class HLodDynamicObject(NodePath):
def __init__(self, name, scene, visibleLODsDict={"eggfileName":("maxFar","minNear")}, collisionEgg=None, x0=0, y0=0, z0=0, parent=None, margin=0.02, mass=0,
directRender=True, convex=True):
self.name = name
self.scene = scene
NodePath.__init__(self,LODNode(name+"_LODNode"))
###LOD###
for k in visibleLODsDict.keys():
v=base.loader.loadModel(k)
v.reparentTo(self)
self.node().addSwitch(visibleLODsDict[k][0],visibleLODsDict[k][1])
#########
self.body = BulletRigidBodyNode(self.name + "_RigidBody")
self.attachNewNode(self.body)
if collisionEgg != None:
m = self.scene.Base.loader.loadModel(collisionEgg)
if convex:
sTuple = modelToConvex(m)
else:
sTuple = modelToShape(m)
sTuple[0].setMargin(margin)
self.body.addShape(sTuple[0], sTuple[1])
self.body.setMass(mass)
self.body.setPythonTag("name", self.name + "_RigidBody")
self.scene.world.attachRigidBody(self.body)
self.setPos(x0, y0, z0)
if directRender:
self.reparentTo(self.scene.Base.render)
elif parent != None:
self.reparentTo(parent)
class Modulo(object):
def __init__(self, world, x, y, w, h, parent_node):
self._model = None
self._initPhysics(world, x, y, w, h, parent_node)
self._loadModel(x, y, h)
def remove(self):
if self._model is not None:
self._model.remove()
def _loadModel(self, x, y, h):
self._model = loader.loadModel("../data/models/modulo.egg")
self._model.setPos(0, 0, 0)
self._model.reparentTo(self._modulo_node)
def _initPhysics(self, world, x, y, w, h, parent_node):
shape = BulletBoxShape(Vec3(w * 0.5, w * 0.5, h * 0.5))
self._rb_node = BulletRigidBodyNode('Box')
self._rb_node.setMass(0)
self._rb_node.addShape(shape)
#self._rb_node.setAngularFactor(Vec3(0,0,0))
#self._rb_node.setDeactivationEnabled(False, True)
world.attachRigidBody(self._rb_node)
self._modulo_node = parent_node.attachNewNode(self._rb_node)
self._modulo_node.setPos(x, y, h / 2.0)
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)
base.pggen.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)
base.pggen.plotBox(self.base.render, pos=[boxpx, boxpy, boxpz], x=boxx * 2.0, y=boxy * 2.0, z=boxz * 2.0, rgba=None)
class Ball(object):
def __init__(self, render, world, loader, player):
self.render = render
self.world = world
self.loader = loader
self.player = player
self.dropHeight = 5
self.createItem()
def createItem(self):
self.collisionShape = BulletSphereShape(0.5)
self.actor = BulletRigidBodyNode('Ball')
self.actor.setMass(5.0)
self.actor.addShape(self.collisionShape)
self.np = self.render.attachNewNode(self.actor)
self.np.setCollideMask(BitMask32.allOff())
self.x = self.player.getCharacterNP().getX()
self.y = self.player.getCharacterNP().getY()
self.z = self.player.getCharacterNP().getZ() + self.dropHeight
self.np.setPos(self.x, self.y, self.z)
self.world.attachRigidBody(self.actor)
self.actorModelNP = self.loader.loadModel('models/sphere/ball.egg')
self.actorModelNP.reparentTo(self.np)
self.actorModelNP.setScale(0.5)
self.actorModelNP.setPos(0, 0, 0)
def getActor(self):
return self.actor
def getNP(self):
return self.np
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 rayHit(pfrom, pto, geom):
"""
NOTE: this function is quite slow
find the nearest collision point between vec(pto-pfrom) and the mesh of nodepath
:param pfrom: starting point of the ray, Point3
:param pto: ending point of the ray, Point3
:param geom: meshmodel, a panda3d datatype
:return: None or Point3
author: weiwei
date: 20161201
"""
bulletworld = BulletWorld()
facetmesh = BulletTriangleMesh()
facetmesh.addGeom(geom)
facetmeshnode = BulletRigidBodyNode('facet')
bullettmshape = BulletTriangleMeshShape(facetmesh, dynamic=True)
bullettmshape.setMargin(0)
facetmeshnode.addShape(bullettmshape)
bulletworld.attachRigidBody(facetmeshnode)
result = bulletworld.rayTestClosest(pfrom, pto)
if result.hasHit():
return result.getHitPos()
else:
return None
def genCollisionMeshNp(nodepath, basenodepath=None, name='autogen'):
"""
generate the collision mesh of a nodepath using nodepath
this function suppose the nodepath is a single model with one geomnode
:param nodepath: the panda3d nodepath of the object
:param basenodepath: the nodepath to compute relative transform, identity if none
:param name: the name of the rigidbody
:return: bulletrigidbody
author: weiwei
date: 20161212, tsukuba
"""
geomnodepath = nodepath.find("**/+GeomNode")
geombullnode = BulletRigidBodyNode(name)
geom = geomnodepath.node().getGeom(0)
geomtf = nodepath.getTransform(base.render)
if basenodepath is not None:
geomtf = nodepath.getTransform(basenodepath)
geombullmesh = BulletTriangleMesh()
geombullmesh.addGeom(geom)
bullettmshape = BulletTriangleMeshShape(geombullmesh, dynamic=True)
bullettmshape.setMargin(0)
geombullnode.addShape(bullettmshape, geomtf)
return geombullnode
def genCollisionMeshMultiNp(nodepath, basenodepath=None, name='autogen'):
"""
generate the collision mesh of a nodepath using nodepath
this function suppose the nodepath has multiple models with many geomnodes
use genCollisionMeshMultiNp instead of genCollisionMeshNp for generality
:param nodepath: the panda3d nodepath of the object
:param basenodepath: the nodepath to compute relative transform, identity if none
:param name: the name of the rigidbody
:return: bulletrigidbody
author: weiwei
date: 20161212, tsukuba
"""
gndcollection = nodepath.findAllMatches("**/+GeomNode")
geombullnode = BulletRigidBodyNode(name)
for gnd in gndcollection:
geom = gnd.node().getGeom(0)
geomtf = gnd.getTransform(base.render)
if basenodepath is not None:
geomtf = gnd.getTransform(basenodepath)
geombullmesh = BulletTriangleMesh()
geombullmesh.addGeom(geom)
bullettmshape = BulletTriangleMeshShape(geombullmesh, dynamic=True)
bullettmshape.setMargin(0)
geombullnode.addShape(bullettmshape, geomtf)
return geombullnode
def demoContinue(self):
if self.newObjects < self.NrObjectToDrop:
node = BulletRigidBodyNode('Box')
node.setMass(1.0)
node.addShape(self.shape)
np = self.rbcnp.attachNewNode(node)
np.setPos(self.spawnNP.getPos(render))
np.setHpr(randint(-45, 45), randint(-45, 45), randint(-45, 45))
self.world.attachRigidBody(node)
bNP = self.model.copyTo(np)
#bNP.setPos(self.spawnNP.getPos())
#bNP.setColor(random(), random(), random(), 1)
#bNP.setHpr(randint(-45, 45), randint(-45, 45), randint(-45, 45))
