class SMAI():
#This constructs the nods tree needed for an AIChar object.
#Takes in a model as a string, a speed double, a world object, a bullet physics world and n x, y and z positions
def __init__(self, model, speed, world, worldNP, x, y, z):
self.AISpeed = 80000
self.maxSpeed = speed
self.AIX = x
self.AIY = y
self.AIZ = z
self.worldNP = worldNP
bulletWorld = world
self.type = ""
self.AIModel = loader.loadModel(model)
self.AIModel.setScale(0.5)
self.AIModel.reparentTo(render)
AIShape = BulletBoxShape(Vec3(3, 3, 1))
self.AINode = BulletRigidBodyNode('AIChar')
self.AINode.setMass(100)
self.AINode.addShape(AIShape)
self.AINode.setDeactivationEnabled(False)
self.AINode.setAngularFactor(Vec3(0, 0, 0))
render.attachNewNode(self.AINode)
self.AIChar = self.worldNP.attachNewNode(self.AINode)
self.AIModel.reparentTo(self.AIChar)
self.AIChar.setPos(x, y, z)
bulletWorld.attachRigidBody(self.AIChar.node())
#This method needs to be called on your AIChar object to determine what type of AI you want.
#Takes in a type string; either flee or seek and also a target object.
def setBehavior(self, type, target):
if (type == "flee"):
self.type = type
self.target = target
print("Type set to flee")
elif (type == "seek"):
self.type = type
self.target = target
print("Type set to seek")
else:
print("Error @ Incorrect Type!")
def moveTo(self, target):
self.moveTo = True
self.target = target
def flee(self):
h = 1
hx = 1
hy = 1
if (self.AIChar.getDistance(self.target) < 40.0):
if (self.AINode.getLinearVelocity() > self.maxSpeed):
if (self.AINode.getLinearVelocity() < 100):
self.AIChar.setH(self.target.getH())
h = self.AIChar.getH()
else:
hx = sin(h * DEG_TO_RAD) * 10
hy = cos(h * DEG_TO_RAD) * 10
self.AINode.applyForce(
Vec3(-hx * self.AISpeed * globalClock.getDt(),
hy * self.AISpeed * globalClock.getDt(), 0), PNT)
# else:
# self.AINode.applyForce(Vec3(-hx * self.AISpeed * globalClock.getDt(), hy * self.AISpeed * globalClock.getDt(), 0), PNT)
def seek(self):
if (self.AIChar.getDistance(self.target) > 20.0):
if (self.AINode.getLinearVelocity() > self.maxSpeed):
self.AIChar.lookAt(self.target)
h = self.AIChar.getH()
hx = sin(h * DEG_TO_RAD) * 10
hy = cos(h * DEG_TO_RAD) * 10
self.AINode.applyForce(
Vec3(-hx * self.AISpeed * globalClock.getDt(),
hy * self.AISpeed * globalClock.getDt(), 0), PNT)
def moveToRun(self):
self.seek()
# if(self.target.getX()+5 <= self.AIChar.getX() and self.target.getX()-5 >= self.AIChar.getX() and self.target.getY()+5 <= self.AIChar.getY() and self.target.getY()-5 >= self.AIChar.getY()):
# print("It's stopped!")
# self.AIChar.clearForces()
# self.AIChar.setLinearVelocity(0)
# else:
# self.AINode.clearForces()
# self.AIChar.lookAt(self.target)
# self.AINode.setLinearVelocity(self.AISpeed)
#Gets called on every AIChar in the world's update method to allow the AI to function at all.
def AIUpdate(self):
if (self.moveTo == True):
self.moveToRun()
if (self.type == "seek"):
self.seek()
elif (self.type == "flee"):
self.flee()
else:
print("Error @ No AI Type")
class EscapeFromJCMB(object, DirectObject):
def __init__(self):
print "Loading..."
self.init_window()
self.init_music()
self.init_bullet()
self.init_key()
self.load_world()
self.init_player()
self.init_objects()
render.prepareScene(base.win.getGsg())
print "Done"
self.start_physics()
def init_window(self):
# Hide the mouse cursor
props = WindowProperties()
props.setCursorHidden(True)
base.win.requestProperties(props)
def init_music(self):
music = base.loader.loadSfx("../data/snd/Bent_and_Broken.mp3")
music.play()
self.playferscream = base.loader.loadSfx("../data/snd/deadscrm.wav")
def init_bullet(self):
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
# debugNode = BulletDebugNode('Debug')
# debugNode.showWireframe(True)
# debugNode.showConstraints(True)
# debugNode.showBoundingBoxes(False)
# debugNode.showNormals(False)
# debugNP = render.attachNewNode(debugNode)
# debugNP.show()
# self.world.setDebugNode(debugNP.node())
alight = AmbientLight('alight')
alight.setColor(VBase4(0.05, 0.05, 0.05, 1))
alnp = render.attachNewNode(alight)
render.setLight(alnp)
def init_key(self):
# Stores the state of the keys, 1 for pressed and 0 for unpressed
self.key_state = {
'up': False,
'right': False,
'down': False,
'left': False
}
# Assign the key event handler
self.accept('w', self.set_key_state, ['up', True])
self.accept('w-up', self.set_key_state, ['up', False])
self.accept('d', self.set_key_state, ['right', True])
self.accept('d-up', self.set_key_state, ['right', False])
self.accept('s', self.set_key_state, ['down', True])
self.accept('s-up', self.set_key_state, ['down', False])
self.accept('a', self.set_key_state, ['left', True])
self.accept('a-up', self.set_key_state, ['left', False])
# Stores the state of the mouse buttons, 1 for pressed and 0 for unpressed
self.mouse_state = {'left_click': False, 'right_click': False}
# Assign the mouse click event handler
self.accept('mouse1', self.set_mouse_state, ['left_click', True])
self.accept('mouse1-up', self.set_mouse_state, ['left_click', False])
self.accept('mouse2', self.set_mouse_state, ['right_click', True])
self.accept('mouse2-up', self.set_mouse_state, ['right_click', False])
self.accept('z', self.print_pos)
# Esc
self.accept('escape', sys.exit)
def set_key_state(self, key, state):
self.key_state[key] = state
def set_mouse_state(self, button, state):
self.mouse_state[button] = state
def print_pos(self):
print self.playernp.getPos()
def egg_to_BulletTriangleMeshShape(self, modelnp):
mesh = BulletTriangleMesh()
for collisionNP in modelnp.findAllMatches('**/+CollisionNode'):
collisionNode = collisionNP.node()
for collisionPolygon in collisionNode.getSolids():
tri_points = collisionPolygon.getPoints()
mesh.addTriangle(tri_points[0], tri_points[1], tri_points[2])
shape = BulletTriangleMeshShape(mesh, dynamic=False)
return shape
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 init_player(self):
# Stop the default mouse behaviour
base.disableMouse()
# Character has a capsule shape
shape = BulletCapsuleShape(0.2, 1, ZUp)
self.player = BulletRigidBodyNode('Player')
self.player.setMass(80.0)
self.player.addShape(shape)
self.playernp = render.attachNewNode(self.player)
self.playernp.setPos(0, 0, 1)
self.world.attachRigidBody(self.player)
self.player.setLinearSleepThreshold(0.0)
self.player.setAngularFactor(0.0)
self.player_speed = 3
self.player_is_grabbing = False
# self.head = BulletRigidBodyNode('Player Head')
# self.head.addShape(BulletSphereShape(0.2))
# self.head.setMass(10)
# self.head.setInertia(Vec3(1,1,1))
# self.head.setAngularFactor(1.0)
# self.head.setLinearFactor(0.0)
# self.headnp = self.playernp.attachNewNode(self.head)
# self.headnp.setPos(0,0,0)
# self.headnp.setCollideMask(BitMask32.allOff())
# self.world.attachRigidBody(self.head)
# Attach the camera to the player's head
base.camera.reparentTo(self.playernp)
# base.camera.setPos(0,0,.5)
base.camLens.setFov(80)
base.camLens.setNear(0.01)
# Make the torch and attach it to our character
torch = Spotlight('torch')
torch.setColor(VBase4(1, 1, 1, 1))
lens = PerspectiveLens()
lens.setFov(80)
lens.setNearFar(20, 100)
torch.setLens(lens)
self.torchnp = base.camera.attachNewNode(torch)
self.torchnp.setPos(0, 0, 0)
# Allow the world to be illuminated by our torch
render.setLight(self.torchnp)
self.cs = None
# Player's "hand" in the world
hand_model = loader.loadModel('../data/mod/hand.egg')
hand_model.setScale(1)
hand_model.setBillboardPointEye()
self.hand = BulletRigidBodyNode('Hand')
self.hand.addShape(BulletSphereShape(0.1))
self.hand.setLinearSleepThreshold(0.0)
self.hand.setLinearDamping(0.9999999)
self.hand.setAngularFactor(0.0)
self.hand.setMass(1.0)
self.world.attachRigidBody(self.hand)
self.handnp = render.attachNewNode(self.hand)
self.handnp.setCollideMask(BitMask32.allOff())
# hand_model.reparentTo(self.handnp)
# Create a text node to display object identification information and attach it to the player's "hand"
self.hand_text = TextNode('Hand Text')
self.hand_text.setText("Ch-ch-chek yoself befo yo rek yoself, bro.")
