def update_neurons(self):
while True:
scale=0.0003
m1=controlU.getOrigin('u1').getValues().getValues()[0]*scale
m2=controlU.getOrigin('u2').getValues().getValues()[0]*scale
v1=Vector3f(0,0,0)
v2=Vector3f(0,0,0)
#java.lang.System.out.println("m1: %f m2:%f"%(m1,m2))
self.upperarm.physics.applyTorqueImpulse(Vector3f(0,0,m1))
self.lowerarm.physics.applyTorqueImpulse(Vector3f(0,0,m2))
self.hinge1=-(self.shoulder.hingeAngle-pi/2)
self.hinge2=-self.elbow.hingeAngle
#java.lang.System.out.println("angle1: %f
#angle2:%f"%(self.hinge1,self.hinge2))
self.upperarm.physics.getAngularVelocity(v1)
self.lowerarm.physics.getAngularVelocity(v2)
# put bounds on the velocity possible
if v1.z > 2:
self.upperarm.physics.setAngularVelocity(Vector3f(0,0,2))
if v1.z < -2:
self.upperarm.physics.setAngularVelocity(Vector3f(0,0,-2))
if v2.z > 2:
self.lowerarm.physics.setAngularVelocity(Vector3f(0,0,2))
if v2.z < -2:
self.lowerarm.physics.setAngularVelocity(Vector3f(0,0,-2))
self.upperarm.physics.getAngularVelocity(v1)
self.lowerarm.physics.getAngularVelocity(v2)
wt=Transform()
#self.target.physics.motionState.getWorldTransform(wt)
wt.setIdentity()
tx=controlV.getTermination('inputRefX').input
if tx is not None:
wt.origin.x=tx.values[0]+0.7
else:
wt.origin.x=0.7
ty=controlV.getTermination('inputRefY').input
if ty is not None:
wt.origin.y=ty.values[0]+0.1
else:
wt.origin.y=0.1
wt.origin.z=2
ms=self.target.physics.motionState
ms.worldTransform=wt
self.target.physics.motionState=ms
self.vel1=v1.z
self.vel2=v2.z
yield 0.0001
def __init__(self, filename, texture,
scale=1.0, mass=1, overdraw_scale=1.0):
if not TextureManager.getInstance().containsTexture(texture):
TextureManager.getInstance().addTexture(texture, Texture(texture))
if (filename, scale) not in MD2._shapes:
shape = Loader.loadMD2(filename, scale)
shape.rotateAxis(SimpleVector(1, 0, 0), math.pi/2)
shape.rotateAxis(SimpleVector(0, 0, 1), -math.pi/2)
shape.rotateMesh()
shape.rotationMatrix = Matrix()
MD2._shapes[(filename, scale)] = shape
# self.shape = MD2._shapes[(filename, scale)].cloneObject()
self.shape = Object3D(MD2._shapes[(filename, scale)], False)
self.shape.build()
self.shape.setTexture(texture)
minx, maxx, miny, maxy, minz, maxz = self.shape.mesh.boundingBox
shape = BoxShape(Vector3f((maxx - minx) / overdraw_scale / 2.0,
(maxy - miny) / overdraw_scale / 2.0,
(maxz - minz) / 2.0))
t = Transform()
t.setIdentity()
t.origin.x = (maxx + minx) / 2
t.origin.y = (maxy + miny) / 2
t.origin.z = (maxz + minz) / 2
ms = DefaultMotionState(t)
inertia = Vector3f(0, 0, 0)
shape.calculateLocalInertia(mass, inertia)
rb = RigidBodyConstructionInfo(mass, ms, shape, inertia)
self.physics = RigidBody(rb)
self.shape.setOrigin(SimpleVector(-(maxx + minx) / 2,
-(maxy + miny) / 2,
-(maxz + minz) / 2))
def update_neurons(self):
while True:
scale = 0.0003
m1 = controlU.getOrigin('u1').getValues().getValues()[0] * scale
m2 = controlU.getOrigin('u2').getValues().getValues()[0] * scale
v1 = Vector3f(0, 0, 0)
v2 = Vector3f(0, 0, 0)
#java.lang.System.out.println("m1: %f m2:%f"%(m1,m2))
self.upperarm.physics.applyTorqueImpulse(Vector3f(0, 0, m1))
self.lowerarm.physics.applyTorqueImpulse(Vector3f(0, 0, m2))
self.hinge1 = -(self.shoulder.hingeAngle - pi / 2)
self.hinge2 = -self.elbow.hingeAngle
#java.lang.System.out.println("angle1: %f
#angle2:%f"%(self.hinge1,self.hinge2))
self.upperarm.physics.getAngularVelocity(v1)
