3")
# self.caveNP = self.objNP.attachNewNode("goCave")
# self.planeFrontNP = self.objNP.attachNewNode("goPlaneFront")
# self.planeWingNP = self.objNP.attachNewNode("goPlaneWing")
for i in range(0, texpk.getXSize()):
for j in range(0, texpk.getYSize()):
color = VBase4(0, 0, 0, 0)
texpk.lookup(color, float(i) / texpk.getXSize(), float(j) / texpk.getYSize())
if(int(color.getX() * 255.0) == 255.0):
newTree = self.treeNP.attachNewNode("treeNode")
treeModel.instanceTo(newTree)
newTree.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
# newTree.setScale(randint(0,4))
newTree.setScale(2)
if(int(color.getX() * 255.0) == 128):
newRock = self.rockNP.attachNewNode("newRock")
newRock.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
rockModel.instanceTo(newRock)
if(int(color.getX() * 255.0) == 77):
newRock2 = self.rock2NP.attachNewNode("newRock2")
newRock2.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
rock2Model.instanceTo(newRock2)
if(int(color.getX() * 255.0) == 102):
newRock3 = self.rock3NP.attachNewNode("newRock3")
newRock3.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
rock3Model.instanceTo(newRock3)
# if(int(color.getX() * 255.0) == 64):
# newCave = self.caveNP.attachNewNode("newCave")
# newCave.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
# newCave.setScale(5)
# newCave.setP(180)
# caveModel.instanceTo(newCave)
# if(int(color.getX() * 255.0) == 191):
# newPlaneFront = self.planeFrontNP.attachNewNode("newPlaneFront")
# newPlaneFront.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
# newPlaneFront.setScale(6)
# planeFrontModel.instanceTo(newPlaneFront)
# if(int(color.getX() * 255.0) == 179):
# newPlaneWing = self.planeWingNP.attachNewNode("newPlaneWing")
# newPlaneWing.setPos(i - texpk.getXSize() / 2, j - texpk.getYSize() / 2, self.hmTerrain.get_elevation(i, j) * self.hmHeight - self.hmHeight / 2)
# newPlaneWing.setScale(6)
# newPlaneWing.setH(250)
# newPlaneWing.setR(180)
# newPlaneWing.setP(135)
# planeWingModel.instanceTo(newPlaneWing)
self.snowflakes = []
for i in xrange(0, self.snowflakeCount):
print("Call " + str(i))
sf = SMCollect(self.worldBullet, self.worldObj, self.snowflakePositions[i])
self.snowflakes.append(sf)
# render.flattenStrong()
self.hmTerrainNP.reparentTo(render)
# Here begins the attribute mapping
ts = TextureStage("stage-alpha")
ts.setSort(0)
ts.setPriority(1)
ts.setMode(TextureStage.MReplace)
ts.setSavedResult(True)
self.hmTerrainNP.setTexture(ts, loader.loadTexture(imPath, smPath))
ts = TextureStage("stage-stone")
ts.setSort(1)
ts.setPriority(1)
ts.setMode(TextureStage.MReplace)
self.hmTerrainNP.setTexture(ts, loader.loadTexture("../res/textures/stone_tex.png"))
self.hmTerrainNP.setTexScale(ts, 32, 32)
ts = TextureStage("stage-ice")
ts.setSort(2)
ts.setPriority(1)
ts.setCombineRgb(TextureStage.CMInterpolate, TextureStage.CSTexture, TextureStage.COSrcColor,
TextureStage.CSPrevious, TextureStage.COSrcColor,
TextureStage.CSLastSavedResult, TextureStage.COSrcColor)
self.hmTerrainNP.setTexture(ts, loader.loadTexture("../res/textures/ice_tex.png"))
self.hmTerrainNP.setTexScale(ts, 32, 32)
ts = TextureStage("stage-snow")
ts.setSort(3)
ts.setPriority(0)
ts.setCombineRgb(TextureStage.CMInterpolate, TextureStage.CSTexture, TextureStage.COSrcColor,
TextureStage.CSPrevious, TextureStage.COSrcColor,
TextureStage.CSLastSavedResult, TextureStage.COSrcAlpha)
self.hmTerrainNP.setTexture(ts, loader.loadTexture("../res/textures/snow_tex_1.png"))
self.hmTerrainNP.setTexScale(ts, 32, 32)
# print(self.snowflakes)
return hmNode
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Sets up and returns the death zone plane (returns its NodePath) with the specified height.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupDeathzone(self, height):
planeShape = BulletPlaneShape(Vec3(0, 0, 1), 1)
planeNode = BulletRigidBodyNode('DeathZone')
planeNode.addShape(planeShape)
planeNP = render.attachNewNode(planeNode)
planeNP.setPos(0, 0, height)
self.worldBullet.attachRigidBody(planeNode)
return planeNP
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Sets up and returns the collision handler.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def setupCollisionHandler(self):
colHand = SMCollisionHandler(self.worldBullet)
return colHand
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Toggles showing bounding boxes.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def toggleDebug(self):
if self.debugNode.isHidden():
self.debugNode.show()
else:
self.debugNode.hide()
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Returns the terrain height of the nearest vertical descending raycast from the passed Point3.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def getTerrainHeight(self, pos):
result = 0
x = pos.getX()
y = pos.getY()
z = pos.getZ()
rayTerrA = Point3(x, y, z)
rayTerrB = Point3(x, y, z - 256)
rayTest = self.worldBullet.rayTestClosest(rayTerrA, rayTerrB)
rayNode = rayTest.getNode()
if (rayTest.hasHit()):
rayPos = rayTest.getHitPos()
result = rayPos.getZ()
else:
self.playerObj.respawn()
return result
# return self.hmTerrain.get_elevation(x + self.hmOffset, y + self.hmOffset) * self.hmHeight
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Handles player movement
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def playerMove(self):
# Go through the collision and flag tests, and update them
self.doPlayerTests()
# Rotation and camera movement
if self.kh.poll(self.keymap['Left']):
self.playerObj.turn(True)
elif self.kh.poll(self.keymap['Right']):
self.playerObj.turn(False)
elif(self.cameraControl):
newMousePos = self.kh.getMouse()
mx = newMousePos.getX()
self.camObj.rotateCamera(mx)
self.camObj.calculatePosition()
# Movement
if self.kh.poll(self.keymap['Forward']):
self.playerObj.move(True)
self.camObj.rotateTowards(90)
elif self.kh.poll(self.keymap['Back']):
self.playerObj.move(False)
else:
self.playerObj.stop()
# Jump
if(self.kh.poll(self.keymap['Space']) and self.terrSteepness < 0.25): #and not(self.ballObj.isRolling())):
self.playerObj.jump()
else:
self.playerObj.resetJump()
# Air Dash
if(self.kh.poll(self.keymap['airDash'])): #and self.playerObj.getAirborneFlag() == True and self.canAirDash == True):
self.canAirDash = False
self.playerObj.airDash()
# Shift-based actions
if(self.kh.poll("lshift") and not(self.sbCollideFlag) and not(self.playerObj.getAirborneFlag()) and self.canUseShift):
# If there's another snowball already placed
if(self.ballObj.exists() and not(self.ballObj.isRolling())):
self.ballObj.respawn()
# If we're rolling a snowball
elif(self.ballObj.isRolling()):
# Absorb snowball
if(self.kh.poll("v")):
self.canUseShift = False
snowAmt = self.ballObj.getSnowAmount()
self.playerObj.addSnow(snowAmt)
# self.snowMeter.fillBy(snowAmt)
self.ballObj.destroy()
# Go to iceball throwing mode
elif(self.kh.poll("b")):
print("TODO: Ice ball throwing mode.")