self.hand_text.setAlign(TextNode.ACenter)
self.hand_text.setTextColor(1, 1, 1, 1)
self.hand_text.setShadow(0.05, 0.05)
self.hand_text.setShadowColor(0, 0, 0, 1)
self.hand_text_np = render.attachNewNode(self.hand_text)
self.hand_text_np.setScale(0.03)
self.hand_text_np.setBillboardPointEye()
self.hand_text_np.hide()
# Disable the depth testing for the hand and the text - we always want these things on top, with no clipping
self.handnp.setDepthTest(False)
self.hand_text_np.setDepthTest(False)
# Add the player update task
taskMgr.add(self.update, 'update_player_task')
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)
def update(self, task):
# Update camera orientation
md = base.win.getPointer(0)
mouse_x = md.getX()
mouse_y = md.getY()
centre_x = base.win.getXSize() / 2
centre_y = base.win.getYSize() / 2
if base.win.movePointer(0, centre_x, centre_y):
new_H = base.camera.getH() + (centre_x - mouse_x)
new_P = base.camera.getP() + (centre_y - mouse_y)
if new_P < -90:
new_P = -90
elif new_P > 90:
new_P = 90
base.camera.setH(new_H)
base.camera.setP(new_P)
# Update player position
speed = 3
self.player_is_moving = False
if (self.key_state["up"] == True):
self.player_is_moving = True
dir = 0
if (self.key_state["down"] == True):
self.player_is_moving = True
dir = 180
if (self.key_state["left"] == True):
self.player_is_moving = True
dir = 90
if (self.key_state["right"] == True):
self.player_is_moving = True
dir = 270
self.player.clearForces()
old_vel = self.player.getLinearVelocity()
new_vel = Vec3(0, 0, 0)
if self.player_is_moving == True:
new_vel.setX(-speed * math.sin(
(base.camera.getH() + dir) * 3.1415 / 180.0))
new_vel.setY(speed * math.cos(
(base.camera.getH() + dir) * 3.1415 / 180.0))
timescale = 0.001
linear_force = (new_vel - old_vel) / (timescale)
linear_force.setZ(0.0)
self.player.applyCentralForce(linear_force)
if self.player_is_grabbing == False:
new_hand_pos = LPoint3f(
render.getRelativePoint(base.camera, Vec3(0, 0.2, 0)))
self.handnp.setPos(new_hand_pos)
else:
new_hand_pos = LPoint3f(
render.getRelativePoint(base.camera, Vec3(0, 0.5, 0)))
diff = new_hand_pos - self.handnp.getPos()
self.hand.applyCentralForce(diff * 1000 -
self.hand.getLinearVelocity() * 100)
if diff.length() > .5:
self.player.setLinearVelocity(Vec3(0, 0, 0))
# Identify what lies beneath the player's hand (unless player is holding something)
if self.player_is_grabbing == False:
ray_from = self.playernp.getPos()
ray_to = LPoint3f(
render.getRelativePoint(base.camera, Vec3(0, 1, 0)))
result = self.world.rayTestClosest(ray_from, ray_to)
if result.hasHit() == True:
self.hand_text.setText(result.getNode().getName())
self.hand_text_np.setPos(result.getHitPos())
self.hand_text_np.show()
# If player clicks, grab the object by the nearest point (as chosen by ray)
if self.mouse_state["left_click"] == True:
if result.getNode().getNumChildren() == 1:
obj = NodePath(result.getNode().getChild(0))
if self.player_is_grabbing == False:
self.player_is_grabbing = True
# Find the position of contact in terms of the object's local coordinates.
# Parent the player's hand to the grabbed object at that position.
pos = obj.getRelativePoint(render,
result.getHitPos())
self.grabbed_node = result.getNode()
self.grabbed_node.setActive(True)
print self.grabbed_node
frameA = TransformState.makePosHpr(
Vec3(0, 0, 0), Vec3(0, 0, 0))
frameB = TransformState.makePosHpr(
Vec3(0, 0, 0), Vec3(0, 0, 0))
swing1 = 20 # degrees
swing2 = 20 # degrees
twist = 20 # degrees
self.cs = BulletConeTwistConstraint(
self.hand, result.getNode(), frameA, frameB)
self.cs.setLimit(swing1, swing2, twist)
self.world.attachConstraint(self.cs)
# Stop the held object swinging all over the place
result.getNode().setAngularDamping(0.7)
else:
self.hand_text_np.hide()
self.player_is_grabbing = False
if self.mouse_state["left_click"] == False:
self.player_is_grabbing = False
if self.cs != None:
self.world.remove_constraint(self.cs)
self.cs = None
self.grabbed_node.setAngularDamping(0.0)
if self.player_is_grabbing == True and self.mouse_state[
"right_click"] == True:
self.world.remove_constraint(self.cs)
self.cs = None
self.grabbed_node.setAngularDamping(0.0)
self.grabbed_node.setActive(True)
self.grabbed_node.applyCentralImpulse(1000, 0, 0)
if self.player_is_grabbing == True:
self.hand_text_np.hide()
return task.cont
def update_physics(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt)
return task.cont
def start_physics(self):
taskMgr.add(self.update_physics, 'update_physics')
class Chunk(Entity):
chunkmass = 5.0
def __init__(self, world, blocks, pos, hpr=Point3(0,0,0), diff = Vec3(0,0,0), angVel = Vec3(0,0,0), linVel = Vec3(0,0,0)):
super(Chunk, self).__init__()
self.mass = len(blocks)*Chunk.chunkmass
self.world = world
self.blocks = blocks
self.bnode = BulletRigidBodyNode()
self.bnode.setMass(self.mass)
self.bnode.setAngularFactor(Vec3(0,1,0))
self.bnode.setLinearSleepThreshold(20)
self.bnode.setAngularSleepThreshold(20)
self.bnode.setAngularVelocity(angVel)
self.bnode.setLinearVelocity(linVel)
self.np = utilities.app.render.attachNewNode(self.bnode)
self.np.setPos(pos.x,20,pos.y)
self.np.setHpr(hpr)
self.np.setPos(self.np, diff)
self.bnode.setPythonTag("entity", self)