self.lowerarm.physics.getAngularVelocity(v2)
# put bounds on the velocity possible
if v1.z > 2:
self.upperarm.physics.setAngularVelocity(Vector3f(0, 0, 2))
if v1.z < -2:
self.upperarm.physics.setAngularVelocity(Vector3f(0, 0, -2))
if v2.z > 2:
self.lowerarm.physics.setAngularVelocity(Vector3f(0, 0, 2))
if v2.z < -2:
self.lowerarm.physics.setAngularVelocity(Vector3f(0, 0, -2))
self.upperarm.physics.getAngularVelocity(v1)
self.lowerarm.physics.getAngularVelocity(v2)
wt = Transform()
#self.target.physics.motionState.getWorldTransform(wt)
wt.setIdentity()
tx = controlV.getTermination('inputRefX').input
if tx is not None:
wt.origin.x = tx.values[0] + 0.7
else:
wt.origin.x = 0.7
ty = controlV.getTermination('inputRefY').input
if ty is not None:
wt.origin.y = ty.values[0] + 0.1
else:
wt.origin.y = 0.1
wt.origin.z = 2
ms = self.target.physics.motionState
ms.worldTransform = wt
self.target.physics.motionState = ms
self.vel1 = v1.z
self.vel2 = v2.z
yield 0.0001
def __init__(self, r, mass=1, color=Color.red):
colorname = 'sphere_%d' % id(self)
self.shape = Primitives.getSphere(r)
TextureManager.getInstance().addTexture(
colorname, Texture(1, 1, color))
self.shape.setTexture(colorname)
self.shape.build()
shape = BoxShape(Vector3f(r / 2.0, r / 2.0, r / 2.0))
inertia = Vector3f(0, 0, 0)
shape.calculateLocalInertia(mass, inertia)
t = Transform()
t.setIdentity()
ms = DefaultMotionState(t)
rb = RigidBodyConstructionInfo(mass, ms, shape, inertia)
self.physics = RigidBody(rb)
def start(self):
while True:
physics = self.parent.parent.physics
t = Transform()
self.parent.physics.getWorldTransform(t)
pt1 = Vector3f(self.origin)
pt2 = Vector3f(self.dir)
t.transform(pt1)
t.transform(pt2)
callback = CollisionWorld.ClosestRayResultCallback(pt1, pt2)
physics.rayTest(pt1, pt2, callback)
delta = Vector3f(callback.hitPointWorld)
delta.sub(pt1)
self.range = delta.length()
yield self.timestep
def physics_dump(self):
d = {}
for obj in self.objects:
if hasattr(obj, 'physics'):
t = Transform()
obj.physics.getMotionState().getWorldTransform(t)
m = Matrix4f()
t.getMatrix(m)
trans = Matrix()
trans.set(3, 0, m.m03)
trans.set(3, 1, m.m13)
trans.set(3, 2, m.m23)
rot = Matrix()
for i in range(3):
for j in range(3):
rot.set(i, j, m.getElement(j, i))
d[obj] = (trans, rot)
return d
def __init__(self, x, y, z, mass=1, scale=1, draw_as_cylinder=False,
color=Color.blue, overdraw_length=1, overdraw_radius=1,
flat_shading=False):
if draw_as_cylinder:
if y is max(x, y, z):
radius = (x + z) / 4 * overdraw_radius
self.shape = Primitives.getCylinder(
90, radius, y / (radius * 2) * overdraw_length)
if z is max(x, y, z):
radius = (x + y) / 4 * overdraw_radius
self.shape = Primitives.getCylinder(
90, radius, z / (radius * 2) * overdraw_length)
self.shape.rotateX(math.pi / 2)
self.shape.rotateMesh()
else:
self.shape = createBox(x / 2.0 * scale,
y / 2.0 * scale,
z / 2.0 * scale)
if flat_shading:
self.shape.shadingMode = Object3D.SHADING_FAKED_FLAT
colorname = 'box%d' % id(self)
TextureManager.getInstance().addTexture(colorname, Texture(1, 1, color))
self.shape.setTexture(colorname)
self.shape.build()
shape = BoxShape(Vector3f(x / 2.0, y / 2.0, z / 2.0))
inertia = Vector3f(0, 0, 0)
shape.calculateLocalInertia(mass, inertia)
t = Transform()
t.setIdentity()
ms = DefaultMotionState(t)
rb = RigidBodyConstructionInfo(mass, ms, shape, inertia)
self.physics = RigidBody(rb)