#self.setUntextured(bNP)
#bNP.setTexureOff()
#np.setScale(10)
np.flattenStrong()
self.objects.append(np)
self.newObjects += 1
self.rbcnp.node().collect()
if self.newObjects < self.NrObjectToDrop:
return False
else:
self.running = False
return True
def __init__(self):
PhysicsNodePath.__init__(self, 'can')
self.shapeGroup = BitMask32.allOn()
sph = BulletBoxShape(Vec3(2, 2, 2))
rbnode = BulletRigidBodyNode('can_body')
rbnode.setMass(100.0)
rbnode.addShape(sph, TransformState.makePos(Point3(0, 0, 1)))
rbnode.setCcdMotionThreshold(1e-7)
rbnode.setCcdSweptSphereRadius(0.5)
self.mdl = loader.loadModel("phase_5/models/props/safe-mod.bam")
self.mdl.setScale(6)
self.mdl.setZ(-1)
self.mdl.reparentTo(self)
self.mdl.showThrough(CIGlobals.ShadowCameraBitmask)
self.setupPhysics(rbnode)
#self.makeShadow(0.2)
self.reparentTo(render)
self.setPos(base.localAvatar.getPos(render) + (0, 0, 20))
self.setQuat(base.localAvatar.getQuat(render))
def __init__(self):
PhysicsNodePath.__init__(self, 'can')
self.shapeGroup = BitMask32.allOn()
sph = BulletCylinderShape(0.5, 1.2, ZUp)
rbnode = BulletRigidBodyNode('can_body')
rbnode.setMass(10.0)
rbnode.addShape(sph)
rbnode.setCcdMotionThreshold(1e-7)
rbnode.setCcdSweptSphereRadius(0.5)
self.mdl = loader.loadModel("phase_5/models/props/can.bam")
self.mdl.setScale(11.0)
self.mdl.setZ(-0.55)
self.mdl.reparentTo(self)
self.mdl.showThrough(CIGlobals.ShadowCameraBitmask)
self.setupPhysics(rbnode)
#self.makeShadow(0.2)
self.reparentTo(render)
self.setPos(base.localAvatar.getPos(render))
self.setQuat(base.localAvatar.getQuat(render))
dir = self.getQuat(render).xform(Vec3.forward())
amp = 10
self.node().setLinearVelocity(dir * amp)
class RocketPhys(Phys):
def __init__(self, mdt, parent):
Phys.__init__(self, mdt)
self.parent = parent
def fire(self):
self.node = BulletRigidBodyNode('Box')
self.node.setMass(10000)
self.node.addShape(BulletSphereShape(.5))
self.np = self.parent.attachNewNode(self.node)
self.np.setPos(0, 0, 1.5)
eng.attach_rigid_body(self.node)
self.mdt.gfx.gfx_np.reparentTo(self.np)
self.mdt.gfx.gfx_np.setPos(0, 0, 0)
rot_mat = Mat4()
rot_mat.setRotateMat(self.parent.get_h(), (0, 0, 1))
self.node.setLinearVelocity(rot_mat.xformVec((0, 30, 0)))
# continue to apply after firing
def destroy(self):
if hasattr(self, 'node'): # has not been fired
eng.remove_rigid_body(self.node)
self.np = self.np.remove_node()
self.parent = None
Phys.destroy(self)
class DynamicNp(DynamicObject): def __init__(self, name, model, game, pos): self.name = name self.game = game self.model = model self.geomNode = self.model.node() self.geom = self.geomNode.getGeom(0) # with triangle mesh it crashes #mesh = BulletTriangleMesh() #mesh.addGeom(self.geom) #self.shape = BulletTriangleMeshShape(mesh, dynamic=True) # with convex hull self.shape = BulletConvexHullShape() self.shape.addGeom(self.geom) self.node = BulletRigidBodyNode(self.name) self.node.setMass(10.0) self.node.addShape(self.shape) self.np = self.game.render.attachNewNode(self.node) self.np.setPos(pos) self.game.world.attachRigidBody(self.node) self.model.reparentTo(self.np) self.node.setCcdMotionThreshold(1e-7) self.node.setCcdSweptSphereRadius(0.5) self.slice_able = True
def init_objects(self):
# Make Playfer Box
shape = BulletBoxShape(Vec3(0.25, 0.25, 0.25))
node = BulletRigidBodyNode('Playfer Box')
node.setMass(110.0)
node.setFriction(1.0)
node.addShape(shape)
node.setAngularDamping(0.0)
np = render.attachNewNode(node)
np.setPos(-1.4, 1.7, -1.7)
self.world.attachRigidBody(node)
playferboxmodel = loader.loadModel('../data/mod/playferbox.egg')
playferboxmodel.reparentTo(np)
# Make Pendlepot
shape = BulletBoxShape(Vec3(0.2, 0.15, 0.1))
node = BulletRigidBodyNode('Pendlepot')
node.setMass(5.0)
node.setFriction(1.0)
node.addShape(shape)
node.setAngularDamping(0.0)
np = render.attachNewNode(node)
np.setPos(-1.4, 1.7, -1.5)
self.world.attachRigidBody(node)
pendlepotmodel = loader.loadModel('../data/mod/pendlepot.egg')
pendlepotmodel.reparentTo(np)
class DynamicModel(DynamicObject):
def __init__(self, name, modelPath, game, pos):
self.name = name
self.modelPath = modelPath
self.game = game
self.model = self.game.loader.loadModel(self.modelPath)
geomNodes = self.model.findAllMatches('**/+GeomNode')
self.geomNode = geomNodes.getPath(0).node()
self.geom = self.geomNode.getGeom(0)
self.shape = BulletConvexHullShape()
self.shape.addGeom(self.geom)
self.node = BulletRigidBodyNode(self.name)
self.node.setMass(10.0)
self.node.addShape(self.shape)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(pos)
self.game.world.attachRigidBody(self.node)
self.model.reparentTo(self.np)
self.node.setCcdMotionThreshold(1e-7)
self.node.setCcdSweptSphereRadius(0.5)
self.slice_able = True
def createBody(self, _count, _type, _pos=(0, 0, 0)):
radius = 0.4
shape = BulletSphereShape(radius)
name = _type + "Dude" + str(_count)
node = BulletRigidBodyNode(name)
node.setMass(2.0)
node.addShape(shape)
#node.setDeactivationEnabled(False)
np = render.attachNewNode(node)
np.setCollideMask(BitMask32.allOn())
self.parent.physics_world.attachRigidBody(node)
np.setPos(_pos)
#model = loader.loadModel("assets/dude")
#model.reparentTo(np)
#model.setScale(0.4)
dudeID = [1, 2, 3]
tex = loader.loadTexture("dudes/dude{}_good.png".format(
choice(dudeID)))
cm = CardMaker('spritesMaker')
sprite = NodePath(cm.generate())
sprite.setTexture(tex)
sprite.reparentTo(np)
sprite.setPos(-0.4, 0, -0.4)
sprite.setCompass(render)
sprite.setTransparency(1)
sprite.setScale(0.8)
return name, np
def genBulletCDMeshList(objcmlist, basenodepath=None, name='autogen'):
"""
generate the collision mesh of a nodepath using nodepathlist
this function suppose the nodepathlist is a list of models with many geomnodes
"Multi" means each nodepath in the nodepath list may have multiple nps (parent-child relations)
use genCollisionMeshMultiNp instead if the meshes have parent-child relations
:param nodepathlist: panda3d nodepathlist
:param basenodepath: the nodepath to compute relative transform, identity if none
:param name: the name of the rigidbody
:return: bulletrigidbody
author: weiwei
date: 20190514
"""
geombullnode = BulletRigidBodyNode(name)
for objcm in objcmlist:
gndcollection = objcm.objnp.findAllMatches("+GeomNode")
for gnd in gndcollection:
geom = copy.deepcopy(gnd.node().getGeom(0))
geomtf = gnd.getTransform(base.render)
if basenodepath is not None:
geomtf = gnd.getTransform(basenodepath)
geombullmesh = BulletTriangleMesh()
geombullmesh.addGeom(geom)
bullettmshape = BulletTriangleMeshShape(geombullmesh, dynamic=True)
bullettmshape.setMargin(0)
geombullnode.addShape(bullettmshape, geomtf)
return geombullnode
class DynamicPlatform(DynamicObject):
def __init__(self, name, game, x, y, z, pos):
self.name = name
self.game = game
self.shape = BulletBoxShape(Vec3(x, y, z))
self.node = BulletRigidBodyNode(self.name)
self.node.addShape(self.shape)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(pos)
self.game.world.attachRigidBody(self.node)
#self.model = self.game.loader.loadModel("models/crate.egg")
#self.model.reparentTo(self.np)
self.node.setCcdMotionThreshold(1e-7)
self.node.setCcdSweptSphereRadius(0.5)
#self.node.setFriction(5)
#self.debugOff()
self.speedVec = Vec3(0,0,0)
self.lastPos = Vec3(self.getPos())
self.slice_able = False
#self.node.setCcdMotionThreshold(1e-7)
#self.node.setCcdSweptSphereRadius(0.5)
def update(self, dt):
return
def genBulletBoxes(env,world):
boxes = list()
for np in listNodes(env,"Collision_box_"):
geom = np.node().getGeom(0)
# get the minimum and maximum points
vdata = geom.getVertexData()
vertices = GeomVertexReader(vdata,'vertex')
vmin = LPoint3()
vmax = LPoint3()
np.calcTightBounds(vmin,vmax)
#Create the bullet box with center at (0,0)
norm = vmax-vmin
hnorm = LVecBase3(norm[0]*.5,norm[1]*.5,norm[2]*.5)
shape = BulletBoxShape(hnorm)
# create the surrounding nodes
node = BulletRigidBodyNode('env')
node.addShape(shape)
enp = env.attachNewNode(node)
enp.setPos(vmin+hnorm)
# attach it to the world and save it for later
world.attachRigidBody(node)
boxes.append(enp.node())
# clean up the environment higherarchy
np.removeNode()
return boxes
def setupPhysics(self, radius=None, height=None):
if not radius:
radius = self.getWidth()
if not height:
height = self.getHeight()
self.notify.debug("setupPhysics(r{0}, h{1}) hitboxData: {2}".format(
radius, height, self.hitboxData))
# When the height is passed into BulletCapsuleShape, it's
# talking about the height only of the cylinder part.
# But what we want is the height of the entire capsule.
#height -= (radius * 2)
# The middle of the capsule is the origin by default. Push the capsule shape up
# so the very bottom of the capsule is the origin.
zOfs = (height / 2.0) + radius
capsule = BulletCapsuleShape(radius, height)
bodyNode = BulletRigidBodyNode('avatarBodyNode')
bodyNode.addShape(capsule, TransformState.makePos(Point3(0, 0, zOfs)))
bodyNode.setKinematic(True)
bodyNode.setPythonTag("avatar", self)
BasePhysicsObject.setupPhysics(self, bodyNode, True)
self.stopWaterCheck()
class StaticTerrain(BulletObject):
def __init__(self, game, imgPath, height):
self.game = game
self.img = PNMImage(Filename(imgPath))
self.shape = BulletHeightfieldShape(self.img, height, 2)
self.node = BulletRigidBodyNode('Ground')
self.node.addShape(self.shape)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(0, 0, 0)
self.np.setScale(1, 1, 1)
self.game.world.attachRigidBody(self.node)
self.terrain = GeoMipTerrain('terrain')
self.terrain.setHeightfield(self.img)
self.terrain.generate()
self.terrainNP = self.terrain.getRoot()
self.offset = self.img.getXSize() / 2.0 - 0.5
self.terrainNP.setSz(height)
self.terrainNP.setPos(-self.offset, -self.offset, -height / 2.0)
#self.terrainNP.flattenStrong()
self.terrainNP.reparentTo(self.np)
self.terrainNP.show()
self.debugOff()
self.slice_able = False
self.terrain.setBlockSize(32)
self.terrain.setNear(100)
self.terrain.setFar(400)
self.terrain.setFocalPoint(self.game.playerNp)
def update(self, dt=0.1):
self.terrain.update()
def __init__(self):
ShowBase.__init__(self)
loadPrcFileData('', 'bullet-enable-contact-events true')
world = BulletWorld()
self.world = world
world.setGravity(Vec3(0, 0, -9.81))
base.cam.setPos(0,-50,1)
# Cameras
base.camNode.setActive(0)
self.cam1 = base.makeCamera(base.win, displayRegion=(0,.5,0.5,1))
self.cam2 = base.makeCamera(base.win, displayRegion=(.5,1,0.5,1))
self.cam1.setPos(-10,-50,1)
self.cam2.setPos(10,-50,1)
# base.camList[0].setPos(0,-100, 1)
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(0, 0, 0)
self.world.attachRigidBody(node)
scene = loader.loadModel('Ground2/Ground2')
scene.reparentTo(render)
self.newGame()
taskMgr.add(self.update, 'update')
class DynamicModel(DynamicObject):
def __init__(self, name, modelPath, game, pos):
self.name = name
self.modelPath = modelPath
self.game = game
self.model = self.game.loader.loadModel(self.modelPath)
geomNodes = self.model.findAllMatches('**/+GeomNode')
self.geomNode = geomNodes.getPath(0).node()
self.geom = self.geomNode.getGeom(0)
self.shape = BulletConvexHullShape()
self.shape.addGeom(self.geom)
self.node = BulletRigidBodyNode(self.name)
self.node.setMass(10.0)
self.node.addShape(self.shape)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(pos)
self.game.world.attachRigidBody(self.node)
self.model.reparentTo(self.np)
self.node.setCcdMotionThreshold(1e-7)
self.node.setCcdSweptSphereRadius(0.5)
self.slice_able = True
class DynamicNp(DynamicObject):
def __init__(self, name, model, game, pos):
self.name = name
self.game = game
self.model = model
self.geomNode = self.model.node()
self.geom = self.geomNode.getGeom(0)
# with triangle mesh it crashes
#mesh = BulletTriangleMesh()
#mesh.addGeom(self.geom)
#self.shape = BulletTriangleMeshShape(mesh, dynamic=True)
# with convex hull
self.shape = BulletConvexHullShape()
self.shape.addGeom(self.geom)
self.node = BulletRigidBodyNode(self.name)
self.node.setMass(10.0)
self.node.addShape(self.shape)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(pos)
self.game.world.attachRigidBody(self.node)
self.model.reparentTo(self.np)
self.node.setCcdMotionThreshold(1e-7)
self.node.setCcdSweptSphereRadius(0.5)
self.slice_able = True
def load_world(self):
stairwell = loader.loadModel('../data/mod/jcmbstairs.egg')
stairwell.reparentTo(render)
stairwell_shape = self.egg_to_BulletTriangleMeshShape(stairwell)
stairwellnode = BulletRigidBodyNode('stairwell')
stairwellnode.addShape(stairwell_shape)
self.world.attachRigidBody(stairwellnode)
def newGame(self):