self.inScope = False # culling not done yet
# centre the blocks around the np and add their shapes in.
self.minMax()
cog = Point2((self.minX+self.maxX) / 2.0, (self.minY+self.maxY) / 2.0)
for block in blocks:
block.rebuild(self, cog)
world.bw.attachRigidBody(self.bnode)
self.hitlist = dict()
def update(self, timer):
for index in self.hitlist:
# returns true if the wall is destroyed by the hit
if self.blocks[index].hitby(self.hitlist[index]):
self.blocks[index].destroy()
self.rebuild(index)
self.hitlist.clear()
if self.playerDistance() > 40.0:
self.bnode.setAngularSleepThreshold(1)
self.bnode.setLinearSleepThreshold(1)
else:
self.bnode.setAngularSleepThreshold(0)
self.bnode.setLinearSleepThreshold(0)
def playerDistance(self):
sp = self.np.getPos()
pp = self.world.player.node.getPos()
distance = hypot(sp.x - pp.x, sp.z - pp.z)
return distance
# remove an element and rebuild
# TODO add another method for removing multiple
# blocks in a single go
def rebuild(self, index):
deadblock = self.blocks[index]
out = list()
for block in self.blocks:
for edge in block.edges:
if edge == deadblock:
block.edges.remove(edge)
for block in deadblock.edges:
chunk = list()
self.searchBlock(block, chunk, deadblock)
out.append(chunk)
#out is a list of lists of populated blocks
#remove duplicate chunks
results = list()
for chunk in out:
chunk.sort(compareBlock)
if not chunk in results and len(chunk) > 0:
results.append(chunk)
for result in results:
self.minMax(result)
#diff = Point2((self.minX+self.maxX) / 2.0, (self.minY+self.maxY) / 2.0)
diff = Vec3((self.minX+self.maxX) / 2.0, 0, (self.minY+self.maxY) / 2.0)
p = self.np.getPos()
pos = Point2(p.x, p.z)
h = self.np.getHpr()
self.world.entities.append(Chunk(self.world, result, pos, h, diff, self.bnode.getAngularVelocity(), self.bnode.getLinearVelocity()))
self.destroyNow()
self.remove = True
def searchBlock(self, block, lst, deleted):
if block in lst:
return
else:
lst.append(block)
for newblock in block.edges:
self.searchBlock(newblock, lst, deleted)
def minMax(self, blocks=None):
if blocks == None:
blocks = self.blocks
self.minX = blocks[0].pos.x
self.minY = blocks[0].pos.y
self.maxX = blocks[0].pos.x
self.maxY = blocks[0].pos.y
for point in blocks:
self.minX = min(point.pos.x, self.minX)
self.minY = min(point.pos.y, self.minY)
self.maxX = max(point.pos.x, self.maxX)
self.maxY = max(point.pos.y, self.maxY)
# Need to clear the bulletrigidbody immediately
# so that the phys object isn't present during next sim phase
# which occurs before cleanup normally. Otherwise shit will
# fly everywhere since two things are inside each other
def destroyNow(self):
self.world.bw.removeRigidBody(self.bnode)
return
# since this is handled earlier nothing happens
def destroy(self):
return
def hitby(self, projectile, index):
self.hitlist[index] = projectile
class Player(Entity):
walkspeed = 50
damping = 0.9
topspeed = 15
leftMove = False
rightMove = False
jumpToggle = False
crouchToggle = False
def __init__(self, world):
super(Player, self).__init__()
self.obj = utilities.loadObject("player", depth=20)
self.world = world
self.health = 100
self.inventory = dict()
self.depth = self.obj.getPos().y
self.location = Point2(0,0)
self.velocity = Vec3(0)
self.pt = 0.0
self.shape = BulletBoxShape(Vec3(0.3, 1.0, 0.49))
self.bnode = BulletRigidBodyNode('Box')
self.bnode.setMass(1.0)
self.bnode.setAngularVelocity(Vec3(0))
self.bnode.setAngularFactor(Vec3(0))
self.bnode.addShape(self.shape)
self.bnode.setLinearDamping(0.95)
self.bnode.setLinearSleepThreshold(0)
world.bw.attachRigidBody(self.bnode)
self.bnode.setPythonTag("Entity", self)
self.bnode.setIntoCollideMask(BitMask32.bit(0))
self.node = utilities.app.render.attachNewNode(self.bnode)
self.node.setPos(self.obj.getPos())
self.obj.setPos(0,0,0)
self.obj.setScale(1)
self.obj.reparentTo(self.node)
self.node.setPos(self.location.x, self.depth, self.location.y)
def initialise(self):
self.inventory["LightLaser"] = LightLaser(self.world, self)
self.inventory["Blowtorch"] = Blowtorch(self.world, self)
self.inventory["Grenade"] = Grenade(self.world, self)
for i in self.inventory:
self.inventory[i].initialise()
self.currentItem = self.inventory["Blowtorch"]
self.currentItem.equip()
self.armNode = self.obj.attachNewNode("arm")
self.armNode.setPos(0.20,0,0.08)
self.arm = utilities.loadObject("arm", scaleX = 0.5,scaleY = 0.5, depth = -0.2)
self.arm.reparentTo(self.armNode)
def activate(self):
self.currentItem.activate()
def update(self, timer):
self.velocity = self.bnode.getLinearVelocity()
if (self.leftMove):
self.bnode.applyCentralForce(Vec3(-Player.walkspeed,0,0))
if (self.rightMove):
self.bnode.applyCentralForce(Vec3(Player.walkspeed,0,0))
if (self.jumpToggle):
self.bnode.applyCentralForce(Vec3(0,0,Player.walkspeed))
if (self.crouchToggle):
self.bnode.applyCentralForce(Vec3(0,0,-Player.walkspeed))
if (self.velocity.x < -self.topspeed):
self.velocity.x = -self.topspeed
if (self.velocity.x > self.topspeed):
self.velocity.x = self.topspeed
mouse = utilities.app.mousePos
# extrude test
near = Point3()
far = Point3()
utilities.app.camLens.extrude(mouse, near, far)
camp = utilities.app.camera.getPos()
near *= 20 # player depth
if near.x != 0:
angle = atan2(near.z + camp.z - self.node.getPos().z, near.x + camp.x - self.node.getPos().x)
#angle = atan2(near.z, near.x)
else:
angle = 90
self.angle = angle
# set current item to point at cursor
self.currentItem.update(timer)
# move the camera so the player is centred horizontally,
# but keep the camera steady vertically
utilities.app.camera.setPos(self.node.getPos().x, 0, self.node.getPos().z)
#move arm into correct position.
gunLength = 2.0
self.gunVector = Point2(cos(angle)*gunLength - self.armNode.getX()*5, sin(angle)*gunLength - self.armNode.getZ()*2)
armAngle = atan2(self.gunVector.y, self.gunVector.x)
self.arm.setHpr(self.armNode, 0, 0, -1 * degrees(armAngle))
def moveLeft(self, switch):
self.leftMove = switch
#self.bnode.applyCentralForce(Vec3(-500,0,0))
def moveRight(self, switch):
self.rightMove = switch
#self.bnode.applyCentralForce(Vec3(500,0,0))
def jump(self, switch):
self.jumpToggle = switch
def crouch(self, switch):
self.crouchToggle = switch
class SMAI():
#This constructs the nods tree needed for an AIChar object.