# Grow the snowball
elif(self.kh.poll("w")):
self.ballObj.grow()
# Spawn a new snowball
elif(self.ballObj.exists() == False):
self.ballObj.respawn()
# If the player is not pressing shift
else:
if(self.ballObj.isRolling()):
self.ballObj.dropBall()
base.win.movePointer(0, 400, 300)
# So updating the stats is VERY expensive.
if (self.debugNode.isHidden() == False):
self.updateStats()
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Various tests concerning the player flags and collisions.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def doPlayerTests(self):
# Player's position
plPos = self.playerObj.getPosition()
px = plPos.getX()
py = plPos.getY()
pz = plPos.getZ()
# Raycast directly down for terrain steepness
rayYetiA = Point3(px, py, pz)
rayYetiB = Point3(px, py, pz - 300)
self.downRayTest = self.worldBullet.rayTestClosest(rayYetiA, rayYetiB).getHitNormal()
rx = self.downRayTest.getX()
ry = self.downRayTest.getY()
rz = self.downRayTest.getZ()
self.terrSteepness = 1.0 - rz
# Redo collision flags later
objCollisionFlag = False
# Snow/Ice height adjust
self.playerObj.updateTerrain()
# Collision: Player x Objects
for i in xrange(0, self.colObjectCount):
if(self.colObj.didCollide(self.playerNP.node(), self.colObjects[i].AINode)):
objCollisionFlag = True
self.playerObj.setAirborneFlag(False)
self.canAirDash = True
self.playerObj.setFactor(1,1,1)
# Collision: Player x Snowball
if(self.ballObj.exists() and self.colObj.didCollide(self.playerNP.node(), self.ballObj.getRigidbody())):
self.sbCollideFlag = True
self.playerObj.setAirborneFlag(False)
self.playerObj.setFactor(1, 1, 1)
else:
self.sbCollideFlag = False
# Collision: Player x Terrain
if(self.colObj.didCollide(self.playerNP.node(), self.heightMap)):
if(self.playerObj.getAirborneFlag()):
self.audioMgr.playSFX("snowCrunch01")
self.playerObj.setAirborneFlag(False)
self.canAirDash = True
self.playerObj.setFactor(1, 1, 1)
objCollisionFlag = False
# Collision: Player x Death Zone
# if(pz - 7 <= self.deathHeight or (self.colObj.didCollide(self.playerNP.node(), self.deathZone.node()))):
if(self.colObj.didCollide(self.playerNP.node(), self.deathZone.node())):
print("Player confirmed #REKT")
self.playerObj.respawn()
# Out of bounds checking
if(abs(px) > 254 or abs(py) > 254):
print("Player out of bounds!")
self.playerObj.respawn()
# Snap to terrain if... something. I need to restructure this. Don't read it.
if(not(self.playerObj.getAirborneFlag()) and not(self.sbCollideFlag) and not(objCollisionFlag)):
z = self.getTerrainHeight(Point3(px, py, pz))
self.playerObj.snapToTerrain(z)
# self.playerObj.snapToTerrain(th, self.hmHeight)
# Collision: Player x Snowflakes
for i in xrange(0, self.snowflakeCount):
if(self.snowflakes[i].exists() and self.colObj.didCollide(self.playerNP.node(), self.snowflakes[i].getNode())):
self.snowflakes[i].destroy()
self.snowflakeCounter.increment()
self.snowCount += 1
self.snowMeter.updateSnow(self.playerObj)
#Check if there is a "next" level. If there is, load it. Otherwise display end game screen.
if(self.snowCount >= self.snowflakeCount):
file_path="../maps/map" + str(self.mapID+1) + "/map" + str(self.mapID+1) + ".yetimap"
if os.path.lexists(file_path):
self.snowCount = 0
self.snowflakeCount = 0
self.snowflakeCounter.setValue(0)
self.snowflakeCounter.setState(2)
#Loading Screen
self.transition.fadeScreen(0.7)
self.loadingText=OnscreenText("Loading...",1,fg=(1,1,1,0),pos=(0,0),align=TextNode.ACenter,scale=.07,mayChange=1)
base.graphicsEngine.renderFrame()
base.graphicsEngine.renderFrame()
base.graphicsEngine.renderFrame()
base.graphicsEngine.renderFrame()
self.transition.noFade()
#destroy objects
self.worldBullet.removeRigidBody(self.heightMap)
self.hmTerrainNP.removeNode()
self.objNP.removeNode()
self.treeNP.removeNode()
self.rockNP.removeNode()
self.rock2NP.removeNode()
self.rock3NP.removeNode()
# self.caveNP.removeNode()
# self.planeFrontNP.removeNode()
# self.planeWingNP.removeNode()
self.hmNP.removeNode()
if(int(self.mapID) == 1):
self.ropeBridge.AIChar.setPos(-200,-300,-200)
# self.ropeBridge.AIChar.removeNode()
self.planeFront.AIChar.removeNode()
self.planeTail.AIChar.setPos(-200,-200,-200)
# self.planeTail.AIChar.removeNode()
self.caveNew.AIChar.setPos(-1000,-1000,-1000);
self.caveModel.AIChar.removeNode()
#Added More Props here!