# Instantiates dabba in the world.
# Makes it rigid too.
boxmodel = loader.loadModel("models/misc/rgbCube.egg")
boxmodel.setPos(-0.5, -0.5, -0.5)
boxmodel.flattenLight()
shape3 = BulletBoxShape(Vec3(0.5,0.5,0.5))
playerNode = BulletRigidBodyNode('Player')
playerNode.addShape(shape3)
playerNode.setMass(1.0)
playerNP = render.attachNewNode(playerNode)
playerNP.setPos(0, 0, 10)
playerNP.node().notifyCollisions(True)
self.playerNP = playerNP
self.world.attachRigidBody(playerNP.node())
self.playerNode = playerNode
boxmodel.copyTo(playerNP)
# Connects cam to dabba
self.cam1.reparentTo(playerNP)
self.cam2.reparentTo(playerNP)
self.cam1.setPos(1-0.7,-12,0)
self.cam2.setPos( 1+0.7,-12,0)
base.accept('u',self.up)
base.accept('j',self.down)
base.accept('w',self.forward)
base.accept('s',self.back)
base.accept('a',self.rotLeft)
base.accept('d',self.rotRight)
base.accept('t',self.rotUp)
base.accept('g',self.rotDown)
base.acceptOnce('bullet-contact-added', self.onContactAdded)
def setupPlayer(self, x, y, z):
yetiHeight = 7
yetiRadius = 2
yetiShape = BulletCapsuleShape(yetiRadius, yetiHeight - 2 * yetiRadius, ZUp)
modelPrefix = "../res/models/yeti_"
self.yetiModel = Actor("../res/models/yeti.egg", {"idle":"../res/models/yeti_idle.egg", "walk":"../res/models/yeti_walking.egg"})
self.yetiModel.setH(90)
self.yetiModel.setPos(0, 0, SNOW_HEIGHT)
playerNode = BulletRigidBodyNode("Player")
playerNode.setMass(MASS)
playerNode.addShape(yetiShape)
# Without this set to 0,0,0, the Yeti would wobble like a Weeble but not fall down.
playerNode.setAngularFactor(Vec3(0,0,0))
# Without this disabled, things will weld together after a certain amount of time. It's really annoying.
playerNode.setDeactivationEnabled(False)
playerNP = self.worldNP.attachNewNode(playerNode)
playerNP.setPos(x, y, z)
playerNP.setH(270)
self.yetiModel.reparentTo(playerNP)
self.bulletWorld.attachRigidBody(playerNP.node())
# Hopefully Brandon will get those animation files to me so I can convert them.
# self.setAnimation('idle')
return playerNP
def construirePlancher(self):
#Optimisation... on attache les objets statiques au même noeud et on utiliser
#la méthode flattenStrong() pour améliorer les performances.
self.noeudOptimisation = NodePath('NoeudOptimisation')
self.noeudOptimisation.reparentTo(render)
#Construction du plancher
# On charge les tuiles qui vont former le plancher
for i in range(0, self.map_nb_tuile_x):
for j in range(0, self.map_nb_tuile_y):
modele = loader.loadModel("../asset/Floor/Floor")
# Reparentage du modèle à la racine de la scène
modele.reparentTo(self.noeudOptimisation)
self.placerSurGrille(modele, i, j)
#Construction du plancher si on tombe
#Un plan devrait marche mais j'ai un bug de collision en continu...
shape = BulletBoxShape(Vec3(50, 50, 5))
node = BulletRigidBodyNode('Frontfiere sol')
node.addShape(shape)
np = render.attachNewNode(node)
np.setTag("EntiteTankem", "LimiteJeu")
np.setPos(Vec3(0, 0, -9.0))
self.mondePhysique.attachRigidBody(node)
#Construction de l'aire de jeu sur laquelle on joue
shape = BulletBoxShape(
Vec3(-self.position_depart_x, -self.position_depart_y, 2))
node = BulletRigidBodyNode('Plancher')
node.addShape(shape)
np = render.attachNewNode(node)
np.setTag("EntiteTankem", "Plancher")
HACK_VALUE = 0.02 #Optimisation de collision, les masques ne marchent pas
np.setZ(-2.00 - HACK_VALUE)
self.mondePhysique.attachRigidBody(node)
class StaticModel(BulletObject):
def __init__(self, name, modelPath, displayModelPath, game, pos):
self.name = name
self.modelPath = modelPath
self.game = game
self.model = self.game.loader.loadModel(self.modelPath)
geomNodes = self.model.findAllMatches('**/+GeomNode')
self.geomNode = geomNodes.getPath(0).node()
self.geom = self.geomNode.getGeom(0)
#self.shape = BulletConvexHullShape()
#self.shape.addGeom(self.geom)
mesh = BulletTriangleMesh()
mesh.addGeom(self.geom)
self.shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.node = BulletRigidBodyNode(self.name)
self.node.addShape(self.shape)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(pos)
self.game.world.attachRigidBody(self.node)
#self.model.reparentTo(self.np)
self.displayModel = self.game.loader.loadModel(displayModelPath)
self.displayModel.reparentTo(self.np)
self.displayModel.setTwoSided(True)
self.slice_able = False
def newGame(self):
boxmodel = loader.loadModel("models/box.egg")
boxmodel.setPos(-0.5, -0.5, -0.5)
boxmodel.flattenLight()
shape3 = BulletBoxShape(Vec3(0.5,0.5,0.5))
playerNode = BulletRigidBodyNode('Player')
playerNode.addShape(shape3)
playerNode.setMass(1.0)
playerNP = render.attachNewNode(playerNode)
playerNP.setPos(0, 0, 10)
playerNP.node().notifyCollisions(True)
self.playerNP = playerNP
self.world.attachRigidBody(playerNP.node())
self.playerNode = playerNode
boxmodel.copyTo(playerNP)
# self.base.cam.reparentTo(playerNP)
# base.cam.setPos(0,-10,0)
self.cam1.reparentTo(playerNP)
self.cam2.reparentTo(playerNP)
self.cam1.setPos(-1,-10,0)
self.cam2.setPos( 1,-10,0)
base.accept('u',self.up)
base.accept('w',self.forward)
base.accept('s',self.back)
base.accept('a',self.rotLeft)
base.accept('d',self.rotRight)
base.accept('t',self.rotUp)
base.accept('g',self.rotDown)
base.acceptOnce('bullet-contact-added', self.onContactAdded)
class DynamicPlatform(DynamicObject):
def __init__(self, name, game, x, y, z, pos):
self.name = name
self.game = game
self.shape = BulletBoxShape(Vec3(x, y, z))
self.node = BulletRigidBodyNode(self.name)
self.node.addShape(self.shape)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(pos)
self.game.world.attachRigidBody(self.node)
#self.model = self.game.loader.loadModel("models/crate.egg")
#self.model.reparentTo(self.np)
self.node.setCcdMotionThreshold(1e-7)
self.node.setCcdSweptSphereRadius(0.5)
#self.node.setFriction(5)
