def cdmesh_type(self, cdmesh_type):
if cdmesh_type is not None and cdmesh_type not in [
'aabb', 'obb', 'convex_hull', 'triangles'
]:
raise ValueError("Wrong mesh collision model type name!")
self._cdmesh_type = cdmesh_type
self._cdmesh = mcd.gen_cdmesh_vvnf(*self.extract_rotated_vvnf())
def __init__(self,
initor,
cdprimit_type='box',
cdmesh_type='triangles',
expand_radius=None,
name="auto",
userdefined_cdprimitive_fn=None,
btransparency=True,
btwosided=False):
"""
:param initor:
:param btransparency:
:param cdprimit_type: box, ball, cylinder, point_cloud, user_defined
:param cdmesh_type: aabb, obb, convex_hull, triangulation
:param expand_radius:
:param name:
:param userdefined_cdprimitive_fn: the collision primitive will be defined in the provided function
if cdprimitive_type = external;
protocal for the callback function: return CollisionNode,
may have multiple CollisionSolid
date: 201290312, 20201212
"""
if isinstance(initor, CollisionModel):
self._name = copy.deepcopy(initor.name)
self._objpath = copy.deepcopy(initor.objpath)
self._objtrm = copy.deepcopy(initor.objtrm)
self._objpdnp = copy.deepcopy(initor.objpdnp)
self._localframe = copy.deepcopy(initor.localframe)
self._cdprimitive_type = copy.deepcopy(initor.cdprimitive_type)
self._cdmesh_type = copy.deepcopy(initor.cdmesh_type)
# TODO exceptions where both initor and types were set needs to be considered
# also, copy.deepcopy is not used because it invokes a deprecated getdata method,
# see my question&comments at https://discourse.panda3d.org/t/ode-odetrimeshdata-problem/28232 for details
# weiwei, 20220105
self._cdmesh = mcd.copy_cdmesh(initor.cdmesh)
else:
super().__init__(initor=initor,
name=name,
btransparency=btransparency,
btwosided=btwosided)
self._cdprimitive_type, collision_node = self._update_cdprimit(
cdprimit_type, expand_radius, userdefined_cdprimitive_fn)
# use pdnp.getChild instead of a new self._cdnp variable as collision nodepath is not compatible with deepcopy
self._objpdnp.attachNewNode(collision_node)
self._objpdnp.getChild(1).setCollideMask(BitMask32(2**31))
self._cdmesh_type = cdmesh_type
self._cdmesh = mcd.gen_cdmesh_vvnf(*self.extract_rotated_vvnf())
self._localframe = None
def __init__(self,
initor,
cdprimit_type='box',
cdmesh_type='triangles',
expand_radius=None,
name="auto",
userdefined_cdprimitive_fn=None,
btransparency=True,
btwosided=False):
"""
:param initor:
:param btransparency:
:param cdprimit_type: box, ball, cylinder, point_cloud, user_defined
:param cdmesh_type: aabb, obb, convex_hull, triangulation
:param expand_radius:
:param name:
:param userdefined_cdprimitive_fn: the collision primitive will be defined in the provided function
if cdprimitive_type = external;
protocal for the callback function: return CollisionNode,
may have multiple CollisionSolid
date: 201290312, 20201212
"""
if isinstance(initor, CollisionModel):
self._name = copy.deepcopy(initor.name)
self._objpath = copy.deepcopy(initor.objpath)
self._objtrm = copy.deepcopy(initor.objtrm)
self._objpdnp = copy.deepcopy(initor.objpdnp)
self._localframe = copy.deepcopy(initor.localframe)
self._cdprimitive_type = copy.deepcopy(initor.cdprimitive_type)
self._cdmesh_type = copy.deepcopy(initor.cdmesh_type)
else:
super().__init__(initor=initor,
name=name,
btransparency=btransparency,
btwosided=btwosided)
self._cdprimitive_type, collision_node = self._update_cdprimit(
cdprimit_type, expand_radius, userdefined_cdprimitive_fn)
# use pdnp.getChild instead of a new self._cdnp variable as collision nodepath is not compatible with deepcopy
self._objpdnp.attachNewNode(collision_node)
self._objpdnp.getChild(1).setCollideMask(BitMask32(2**31))
self._cdmesh_type = cdmesh_type
self._localframe = None
# reinit self._cdmesh while ignoring the initor types.
# The reinit helps to avoid the annoying ode warning caused by deepcopy.
self._cdmesh = mcd.gen_cdmesh_vvnf(*self.extract_rotated_vvnf())
def cdmesh(self):
vertices = []
vertex_normals = []
faces = []
for objcm in self._cm_list:
if objcm.cdmesh_type == 'aabb':
objtrm = objcm.objtrm.bounding_box
elif objcm.cdmesh_type == 'obb':
objtrm = objcm.objtrm.bounding_box_oriented
elif objcm.cdmesh_type == 'convexhull':
objtrm = objcm.objtrm.convex_hull
elif objcm.cdmesh_type == 'triangles':
objtrm = objcm.objtrm
homomat = objcm.get_homomat()
vertices += rm.homomat_transform_points(homomat, objtrm.vertices)
vertex_normals += rm.homomat_transform_points(homomat, objtrm.vertex_normals)
faces += (objtrm.faces+len(faces))
return mcd.gen_cdmesh_vvnf(vertices, vertex_normals, faces)
def cdmesh(self):
return mcd.gen_cdmesh_vvnf(*self.extract_rotated_vvnf())
def set_scale(self, scale=[1, 1, 1]):
self._objpdnp.setScale(scale[0], scale[1], scale[2])
self._objtrm.apply_scale(scale)
self._cdmesh = mcd.gen_cdmesh_vvnf(*self.extract_rotated_vvnf())