self.boulder = SMCollide("../res/models/rock_3.egg", self.worldBullet, self.worldObj, Point3(117, 123, 17), 15, Vec3(0,0,0))
elif(int(self.mapID) == 2):
self.boulder.AIChar.setPos(-222,-222,-222)
self.caveNew.AIChar.setScale(150)
self.caveNew.AIChar.setPos(-50, 95, -50)
# self.skybox.setScale(600)
# self.caveNew.setH(0)
# self.boulder.removeNode()
self.mapID += 1
print self.mapID
# EX: maps/map-1/map-1.yetimap
metaFile = open("../maps/map" + str(self.mapID) + "/map" + str(self.mapID) + ".yetimap", 'r')
metaLines = metaFile.readlines()
lineCount = len(metaLines)
self.snowflakeCount = lineCount - 2
# First Line: Player's starting position
# EX: 50,50,50 (NO SPACES)
playerLine = metaLines[0]
playerPosList = playerLine.split(",")
playerInitX = int(playerPosList[0])
playerInitY = int(playerPosList[1])
playerInitZ = int(playerPosList[2])
self.playerObj.playerNP.setPos(playerInitX, playerInitY, playerInitZ)
self.playerObj.startX = playerInitX
self.playerObj.startY = playerInitY
self.playerObj.startZ = playerInitZ
# 2nd Line: Deathzone Height
# ONE INTEGER
self.deathHeight = int(metaLines[1])
self.snowflakePositions = []
print("Snowflake Count: " + str(self.snowflakeCount))
for i in xrange(0, self.snowflakeCount):
sfline = metaLines[i+2]
sfList = sfline.split(",")
sfx = int(sfList[0])
sfy = int(sfList[1])
sfz = int(sfList[2])
self.snowflakePositions.append(Point3(sfx, sfy, sfz))
print("New snowflake to add: (" + str(sfx) + "," + str(sfy) + "," + str(sfz) + ")")
self.snowflakeCounter.setMaxValue(self.snowflakeCount)
#load new map
self.mapName = str(self.mapID)
self.heightMap = self.setupHeightmap(self.mapName)
self.deathZone = self.setupDeathzone(self.deathHeight)
self.loadingText.cleanup()
else:
taskMgr.remove('UpdateTask')
self.endImage=OnscreenImage(image = "../res/icons/endgame1.png", pos = (0.0, 0.0, 0.0), scale = (1.35, 2, 1))
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Update the debug text.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def updateStats(self):
pos = self.playerObj.getPosition()
x = pos.getX()
y = pos.getY()
z = pos.getZ()
vel = self.playerObj.getVelocity()
vx = str(round(vel.getX(), 1))
vy = str(round(vel.getY(), 1))
vz = str(round(vel.getZ(), 1))
sx = str(round(x, 1))
sy = str(round(y, 1))
sz = str(round(z, 1))
rx = str(round(self.downRayTest.getX(), 2))
ry = str(round(self.downRayTest.getY(), 2))
rz = str(round(self.terrSteepness, 2))
fric = str(round(self.playerObj.getFriction(), 2))
ip = str(round(self.playerObj.getIceCoefficient(), 2))
sp = str(round(self.playerObj.getSnowCoefficient(), 2))
tHeight = str(round(self.getTerrainHeight(Point3(x, y, z)), 1))
self.textObj.editText("yetiPos", "Position: (" + sx + ", " + sy + ", " + sz + ")")
self.textObj.editText("yetiVel", "Velocity: (" + vx + ", " + vy + ", " + vz + ")")
self.textObj.editText("yetiFric", "Friction: " + fric)
self.textObj.editText("onIce", "Ice(%): " + ip)
self.textObj.editText("onSnow", "Snow(%): " + sp)
self.textObj.editText("terrHeight", "T Height: " + tHeight)
self.textObj.editText("terrSteepness", "Steepness: " + rz)
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# throw Snowball
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def throw(self):
self.throwing = True
size = self.ballObj.getSize()
#zoom camera and grab pos you wish to throw
self.camObj.aimMode()
taskMgr.add(self.controlCamera, "camera-task")
rotation = self.camObj.getH()
pitch =self.camObj.getP()
self.ballObj.throwBall(size, pitch, rotation)
#fix camera
#self.throwing = False
#------------------------------------------------------------------------------------------------------------------------------------------------------------
# Update the world. Called every frame.
#------------------------------------------------------------------------------------------------------------------------------------------------------------
def update(self, task):
dt = globalClock.getDt()
self.worldBullet.doPhysics(dt)
# self.goat1.AIUpdate()
# self.goat2.AIUpdate()
self.playerMove()
return task.cont
class TerrainCell(DirectObject):
def __init__(self):
self.settings = {}
def configure(self, name, heightmap, texture, posx, posy):
self.settings["name"] = name
self.settings["heightmap"] = heightmap
self.settings["texture"] = texture
self.settings["x"] = posx
self.settings["y"] = posy
def create(self):
self.test_texture = base.loader.loadTexture(self.settings["texture"])
self.terrain = GeoMipTerrain(self.settings["name"])
self.terrain.setHeightfield(self.settings["heightmap"])
# Set terrain properties
self.terrain.setBruteforce(False)
self.terrain.setBlockSize(32)
self.terrain.setNear(40)
self.terrain.setFar(100)
#self.terrain.setMinLevel(16)
self.terrain.setFocalPoint(base.camera)
self.terrain.setBorderStitching(True)
self.terrain.getRoot().setSz(300)
self.terrain.getRoot().setSx(Globals.TERRAIN_MULT)
self.terrain.getRoot().setSy(Globals.TERRAIN_MULT)
self.terrain.getRoot().setPos((self.settings["x"]*512)*Globals.TERRAIN_MULT, \
(self.settings["y"]*512)*Globals.TERRAIN_MULT, 0)
self.terrain.getRoot().setTexture(self.test_texture)
self.terrain.generate()
#self.fast_cols(16, 16)
#self.generate_collisions()
#self.ode_cols()
def ode_cols(self):
world = OdeWorld()
world.setGravity(0, 0, -9)
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)
space.autoCollide()
#try ODE for collisions
t_trimesh = OdeTriMeshData(self.terrain.getRoot(), True)
t_geom = OdeTriMeshGeom(space, t_trimesh)
def fast_cols(self, x, y):
#simpler, and faster
return (self.terrain.getElevation(x, y), self.terrain.getNormal(x, y))
def generate_collisions(self):
#try panda's collisions
print("generating collisions...")