#Takes in a model as a string, a speed double, a world object, a bullet physics world and n x, y and z positions
def __init__(self, model, speed, world, worldNP, x, y, z):
self.AISpeed = 80000
self.maxSpeed = speed
self.AIX = x
self.AIY = y
self.AIZ = z
self.worldNP = worldNP
bulletWorld = world
self.type = ""
self.AIModel = loader.loadModel(model)
self.AIModel.setScale(0.5)
self.AIModel.reparentTo(render)
AIShape = BulletBoxShape(Vec3(3, 3, 1))
self.AINode = BulletRigidBodyNode('AIChar')
self.AINode.setMass(100)
self.AINode.addShape(AIShape)
self.AINode.setDeactivationEnabled(False)
self.AINode.setAngularFactor(Vec3(0,0,0))
render.attachNewNode(self.AINode)
self.AIChar = self.worldNP.attachNewNode(self.AINode)
self.AIModel.reparentTo(self.AIChar)
self.AIChar.setPos(x, y, z)
bulletWorld.attachRigidBody(self.AIChar.node())
#This method needs to be called on your AIChar object to determine what type of AI you want.
#Takes in a type string; either flee or seek and also a target object.
def setBehavior(self, type, target):
if(type == "flee"):
self.type = type
self.target = target
print("Type set to flee")
elif(type == "seek"):
self.type = type
self.target = target
print("Type set to seek")
else:
print("Error @ Incorrect Type!")
def moveTo(self, target):
self.moveTo = True
self.target = target
def flee(self):
h = 1
hx = 1
hy = 1
if(self.AIChar.getDistance(self.target) < 40.0):
if(self.AINode.getLinearVelocity() > self.maxSpeed):
if(self.AINode.getLinearVelocity() < 100):
self.AIChar.setH(self.target.getH())
h = self.AIChar.getH()
else:
hx = sin(h * DEG_TO_RAD) * 10
hy = cos(h * DEG_TO_RAD) * 10
self.AINode.applyForce(Vec3(-hx * self.AISpeed * globalClock.getDt(), hy * self.AISpeed * globalClock.getDt(), 0), PNT)
# else:
# self.AINode.applyForce(Vec3(-hx * self.AISpeed * globalClock.getDt(), hy * self.AISpeed * globalClock.getDt(), 0), PNT)
def seek(self):
if(self.AIChar.getDistance(self.target) > 20.0):
if(self.AINode.getLinearVelocity() > self.maxSpeed):
self.AIChar.lookAt(self.target)
h = self.AIChar.getH()
hx = sin(h * DEG_TO_RAD) * 10
hy = cos(h * DEG_TO_RAD) * 10
self.AINode.applyForce(Vec3(-hx * self.AISpeed * globalClock.getDt(), hy * self.AISpeed * globalClock.getDt(), 0), PNT)
def moveToRun(self):
self.seek()
# if(self.target.getX()+5 <= self.AIChar.getX() and self.target.getX()-5 >= self.AIChar.getX() and self.target.getY()+5 <= self.AIChar.getY() and self.target.getY()-5 >= self.AIChar.getY()):
# print("It's stopped!")
# self.AIChar.clearForces()
# self.AIChar.setLinearVelocity(0)
# else:
# self.AINode.clearForces()
# self.AIChar.lookAt(self.target)
# self.AINode.setLinearVelocity(self.AISpeed)
#Gets called on every AIChar in the world's update method to allow the AI to function at all.
def AIUpdate(self):
if(self.moveTo == True):
self.moveToRun()
if(self.type == "seek"):
self.seek()
elif(self.type == "flee"):
self.flee()
else:
print("Error @ No AI Type")
class Chunk(Entity):
chunkmass = 5.0
def __init__(self,
world,
blocks,
pos,
hpr=Point3(0, 0, 0),
diff=Vec3(0, 0, 0),
angVel=Vec3(0, 0, 0),
linVel=Vec3(0, 0, 0)):
super(Chunk, self).__init__()
self.mass = len(blocks) * Chunk.chunkmass
self.world = world
self.blocks = blocks
self.bnode = BulletRigidBodyNode()
self.bnode.setMass(self.mass)
self.bnode.setAngularFactor(Vec3(0, 1, 0))
self.bnode.setLinearSleepThreshold(20)
self.bnode.setAngularSleepThreshold(20)
self.bnode.setAngularVelocity(angVel)
self.bnode.setLinearVelocity(linVel)
self.np = utilities.app.render.attachNewNode(self.bnode)
self.np.setPos(pos.x, 20, pos.y)
self.np.setHpr(hpr)
self.np.setPos(self.np, diff)
self.bnode.setPythonTag("entity", self)
self.inScope = False # culling not done yet
# centre the blocks around the np and add their shapes in.
self.minMax()
cog = Point2((self.minX + self.maxX) / 2.0,
(self.minY + self.maxY) / 2.0)
for block in blocks:
block.rebuild(self, cog)
world.bw.attachRigidBody(self.bnode)
self.hitlist = dict()
def update(self, timer):
for index in self.hitlist:
# returns true if the wall is destroyed by the hit
if self.blocks[index].hitby(self.hitlist[index]):
self.blocks[index].destroy()
self.rebuild(index)
self.hitlist.clear()
if self.playerDistance() > 40.0:
self.bnode.setAngularSleepThreshold(1)
self.bnode.setLinearSleepThreshold(1)
else:
self.bnode.setAngularSleepThreshold(0)
self.bnode.setLinearSleepThreshold(0)
def playerDistance(self):
sp = self.np.getPos()
pp = self.world.player.node.getPos()
distance = hypot(sp.x - pp.x, sp.z - pp.z)
return distance
# remove an element and rebuild
# TODO add another method for removing multiple
# blocks in a single go
def rebuild(self, index):
deadblock = self.blocks[index]
out = list()
for block in self.blocks:
for edge in block.edges:
if edge == deadblock:
block.edges.remove(edge)
for block in deadblock.edges:
chunk = list()
self.searchBlock(block, chunk, deadblock)
out.append(chunk)
#out is a list of lists of populated blocks
#remove duplicate chunks
results = list()
for chunk in out:
chunk.sort(compareBlock)
if not chunk in results and len(chunk) > 0:
results.append(chunk)
for result in results:
self.minMax(result)
#diff = Point2((self.minX+self.maxX) / 2.0, (self.minY+self.maxY) / 2.0)
diff = Vec3((self.minX + self.maxX) / 2.0, 0,
(self.minY + self.maxY) / 2.0)
p = self.np.getPos()
pos = Point2(p.x, p.z)
h = self.np.getHpr()
self.world.entities.append(
Chunk(self.world, result, pos, h, diff,
self.bnode.getAngularVelocity(),
self.bnode.getLinearVelocity()))
self.destroyNow()
self.remove = True
def searchBlock(self, block, lst, deleted):
if block in lst:
return
else:
lst.append(block)
for newblock in block.edges:
self.searchBlock(newblock, lst, deleted)
def minMax(self, blocks=None):
if blocks == None:
blocks = self.blocks
self.minX = blocks[0].pos.x
self.minY = blocks[0].pos.y
self.maxX = blocks[0].pos.x
self.maxY = blocks[0].pos.y
for point in blocks:
self.minX = min(point.pos.x, self.minX)
self.minY = min(point.pos.y, self.minY)
self.maxX = max(point.pos.x, self.maxX)
self.maxY = max(point.pos.y, self.maxY)
# Need to clear the bulletrigidbody immediately
# so that the phys object isn't present during next sim phase
# which occurs before cleanup normally. Otherwise shit will
# fly everywhere since two things are inside each other
def destroyNow(self):
self.world.bw.removeRigidBody(self.bnode)
return
# since this is handled earlier nothing happens
def destroy(self):
