def setup(self, world):
world.clear()
efig = Utils().GetFigure()
efig.clearMesh()
shape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE,
halfExtents=(1, 0.2, 1))
self.body1 = igeBullet.rigidBody(shape, 0, (0, 5, -1.2), (0, 0, 0, 1))
world.add(self.body1)
Utils().AddShapeMesh(shape)
self.body2 = igeBullet.rigidBody(shape, 1, (0, 5, 1.2), (0, 0, 0, 1))
world.add(self.body2)
Utils().AddShapeMesh(shape)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 3.14 / 2, 0))
posA = vmath.vec3(0, 0, 1.2)
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 3.14 / 2, 0))
posB = vmath.vec3(0, 0, -1.2)
joint = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE,
self.body1,
self.body2,
frameA=(posA, rotA),
frameB=(posB, rotB))
world.add(joint)
efig.mergeSameMaterialMesh()
def __init__( self):
self.currentState = STATUS_STAY
self.nextState = STATUS_STAY
self.figure = core.figure('Sapphiart/Sapphiart')
self.figure.connectAnimator(core.ANIMETION_SLOT_A0, STATE_MOTION[self.currentState])
self.currentDir= vmath.vec3(0,0,1)
self.gorlDir= vmath.vec3(0,0,1)
self.currentPosition = vmath.vec3(0,0,0)
self.transitTime = 0.0
def step(self):
touch = core.singleTouch()
if touch is not None:
self.frame.position = vmath.vec3(touch['org_x'], touch['org_y'], 0)
self.button.position = vmath.vec3(touch['cur_x'], touch['cur_y'],
10)
else:
self.frame.position = vmath.vec3(0, 1000, 0)
self.button.position = vmath.vec3(0, 1000, 10)
def step(self, targetFigure):
at = targetFigure.position
dir = at - self.pos
distance = vmath.length(dir)
dir = vmath.normalize(dir)
speed = 0.0
if distance > 6.0:
speed = (distance - 6.0) * 0.1
elif distance < 4.0:
speed = (distance - 4.0) * 0.1
self.pos += dir * speed
self.camera.target = at + vmath.vec3(0, self.targetHeighjt, 0)
self.camera.position = self.pos + vmath.vec3(0, self.height, 0)
def IntersectRayAABB(p, d, min, max):
tmin = 0.0
tmax = sys.float_info.max
for i in range(3):
if math.fabs(d.getElem(i)) < sys.float_info.epsilon:
if p.getElem(i) < min.getElem(i) or p.getElem(i) > max.getElem(i):
return False, 0, vmath.vec3()
else:
ood = 1.0 / d.getElem(i)
t1 = (min.getElem(i) - p.getElem(i)) * ood
t2 = (max.getElem(i) - p.getElem(i)) * ood
if t1 > t2: t1, t2 = t2, t1
if t1 > tmin: tmin = t1
if t2 < tmax: tmax = t2
if tmin > tmax: return False, 0, vmath.vec3()
q = p + d * tmin
return True, tmin, q
def setup(self, world):
world.clear()
efig = Utils().GetFigure()
efig.clearMesh()
shape = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 1, 4)
self.body1 = igeBullet.rigidBody(shape,0,(-3,5,0),vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 3.14/2)))
world.add(self.body1)
Utils().AddShapeMesh(shape)
self.body2 = igeBullet.rigidBody(shape,1,(3,5,0),vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 3.14/2)))
world.add(self.body2)
Utils().AddShapeMesh(shape)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 3.14/2))
posA = vmath.vec3(0, -3.2, 0)
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 3.14/2))
posB = vmath.vec3(0, 3.2, 0)
joint = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.body1, self.body2,
frameA=(posA, rotA), frameB=(posB, rotB))
world.add(joint)
efig.mergeSameMaterialMesh()
def __init__(self):
self.pos = vmath.vec3(0, 0, 5)
self.height = 3.0
self.targetHeighjt = 1.0
self.camera = core.camera("cam01")
using Box2D with ige
"""
import igeCore as core
import igeVmath as vmath
import Box2D
from Box2D.b2 import (world, polygonShape, staticBody, dynamicBody)
from DynamicBox import DynamicBox
# open or resize window (This function is valid only on PC,Ignored in smartphone apps)
core.window(True, 480, 640)
cam = core.camera("maincam")
cam.orthographicProjection = True
cam.position = vmath.vec3(0.0, 0.0, 100.0)
showcase = core.showcase()
boxes = []
world = world(gravity=(0, -10), doSleep=True)
boxes.append(DynamicBox(world, showcase, (0, -100), (150, 20), 0, True))
boxes.append(DynamicBox(world, showcase, (10, 100), (10, 5), 15))
while True:
