def genHand(self, handz=100.0):
# fgr0
boxx = 5.0
boxy = 2.0
boxz = 20.0
boxpx = 0.0
boxpy = 10.0
boxpz = handz
shape = BulletBoxShape(Vec3(boxx, boxy, boxz)) # the parameters are half extends
node = BulletRigidBodyNode('fgr0')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render, pos=[boxpx, boxpy, boxpz], x=boxx * 2.0, y=boxy * 2.0, z=boxz * 2.0, rgba=None)
# fgr1
boxx = 5.0
boxy = 2.0
boxz = 20.0
boxpx = 0.0
boxpy = -10.0
boxpz = handz
shape = BulletBoxShape(Vec3(boxx, boxy, boxz)) # the parameters are half extends
node = BulletRigidBodyNode('fgr1')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render, pos=[boxpx, boxpy, boxpz], x=boxx * 2.0, y=boxy * 2.0, z=boxz * 2.0, rgba=None)
def addGround(self):
boxx = 1000.0
boxy = 1000.0
boxz = 1.0
offset=-55
pg.plotBox(self.base.render, pos = [0,0,-1.0+offset], x = boxx*2.0, y = boxy*2.0, z = boxz*2.0, rgba=None)
pg.plotAxisSelf(self.base.render)
groundGeom = OdePlaneGeom(self.odespace, Vec4(0, 0, 1, offset))
def addGround(self):
boxx = 500.0
boxy = 500.0
boxz = 1.0
shape = BulletBoxShape(Vec3(boxx, boxy, boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render, pos = [0,0,-1.0], x = boxx*2.0, y = boxy*2.0, z = boxz*2.0, rgba=None)
def addGround(self):
boxx = 500.0
boxy = 500.0
boxz = 1.0
pg.plotBox(self.base.render,
pos=[0, 0, -1.0],
x=boxx * 2.0,
y=boxy * 2.0,
z=boxz * 2.0,
rgba=None)
groundGeom = OdePlaneGeom(self.odespace, Vec4(0, 0, 1, 0))
def addGround(self):
boxx = 500.0
boxy = 500.0
boxz = 1.0
shape = BulletBoxShape(Vec3(boxx, boxy,
boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render,
pos=[0, 0, -1.0],
x=boxx * 2.0,
y=boxy * 2.0,
z=boxz * 2.0,
rgba=None)
def genHand(self, handz=100.0):
# fgr0
boxx = 5.0
boxy = 2.0
boxz = 20.0
boxpx = 0.0
boxpy = 10.0
boxpz = handz
shape = BulletBoxShape(Vec3(boxx, boxy,
boxz)) # the parameters are half extends
node = BulletRigidBodyNode('fgr0')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render,
pos=[boxpx, boxpy, boxpz],
x=boxx * 2.0,
y=boxy * 2.0,
z=boxz * 2.0,
rgba=None)
# fgr1
boxx = 5.0
boxy = 2.0
boxz = 20.0
boxpx = 0.0
boxpy = -10.0
boxpz = handz
shape = BulletBoxShape(Vec3(boxx, boxy,
boxz)) # the parameters are half extends
node = BulletRigidBodyNode('fgr1')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render,
pos=[boxpx, boxpy, boxpz],
x=boxx * 2.0,
y=boxy * 2.0,
z=boxz * 2.0,
rgba=None)
def addWalls(self):
"""
add walls
:return:
"""
# x+
boxx = 2.0
boxy = 50.0
boxz = 100.0
boxpx = 50.0
boxpy = 0.0
boxpz = 50.0
shape = BulletBoxShape(Vec3(boxx, boxy,
boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Wallx+')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render,
pos=[boxpx, boxpy, boxpz],
x=boxx * 2.0,
y=boxy * 2.0,
z=boxz * 2.0,
rgba=None)
# x-
boxx = 2.0
boxy = 50.0
boxz = 100.0
boxpx = -50.0
boxpy = 0.0
boxpz = 50.0
shape = BulletBoxShape(Vec3(boxx, boxy,
boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Wallx-')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render,
pos=[boxpx, boxpy, boxpz],
x=boxx * 2.0,
y=boxy * 2.0,
z=boxz * 2.0,
rgba=None)
# y+
boxx = 50.0
boxy = 2.0
boxz = 100.0
boxpx = 0.0
boxpy = 50.0
boxpz = 50.0
shape = BulletBoxShape(Vec3(boxx, boxy,
boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Wally+')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render,
pos=[boxpx, boxpy, boxpz],
x=boxx * 2.0,
y=boxy * 2.0,
z=boxz * 2.0,
rgba=None)
# y-
boxx = 50.0
boxy = 2.0
boxz = 100.0
boxpx = 0.0
boxpy = -50.0
boxpz = 50.0
shape = BulletBoxShape(Vec3(boxx, boxy,
boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Wally-')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render,
pos=[boxpx, boxpy, boxpz],
x=boxx * 2.0,
y=boxy * 2.0,
z=boxz * 2.0,
rgba=None)
# shape = BulletPlaneShape(Vec3(0, 0, 1), 0.0)
# node = BulletRigidBodyNode('Ground')
# node.addShape(shape)
# np = self.base.render.attachNewNode(node)
# np.setPos(0, 0, 0)
# self.bltWorld.attachRigidBody(node)
self.handz = 200.0
def addGround(self):
boxx = 500.0
boxy = 500.0
boxz = 1.0
pg.plotBox(self.base.render, pos = [0,0,-1.0], x = boxx*2.0, y = boxy*2.0, z = boxz*2.0, rgba=None)
groundGeom = OdePlaneGeom(self.odespace, Vec4(0, 0, 1, 0))
def addWalls(self):
"""
add walls
:return:
"""
# x+
boxx = 2.0
boxy = 50.0
boxz = 100.0
boxpx = 50.0
boxpy = 0.0
boxpz = 50.0
shape = BulletBoxShape(Vec3(boxx, boxy, boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Wallx+')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render, pos = [boxpx, boxpy, boxpz], x = boxx*2.0, y = boxy*2.0, z = boxz*2.0, rgba=None)
# x-
boxx = 2.0
boxy = 50.0
boxz = 100.0
boxpx = -50.0
boxpy = 0.0
boxpz = 50.0
shape = BulletBoxShape(Vec3(boxx, boxy, boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Wallx-')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render, pos = [boxpx, boxpy, boxpz], x = boxx*2.0, y = boxy*2.0, z = boxz*2.0, rgba=None)
# y+
boxx = 50.0
boxy = 2.0
boxz = 100.0
boxpx = 0.0
boxpy = 50.0
boxpz = 50.0
shape = BulletBoxShape(Vec3(boxx, boxy, boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Wally+')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render, pos=[boxpx, boxpy, boxpz], x=boxx * 2.0, y=boxy * 2.0, z=boxz * 2.0, rgba=None)
# y-
boxx = 50.0
boxy = 2.0
boxz = 100.0
boxpx = 0.0
boxpy = -50.0
boxpz = 50.0
shape = BulletBoxShape(Vec3(boxx, boxy, boxz)) # the parameters are half extends
node = BulletRigidBodyNode('Wally-')
node.addShape(shape)
node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz)))
self.bltWorld.attachRigidBody(node)
pg.plotBox(self.base.render, pos=[boxpx, boxpy, boxpz], x=boxx * 2.0, y=boxy * 2.0, z=boxz * 2.0, rgba=None)
# shape = BulletPlaneShape(Vec3(0, 0, 1), 0.0)
# node = BulletRigidBodyNode('Ground')
# node.addShape(shape)
# np = self.base.render.attachNewNode(node)
# np.setPos(0, 0, 0)
# self.bltWorld.attachRigidBody(node)
self.handz = 200.0