return
def hitby(self, projectile, index):
self.hitlist[index] = projectile
class CharacterController(DynamicObject, FSM):
def __init__(self, game):
self.game = game
FSM.__init__(self, "Player")
# key states
# dx direction left or right, dy direction forward or backward
self.kh = self.game.kh
self.dx = 0
self.dy = 0
self.jumping = 0
self.crouching = 0
# maximum speed when only walking
self.groundSpeed = 5.0
# acceleration used when walking to rise to self.groundSpeed
self.groundAccel = 100.0
# maximum speed in the air (air friction)
self.airSpeed = 30.0
# player movement control when in the air
self.airAccel = 10.0
# horizontal speed on jump start
self.jumpSpeed = 5.5
self.turnSpeed = 5
self.moveSpeedVec = Vec3(0, 0, 0)
self.platformSpeedVec = Vec3(0, 0, 0)
h = 1.75
w = 0.4
self.shape = BulletCapsuleShape(w, h - 2 * w, ZUp)
self.node = BulletRigidBodyNode('Player')
self.node.setMass(2)
self.node.addShape(self.shape)
self.node.setActive(True, True)
self.node.setDeactivationEnabled(False, True)
self.node.setFriction(200)
#self.node.setGravity(10)
#self.node.setFallSpeed(200)
self.node.setCcdMotionThreshold(1e-7)
self.node.setCcdSweptSphereRadius(0.5)
self.node.setAngularFactor(Vec3(0, 0, 1))
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(0, 0, 0)
self.np.setH(0)
#self.np.setCollideMask(BitMask32.allOn())
self.game.world.attachRigidBody(self.node)
self.playerModel = None
self.slice_able = False
def setActor(self,
modelPath,
animDic={},
flip=False,
pos=(0, 0, 0),
scale=1.0):
self.playerModel = Actor(modelPath, animDic)
self.playerModel.reparentTo(self.np)
self.playerModel.setScale(scale) # 1ft = 0.3048m
if flip:
self.playerModel.setH(180)
self.playerModel.setPos(pos)
self.playerModel.setScale(scale)
#-------------------------------------------------------------------
# Speed
def getSpeedVec(self):
return self.node.getLinearVelocity()
def setSpeedVec(self, speedVec):
#print "setting speed to %s" % (speedVec)
self.node.setLinearVelocity(speedVec)
return speedVec
def setPlatformSpeed(self, speedVec):
self.platformSpeedVec = speedVec
def getSpeed(self):
return self.getSpeedVec().length()
def setSpeed(self, speed):
speedVec = self.getSpeedVec()
speedVec.normalize()
self.setSpeedVec(speedVec * speed)
def getLocalSpeedVec(self):
return self.np.getRelativeVector(self.getSpeed())
def getSpeedXY(self):
vec = self.getSpeedVec()
return Vec3(vec[0], vec[1], 0)
def setSpeedXY(self, speedX, speedY):
vec = self.getSpeedVec()
z = self.getSpeedZ()
self.setSpeedVec(Vec3(speedX, speedY, z))
def getSpeedH(self):
return self.getSpeedXY().length()
def getSpeedZ(self):
return self.getSpeedVec()[2]
def setSpeedZ(self, zSpeed):
vec = self.getSpeedVec()
speedVec = Vec3(vec[0], vec[1], zSpeed)
return self.setSpeedVec(speedVec)
def setLinearVelocity(self, speedVec):
return self.setSpeedVec(speedVec)
def setAngularVelocity(self, speed):
self.node.setAngularVelocity(Vec3(0, 0, speed))
def getFriction(self):
return self.node.getFriction()
def setFriction(self, friction):
return self.node.setFriction(friction)
#-------------------------------------------------------------------
# Acceleration
def doJump(self):
#self.setSpeedZ(self.getSpeedZ()+self.jumpSpeed)
self.setSpeedZ(self.jumpSpeed)
def setForce(self, force):
self.node.applyCentralForce(force)
#-------------------------------------------------------------------
# contacts
#-------------------------------------------------------------------
# update
def update(self, dt, dx=0, dy=0, jumping=0, crouching=0, dRot=0):
#self.setR(0)
#self.setP(0)
self.jumping = jumping
self.crouching = crouching
self.dx = dx
self.dy = dy
#self.setAngularVelocity(dRot*self.turnSpeed)
#self.setAngularVelocity(0)
self.setH(self.game.camHandler.gameNp.getH())
speedVec = self.getSpeedVec() - self.platformSpeedVec
speed = speedVec.length()
localSpeedVec = self.np.getRelativeVector(self.game.render, speedVec)
pushVec = self.game.render.getRelativeVector(self.np,
Vec3(self.dx, self.dy, 0))
if self.dx != 0 or self.dy != 0:
pushVec.normalize()
else:
pushVec = Vec3(0, 0, 0)
contacts = self.getContacts()
contact = self.checkFeet()
if self.jumping and contact in contacts:
self.setFriction(0)
self.doJump()
if self.jumping:
self.setForce(pushVec * self.airAccel)
if speed > self.airSpeed:
self.setSpeed(self.airSpeed)
else:
if contacts:
self.setForce(pushVec * self.groundAccel)
else:
self.setForce(pushVec * self.airAccel)
if self.dx == 0 and self.dy == 0:
self.setFriction(100)
else:
self.setFriction(0)
if speed > self.groundSpeed:
if contacts:
self.setSpeed(self.groundSpeed)
'''
class CharacterController(DynamicObject, FSM):
def __init__(self, game):
self.game = game
FSM.__init__(self, "Player")
# key states
# dx direction left or right, dy direction forward or backward
self.kh = self.game.kh
self.dx = 0
self.dy = 0
self.jumping = 0
self.crouching = 0
# maximum speed when only walking
self.groundSpeed = 5.0
# acceleration used when walking to rise to self.groundSpeed
self.groundAccel = 100.0
# maximum speed in the air (air friction)
self.airSpeed = 30.0
# player movement control when in the air
self.airAccel = 10.0
# horizontal speed on jump start
self.jumpSpeed = 5.5
self.turnSpeed = 5
self.moveSpeedVec = Vec3(0,0,0)
self.platformSpeedVec = Vec3(0,0,0)
h = 1.75
w = 0.4
self.shape = BulletCapsuleShape(w, h - 2 * w, ZUp)
self.node = BulletRigidBodyNode('Player')
self.node.setMass(2)
self.node.addShape(self.shape)
self.node.setActive(True, True)
self.node.setDeactivationEnabled(False, True)
self.node.setFriction(200)
#self.node.setGravity(10)
#self.node.setFallSpeed(200)
self.node.setCcdMotionThreshold(1e-7)
self.node.setCcdSweptSphereRadius(0.5)
self.node.setAngularFactor(Vec3(0,0,1))
self.np = self.game.render.attachNewNode(self.node)
self.np.setPos(0, 0, 0)
self.np.setH(0)
#self.np.setCollideMask(BitMask32.allOn())
self.game.world.attachRigidBody(self.node)
self.playerModel = None
self.slice_able = False
def setActor(self, modelPath, animDic={}, flip = False, pos = (0,0,0), scale = 1.0):
self.playerModel = Actor(modelPath, animDic)
self.playerModel.reparentTo(self.np)
self.playerModel.setScale(scale) # 1ft = 0.3048m
if flip:
self.playerModel.setH(180)
self.playerModel.setPos(pos)
self.playerModel.setScale(scale)
#-------------------------------------------------------------------
# Speed
def getSpeedVec(self):
return self.node.getLinearVelocity()
def setSpeedVec(self, speedVec):