def add(self, obj, x, y, z=None):
if z is None:
t = Transform()
min = Vector3f()
max = Vector3f()
obj.physics.getAabb(min, max)
z = -min.z
self.temp = obj
if hasattr(obj, 'physics'):
t = Transform()
ms = obj.physics.motionState
ms.getWorldTransform(t)
m = Matrix4f()
t.getMatrix(m)
m.m03 = x
m.m13 = y
m.m23 = z
t.set(m)
ms.worldTransform = t
obj.physics.motionState = ms
self.physics.addRigidBody(obj.physics)
if hasattr(obj, 'wheels'):
tuning = VehicleTuning()
obj.vehicle = RaycastVehicle(
tuning, obj.physics, self.vehicle_raycaster)
obj.physics.setActivationState(
CollisionObject.DISABLE_DEACTIVATION)
self.physics.addVehicle(obj.vehicle)
obj.vehicle.setCoordinateSystem(1, 2, 0)
for w in obj.wheels:
wheel = obj.vehicle.addWheel(Vector3f(w.x, w.y, w.z),
Vector3f(w.dir),
Vector3f(w.axle),
w.suspension_rest_len,
w.radius,
tuning,
False)
wheel.suspensionStiffness = w.suspension_stiffness
wheel.maxSuspensionTravelCm = w.suspension_max_travel * 100
wheel.frictionSlip = w.friction
wheel.wheelsDampingRelaxation = w.damping_relaxation
wheel.wheelsDampingCompression = w.damping_compression
wheel.rollInfluence = w.roll_influence
self.objects.append(obj)
self.world.addObject(obj.shape)
def __init__(self, x, y, z=1, gravity=10, color=[
Color(0xFFFFFF), Color(0xFFFFFF), Color(0xEEEEEE), Color(0xDDDDDD),
Color(0xCCCCCC), Color(0xBBBBBB)], camera=(0, 0, 10), dt=0.0001):
ccm.Model.__init__(self)
self.size = (x, y, z)
self.world = World()
self.dt = dt
brightness = 180
self.world.setAmbientLight(brightness, brightness, brightness)
self.world.addLight(SimpleVector(2, 2, 5), 10, 10, 10)
self.world.camera.setPosition(*camera)
self.world.camera.setOrientation(
SimpleVector(0, 0, -1), SimpleVector(0, -1, 0))
self.objects = []
collisionConfiguration = DefaultCollisionConfiguration()
dispatcher = CollisionDispatcher(collisionConfiguration)
overlappingPairCache = AxisSweep3(
Vector3f(-x / 2.0, -y / 2.0, -z / 2.0),
Vector3f(x / 2.0, y / 2.0, z / 2.0),
1024)
solver = SequentialImpulseConstraintSolver()
self.physics = DiscreteDynamicsWorld(
dispatcher, overlappingPairCache, solver, collisionConfiguration)
self.physics.setGravity(Vector3f(0, 0, -gravity))
t = Transform()
t.setIdentity()
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(0, 0, 1), 0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(0, 1, 0), -y / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(0, -1, 0), -y / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(1, 0, 0), -x / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(-1, 0, 0), -x / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
self.vehicle_raycaster = DefaultVehicleRaycaster(self.physics)
if not isinstance(color, (list, tuple)):
room = createBox(x / 2.0, y / 2.0, z / 2.0)
room.translate(0, 0, z / 2.0)
room.invert()
colorname = 'room%d' % id(self)
TextureManager.getInstance().addTexture(
colorname, Texture(1, 1, color))
room.setTexture(colorname)
room.shadingMode = Object3D.SHADING_FAKED_FLAT
room.build()
self.world.addObject(room)
else:
room = createBoxPieces(x / 2.0, y / 2.0, z / 2.0)
for i, r in enumerate(room):
r.translate(0, 0, z / 2.0)
r.invert()
colorname = 'room%d_%d' % (id(self), i)
TextureManager.getInstance().addTexture(
colorname, Texture(1, 1, color[i % len(color)]))
r.setTexture(colorname)
r.shadingMode = Object3D.SHADING_FAKED_FLAT
r.build()
self.world.addObject(r)
self.ratelimit = RateLimit()