#self.debugOff()
self.speedVec = Vec3(0, 0, 0)
self.lastPos = Vec3(self.getPos())
self.slice_able = False
#self.node.setCcdMotionThreshold(1e-7)
#self.node.setCcdSweptSphereRadius(0.5)
def update(self, dt):
return
def genBulletCDMeshMultiNp(nodepath, basenodepath=None, name='autogen'):
"""
generate the BulletCD mesh of a nodepath using nodepath
this function suppose the nodepath has multiple models with many geomnodes
use genBulletCDMeshMultiNp instead of genBulletCDMeshNp for generality
:param nodepath: the panda3d nodepath of the object
:param basenodepath: the nodepath to compute relative transform, identity if none
:param name: the name of the rigidbody
:return: bulletrigidbody
author: weiwei
date: 20161212, tsukuba
"""
gndcollection = nodepath.findAllMatches("**/+GeomNode")
geombullnode = BulletRigidBodyNode(name)
for gnd in gndcollection:
geom = gnd.node().getGeom(0)
geomtf = gnd.getTransform(base.render)
if basenodepath is not None:
geomtf = gnd.getTransform(basenodepath)
geombullmesh = BulletTriangleMesh()
geombullmesh.addGeom(geom)
bullettmshape = BulletTriangleMeshShape(geombullmesh, dynamic=True)
bullettmshape.setMargin(0)
geombullnode.addShape(bullettmshape, geomtf)
return geombullnode
class StaticTerrain(BulletObject):
def __init__(self, game, imgPath, height):
self.game = game
self.img = PNMImage(Filename(imgPath))
self.shape = BulletHeightfieldShape(self.img, height, 2)
self.node = BulletRigidBodyNode('Ground')
self.node.addShape(self.shape)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(0, 0, 0)
self.np.setScale(1, 1, 1)
self.game.world.attachRigidBody(self.node)
self.terrain = GeoMipTerrain('terrain')
self.terrain.setHeightfield(self.img)
self.terrain.generate()
self.terrainNP = self.terrain.getRoot()
self.offset = self.img.getXSize() / 2.0 - 0.5
self.terrainNP.setSz(height)
self.terrainNP.setPos(-self.offset,-self.offset,-height/2.0)
#self.terrainNP.flattenStrong()
self.terrainNP.reparentTo(self.np)
self.terrainNP.show()
self.debugOff()
self.slice_able = False
self.terrain.setBlockSize(32)
self.terrain.setNear(100)
self.terrain.setFar(400)
self.terrain.setFocalPoint(self.game.playerNp)
def update(self, dt=0.1):
self.terrain.update()
def getPhysBody(self):
from panda3d.bullet import BulletRigidBodyNode, BulletBoxShape
from panda3d.core import TransformState
bnode = BulletRigidBodyNode('entity-phys')
bnode.setMass(self.mass)
bnode.setCcdMotionThreshold(1e-7)
bnode.setCcdSweptSphereRadius(0.5)
if self.solidType == self.SOLID_MESH:
convexHull = PhysicsUtils.makeBulletConvexHullFromCollisionSolids(
self.model.find("**/+CollisionNode").node())
bnode.addShape(convexHull)
elif self.solidType == self.SOLID_BBOX:
mins = Point3()
maxs = Point3()
self.calcTightBounds(mins, maxs)
extents = PhysicsUtils.extentsFromMinMax(mins, maxs)
tsCenter = TransformState.makePos(
PhysicsUtils.centerFromMinMax(mins, maxs))
shape = BulletBoxShape(extents)
bnode.addShape(shape, tsCenter)
return bnode
def build_node_path(self, parent_node_path, bullet_world):
land_geom = self.__build_land_mesh()
ocean_geom = self.__build_ocean_mesh()
land_mesh = BulletTriangleMesh()
land_mesh.addGeom(land_geom)
land_shape = BulletTriangleMeshShape(land_mesh, dynamic=False)
ocean_shape = BulletSphereShape(self.__radius)
land_bullet_node = BulletRigidBodyNode('land collider')
land_bullet_node.addShape(land_shape)
bullet_world.attachRigidBody(land_bullet_node)
land_bullet_node_path = parent_node_path.attachNewNode(
land_bullet_node)
ocean_bullet_node = BulletGhostNode('ocean collider')
ocean_bullet_node.addShape(ocean_shape)
bullet_world.attachGhost(ocean_bullet_node)
ocean_bullet_node_path = land_bullet_node_path.attachNewNode(
ocean_bullet_node)
land_node = GeomNode('land')
land_node.addGeom(land_geom)
land_node_path = land_bullet_node_path.attachNewNode(land_node)
ocean_node = GeomNode('ocean')
ocean_node.addGeom(ocean_geom)
ocean_node_path = ocean_bullet_node_path.attachNewNode(ocean_node)
ocean_node_path.setTransparency(TransparencyAttrib.MAlpha)
self.__node_path = land_bullet_node_path
land_bullet_node.setPythonTag('planet', self)
return land_bullet_node_path
def isRayHitMeshAll(self, pfrom, pto, objcm):
"""
:param pfrom:
:param pto:
:param objcm:
:return:
author: weiwei
date: 20190805
"""
geom = base.pg.packpandageom_fn(objcm.trimesh.vertices,
objcm.trimesh.face_normals,
objcm.trimesh.faces)
targetobjmesh = BulletTriangleMesh()
targetobjmesh.addGeom(geom)
bullettmshape = BulletTriangleMeshShape(targetobjmesh, dynamic=True)
bullettmshape.setMargin(1e-6)
targetobjmeshnode = BulletRigidBodyNode('facet')
targetobjmeshnode.addShape(bullettmshape)
self.world.attach(targetobjmeshnode)
result = self.world.rayTestAll(base.pg.npToV3(pfrom),
base.pg.npToV3(pto))
self.world.removeRigidBody(targetobjmeshnode)
if result.hasHits():
allhits = []
for hit in result.getHits():
allhits.append([hit.getHitPos(), -hit.getHitNormal()])
return allhits
else:
return []
def _add_side_walk2bullet(self, lane_start, lane_end, middle, radius=0.0, direction=0):
length = norm(lane_end[0] - lane_start[0], lane_end[1] - lane_start[1])
body_node = BulletRigidBodyNode(BodyName.Side_walk)
body_node.setActive(False)
body_node.setKinematic(False)
body_node.setStatic(True)
side_np = self.side_walk_node_path.attachNewNode(body_node)
shape = BulletBoxShape(Vec3(1 / 2, 1 / 2, 1 / 2))
body_node.addShape(shape)
body_node.setIntoCollideMask(BitMask32.bit(Block.LANE_LINE_COLLISION_MASK))
self.dynamic_nodes.append(body_node)
if radius == 0:
factor = 1
else:
if direction == 1:
factor = (1 - self.SIDE_WALK_LINE_DIST / radius)
else:
factor = (1 + self.SIDE_WALK_WIDTH / radius) * (1 + self.SIDE_WALK_LINE_DIST / radius)
direction_v = lane_end - lane_start
vertical_v = (-direction_v[1], direction_v[0]) / numpy.linalg.norm(direction_v)