x = 512
y = 512
while x:
z = self.terrain.getElevation(x, y)
cap = CollisionCapsule(0, 0, 1, 1)
self.collision_node = base.render.attachNewNode(
CollisionNode('cap1'))
self.collision_node.node().addSolid(cap)
#self.collision_node.show()
#self.accept('into-cap1', self.hanev)
#self.accept('out-cap1', self.hanev)
self.collision_node.setPos(x, y, z * 300)
x -= 16
y = 512
while y:
z = self.terrain.getElevation(x, y)
cap = CollisionCapsule(0, 0, 0, 0, 0, 1, 1)
self.collision_node = base.render.attachNewNode(
CollisionNode('cap1'))
self.collision_node.node().addSolid(cap)
self.collision_node.show()
#self.accept('into-cap1', self.hanev)
#self.accept('out-cap1', self.hanev)
self.collision_node.setPos(x, y, z * 300)
y -= 16
base.cTrav.addCollider(self.collision_node, base.mchandler)
self.collision_node.setPos(10, 0, -3)
def json_encode(self):
with open("terrains.json", "a") as write_file:
json.dump(self.settings, write_file, indent=4)
write_file.write("\n")
def json_decode(self, name):
with open("terrains.json", "r") as read_file:
terrains = json.load(read_file)
try:
self.settings = terrains[name]
except KeyError:
print("Key not found in json: " + name)
return (False)
else:
return (True)
def bam_encode(self):
self.terrain.getRoot().writeBamFile(self.settings["name"])
class Simulation(ShowBase):
def __init__(self):
# Heightfield (static)
self.height = 38.0
ShowBase.__init__(self)
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -150, 200)
base.cam.lookAt(0, 0, 0)
# Light
alight = AmbientLight('ambientLight')
alight.setColor(Vec4(0.5, 0.5, 0.5, 1))
alightNP = render.attachNewNode(alight)
dlight = DirectionalLight('directionalLight')
dlight.setDirection(Vec3(1, 1, -1))
dlight.setColor(Vec4(0.7, 0.7, 0.7, 1))
dlightNP = render.attachNewNode(dlight)
render.clearLight()
render.setLight(alightNP)
render.setLight(dlightNP)
# Input
self.accept('escape', self.doExit)
inputState.watchWithModifiers('forward', 'w')
inputState.watchWithModifiers('left', 'a')
inputState.watchWithModifiers('reverse', 's')
inputState.watchWithModifiers('backward', 'x')
inputState.watchWithModifiers('right', 'd')
# Task
taskMgr.add(self.update, 'updateWorld')
# Physics
self.setup()
# _____HANDLER_____
def doExit(self):
self.cleanup()
sys.exit(1)
# ____TASK___
def processInput(self, dt):
for vehicle in self.controlVehicles:
engineForce = 0.0
brakeForce = 0.0
if inputState.isSet('forward'):
engineForce = 1000.0
brakeForce = 0.0
if inputState.isSet('backward'):
engineForce = -1000.0
brakeForce = 0.0
if inputState.isSet('reverse'):
engineForce = 0.0
brakeForce = 100.0
if inputState.isSet('left'):
vehicle.setAngle(True, dt)
if inputState.isSet('right'):
vehicle.setAngle(False, dt)
# Apply engine and brake to rear wheels
vehicle.setEngineForce(engineForce)
vehicle.setBrakeForce(brakeForce)
#print(vehicle.getAngle())
def update(self, task):
dt = globalClock.getDt()
self.processInput(dt)
self.world.doPhysics(dt, 10, 0.008)
self.terrain.update()
return task.cont
def cleanup(self):
self.world = None
self.worldNP.removeNode()
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
#height map
# Filename:
# small -> 'Maps/HeightMapSmall.png'
# big -> 'Maps/HeightMapBig.png'
img = PNMImage(Filename('Maps/HeightMapSmall.png'))
shape = BulletHeightfieldShape(img, self.height, ZUp)
shape.setUseDiamondSubdivision(True)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Heightfield'))
np.node().addShape(shape)
np.setPos(0, 0, 0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
#adding Texture
#setColorMap:
#small -> 'Maps/TextureMapSmall.jpg'
#big -> 'Maps/TextureMapBig.jpg'
self.terrain = GeoMipTerrain('terrain')
self.terrain.setHeightfield(img)
self.terrain.setColorMap('Maps/TextureMapSmall.jpg')
self.terrain.setBruteforce(True) # level of detail
self.terrain.setBlockSize(32)
self.terrain.setNear(50)
self.terrain.setFar(100)
self.terrain.setFocalPoint(base.camera)
rootNP = self.terrain.getRoot()
rootNP.reparentTo(render)
rootNP.setSz(self.height)
offset = img.getXSize() / 2.0 - 0.5
rootNP.setPos(-offset, -offset, -self.height / 2.0)
self.makeMapBorders(offset)
self.terrain.generate()
# creating vehicles
#controlled vehicles
self.controlVehicles = []
self.controlVehicles.append(
Vehicle(0, 00, 40, "B", self.worldNP, self.world))
#vehicles goint to a specific point
#self.squareVeh = Vehicle(0, 50, 40, "G", self.worldNP, self.world)
#thread.start_new_thread(self.goSquare, (self.squareVeh, 100))
#vehicles following user
#self.followVehicles = []
#self.followVehicles.append(Vehicle(-offset+10, -offset+10, 40, "R", self.worldNP, self.world))
#self.followVehicles.append(Vehicle(offset-10, offset-10, 60, "R", self.worldNP, self.world))
#for veh in self.followVehicles:
# thread.start_new_thread(follow, (veh, self.controlVehicles[0]))
#vehicles for hill climbing
self.hillVehicles = []
self.hillVehicles.append(
Vehicle(-offset + 10, -offset + 10, 40, "R", self.worldNP,
self.world))
self.hillVehicles.append(
Vehicle(offset - 10, offset - 10, 60, "R", self.worldNP,
self.world))
for veh in self.hillVehicles:
thread.start_new_thread(blindClimb, (veh, ))
#function that navigates a vehicle to go in a square
def goSquare(self, vehicle, size):
while (True):
goTo([size, size], vehicle)
goTo([size, -size], vehicle)
goTo([-size, -size], vehicle)
goTo([-size, size], vehicle)
#Borders around the map that vehicles won't fall from terrain
def makeMapBorders(self, offset):
plane1 = BulletPlaneShape(Vec3(1, 0, 0), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('border1'))
np.node().addShape(plane1)
np.setPos(-offset, -offset, -self.height / 2.0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
plane2 = BulletPlaneShape(Vec3(0, 1, 0), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('border2'))
np.node().addShape(plane2)
np.setPos(-offset, -offset, -self.height / 2.0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
plane3 = BulletPlaneShape(Vec3(0, -1, 0), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('border3'))
np.node().addShape(plane3)
np.setPos(offset, offset, self.height / 2.0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
plane4 = BulletPlaneShape(Vec3(-1, 0, 0), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('border4'))
np.node().addShape(plane4)
np.setPos(offset, offset, self.height / 2.0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
#getting height of map at some point
def getHeight(self):
line = CollisionLine(ox, oy, oz, dx, dy, dz)
class MyApp(ShowBase):
def __init__(self):
ShowBase.__init__(self)
# Load the environment model.
self.setup_environment()
#self.scene = self.loader.loadModel("models/environment")