core.update()
touch = core.singleTouch()
if touch is not None and touch['is_pressed']:
boxes.append(
DynamicBox(world, showcase, (touch['cur_x'], touch['cur_y']),
#add shadow shader
for i in range(ground.numMaterials):
shaderGen = ground.getShaderGenerator(i)
shaderGen.setShadow(False, True, True)
ground.setShaderGenerator(i, shaderGen)
#create shadow buffer
shadowBuffer = core.texture('Shadow',
1024,
1024,
format=core.GL_RED,
depth=True,
float=True)
efig = graphicsHelper.createSprite(100, 100, shadowBuffer)
efig.position = vmath.vec3(-100, 200, 0)
# what you want to draw should be registered in showcase
showcase2D = core.showcase('2dcase')
showcase3D = core.showcase("3dcase")
showcase3D.add(ground)
showcase3D.add(char.figure)
showcase2D.add(efig)
showcase2D.add(controller.frame)
showcase2D.add(controller.button)
showcase3D.addShadowBuffer(shadowBuffer)
#set shadow environment
def setup(self, world):
world.clear()
efig = Utils().GetFigure()
efig.clearMesh()
#shape = igeBullet.shape(igeBullet.STATIC_PLANE_PROXYTYPE, normal=(0,1,0), constant=0)
shape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE, halfExtents=(10,1,10))
body = igeBullet.rigidBody(shape,0,(0,0,0),(0,0,0,1))
world.add(body)
Utils().AddShapeMesh(shape)
scale = 5.0
offset = vmath.vec3(0, 5, 0)
M_PI = 3.14159265358979323846
M_PI_2 = 1.57079632679489661923
M_PI_4 = 0.785398163397448309616
BODYPART_PELVIS = 0
BODYPART_SPINE = 1
BODYPART_HEAD = 2
BODYPART_LEFT_UPPER_LEG = 3
BODYPART_LEFT_LOWER_LEG = 4
BODYPART_RIGHT_UPPER_LEG = 5
BODYPART_RIGHT_LOWER_LEG = 6
BODYPART_LEFT_UPPER_ARM = 7
BODYPART_LEFT_LOWER_ARM = 8
BODYPART_RIGHT_UPPER_ARM = 9
BODYPART_RIGHT_LOWER_ARM = 10
self.BODYPART_COUNT = 11
JOINT_PELVIS_SPINE = 0
JOINT_SPINE_HEAD = 1
JOINT_LEFT_HIP = 2
JOINT_LEFT_KNEE = 3
JOINT_RIGHT_HIP = 4
JOINT_RIGHT_KNEE = 5
JOINT_LEFT_SHOULDER = 6
JOINT_LEFT_ELBOW = 7
JOINT_RIGHT_SHOULDER = 8
JOINT_RIGHT_ELBOW = 9
JOINT_COUNT = 10
m_shapes = [0] * self.BODYPART_COUNT
m_shapes[BODYPART_PELVIS] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.15 * scale, 0.20 * scale)
m_shapes[BODYPART_SPINE] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.15 * scale, 0.28 * scale)
m_shapes[BODYPART_HEAD] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.10 * scale, 0.05 * scale)
m_shapes[BODYPART_LEFT_UPPER_LEG] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.07 * scale, 0.45 * scale)
m_shapes[BODYPART_LEFT_LOWER_LEG] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.05 * scale, 0.37 * scale)
m_shapes[BODYPART_RIGHT_UPPER_LEG] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.07 * scale, 0.45 * scale)
m_shapes[BODYPART_RIGHT_LOWER_LEG] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.05 * scale, 0.37 * scale)
m_shapes[BODYPART_LEFT_UPPER_ARM] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.05 * scale, 0.33 * scale)
m_shapes[BODYPART_LEFT_LOWER_ARM] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.04 * scale, 0.25 * scale)
m_shapes[BODYPART_RIGHT_UPPER_ARM] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.05 * scale, 0.33 * scale)
m_shapes[BODYPART_RIGHT_LOWER_ARM] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.04 * scale, 0.25 * scale)
for i in range(self.BODYPART_COUNT):
Utils().AddShapeMesh(m_shapes[i])
self.m_bodies = [0] * self.BODYPART_COUNT
pos = vmath.vec3(0, 1, 0) * scale + offset
rot = vmath.quat()
self.m_bodies[BODYPART_PELVIS] = igeBullet.rigidBody(m_shapes[BODYPART_PELVIS], 1, pos, rot)
world.add(self.m_bodies[BODYPART_PELVIS])
pos = vmath.vec3(0, 1.2, 0) * scale + offset
self.m_bodies[BODYPART_SPINE] = igeBullet.rigidBody(m_shapes[BODYPART_SPINE], 1, pos, rot)
world.add(self.m_bodies[BODYPART_SPINE])
pos = vmath.vec3(0, 1.6, 0) * scale + offset
self.m_bodies[BODYPART_HEAD] = igeBullet.rigidBody(m_shapes[BODYPART_HEAD], 1, pos, rot)
world.add(self.m_bodies[BODYPART_HEAD])
pos = vmath.vec3(-0.18, 0.65, 0) * scale + offset
self.m_bodies[BODYPART_LEFT_UPPER_LEG] = igeBullet.rigidBody(m_shapes[BODYPART_LEFT_UPPER_LEG], 1, pos, rot)