#print "setting speed to %s" % (speedVec)
self.node.setLinearVelocity(speedVec)
return speedVec
def setPlatformSpeed(self, speedVec):
self.platformSpeedVec = speedVec
def getSpeed(self):
return self.getSpeedVec().length()
def setSpeed(self, speed):
speedVec = self.getSpeedVec()
speedVec.normalize()
self.setSpeedVec(speedVec*speed)
def getLocalSpeedVec(self):
return self.np.getRelativeVector(self.getSpeed())
def getSpeedXY(self):
vec = self.getSpeedVec()
return Vec3(vec[0], vec[1], 0)
def setSpeedXY(self, speedX, speedY):
vec = self.getSpeedVec()
z = self.getSpeedZ()
self.setSpeedVec(Vec3(speedX, speedY, z))
def getSpeedH(self):
return self.getSpeedXY().length()
def getSpeedZ(self):
return self.getSpeedVec()[2]
def setSpeedZ(self, zSpeed):
vec = self.getSpeedVec()
speedVec = Vec3(vec[0], vec[1], zSpeed)
return self.setSpeedVec(speedVec)
def setLinearVelocity(self, speedVec):
return self.setSpeedVec(speedVec)
def setAngularVelocity(self, speed):
self.node.setAngularVelocity(Vec3(0, 0, speed))
def getFriction(self):
return self.node.getFriction()
def setFriction(self, friction):
return self.node.setFriction(friction)
#-------------------------------------------------------------------
# Acceleration
def doJump(self):
#self.setSpeedZ(self.getSpeedZ()+self.jumpSpeed)
self.setSpeedZ(self.jumpSpeed)
def setForce(self, force):
self.node.applyCentralForce(force)
#-------------------------------------------------------------------
# contacts
#-------------------------------------------------------------------
# update
def update(self, dt, dx=0, dy=0, jumping=0, crouching=0, dRot=0):
#self.setR(0)
#self.setP(0)
self.jumping = jumping
self.crouching = crouching
self.dx = dx
self.dy = dy
#self.setAngularVelocity(dRot*self.turnSpeed)
#self.setAngularVelocity(0)
self.setH(self.game.camHandler.gameNp.getH())
speedVec = self.getSpeedVec() - self.platformSpeedVec
speed = speedVec.length()
localSpeedVec = self.np.getRelativeVector(self.game.render, speedVec)
pushVec = self.game.render.getRelativeVector(self.np, Vec3(self.dx,self.dy,0))
if self.dx != 0 or self.dy != 0:
pushVec.normalize()
else:
pushVec = Vec3(0,0,0)
contacts = self.getContacts()
contact = self.checkFeet()
if self.jumping and contact in contacts:
self.setFriction(0)
self.doJump()
if self.jumping:
self.setForce(pushVec * self.airAccel)
if speed > self.airSpeed:
self.setSpeed(self.airSpeed)
else:
if contacts:
self.setForce(pushVec * self.groundAccel)
else:
self.setForce(pushVec * self.airAccel)
if self.dx == 0 and self.dy == 0:
self.setFriction(100)
else:
self.setFriction(0)
if speed > self.groundSpeed:
if contacts:
self.setSpeed(self.groundSpeed)
'''
class Drone:
# RIGIDBODYMASS = 1
# RIGIDBODYRADIUS = 0.1
# LINEARDAMPING = 0.97
# SENSORRANGE = 0.6
# TARGETFORCE = 3
# AVOIDANCEFORCE = 25
# FORCEFALLOFFDISTANCE = .5
RIGIDBODYMASS = 0.5
RIGIDBODYRADIUS = 0.1
LINEARDAMPING = 0.95
SENSORRANGE = 0.6
TARGETFORCE = 1
AVOIDANCEFORCE = 10
FORCEFALLOFFDISTANCE = .5
def __init__(self,
manager,
position: Vec3,
uri="-1",
printDebugInfo=False):
self.base = manager.base
self.manager = manager
# The position of the real drone this virtual drone is connected to.
# If a connection is active, this value is updated each frame.
self.realDronePosition = Vec3(0, 0, 0)
self.canConnect = False # true if the virtual drone has a uri to connect to a real drone
self.isConnected = False # true if the connection to a real drone is currently active
self.uri = uri
if self.uri != "-1":
self.canConnect = True
self.id = int(uri[-1])
self.randVec = Vec3(random.uniform(-1, 1), random.uniform(-1, 1),
random.uniform(-1, 1))
# add the rigidbody to the drone, which has a mass and linear damping
self.rigidBody = BulletRigidBodyNode(
"RigidSphere") # derived from PandaNode
self.rigidBody.setMass(self.RIGIDBODYMASS) # body is now dynamic
self.rigidBody.addShape(BulletSphereShape(self.RIGIDBODYRADIUS))
self.rigidBody.setLinearSleepThreshold(0)
self.rigidBody.setFriction(0)
self.rigidBody.setLinearDamping(self.LINEARDAMPING)
self.rigidBodyNP = self.base.render.attachNewNode(self.rigidBody)
self.rigidBodyNP.setPos(position)
# self.rigidBodyNP.setCollideMask(BitMask32.bit(1))
self.base.world.attach(self.rigidBody)
# add a 3d model to the drone to be able to see it in the 3d scene
model = self.base.loader.loadModel(self.base.modelDir +
"/drones/drone1.egg")
model.setScale(0.2)
model.reparentTo(self.rigidBodyNP)
self.target = position # the long term target that the virtual drones tries to reach
self.setpoint = position # the immediate target (setpoint) that the real drone tries to reach, usually updated each frame
self.waitingPosition = Vec3(position[0], position[1], 0.7)
self.lastSentPosition = self.waitingPosition # the position that this drone last sent around
self.printDebugInfo = printDebugInfo
if self.printDebugInfo: # put a second drone model on top of drone that outputs debug stuff
model = self.base.loader.loadModel(self.base.modelDir +
"/drones/drone1.egg")
model.setScale(0.4)
model.setPos(0, 0, .2)
model.reparentTo(self.rigidBodyNP)
# initialize line renderers
self.targetLineNP = self.base.render.attachNewNode(LineSegs().create())
self.velocityLineNP = self.base.render.attachNewNode(
LineSegs().create())
self.forceLineNP = self.base.render.attachNewNode(LineSegs().create())
self.actualDroneLineNP = self.base.render.attachNewNode(
LineSegs().create())
self.setpointNP = self.base.render.attachNewNode(LineSegs().create())
def connect(self):
"""Connects the virtual drone to a real one with the uri supplied at initialization."""
if not self.canConnect:
return
print(self.uri, "connecting")
self.isConnected = True
self.scf = SyncCrazyflie(self.uri, cf=Crazyflie(rw_cache='./cache'))
self.scf.open_link()
self._reset_estimator()
self.start_position_printing()
# MOVE THIS BACK TO SENDPOSITIONS() IF STUFF BREAKS
self.scf.cf.param.set_value('flightmode.posSet', '1')
def sendPosition(self):
"""Sends the position of the virtual drone to the real one."""
cf = self.scf.cf
self.setpoint = self.getPos()
# send the setpoint
cf.commander.send_position_setpoint(self.setpoint[0], self.setpoint[1],
self.setpoint[2], 0)
def disconnect(self):
"""Disconnects the real drone."""
print(self.uri, "disconnecting")
self.isConnected = False
cf = self.scf.cf
cf.commander.send_stop_setpoint()
time.sleep(0.1)
self.scf.close_link()
def update(self):
"""Update the virtual drone."""