# Reparent the model to render.
#self.scene.reparentTo(self.render)
# Apply scale and position transforms on the model.
#self.scene.setScale(0.25, 0.25, 0.25)
#self.scene.setPos(-8, 42, 0)
# Needed for camera image
self.dr = self.camNode.getDisplayRegion(0)
# Needed for camera depth image
winprops = WindowProperties.size(self.win.getXSize(),
self.win.getYSize())
fbprops = FrameBufferProperties()
fbprops.setDepthBits(1)
self.depthBuffer = self.graphicsEngine.makeOutput(
self.pipe, "depth buffer", -2, fbprops, winprops,
GraphicsPipe.BFRefuseWindow, self.win.getGsg(), self.win)
self.depthTex = Texture()
self.depthTex.setFormat(Texture.FDepthComponent)
self.depthBuffer.addRenderTexture(self.depthTex,
GraphicsOutput.RTMCopyRam,
GraphicsOutput.RTPDepth)
lens = self.cam.node().getLens()
lens.setFov(90.0, 90.0)
# the near and far clipping distances can be changed if desired
# lens.setNear(5.0)
# lens.setFar(500.0)
self.depthCam = self.makeCamera(self.depthBuffer,
lens=lens,
scene=self.render)
self.depthCam.reparentTo(self.cam)
# TODO: Scene is rendered twice: once for rgb and once for depth image.
# How can both images be obtained in one rendering pass?
self.render.setAntialias(AntialiasAttrib.MAuto)
def setup_environment(self):
# encapsulate some stuff
# set up ambient lighting
self.alight = AmbientLight('alight')
self.alight.setColor(VBase4(0.1, 0.1, 0.1, 1))
self.alnp = self.render.attachNewNode(self.alight)
self.render.setLight(self.alnp)
# set up a point light
self.plight = PointLight('plight')
self.plight.setColor(VBase4(0.8, 0.8, 0.8, 1))
self.plnp = self.render.attachNewNode(self.plight)
self.plnp.setPos(0, 0, 100)
self.render.setLight(self.plnp)
# set up terrain model
self.terr_material = Material()
self.terr_material.setShininess(1.0)
self.terr_material.setAmbient(VBase4(0, 0, 0, 0))
self.terr_material.setDiffuse(VBase4(1, 1, 1, 1))
self.terr_material.setEmission(VBase4(0, 0, 0, 0))
self.terr_material.setSpecular(VBase4(0, 0, 0, 0))
# general scaling
self.trrHorzSc = 4.0
self.trrVertSc = 4.0 # was 4.0
# Create sky
#terrctr = self.trrHorzSc*65.0
#self.setup_skybox(terrctr,800.0,2.0,0.3)
self.skysphere = self.loader.loadModel("sky-forest/SkySphere.bam")
self.skysphere.setBin('background', 1)
self.skysphere.setDepthWrite(0)
self.skysphere.reparentTo(self.render)
# Load some textures
self.grsTxtSc = 5
self.numTreeTexts = 7
# ground texture
self.txtGrass = self.loader.loadTexture('tex/ground005.png')
self.txtGrass.setWrapU(Texture.WM_mirror)
self.txtGrass.setWrapV(Texture.WM_mirror)
self.txtGrass.setMagfilter(Texture.FTLinear)
self.txtGrass.setMinfilter(Texture.FTLinearMipmapLinear)
# set up terrain texture stages
self.TS1 = TextureStage('terrtext')
self.TS1.setSort(0)
self.TS1.setMode(TextureStage.MReplace)
# Set up the GeoMipTerrain
self.terrain = GeoMipTerrain("myDynamicTerrain")
img = PNMImage(Filename('tex/bowl_height_map.png'))
self.terrain.setHeightfield(img)
self.terrain.setBruteforce(0)
self.terrain.setAutoFlatten(GeoMipTerrain.AFMMedium)
# Set terrain properties
self.terrain.setBlockSize(32)
self.terrain.setNear(50)
self.terrain.setFar(500)
self.terrain.setFocalPoint(self.camera)
# Store the root NodePath for convenience
self.root = self.terrain.getRoot()
self.root.clearTexture()
self.root.setTwoSided(0)
self.root.setCollideMask(BitMask32.bit(0))
self.root.setSz(self.trrVertSc)
self.root.setSx(self.trrHorzSc)
self.root.setSy(self.trrHorzSc)
self.root.setMaterial(self.terr_material)
self.root.setTexture(self.TS1, self.txtGrass)
self.root.setTexScale(self.TS1, self.grsTxtSc, self.grsTxtSc)
offset = 0.5 * img.getXSize() * self.trrHorzSc - 0.5
self.root.setPos(-offset, -offset, 0)
self.terrain.generate()
self.root.reparentTo(self.render)
# load tree billboards
self.txtTreeBillBoards = []
for a in range(self.numTreeTexts):
fstr = 'trees/tree' + '%03d' % (a + 991)
self.txtTreeBillBoards.append( \
self.loader.loadTexture(fstr + '-color.png', fstr + '-opacity.png'))
self.txtTreeBillBoards[a].setMinfilter(
Texture.FTLinearMipmapLinear)
#self.placePlantOnTerrain('trees',300,0,20,20,self.trrHorzSc,self.trrVertSc, \
# self.numTreeTexts,self.txtTreeBillBoards,'scene-def/trees.txt')
self.setup_house()
self.setup_vehicle()
self.taskMgr.add(self.skysphereTask, "SkySphere Task")
def setup_house(self):
# place farmhouse on terrain
self.house = ModelNode('house1')
self.loadModelOntoTerrain(self.render, self.terrain, self.house, 43.0,
0.275, 0.0, 0.0, self.trrHorzSc,
self.trrVertSc, 'models/FarmHouse',
Vec3(0, 0, 0),
Point3(-12.0567, -29.1724, 0.0837742),
Point3(12.2229, 21.1915, 21.3668))
def setup_vehicle(self):
# place HMMWV on terrain
self.hmmwv = ModelNode('hmmwv1')
self.loadModelOntoTerrain(self.render, self.terrain, self.hmmwv, 33.0,
1.0, 20.0, 24.0, self.trrHorzSc,
self.trrVertSc, 'models/hmmwv',
Vec3(0, -90, 0),
Point3(-1.21273, -2.49153, -1.10753),
Point3(1.21273, 2.49153, 1.10753))
def setup_skybox(self,
terrctr=645.0,
boxsz=1000.0,
aspect=1.0,
uplift=0.0):
vsz = boxsz / aspect
self.bckgtx = []
self.bckgtx.append(self.loader.loadTexture('sky/Back2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Right2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Front2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Left2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Up.png'))
