def __init__(self, model, world, worldNP, pos, scale, hpr):
self.worldNP = worldNP
bulletWorld = world
# Initialize the model.
self.AIModel = loader.loadModel(model)
self.AINode = BulletRigidBodyNode('AIChar')
self.AIModel.setScale(scale)
self.AIModel.flattenLight() # Combines all geom nodes into one geom node.
# Build the triangle mesh shape and attach it with the transform.
geom = self.AIModel.findAllMatches('**/+GeomNode').getPath(0).node().getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.AINode.addShape(shape, TransformState.makePosHprScale(Point3(0,0,0), hpr, scale))
self.AINode.setMass(0)
bulletWorld.attachRigidBody(self.AINode)
# Apply the same transforms on the model being rendered.
self.AIModel.reparentTo(render)
self.AIModel.setH(hpr.getX())
self.AIModel.setP(hpr.getY())
self.AIModel.setR(hpr.getZ())
self.AINode.setAngularFactor(Vec3(0,0,0))
# Attach it to the world.
self.AIChar = self.worldNP.attachNewNode(self.AINode)
self.AIModel.reparentTo(self.AIChar)
self.AIChar.setPos(pos)
def __init__(self, model, world, worldNP, pos, scale, hpr):
self.worldNP = worldNP
bulletWorld = world
# Initialize the model.
self.AIModel = loader.loadModel(model)
self.AINode = BulletRigidBodyNode("AIChar")
self.AIModel.setScale(scale)
self.AIModel.flattenLight() # Combines all geom nodes into one geom node.
# Build the triangle mesh shape and attach it with the transform.
geom = self.AIModel.findAllMatches("**/+GeomNode").getPath(0).node().getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.AINode.addShape(shape, TransformState.makePosHprScale(Point3(0, 0, 0), hpr, scale))
self.AINode.setMass(0)
bulletWorld.attachRigidBody(self.AINode)
# Apply the same transforms on the model being rendered.
self.AIModel.reparentTo(render)
self.AIModel.setH(hpr.getX())
self.AIModel.setP(hpr.getY())
self.AIModel.setR(hpr.getZ())
self.AINode.setAngularFactor(Vec3(0, 0, 0))
# Attach it to the world.
self.AIChar = self.worldNP.attachNewNode(self.AINode)
self.AIModel.reparentTo(self.AIChar)
self.AIChar.setPos(pos)
def getModelBaseDimensions(model):
origTransform = model.getNetTransform()
model = model.copyTo(model.getParent())
model.detachNode()
model.setTransform(
TransformState.makePosHprScale(origTransform.getPos(),
LVector3f(0, 0, 0),
origTransform.getScale()))
minRefBounds, maxRefBounds = model.getTightBounds()
model.removeNode()
refDims = maxRefBounds - minRefBounds
width, depth, heigth = refDims.x, refDims.y, refDims.z
return width, depth, heigth
def getApproximationForModel(model, mode='box'):
if mode == 'mesh':
transform = model.getNetTransform()
approxModel = model.copyTo(model.getParent())
approxModel.detachNode()
approxModel.setTransform(transform)
elif mode == 'box':
# Bounding box approximation
# FIXME: taking the tight bounds after the transform does not fit well models
# that are rotated (e.g. diagonal orientation).
minRefBounds, maxRefBounds = model.getTightBounds()
refDims = maxRefBounds - minRefBounds
refPos = model.getPos()
refCenter = minRefBounds + (maxRefBounds - minRefBounds) / 2.0
refDeltaCenter = refCenter - refPos
approxModel = loadModel(os.path.join(MODEL_DATA_DIR, 'cube.egg'))
# Rescale the cube model to match the bounding box of the original
# model
minBounds, maxBounds = approxModel.getTightBounds()
dims = maxBounds - minBounds
pos = approxModel.getPos()
center = minBounds + (maxBounds - minBounds) / 2.0
deltaCenter = center - pos
position = refPos + refDeltaCenter - deltaCenter
scale = LVector3f(refDims.x / dims.x, refDims.y / dims.y,
refDims.z / dims.z)
# NOTE: remove the local transform used to center the model
transform = model.getNetTransform().compose(
model.getTransform().getInverse())
transform = transform.compose(
TransformState.makePosHprScale(position, LVector3f(0, 0, 0),
scale))
approxModel.setTransform(transform)
else:
raise Exception('Unknown mode type for object shape: %s' % (mode))
approxModel.setName(model.getName())
return approxModel
def __addConvexHull(self, body, model, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1) ):
def one():
geom = model.node().getGeom(0)
shape = BulletConvexHullShape()
shape.addGeom(geom)
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
return []
children = model.findAllMatches('**/+GeomNode') or one()
model.flattenLight()
for piece in children:
shape = BulletConvexHullShape()
geom = piece.node().getGeom(0)
shape.addGeom(geom)
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def __addTriangleMesh(self, body, model, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1), dynamic=True):
mesh = BulletTriangleMesh()
def one():
geom = model.node().getGeom(0)
mesh.addGeom(geom)
return []
children = model.findAllMatches('**/+GeomNode') or one()
model.flattenLight()
for piece in children:
geom = piece.node().getGeom(0)
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=dynamic )
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def __addCapsule(self, body, model, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1) ):
size = self.getSize(model)
diam = max(size.x,size.y)
shape = BulletCapsuleShape(diam/2, size.z-diam, ZUp)
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def __addCylinder(self, body, model, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1) ):
size = self.getSize(model)
shape = BulletCylinderShape(max(size.x,size.y)/2, size.z, ZUp)
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def __addBox(self, body, model, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1) ):
size = self.getSize(model)
shape = BulletBoxShape( size/2 )
body.addShape(shape, TransformState.makePosHprScale(pos,hpr,scale) )
def __addPlane(self, body, size=(0,0,1), pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1) ):
shape = BulletPlaneShape(Vec3(size), 0)
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def one():
geom = model.node().getGeom(0)
shape = BulletConvexHullShape()
shape.addGeom(geom)
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
return []
def __addCone(self, body, size, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1) ):
shape = BulletConeShape(max(size.x,size.y)/2, size.z, ZUp)
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def __addSphere(self, body, size, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1) ):
shape = BulletSphereShape( max(size)/2 )
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def __addTriangleMesh(self, body, geom, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1), dynamic=True):
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=dynamic )
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def __addConvexHull(self, body, geom, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1) ):
shape = BulletConvexHullShape()
shape.addGeom(geom)
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