middle += vertical_v * (self.SIDE_WALK_WIDTH / 2 + self.SIDE_WALK_LINE_DIST)
side_np.setPos(panda_position(middle, 0))
theta = -numpy.arctan2(direction_v[1], direction_v[0])
side_np.setQuat(LQuaternionf(numpy.cos(theta / 2), 0, 0, numpy.sin(theta / 2)))
side_np.setScale(
length * factor, self.SIDE_WALK_WIDTH, self.SIDE_WALK_THICKNESS * (1 + 0.1 * numpy.random.rand())
)
if self.render:
side_np.setTexture(self.ts_color, self.side_texture)
self.side_walk.instanceTo(side_np)
def bulletRayHit(pfrom, pto, geom):
"""
NOTE: this function is quite slow
find the nearest collision point between vec(pto-pfrom) and the mesh of nodepath
:param pfrom: starting point of the ray, Point3
:param pto: ending point of the ray, Point3
:param geom: meshmodel, a panda3d datatype
:return: None or Point3
author: weiwei
date: 20161201
"""
bulletworld = BulletWorld()
facetmesh = BulletTriangleMesh()
facetmesh.addGeom(geom)
facetmeshnode = BulletRigidBodyNode('facet')
bullettmshape = BulletTriangleMeshShape(facetmesh, dynamic=True)
bullettmshape.setMargin(1e-6)
facetmeshnode.addShape(bullettmshape)
bulletworld.attach(facetmeshnode)
result = bulletworld.rayTestClosest(pfrom, pto)
if result.hasHit():
return result.getHitPos()
else:
return None
def fire(self, shooterPosition, targetPosition):
print("fire balls")
# create bullet rigid body node
sphereBRBN = BulletRigidBodyNode('Ball')
# set physics properties
sphereBRBN.setMass(1.0)
sphereBRBN.addShape(BulletSphereShape(0.2))
# attach to render and get a nodePath in render hierarchic
sphere = self.render.attachNewNode(sphereBRBN)
# set starting position of fire ball
pos = shooterPosition
pos.setZ(pos.getZ() + 1)
sphere.setPos(pos)
# load texture of fireball and set size then add to nodePath
smileyFace = self.loader.loadModel("models/smiley")
smileyFace.setScale(0.2)
smileyFace.reparentTo(sphere)
# add rigid body to physics world
self.world.attachRigidBody(sphereBRBN)
# apply the force so it moves
shootingDirection = targetPosition - pos
shootingDirection.normalize()
sphereBRBN.applyCentralForce(shootingDirection * 1000)
self.fireballs.append(sphereBRBN)
self.cleanUp()
class StaticModel(BulletObject):
def __init__(self, name, modelPath, displayModelPath, game, pos):
self.name = name
self.modelPath = modelPath
self.game = game
self.model = self.game.loader.loadModel(self.modelPath)
geomNodes = self.model.findAllMatches('**/+GeomNode')
self.geomNode = geomNodes.getPath(0).node()
self.geom = self.geomNode.getGeom(0)
#self.shape = BulletConvexHullShape()
#self.shape.addGeom(self.geom)
mesh = BulletTriangleMesh()
mesh.addGeom(self.geom)
self.shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.node = BulletRigidBodyNode(self.name)
self.node.addShape(self.shape)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(pos)
self.game.world.attachRigidBody(self.node)
#self.model.reparentTo(self.np)
self.displayModel = self.game.loader.loadModel(displayModelPath)
self.displayModel.reparentTo(self.np)
self.displayModel.setTwoSided(True)
self.slice_able = False
def create_object(self):
from panda3d.core import Filename, NodePath, BitMask32
from direct.actor.Actor import Actor
from panda3d.bullet import BulletRigidBodyNode, BulletCapsuleShape
from game_system.resources import ResourceManager
f = Filename.fromOsSpecific(ResourceManager.get_absolute_path(ResourceManager["TestAI"]["lp_char_bs.egg"]))
model = Actor(f)
bullet_node = BulletRigidBodyNode("TestAIBulletNode")
bullet_nodepath = NodePath(bullet_node)
bullet_node.set_angular_factor((0, 0, 1))
shape = BulletCapsuleShape(0.3, 1.4, 2)
bullet_node.addShape(shape)
bullet_node.setMass(1.0)
model.reparentTo(bullet_nodepath)
model.set_hpr(180, 0, 0)
model.set_pos(0, 0, -1)
bullet_nodepath.set_collide_mask(BitMask32.bit(0))
bullet_nodepath.set_python_tag("actor", model)
return bullet_nodepath
def __init__(self,mainReference):
super(Player, self).__init__(mainReference)
# setting player HP
self.healthPoints = 100
# fine tuning the camera properties
self.mainRef.camLens.setFov(50)
self.mainRef.camLens.setNear(0.02)
self.mainRef.camLens.setFar(80.0)
self.currentRegionID = 1
# dummy nodepath for our player; we will attach everything to it
# player bullet node - NOTE: for detecting collision with attacks, only
playerNode = BulletRigidBodyNode('Player_NP')
playerNode.addShape( BulletCapsuleShape(0.3, 1, ZUp) ) # adicionar node no lugar da string
self.mainRef.world.attachRigidBody(playerNode)
self.playerNP = self.mainRef.render.attachNewNode(playerNode)
# this collision mask will only avoid CharacterBody collision on itself
self.playerNP.setCollideMask(BitMask32(0x7FFFFFFF))
# notify collision contacts
self.playerNP.node().notifyCollisions(True)
self.playerHeadNP = NodePath("empty") # This node is intended to be a placeholder for the camera (maintainability only)
self.playerHeadNP.reparentTo( self.playerNP )
self.playerHeadNP.setPos(0, 0, 1.35)
# self.mainRef.camera.setPos(0, -4, 0)
self.mainRef.camera.reparentTo( self.playerHeadNP )
# NodePath position
self.playerNP.setPos(0,0,1.0)
# setting player's character body
self.playerBody = CharacterBody(self.mainRef, self.playerNP.getPos(), 0.38, 0.5)
self.playerBody.charBodyNP.reparentTo(self.playerNP)
# setting our movementHandler
self.movementHandler = MovementHandler(self.mainRef)
self.movementHandler.registerFPSMovementInput()
# attach default weapon
self.activeWeapon = Glock(self.mainRef.camera)
# adding the shoot event
self.mainRef.accept("mouse1", self.shootBullet)
# adding the reload event
self.mainRef.accept("mouse3", self.reloadWeapon)
# player boolean to authorize player HP decrease when zombie contact happens
self.canLoseHP = True
def setupDeathzone(self, height):
planeShape = BulletPlaneShape(Vec3(0, 0, 1), 1)