for a in range(4):
self.bckg = CardMaker('bkcard')
lr = Point3(0.5 * boxsz, 0.5 * boxsz, -0.5 * vsz)
ur = Point3(0.5 * boxsz, 0.5 * boxsz, 0.5 * vsz)
ul = Point3(-0.5 * boxsz, 0.5 * boxsz, 0.5 * vsz)
ll = Point3(-0.5 * boxsz, 0.5 * boxsz, -0.5 * vsz)
self.bckg.setFrame(ll, lr, ur, ul)
self.bckg.setHasNormals(0)
self.bckg.setHasUvs(1)
#self.bckg.setUvRange(self.bckgtx[a])
bkcrd = self.render.attachNewNode(self.bckg.generate())
bkcrd.setTexture(self.bckgtx[a])
self.bckgtx[a].setWrapU(Texture.WMClamp)
self.bckgtx[a].setWrapV(Texture.WMClamp)
bkcrd.setLightOff()
bkcrd.setFogOff()
bkcrd.setHpr(90.0 * a, 0, 0)
cz = 0.5 * boxsz * uplift
#print 'set card at:', terrctr,terrctr,cz, ' with points: ', lr,ur,ul,ll
bkcrd.setPos(terrctr, terrctr, cz)
self.top = CardMaker('bkcard')
lr = Point3(0.5 * boxsz, -0.5 * boxsz, 0)
ur = Point3(0.5 * boxsz, 0.5 * boxsz, 0)
ul = Point3(-0.5 * boxsz, 0.5 * boxsz, 0)
ll = Point3(-0.5 * boxsz, -0.5 * boxsz, 0)
self.top.setFrame(ll, lr, ur, ul)
self.top.setHasNormals(0)
self.top.setHasUvs(1)
#self.top.setUvRange(self.bckgtx[4])
bkcrd = self.render.attachNewNode(self.bckg.generate())
bkcrd.setTexture(self.bckgtx[4])
self.bckgtx[4].setWrapU(Texture.WMClamp)
self.bckgtx[4].setWrapV(Texture.WMClamp)
bkcrd.setLightOff()
bkcrd.setFogOff()
bkcrd.setHpr(0, 90, 90)
bkcrd.setPos(terrctr, terrctr, 0.5 * vsz + 0.5 * boxsz * uplift)
def placePlantOnTerrain(self, itemStr, itemCnt, Mode, typItemWidth,
typItemHeight, trrHorzSc, trrVertSc, numTxtTypes,
txtList, planFileName):
# Billboarding plants
crd = CardMaker('mycard')
crd.setColor(0.5, 0.5, 0.5, 1)
ll = Point3(-0.5 * typItemWidth, 0, 0)
lr = Point3(0.5 * typItemWidth, 0, 0)
ur = Point3(0.5 * typItemWidth, 0, typItemHeight)
ul = Point3(-0.5 * typItemWidth, 0, typItemHeight)
crd.setFrame(ll, lr, ur, ul)
crd.setHasNormals(False)
crd.setHasUvs(True)
# generate/save/load locations
try:
plan_data_fp = open(planFileName, 'r')
item_list = []
for line in plan_data_fp:
toks = line.split(',')
px = float(toks[0].strip(' '))
py = float(toks[1].strip(' '))
ang = float(toks[2].strip(' '))
dht = float(toks[3].strip(' '))
scl = float(toks[4].strip(' '))
idx = int(toks[5].strip(' '))
item_list.append((px, py, ang, dht, scl, idx))
plan_data_fp.close()
print 'loaded ', itemStr, ' data file of size:', len(item_list)
except IOError:
# generate list and try to save
item_list = []
for a in range(itemCnt):
px = random.randrange(-self.trrHorzSc * 64,
self.trrHorzSc * 64)
py = random.randrange(-self.trrHorzSc * 64,
self.trrHorzSc * 64)
ang = 180 * random.random()
dht = 0.0
scl = 0.75 + 0.25 * (random.random() + random.random())
idx = random.randrange(0, numTxtTypes)
item_list.append([px, py, ang, dht, scl, idx])
try:
plan_data_fp = open(planFileName, 'w')
for c in item_list:
print >> plan_data_fp, c[0], ',', c[1], ',', c[2], ',', c[
3], ',', c[4], ',', c[5]
plan_data_fp.close()
print 'saved ', itemStr, ' data of size: ', len(item_list)
except IOError:
print 'unable to store ', itemStr, ' data of size: ', len(
item_list)
# define each plant
for c in item_list:
px = c[0]
py = c[1]
ang = c[2]
dht = c[3]
scl = c[4]
idx = c[5]
if idx >= numTxtTypes:
idx = 0
if Mode > 0:
for b in range(Mode):
crdNP = self.render.attachNewNode(crd.generate())
crdNP.setTexture(txtList[idx])
crdNP.setScale(scl)
crdNP.setTwoSided(True)
ht = self.terrain.getElevation(px / trrHorzSc,
py / trrHorzSc)
crdNP.setPos(px, py, ht * trrVertSc + dht)
crdNP.setHpr(ang + (180 / Mode) * b, 0, 0)
crdNP.setTransparency(TransparencyAttrib.MAlpha)
crdNP.setLightOff()
else:
# set up item as defined
crd.setUvRange(txtList[idx])
crdNP = self.render.attachNewNode(crd.generate())
crdNP.setBillboardAxis()
crdNP.setTexture(txtList[idx])
crdNP.setScale(scl)
ht = self.terrain.getElevation(px / trrHorzSc, py / trrHorzSc)
crdNP.setPos(px, py, ht * trrVertSc)
crdNP.setTransparency(TransparencyAttrib.MAlpha)
crdNP.setLightOff()
def loadModelOntoTerrain(self, render_node, terr_obj, model_obj, hdg, scl,
xctr, yctr, terr_horz_sc, terr_vert_sc,
model_path, rotA, minP, maxP):
# load model onto terrain
hdg_rads = hdg * math.pi / 180.0
model_obj = self.loader.loadModel(model_path)
rotAll = rotA
rotAll.setX(rotAll.getX() + hdg)
model_obj.setHpr(rotA)
model_obj.setLightOff()
# if model changes, these will have to be recomputed
# minP = Point3(0,0,0)
# maxP = Point3(0,0,0)
# model_obj.calcTightBounds(minP,maxP)
print minP
print maxP
htl = []
maxzofs = -1000.0
for xi in [minP[0], maxP[0]]:
for yi in [minP[1], maxP[1]]:
tx = xctr + scl * xi * math.cos(hdg_rads)
ty = yctr + scl * yi * math.sin(hdg_rads)
tht = self.terrain.getElevation(tx / terr_horz_sc,
ty / terr_horz_sc)
print 'tx=', tx, ', ty=', ty, ', tht=', tht
htl.append(tht * terr_vert_sc - minP.getZ())
for hi in htl:
if hi > maxzofs:
maxzofs = hi
print maxzofs
model_obj.setPos(xctr, yctr, maxzofs)
model_obj.setHpr(rotAll)
model_obj.setScale(scl)
model_obj.reparentTo(render_node)
return maxzofs, minP, maxP
def get_camera_image(self, requested_format=None):
"""
Returns the camera's image, which is of type uint8 and has values
between 0 and 255.