world.add(self.m_bodies[BODYPART_LEFT_UPPER_LEG])
pos = vmath.vec3(-0.18, 0.2, 0) * scale + offset
self.m_bodies[BODYPART_LEFT_LOWER_LEG] = igeBullet.rigidBody(m_shapes[BODYPART_LEFT_LOWER_LEG], 1, pos, rot)
world.add(self.m_bodies[BODYPART_LEFT_LOWER_LEG])
pos = vmath.vec3(0.18, 0.65, 0) * scale + offset
self.m_bodies[BODYPART_RIGHT_UPPER_LEG] = igeBullet.rigidBody(m_shapes[BODYPART_RIGHT_UPPER_LEG], 1, pos, rot)
world.add(self.m_bodies[BODYPART_RIGHT_UPPER_LEG])
pos = vmath.vec3(0.18, 0.2, 0) * scale + offset
self.m_bodies[BODYPART_RIGHT_LOWER_LEG] = igeBullet.rigidBody(m_shapes[BODYPART_RIGHT_LOWER_LEG], 1, pos, rot)
world.add(self.m_bodies[BODYPART_RIGHT_LOWER_LEG])
pos = vmath.vec3(-0.35, 1.45, 0) * scale + offset
rot = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
self.m_bodies[BODYPART_LEFT_UPPER_ARM] = igeBullet.rigidBody(m_shapes[BODYPART_LEFT_UPPER_ARM], 1, pos, rot)
world.add(self.m_bodies[BODYPART_LEFT_UPPER_ARM])
pos = vmath.vec3(-0.7, 1.45, 0) * scale + offset
rot = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
self.m_bodies[BODYPART_LEFT_LOWER_ARM] = igeBullet.rigidBody(m_shapes[BODYPART_LEFT_LOWER_ARM], 1, pos, rot)
world.add(self.m_bodies[BODYPART_LEFT_LOWER_ARM])
pos = vmath.vec3(0.35, 1.45, 0) * scale + offset
rot = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, -M_PI_2))
self.m_bodies[BODYPART_RIGHT_UPPER_ARM] = igeBullet.rigidBody(m_shapes[BODYPART_RIGHT_UPPER_ARM], 1, pos, rot)
world.add(self.m_bodies[BODYPART_RIGHT_UPPER_ARM])
pos = vmath.vec3(0.7, 1.45, 0) * scale + offset
rot = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, -M_PI_2))
self.m_bodies[BODYPART_RIGHT_LOWER_ARM] = igeBullet.rigidBody(m_shapes[BODYPART_RIGHT_LOWER_ARM], 1, pos, rot)
world.add(self.m_bodies[BODYPART_RIGHT_LOWER_ARM])
for i in range(self.BODYPART_COUNT):
self.m_bodies[i].linearDamping = 0.05
self.m_bodies[i].angularDamping = 0.85
self.m_bodies[i].deactivationTime = 0.8
self.m_bodies[i].linearSleepingThreshold = 1.6
self.m_bodies[i].angularSleepingThreshold = 2.5
m_joints = [0] * JOINT_COUNT
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, 0.15, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0, -0.15, 0) * scale
m_joints[JOINT_PELVIS_SPINE] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE, self.m_bodies[BODYPART_PELVIS],
self.m_bodies[BODYPART_SPINE], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_PELVIS_SPINE].setLimit(-M_PI_4, M_PI_2)
world.add(m_joints[JOINT_PELVIS_SPINE], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
posA = vmath.vec3(0, 0.3, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
posB = vmath.vec3(0, -0.14, 0) * scale
m_joints[JOINT_SPINE_HEAD] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_SPINE],
self.m_bodies[BODYPART_HEAD], frameA=(posA, rotA), frameB=(posB, rotB))
m_joints[JOINT_SPINE_HEAD].setLimit(M_PI_4, M_PI_4, M_PI_2)
world.add(m_joints[JOINT_SPINE_HEAD], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, -M_PI_4 * 5))
posA = vmath.vec3(-0.18, -0.10, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, -M_PI_4 * 5))
posB = vmath.vec3(0, 0.225, 0) * scale
m_joints[JOINT_LEFT_HIP] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_PELVIS],
self.m_bodies[BODYPART_LEFT_UPPER_LEG], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_LEFT_HIP].setLimit(M_PI_4, M_PI_4, 0)
world.add(m_joints[JOINT_LEFT_HIP], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, -0.225, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0, 0.185, 0) * scale
m_joints[JOINT_LEFT_KNEE] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE, self.m_bodies[BODYPART_LEFT_UPPER_LEG],
self.m_bodies[BODYPART_LEFT_LOWER_LEG], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_LEFT_KNEE].setLimit(0, M_PI_2)
world.add(m_joints[JOINT_LEFT_KNEE], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_4))
posA = vmath.vec3(0.18, -0.10, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_4))