planeNode = BulletRigidBodyNode('DeathZone')
planeNode.addShape(planeShape)
planeNP = render.attachNewNode(planeNode)
planeNP.setPos(0, 0, height)
self.worldBullet.attachRigidBody(planeNode)
return planeNP
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 initBullet(self):
self.world = BulletWorld()
#self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setGravity(Vec3(0, 0, -1.62))
groundShape = BulletPlaneShape(Vec3(0, 0, 1), 0)
groundNode = BulletRigidBodyNode('Ground')
groundNode.addShape(groundShape)
self.world.attachRigidBody(groundNode)
def createGround(self, terrainData):
"""Create ground using a heightmap"""
# Create heightfield for physics
heightRange = terrainData["heightRange"]
# Image needs to have dimensions that are a power of 2 + 1
heightMap = PNMImage(self.basePath + terrainData["elevation"])
xdim = heightMap.getXSize()
ydim = heightMap.getYSize()
shape = BulletHeightfieldShape(heightMap, heightRange, ZUp)
shape.setUseDiamondSubdivision(True)
np = self.outsideWorldRender.attachNewNode(BulletRigidBodyNode("terrain"))
np.node().addShape(shape)
np.setPos(0, 0, 0)
self.physicsWorld.attachRigidBody(np.node())
# Create graphical terrain from same height map
terrain = GeoMipTerrain("terrain")
terrain.setHeightfield(heightMap)
terrain.setBlockSize(32)
terrain.setBruteforce(True)
rootNP = terrain.getRoot()
rootNP.reparentTo(self.worldRender)
rootNP.setSz(heightRange)
offset = xdim / 2.0 - 0.5
rootNP.setPos(-offset, -offset, -heightRange / 2.0)
terrain.generate()
# Apply texture
diffuse = self.loader.loadTexture(Filename(self.basePath + terrainData["texture"]))
diffuse.setWrapU(Texture.WMRepeat)
diffuse.setWrapV(Texture.WMRepeat)
rootNP.setTexture(diffuse)
textureSize = 6.0
ts = TextureStage.getDefault()
rootNP.setTexScale(ts, xdim / textureSize, ydim / textureSize)
# Create planes around area to prevent player flying off the edge
# Levels can define barriers around them but it's probably a good
# idea to leave this here just in case
sides = (
(Vec3(1, 0, 0), -xdim / 2.0),
(Vec3(-1, 0, 0), -xdim / 2.0),
(Vec3(0, 1, 0), -ydim / 2.0),
(Vec3(0, -1, 0), -ydim / 2.0),
)
for sideNum, side in enumerate(sides):
normal, offset = side
sideShape = BulletPlaneShape(normal, offset)
sideNode = BulletRigidBodyNode("side%d" % sideNum)
sideNode.addShape(sideShape)
self.physicsWorld.attachRigidBody(sideNode)
def create_colliders(root, pose_rig, joints_config):
for node, parent in pose_rig.exposed_joints:
if node.getName() not in joints_config:
continue
joint_config = joints_config[node.getName()]
if "joints" not in joint_config:
continue
joints = joint_config["joints"]
if len(joints) == 0:
continue
mass = joint_config["mass"] if "mass" in joint_config else 1
box_rb = BulletRigidBodyNode(node.getName())
box_rb.setMass(1.0)
# box_rb.setLinearDamping(0.2)
# box_rb.setAngularDamping(0.9)
# box_rb.setFriction(1.0)
# box_rb.setAnisotropicFriction(1.0)
# box_rb.setRestitution(0.0)
for joint in joints:
child_node, child_parent = next(
(child_node, child_parent)
for child_node, child_parent in pose_rig.exposed_joints
if child_node.getName() == joint
)
pos = child_node.getPos(child_parent)
width = pos.length() / 2.0
scale = Vec3(3, width, 3)
shape = BulletBoxShape(scale)
quat = Quat()
lookAt(quat, child_node.getPos(child_parent), Vec3.up())
if len(joints) > 1:
transform = TransformState.makePosHpr(child_node.getPos(child_parent) / 2.0, quat.getHpr())
else:
transform = TransformState.makeHpr(quat.getHpr())
box_rb.addShape(shape, transform)
box_np = root.attachNewNode(box_rb)
if len(joints) > 1:
pos = node.getPos(pose_rig.actor)
hpr = node.getHpr(pose_rig.actor)
box_np.setPosHpr(root, pos, hpr)
else:
box_np.setPos(child_parent, child_node.getPos(child_parent) / 2.0)
box_np.lookAt(child_parent, child_node.getPos(child_parent))
yield box_np
def __init__(self, player_tag):
ShowBase.__init__(self)
self.__player_tag = player_tag
self.__rotations = {}
# Panda pollutes the global namespace. Some of the extra globals can be referred to in nicer ways
# (for example self.render instead of render). The globalClock object, though, is only a global! We
# create a reference to it here, in a way that won't upset PyFlakes.
self.globalClock = __builtins__["globalClock"]
# Turn off the debugging system which allows the camera to be adjusted directly by the mouse.
self.disableMouse()
# Set up physics: the ground plane and the capsule which represents the player.
self.world = BulletWorld()
# The ground first:
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
np = self.render.attachNewNode(node)
np.setPos(0, 0, 0)
self.world.attachRigidBody(node)
# Load the 3dWarehouse model.
cathedral = self.loader.loadModel("3dWarehouse_Reykjavik_Cathedral.egg")
cathedral.reparentTo(self.render)
cathedral.setScale(0.5)
# Load the Blender model.
self.humanoid = Actor("player.egg")
self.humanoid.setScale(0.5)
self.humanoid.reparentTo(self.render)
self.humanoid.loop("Walk")
humanoidPosInterval1 = self.humanoid.posInterval(58, Point3(13, -10, 0), startPos=Point3(13, 10, 0))
humanoidPosInterval2 = self.humanoid.posInterval(58, Point3(13, 10, 0), startPos=Point3(13, -10, 0))
humanoidHprInterval1 = self.humanoid.hprInterval(3, Point3(180, 0, 0), startHpr=Point3(0, 0, 0))
humanoidHprInterval2 = self.humanoid.hprInterval(3, Point3(0, 0, 0), startHpr=Point3(180, 0, 0))
# Make the Blender model walk up and down.
self.humanoidPace = Sequence(humanoidPosInterval1, humanoidHprInterval1, humanoidPosInterval2,
humanoidHprInterval2, name="humanoidPace")
self.humanoidPace.loop()
# Create a light so we can see the scene.
dlight = DirectionalLight('dlight')
dlight.setColor(VBase4(2, 2, 2, 0))
dlnp = self.render.attachNewNode(dlight)
dlnp.setHpr(0, -60, 0)
self.render.setLight(dlnp)