The 'requested_format' argument should specify in which order the
components of the image must be. For example, valid format strings are
"RGBA" and "BGRA". By default, Panda's internal format "BGRA" is used,
in which case no data is copied over.
"""
tex = self.dr.getScreenshot()
if requested_format is None:
data = tex.getRamImage()
else:
data = tex.getRamImageAs(requested_format)
image = np.frombuffer(
data.get_data(),
np.uint8) # use data.get_data() instead of data in python 2
image.shape = (tex.getYSize(), tex.getXSize(), tex.getNumComponents())
image = np.flipud(image)
return image
def get_camera_depth_image(self):
"""
Returns the camera's depth image, which is of type float32 and has
values between 0.0 and 1.0.
"""
data = self.depthTex.getRamImage()
depth_image = np.frombuffer(data.get_data(), np.float32)
depth_image.shape = (self.depthTex.getYSize(),
self.depthTex.getXSize(),
self.depthTex.getNumComponents())
depth_image = np.flipud(depth_image)
'''
Surface position can be inferred by calculating backward from the
depth buffer. Each pixel on the screen represents a ray from the
camera into the scene, and the depth value in the pixel indicates a
distance along the ray. Because of this, it is not actually necessary
to store surface position explicitly - it is only necessary to store
depth values. Of course, OpenGL does that for free.
So the framebuffer now needs to store surface normal, diffuse color,
and depth value (to infer surface position). In practice, most
ordinary framebuffers can only store color and depth - they don't have
any place to store a third value. So we need to use a special
offscreen buffer with an "auxiliary" bitplane. The auxiliary bitplane
stores the surface normal.
So then, there's the final postprocessing pass. This involves
combining the diffuse color texture, the surface normal texture, the
depth texture, and the light parameters into a final rendered output.
The light parameters are passed into the postprocessing shader as
constants, not as textures.
If there are a lot of lights, things get interesting. You use one
postprocessing pass per light. Each pass only needs to scan those
framebuffer pixels that are actually in range of the light in
question. To traverse only the pixels that are affected by the light,
just render the illuminated area's convex bounding volume.
The shader to store the diffuse color and surface normal is trivial.
But the final postprocessing shader is a little complicated. What
makes it tricky is that it needs to regenerate the original surface
position from the screen position and depth value. The math for that
deserves some explanation.
We need to take a clip-space coordinate and depth-buffer value
(ClipX,ClipY,ClipZ,ClipW) and unproject it back to a view-space
(ViewX,ViewY,ViewZ) coordinate. Lighting is then done in view-space.
Okay, so here's the math. Panda uses the projection matrix to
transform view-space into clip-space. But in practice, the projection
matrix for a perspective camera always contains four nonzero
constants, and they're always in the same place:
-- here are the non-zero elements of the projection matrix --
A 0 0 0
0 0 B 1
0 C 0 0
0 0 D 0
-- precompute these from above projection matrix --
'''
proj = self.cam.node().getLens().getProjectionMat()
proj_x = 0.5 * proj.getCell(3, 2) / proj.getCell(0, 0)
proj_y = 0.5 * proj.getCell(3, 2)
proj_z = 0.5 * proj.getCell(3, 2) / proj.getCell(2, 1)
proj_w = -0.5 - 0.5 * proj.getCell(1, 2)
'''
-- now for each pixel compute viewpoint coordinates --
viewx = (screenx * projx) / (depth + projw)
viewy = (1 * projy) / (depth + projw)
viewz = (screeny * projz) / (depth + projw)
'''
grid = np.mgrid[0:depth_image.shape[0], 0:depth_image.shape[1]]
ygrid = np.float32(np.squeeze(
grid[0, :, :])) / float(depth_image.shape[0] - 1)
ygrid -= 0.5
xgrid = np.float32(np.squeeze(
grid[1, :, :])) / float(depth_image.shape[1] - 1)
xgrid -= 0.5
xview = 2.0 * xgrid * proj_x
zview = 2.0 * ygrid * proj_z
denom = np.squeeze(depth_image) + proj_w
xview = xview / denom
yview = proj_y / denom
zview = zview / denom
sqrng = xview**2 + yview**2 + zview**2
range_image = np.sqrt(sqrng)
range_image_1 = np.expand_dims(range_image, axis=2)
return depth_image, range_image_1
def compute_sample_pattern(self, limg_shape, res_factor):
# assume velocity is XYZ and we are looking +X up and towards -Z
pattern = []
lens = self.cam.node().getLens()
sx = self.win.getXSize()
sy = self.win.getYSize()
ifov_vert = 2.0 * math.tan(
0.5 * math.radians(lens.getVfov())) / float(sy - 1)
ifov_horz = 2.0 * math.tan(
0.5 * math.radians(lens.getHfov())) / float(sx - 1)
#ifov_vert = lens.getVfov() / float(sy-1)
#ifov_horz = lens.getHfov() / float(sy-1)
for ldr_row in range(limg_shape[0]):
theta = -10.0 - 41.33 * (
float(ldr_row) / float(limg_shape[0] - 1) - 0.5)
for ldr_col in range(limg_shape[1]):
psi = 60.0 * (float(ldr_col) / float(limg_shape[1] - 1) - 0.5)
cpsi = math.cos(math.radians(psi))