# self.updateSentPositionBypass(0)
self._updateTargetForce()
self._updateAvoidanceForce()
self._clampForce()
if self.isConnected:
self.sendPosition()
# draw various lines to get a better idea of whats happening
self._drawTargetLine()
# self._drawVelocityLine()
self._drawForceLine()
# self._drawSetpointLine()
self._printDebugInfo()
def updateSentPosition(self, timeslot):
transmissionProbability = 1
if self.id == timeslot:
if random.uniform(0, 1) < transmissionProbability:
# print(f"drone {self.id} updated position")
self.lastSentPosition = self.getPos()
else:
pass
# print(f"drone {self.id} failed!")
def updateSentPositionBypass(self, timeslot):
self.lastSentPosition = self.getPos()
def getPos(self) -> Vec3:
return self.rigidBodyNP.getPos()
def getLastSentPos(self) -> Vec3:
return self.lastSentPosition
def _updateTargetForce(self):
"""Applies a force to the virtual drone which moves it closer to its target."""
dist = (self.target - self.getPos())
if (dist.length() > self.FORCEFALLOFFDISTANCE):
force = dist.normalized()
else:
force = (dist / self.FORCEFALLOFFDISTANCE)
self.addForce(force * self.TARGETFORCE)
def _updateAvoidanceForce(self):
"""Applies a force the the virtual drone which makes it avoid other drones."""
# get all drones within the sensors reach and put them in a list
nearbyDrones = []
for drone in self.manager.drones:
dist = (drone.getLastSentPos() - self.getPos()).length()
if drone.id == self.id: # prevent drone from detecting itself
continue
if dist < self.SENSORRANGE:
nearbyDrones.append(drone)
# calculate and apply forces
for nearbyDrone in nearbyDrones:
distVec = nearbyDrone.getLastSentPos() - self.getPos()
if distVec.length() < 0.2:
print("BONK")
distMult = self.SENSORRANGE - distVec.length()
avoidanceDirection = self.randVec.normalized(
) * 2 - distVec.normalized() * 10
avoidanceDirection.normalize()
self.addForce(avoidanceDirection * distMult * self.AVOIDANCEFORCE)
def _clampForce(self):
"""Clamps the total force acting in the drone."""
totalForce = self.rigidBody.getTotalForce()
if totalForce.length() > 2:
self.rigidBody.clearForces()
self.rigidBody.applyCentralForce(totalForce.normalized())
def targetVector(self) -> Vec3:
"""Returns the vector from the drone to its target."""
return self.target - self.getPos()
def _printDebugInfo(self):
if self.printDebugInfo:
pass
def setTarget(self, target: Vec3):
"""Sets a new target for the drone."""
self.target = target
def setRandomTarget(self):
"""Sets a new random target for the drone."""
self.target = self.manager.getRandomRoomCoordinate()
def setNewRandVec(self):
self.randVec = Vec3(random.uniform(-1, 1), random.uniform(-1, 1),
random.uniform(-1, 1))
def addForce(self, force: Vec3):
self.rigidBody.applyCentralForce(force)
def setPos(self, position: Vec3):
self.rigidBodyNP.setPos(position)
def getVel(self) -> Vec3:
return self.rigidBody.getLinearVelocity()
def setVel(self, velocity: Vec3):
return self.rigidBody.setLinearVelocity(velocity)
def _drawTargetLine(self):
self.targetLineNP.removeNode()
ls = LineSegs()
# ls.setThickness(1)
ls.setColor(1.0, 0.0, 0.0, 1.0)
ls.moveTo(self.getPos())
ls.drawTo(self.target)
node = ls.create()
self.targetLineNP = self.base.render.attachNewNode(node)
def _drawVelocityLine(self):
self.velocityLineNP.removeNode()
ls = LineSegs()
# ls.setThickness(1)
ls.setColor(0.0, 0.0, 1.0, 1.0)
ls.moveTo(self.getPos())
ls.drawTo(self.getPos() + self.getVel())
node = ls.create()
self.velocityLineNP = self.base.render.attachNewNode(node)
def _drawForceLine(self):
self.forceLineNP.removeNode()
ls = LineSegs()
# ls.setThickness(1)
ls.setColor(0.0, 1.0, 0.0, 1.0)
ls.moveTo(self.getPos())
ls.drawTo(self.getPos() + self.rigidBody.getTotalForce() * 0.2)
node = ls.create()
self.forceLineNP = self.base.render.attachNewNode(node)
def _drawSetpointLine(self):
self.setpointNP.removeNode()
ls = LineSegs()
# ls.setThickness(1)
ls.setColor(1.0, 1.0, 1.0, 1.0)
ls.moveTo(self.getPos())
ls.drawTo(self.setpoint)
node = ls.create()
self.setpointNP = self.base.render.attachNewNode(node)
def _wait_for_position_estimator(self):
"""Waits until the position estimator reports a consistent location after resetting."""
print('Waiting for estimator to find position...')
log_config = LogConfig(name='Kalman Variance', period_in_ms=500)
log_config.add_variable('kalman.varPX', 'float')
log_config.add_variable('kalman.varPY', 'float')
log_config.add_variable('kalman.varPZ', 'float')
var_y_history = [1000] * 10
var_x_history = [1000] * 10
var_z_history = [1000] * 10
threshold = 0.001
with SyncLogger(self.scf, log_config) as logger:
for log_entry in logger:
data = log_entry[1]
var_x_history.append(data['kalman.varPX'])
var_x_history.pop(0)
var_y_history.append(data['kalman.varPY'])
var_y_history.pop(0)
var_z_history.append(data['kalman.varPZ'])
var_z_history.pop(0)
min_x = min(var_x_history)
max_x = max(var_x_history)
min_y = min(var_y_history)
max_y = max(var_y_history)
min_z = min(var_z_history)
max_z = max(var_z_history)
if (max_x - min_x) < threshold and (
max_y - min_y) < threshold and (max_z -
min_z) < threshold:
break
def _reset_estimator(self):
"""Resets the position estimator, this should be run before flying the drones or they might report a wrong position."""
cf = self.scf.cf
cf.param.set_value('kalman.resetEstimation', '1')
time.sleep(0.1)
cf.param.set_value('kalman.resetEstimation', '0')
self._wait_for_position_estimator()
def position_callback(self, timestamp, data, logconf):
"""Updates the variable holding the position of the actual drone. It is not called in the update method, but by the drone itself (I think)."""
x = data['kalman.stateX']
y = data['kalman.stateY']
z = data['kalman.stateZ']
self.realDronePosition = Vec3(x, y, z)
# print('pos: ({}, {}, {})'.format(x, y, z))
def start_position_printing(self):
"""Activate logging of the position of the real drone."""
