def __setupGravity(self):
base.particlesEnabled = True
base.enableParticles()
gravityFN = ForceNode('world-forces')
gravityFNP = render.attachNewNode(gravityFN)
gravityForce = LinearVectorForce(0, 0,
-6) #gravity acceleration ft/s^2
gravityFN.addForce(gravityForce)
base.physicsMgr.addLinearForce(gravityForce)
def __init__(self, parent=None):
'''
Create a new Vehicle node. Physics should be initialized before any
instances of Vehicle are created.
arguments:
parent -- A PandaNode for the vehicle to attach to. Default is None,
in which case the Vehicle should be added to the scene
graph via NodePath.attachNewNode().
'''
ActorNode.__init__(self, 'VehiclePhysics')
base.physicsMgr.attachPhysicalNode(self)
self.getPhysicsObject().setMass(MASS)
if parent:
self.myPath = parent.attachNewNode(self)
else:
self.myPath = NodePath(self)
# Load vehicle model and place in the transparent bin.
vehicleModel = loader.loadModel(MODEL_PATH)
hull = vehicleModel.find('**/Hull')
hull.setBin('transparent', 30)
pwnsEnclosure = vehicleModel.find('**/Pwns_Enclosure')
pwnsEnclosure.setBin('transparent', 30)
self.myPath.setPos(0, 0, -0.0)
selectable = self.myPath.attachNewNode(SelectableNode('vehicle sel'))
vehicleModel.reparentTo(selectable)
# ==== Initialize Physics ==== #
thrusterForceNode = ForceNode('ThrusterForce')
self.myPath.attachNewNode(thrusterForceNode)
self.linearForce = LinearVectorForce(0, 0, 0)
self.linearForce.setMassDependent(1)
self.angularForce = AngularVectorForce(0, 0, 0)
thrusterForceNode.addForce(self.linearForce)
thrusterForceNode.addForce(self.angularForce)
self.getPhysical(0).addLinearForce(self.linearForce)
self.getPhysical(0).addAngularForce(self.angularForce)
self.previousXY = (self.myPath.getX(), self.myPath.getY())
self.tm = ThrusterManager()
# Add self.updatePhysics to the task manager and run this task as
# frequently as possible.
self.updatePhysicsTask = taskMgr.add(self.updatePhysics,
'UpdatePhysics')
# ==== Initialize Cameras ==== #
lens = PerspectiveLens()
lens.setNearFar(0.05, 100.0)
#Use either FocalLength or Fov. Fov ~40 is about what actual forward cameras are
#lens.setFocalLength(0.8)
lens.setFov(70, 70)
camera = Camera("Forward_left", lens).getPath()
camera.reparentTo(vehicleModel.find('**/Forward_Camera'))
camera.setX(camera.getX() - 0.1) # Forward cameras 20cm apart
camera.setY(
camera.getY() +
0.05) # Move in front of torpedo tubes to avoid abstruction
camera.setHpr(0, 0, 0)
camera = Camera("Forward_right", lens).getPath()
camera.reparentTo(vehicleModel.find('**/Forward_Camera'))
camera.setX(camera.getX() + 0.1) # Forward cameras 20cm apart
camera.setY(
camera.getY() +
0.05) # Move in front of torpedo tubes to avoid abstruction
camera.setHpr(0, 0, 0)
lens = PerspectiveLens()
lens.setNearFar(0.05, 100.0)
lens.setFocalLength(0.8)
camera = Camera("Downward", lens).getPath()
camera.reparentTo(vehicleModel.find('**/Downward_Camera'))
camera.setHpr(0, -90, 0)
#Layout link (to access hydrophone information)
self.layout = None
#Hydrophone variables
self.start_time = time()
self.last_hydro_update = time()