vert_ang = theta / cpsi
img_row_flt = (0.5 * float(sy - 1) -
(math.tan(math.radians(vert_ang)) / ifov_vert))
#img_row_flt = 0.5*(sy-1) - (vert_ang / ifov_vert)
if img_row_flt < 0:
print('img_row_flt=%f' % img_row_flt)
img_row_flt = 0.0
if img_row_flt >= sy:
print('img_row_flt=%f' % img_row_flt)
img_row_flt = float(sy - 1)
img_col_flt = (0.5 * float(sx - 1) +
(math.tan(math.radians(psi)) / ifov_horz))
#img_col_flt = 0.5*(sx-1) + (psi / ifov_horz)
if img_col_flt < 0:
print('img_col_flt=%f' % img_col_flt)
img_col_flt = 0.0
if img_col_flt >= sx:
print('img_col_flt=%f' % img_col_flt)
img_col_flt = float(sx - 1)
pattern.append((ldr_row, ldr_col, img_row_flt, img_col_flt))
return pattern
def find_sorted_ladar_returns(self, rangearr, intensarr, ks_m):
my_range = rangearr.copy()
my_inten = intensarr.copy()
'''
pixels data is organized by:
[0] starting range of this return
[1] ending range of this return
[2] peak range of this return
[3] total intensity of this return
'''
int_mult = len(my_inten)
pixels = map(
list,
zip(my_range.tolist(), my_range.tolist(), my_range.tolist(),
my_inten.tolist()))
spix = sorted(pixels, key=lambda x: x[0])
done = False
while not done:
mxpi = len(spix)
if mxpi > 2:
mindel = 1e20
mnidx = None
for pidx in range(mxpi - 1):
rdel = spix[pidx + 1][0] - spix[pidx][1]
# must be within ks_m meters in range to merge
if (rdel < ks_m) and (rdel < mindel):
mindel = rdel
mnidx = pidx
# merge best two returns
if mnidx is not None:
# new range span for testing against neighbors
spix[mnidx][1] = spix[mnidx + 1][1]
# new peak range is range of max contributor
if spix[mnidx + 1][3] > spix[mnidx][3]:
spix[mnidx][2] = spix[mnidx + 1][2]
# intensity of return is sum of contributors
spix[mnidx][3] += spix[mnidx + 1][3]
# remove one of the two merged
del spix[mnidx + 1]
else:
done = True
else:
done = True
# now eliminate all but max and last returns
max_idx = None
max_val = 0.0
for ci, pix in enumerate(spix):
if pix[3] > max_val:
max_val = pix[3] / int_mult
max_idx = ci
# if they are the same, return only one
if spix[-1][3] >= spix[max_idx][3]:
return [spix[-1]]
else:
return [spix[max_idx], spix[-1]]
def sample_range_image(self, rng_img, int_img, limg_shape, vel_cam, pps,
ldr_err, pattern):
# depth image is set up as 512 x 512 and is 62.5 degrees vertical FOV
# the center row is vertical, but we want to sample from the
# region corresponding to HDL-32 FOV: from +10 to -30 degrees
detailed_sensor_model = False
fwd_vel = vel_cam[1]
beam_div = 0.002
lens = self.cam.node().getLens()
#sx = self.win.getXSize()
sy = self.win.getYSize()
ifov_vert = 2.0 * math.tan(
0.5 * math.radians(lens.getVfov())) / float(sy - 1)
#ifov_horz = 2.0*math.tan(0.5*math.radians(lens.getHfov()))/float(sx-1)
#ifov = math.radians(self.cam.node().getLens().getVfov() / self.win.getYSize())
sigma = beam_div / ifov_vert
hs = int(2.0 * sigma + 1.0)
gprof = gauss_kern(sigma, hs, normalize=False)
rimg = np.zeros(limg_shape, dtype=np.float32)
iimg = np.zeros(limg_shape, dtype=np.float32)
margin = 10.0
for pidx, relation in enumerate(pattern):
# get the usual scan pattern sample
ldr_row, ldr_col, img_row_flt, img_col_flt = relation
if ((img_row_flt > -margin) and (img_col_flt > -margin)
and (img_row_flt < rng_img.shape[0] + margin)
and (img_col_flt < rng_img.shape[1] + margin)):
# within reasonable distance from image limits
img_row = int(round(img_row_flt))
img_col = int(round(img_col_flt))
# motion compensation
trng = np.float32(rng_img[img_row, img_col])
if trng > 0.0:
# TODO: change this back to False
done = True
ic = 0
while not done:
old_trng = trng
del_row = pidx * fwd_vel / (ifov_vert * trng * pps)
if (abs(del_row) > 1e-1) and (ic < 10):
img_row_f = img_row_flt + del_row
img_row = int(round(img_row_f))
trng = np.float32(rng_img[img_row, img_col])
ic += 1
if abs(trng - old_trng) < 0.5:
done = True
else:
done = True
# simple sensor processing: just sample from large images
rimg[ldr_row, ldr_col] = np.float32(rng_img[img_row,
img_col])
iimg[ldr_row, ldr_col] = np.float32(int_img[img_row,
img_col])
if detailed_sensor_model:
# detailed model subsamples whole beam width
gpatch = copy_patch_centered((img_row, img_col), hs,
int_img, 0.0)
gpatch = np.float32(gpatch)
gpatch *= gprof
rpatch = copy_patch_centered((img_row, img_col), hs,
rng_img, 0.0)
rpatch = np.squeeze(rpatch)
valid = rpatch > 1e-3
if np.count_nonzero(valid) > 0:
rpatch_ts = rpatch[valid]
gpatch_ts = gpatch[valid]
returns = self.find_sorted_ladar_returns(
rpatch_ts, gpatch_ts, 2.5)
# for now we just take first return
rimg[ldr_row, ldr_col] = returns[0][2]
iimg[ldr_row, ldr_col] = returns[0][3]
else:
rimg[ldr_row, ldr_col] = 0.0
iimg[ldr_row, ldr_col] = np.float32(int_img[img_row,
img_col])
rimg += ldr_err * np.random.standard_normal(rimg.shape)
return rimg, iimg
def skysphereTask(self, task):
if self.base is not None:
self.skysphere.setPos(self.base.camera, 0, 0, 0)
self.terrain.generate()
return task.cont