posB = vmath.vec3(0, 0.225, 0) * scale
m_joints[JOINT_RIGHT_HIP] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_PELVIS],
self.m_bodies[BODYPART_RIGHT_UPPER_LEG], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_RIGHT_HIP].setLimit(M_PI_4, M_PI_4, 0)
world.add(m_joints[JOINT_RIGHT_HIP], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, -0.225, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0., 0.185, 0) * scale
m_joints[JOINT_RIGHT_KNEE] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE,
self.m_bodies[BODYPART_RIGHT_UPPER_LEG],
self.m_bodies[BODYPART_RIGHT_LOWER_LEG], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_RIGHT_KNEE].setLimit(0, M_PI_2)
world.add(m_joints[JOINT_RIGHT_KNEE], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI))
posA = vmath.vec3(-0.2, 0.15, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI))
posB = vmath.vec3(0, -0.18, 0) * scale
m_joints[JOINT_LEFT_SHOULDER] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_SPINE],
self.m_bodies[BODYPART_LEFT_UPPER_ARM], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_LEFT_SHOULDER].setLimit(M_PI_2, M_PI_2, 0)
world.add(m_joints[JOINT_LEFT_SHOULDER], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, 0.18, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0, -0.14, 0) * scale
m_joints[JOINT_LEFT_ELBOW] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE,
self.m_bodies[BODYPART_LEFT_UPPER_ARM],
self.m_bodies[BODYPART_LEFT_LOWER_ARM], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_LEFT_ELBOW].setLimit(-M_PI_2, 0)
world.add(m_joints[JOINT_LEFT_ELBOW], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 0))
posA = vmath.vec3(0.2, 0.15, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
posB = vmath.vec3(0, -0.18, 0) * scale
m_joints[JOINT_RIGHT_SHOULDER] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_SPINE],
self.m_bodies[BODYPART_RIGHT_UPPER_ARM], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_RIGHT_SHOULDER].setLimit(M_PI_2, M_PI_2, 0)
world.add(m_joints[JOINT_RIGHT_SHOULDER], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, 0.18, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0, -0.14, 0) * scale
m_joints[JOINT_RIGHT_ELBOW] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE,
self.m_bodies[BODYPART_RIGHT_UPPER_ARM],
self.m_bodies[BODYPART_RIGHT_LOWER_ARM], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_RIGHT_ELBOW].setLimit(-M_PI_2, 0)
world.add(m_joints[JOINT_RIGHT_ELBOW], True)
efig.mergeSameMaterialMesh()
showcase3D.add(char.figure)
showcase3D.add(efig)
showcase2D.add(controller.frame)
showcase2D.add(controller.button)
cam2D = core.camera('2dcam')
cam2D.orthographicProjection = True
cam2D.position = (0, 0, 100)
loop = True
while loop:
core.update()
world.step()
moveVector = vmath.vec3(0.0, 0.0, 0.0)
touch = core.singleTouch()
if touch is not None:
moveVector = vmath.vec3(touch['cur_x'] - touch['org_x'], 0,
-(touch['cur_y'] - touch['org_y']))
d = vmath.length(moveVector)
viewMat = cam.getWalkThroughMatrix()
moveVector = vmath.vec3(viewMat * moveVector)
char.step(moveVector)
cam.step(char.figure)
controller.step()
efig = utl.GetFigure()
efig.setJoint(0, position=body2.position, rotation=body2.rotation)
import igeCore as core
from igeCore.apputil import graphicsHelper
import igeVmath as vmath
import cv2
core.window(True, 480, 640)
showcase = core.showcase("case01")
cam = core.camera('maincam')
cam.position = vmath.vec3(0, 0, 1.5)
capture = cv2.VideoCapture(0)
width = capture.get(3) # width
height = capture.get(4) # height
tex = core.texture("photo", int(width), int(height), core.GL_RGB) #RGB format
efig = graphicsHelper.createSprite(width*0.001, height*0.001, tex)
efig.position = vmath.vec3(-0.15, 0.3, 0)
showcase.add(efig)
while(True):
core.update()
ret, frame = capture.read()
frame = cv2.flip(frame,-1)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
tex.setImage(frame)
core.update()
cam.shoot(showcase)