log_conf = LogConfig(name='Position', period_in_ms=50)
log_conf.add_variable('kalman.stateX', 'float')
log_conf.add_variable('kalman.stateY', 'float')
log_conf.add_variable('kalman.stateZ', 'float')
self.scf.cf.log.add_config(log_conf)
log_conf.data_received_cb.add_callback(self.position_callback)
log_conf.start()
class Player(Entity):
walkspeed = 5
damping = 0.9
topspeed = 15
leftMove = False
rightMove = False
jumpToggle = False
crouchToggle = False
def __init__(self, world):
super(Player, self).__init__()
self.obj = utilities.loadObject("tdplayer", depth=20)
self.world = world
self.health = 100
self.inventory = list()
self.depth = self.obj.getPos().y
self.location = Point2(10,0)
self.velocity = Vec3(0)
self.shape = BulletBoxShape(Vec3(0.3, 1.0, 0.49))
self.bnode = BulletRigidBodyNode('Box')
self.bnode.setMass(0.1)
self.bnode.setAngularVelocity(Vec3(0))
self.bnode.setAngularFactor(Vec3(0))
self.bnode.addShape(self.shape)
self.bnode.setLinearDamping(0.95)
self.bnode.setLinearSleepThreshold(0)
world.bw.attachRigidBody(self.bnode)
self.bnode.setPythonTag("entity", self)
self.bnode.setIntoCollideMask(BitMask32.bit(0))
self.node = utilities.app.render.attachNewNode(self.bnode)
self.node.setPos(self.obj.getPos())
self.obj.setPos(0,0,0)
self.obj.setScale(1)
self.obj.reparentTo(self.node)
self.node.setPos(self.location.x, self.depth, self.location.y)
def initialise(self):
self.inventory.append(LightLaser(self.world, self))
self.inventory.append(Blowtorch(self.world, self))
#self.inventory["Grenade"] = Grenade(self.world, self)
for item in self.inventory:
item.initialise()
self.currentItemIndex = 1
self.currentItem = self.inventory[self.currentItemIndex]
self.currentItem.equip()
def activate(self):
self.currentItem.activate()
def update(self, timer):
self.velocity = self.bnode.getLinearVelocity()
if (self.leftMove):
self.bnode.applyCentralForce(Vec3(-Player.walkspeed,0,0))
if (self.rightMove):
self.bnode.applyCentralForce(Vec3(Player.walkspeed,0,0))
if (self.jumpToggle):
self.bnode.applyCentralForce(Vec3(0,0,Player.walkspeed))
if (self.crouchToggle):
self.bnode.applyCentralForce(Vec3(0,0,-Player.walkspeed))
if (self.velocity.x < -self.topspeed):
self.velocity.x = -self.topspeed
if (self.velocity.x > self.topspeed):
self.velocity.x = self.topspeed
mouse = utilities.app.mousePos
# extrude test
near = Point3()
far = Point3()
utilities.app.camLens.extrude(mouse, near, far)
camp = utilities.app.camera.getPos()
near *= 20 # player depth
if near.x != 0:
angle = atan2(near.z + camp.z - self.node.getPos().z, near.x + camp.x - self.node.getPos().x)
#angle = atan2(near.z, near.x)
else:
angle = 90
self.angle = angle
# set current item to point at cursor
self.currentItem.update(timer)
# move the camera so the player is centred horizontally,
# but keep the camera steady vertically
utilities.app.camera.setPos(self.node.getPos().x, 0, self.node.getPos().z)
self.obj.setHpr(0, 0, -1 * degrees(angle))
self.location.x = self.node.getPos().x
self.location.y = self.node.getPos().z
def moveLeft(self, switch):
self.leftMove = switch
def moveRight(self, switch):
self.rightMove = switch
def jump(self, switch):
self.jumpToggle = switch
def crouch(self, switch):
self.crouchToggle = switch
def scrollItem(self, number):
self.currentItem.unequip()
self.currentItemIndex = self.currentItemIndex + number
if self.currentItemIndex < 0:
self.currentItemIndex = len(self.inventory) - 1
if self.currentItemIndex > len(self.inventory) - 1:
self.currentItemIndex = 0
self.currentItem = self.inventory[self.currentItemIndex]
self.currentItem.equip()
def selectItem(self, number):
if (number - 1 < len(self.inventory) and number - 1 >= 0):
self.currentItem.unequip()
self.currentItemIndex = number - 1
self.currentItem = self.inventory[self.currentItemIndex]
self.currentItem.equip()
def hitby(self, projectile, index):
self.health -= projectile.damage
if (self.health < 0):
self.obj.setColor(1,0,0,1)
return True
greyscale = 0.3 + (0.01 * self.health)
self.obj.setColor(greyscale, greyscale,greyscale,greyscale)
return False
class Player(Entity):
walkspeed = 5
damping = 0.9
topspeed = 15
leftMove = False
rightMove = False
jumpToggle = False
crouchToggle = False
def __init__(self, world):
super(Player, self).__init__()
self.obj = utilities.loadObject("tdplayer", depth=20)
self.world = world
self.health = 100
self.inventory = list()
self.depth = self.obj.getPos().y
self.location = Point2(10, 0)
self.velocity = Vec3(0)
self.shape = BulletBoxShape(Vec3(0.3, 1.0, 0.49))
self.bnode = BulletRigidBodyNode('Box')
self.bnode.setMass(0.1)
self.bnode.setAngularVelocity(Vec3(0))
self.bnode.setAngularFactor(Vec3(0))
self.bnode.addShape(self.shape)
self.bnode.setLinearDamping(0.95)
self.bnode.setLinearSleepThreshold(0)
world.bw.attachRigidBody(self.bnode)
self.bnode.setPythonTag("entity", self)
self.bnode.setIntoCollideMask(BitMask32.bit(0))
self.node = utilities.app.render.attachNewNode(self.bnode)
self.node.setPos(self.obj.getPos())
self.obj.setPos(0, 0, 0)
self.obj.setScale(1)
self.obj.reparentTo(self.node)
self.node.setPos(self.location.x, self.depth, self.location.y)
def initialise(self):
self.inventory.append(LightLaser(self.world, self))
self.inventory.append(Blowtorch(self.world, self))
#self.inventory["Grenade"] = Grenade(self.world, self)
for item in self.inventory:
item.initialise()
self.currentItemIndex = 1
self.currentItem = self.inventory[self.currentItemIndex]
self.currentItem.equip()
def activate(self):
self.currentItem.activate()
def update(self, timer):
self.velocity = self.bnode.getLinearVelocity()
if (self.leftMove):
self.bnode.applyCentralForce(Vec3(-Player.walkspeed, 0, 0))
if (self.rightMove):
self.bnode.applyCentralForce(Vec3(Player.walkspeed, 0, 0))
if (self.jumpToggle):
self.bnode.applyCentralForce(Vec3(0, 0, Player.walkspeed))
if (self.crouchToggle):
self.bnode.applyCentralForce(Vec3(0, 0, -Player.walkspeed))
if (self.velocity.x < -self.topspeed):
self.velocity.x = -self.topspeed
if (self.velocity.x > self.topspeed):
self.velocity.x = self.topspeed
mouse = utilities.app.mousePos
# extrude test
near = Point3()
far = Point3()
utilities.app.camLens.extrude(mouse, near, far)
camp = utilities.app.camera.getPos()
near *= 20 # player depth
if near.x != 0:
angle = atan2(near.z + camp.z - self.node.getPos().z,
near.x + camp.x - self.node.getPos().x)
#angle = atan2(near.z, near.x)
else:
angle = 90
self.angle = angle
# set current item to point at cursor
self.currentItem.update(timer)
# move the camera so the player is centred horizontally,
# but keep the camera steady vertically
utilities.app.camera.setPos(self.node.getPos().x, 0,
self.node.getPos().z)
self.obj.setHpr(0, 0, -1 * degrees(angle))
self.location.x = self.node.getPos().x
self.location.y = self.node.getPos().z
def moveLeft(self, switch):
self.leftMove = switch
def moveRight(self, switch):
self.rightMove = switch
def jump(self, switch):
self.jumpToggle = switch
def crouch(self, switch):
self.crouchToggle = switch
def scrollItem(self, number):
self.currentItem.unequip()
self.currentItemIndex = self.currentItemIndex + number
if self.currentItemIndex < 0:
self.currentItemIndex = len(self.inventory) - 1
if self.currentItemIndex > len(self.inventory) - 1:
self.currentItemIndex = 0
self.currentItem = self.inventory[self.currentItemIndex]
self.currentItem.equip()
def selectItem(self, number):
if (number - 1 < len(self.inventory) and number - 1 >= 0):
self.currentItem.unequip()
self.currentItemIndex = number - 1
self.currentItem = self.inventory[self.currentItemIndex]
self.currentItem.equip()
def hitby(self, projectile, index):
self.health -= projectile.damage
if (self.health < 0):
self.obj.setColor(1, 0, 0, 1)
return True
greyscale = 0.3 + (0.01 * self.health)
self.obj.setColor(greyscale, greyscale, greyscale, greyscale)
return False