# Create a task to update the scene regularly.
self.taskMgr.add(self.update, "UpdateTask")
def createPlane(self):
rb = BulletRigidBodyNode('Ground')
rb.addShape(BulletPlaneShape(Vec3(0, 0, 1), 1))
rb.setFriction(1.0)
np = self.render.attachNewNode(rb)
np.setPos(Vec3(0, 0, -100))
np.setCollideMask(BitMask32.bit(0))
self.world.attachRigidBody(rb)
return np
def makePlane(self, num, norm, pos, hpr):
shape = BulletPlaneShape(norm, 0)
node = BulletRigidBodyNode('plane_' + str(num))
node.addShape(shape)
physics = render.attachNewNode(node)
physics.setPos(*pos)
self.world.attachRigidBody(node)
model = loader.loadModel('models/square')
model.setScale(10, 10, 10)
model.setHpr(*hpr)
model.setTransparency(TransparencyAttrib.MAlpha)
model.setColor(1, 1, 1, 0.25)
model.reparentTo(physics)
class DynamicBox(DynamicObject):
def __init__(self, name, game, pos):
self.name = name
self.game = game
self.shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
self.node = BulletRigidBodyNode(name)
self.node.setMass(10.0)
self.node.addShape(self.shape)
self.setFriction(20)
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(pos)
self.game.world.attachRigidBody(self.node)
self.model = self.game.loader.loadModel("models/crate.egg")
self.model.reparentTo(self.np)
self.node.setCcdMotionThreshold(1e-7)
self.node.setCcdSweptSphereRadius(0.5)
self.debugOff()
self.slice_able = True
def update(self, dt):
#self.activate()
#if self.node.isActive():
# return
contact = self.checkFeet()
contacts = self.getContacts()
if contact in self.game.objects and contact in contacts:
obj = self.game.objects[contact]
if type(obj) is KinematicPlatform:
self.activate()
self.setAngularVelocity(self.getAngularVelocity()*0.9)
self.setFriction(0.1)
#print "%s is a box sliding on %s" % (self.name, obj.name)
#self.addSpeedVec(self.game.objects[contact].getSpeedVec())
#self.setForce(obj.getSpeedVec()*self.node.getMass() * 100)
platform_speed = obj.getSpeedVec()
force = platform_speed * self.node.getMass() * 50
#self.setSpeedXY(platform_speed[0], platform_speed[1])
self.setSpeedVec(platform_speed)
#self.setAngularVelocity(0)
#self.node.addLin(obj.getSpeedVec()*self.node.getMass() * 100)
#self.node.applyCentralForce(force)
#self.setForce(force)
#self.setFriction(20)
#self.setPos(self.getPos() + obj.getSpeedVec())
#self.node.setActive(False)
else:
self.setFriction(20)
def buildConeShape(self, _height, _radius, _pos, _hpr):
"""Build a basic cone shape for the _obj"""
shape = BulletConeShape(_radius, _height, ZUp)
body = BulletRigidBodyNode("flashLight")
body.addShape(shape)
np = self.engine.BulletObjects["player"].attachNewNode(body)
np.setPos(_pos)
np.setHpr(_hpr)
np.setCollideMask(BitMask32.allOff())
self.engine.bulletWorld.attachRigidBody(np.node())
return np
def createPlane(self, pos):
rb = BulletRigidBodyNode("plane")
rb.addShape(BulletPlaneShape(Vec3(0, 0, 1), 1))
rb.setFriction(1.0)
rb.setAnisotropicFriction(1.0)
rb.setRestitution(1.0)
np = self.render.attachNewNode(rb)
np.setPos(pos)
np.setCollideMask(BitMask32.bit(0))
self.world.attachRigidBody(rb)
return np
def setupFloaters2(self):
size = Vec3(3.5, 5.5, 0.3)
randNum = random.sample(range(10, 1500, 500), 3)
for i in range(3):
randX = random.randrange(-2, 3, 10)
randY = float(randNum[i])
# randY = random.randint(1000, 1500)
shape = BulletBoxShape(size * 0.55)
node = BulletRigidBodyNode('Floater')
node.setMass(0)
node.addShape(shape)
np = self.render.attachNewNode(node)
# np.setPos(9, 30, 3)
np.setPos(randX, randY, 6)
np.setR(0)
self.world2.attachRigidBody(node)
dummyNp = self.render.attachNewNode('milkyway')
dummyNp.setPos(randX, randY, 6)
modelNP = loader.loadModel('models/box.egg')
modelNP_tex = loader.loadTexture("models/sky/moon_tex.jpg")
modelNP.setTexture(modelNP_tex, 1)
modelNP.reparentTo(dummyNp)
modelNP.setPos(-1, 0, -1)
modelNP.setPos(-size.x / 2.0, -size.y / 2.0, -size.z / 2.0)
modelNP.setScale(size)
dummyNp.hprInterval(2.5, Vec3(360, 0, 0)).loop()
# Put A Coin On the Floater
shape = BulletSphereShape(0.75)
coinNode = BulletGhostNode('FloaterCoin-' + str(i))
coinNode.addShape(shape)
np = self.render.attachNewNode(coinNode)
np.setCollideMask(BitMask32.allOff())
# np.setPos(randX, randY, 2)
np.setPos(randX, randY, 7.0)
# Adding sphere model
sphereNp = loader.loadModel('models/smiley.egg')
sphereNp_tex = loader.loadTexture("models/sky/coin_2_tex.jpg")
sphereNp.setTexture(sphereNp_tex, 1)
sphereNp.reparentTo(np)
sphereNp.setScale(0.85)
sphereNp.hprInterval(1.5, Vec3(360, 0, 0)).loop()
self.world2.attachGhost(coinNode)
self.coins2.append(coinNode)
print "node name:" + str(coinNode.getName())
def renderObject(self,scale,hpr,collisionOn=False):
(x_scale,y_scale,z_scale) = scale
(h,p,r) = hpr
if collisionOn is True:
if self.name is 'wide_ramp':
(x_c,y_c,z_c) = (x_scale + .2,y_scale+2.5,z_scale+1.75)
if self.name is 'tree1':
(x_c,y_c,z_c) = (x_scale,y_scale,z_scale)
if self.name is 'tree2':
(x_c,y_c,z_c) = (x_scale,y_scale,z_scale)
if self.name is 'rock1':
(x_c,y_c,z_c) = (x_scale * 2,y_scale * 2,z_scale*2)
if self.name is 'rock2':
(x_c,y_c,z_c) = (x_scale*100,y_scale*100,z_scale*100)
if self.name is 'gate':
(x_c,y_c,z_c) = (x_scale * 10,y_scale,z_scale*3.5)
if self.name is 'statue':
(x_c,y_c,z_c) = (x_scale,y_scale,z_scale)
mesh = BulletTriangleMesh()
for geomNP in self.model.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(self.model)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
node = BulletRigidBodyNode(self.name)
node.setMass(0)
node.addShape(shape)
np = self.__game.render.attachNewNode(node)
np.setPos(self.x,self.y,self.z)
np.setHpr(h,p,r)
np.setScale(x_c,y_c,z_c)
self.__game.world.attachRigidBody(node)
self.model.setPos(self.x,self.y,self.z)
self.model.setHpr(h,p,r)
self.model.setScale(x_scale,y_scale,z_scale)
self.model.reparentTo(self.__game.render)
if self.name is 'statue':
plat_texture = loader.loadTexture('models/textures/rocky.jpg')
self.model.setTexture(plat_texture,1)
ts = TextureStage.getDefault()
texture = self.model.getTexture()
self.model.setTexScale(ts, 1, 1)
def makeBall(self, num, pos = (0, 0, 0)):
shape = BulletSphereShape(0.5)
node = BulletRigidBodyNode('ball_' + str(num))
node.setMass(1.0)
node.setRestitution(.9)
node.setDeactivationEnabled(False)
node.addShape(shape)
physics = render.attachNewNode(node)
physics.setPos(*pos)
self.world.attachRigidBody(node)
model = loader.loadModel('models/ball')
color = self.makeColor()
model.setColor(color)
self.ballColors['ball_' + str(num)] = color
model.reparentTo(physics)
class MagicBox(Item):
def createItem(self):
self.collisionShape = BulletBoxShape(Vec3(0.5, 0.6, 0.5))
self.actor = BulletRigidBodyNode('MagicBox')
self.actor.addShape(self.collisionShape)
self.np = self.render.attachNewNode(self.actor)
self.np.setCollideMask(BitMask32.allOff())
self.np.setPos(self.x, self.y, self.z)
self.world.attachRigidBody(self.actor)
self.actorModelNP = self.loader.loadModel('models/magicbox/ToyBox.egg')
self.actorModelNP.reparentTo(self.np)
self.actorModelNP.setScale(0.35)
self.actorModelNP.setH(180)
self.actorModelNP.setPos(0, 0, -0.5)
def makeCameraCollision(self):
#nodes
node = BulletRigidBodyNode('Box')
#node.setMass(0)
self.ccnp = render.attachNewNode(node)
self.ccnp.reparentTo(base.camera)
#shapes
shape = BulletSphereShape(.5)
#nodes
node.addShape(shape)
#bullet world
self.world.attachRigidBody(node)
