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)
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 _initObjects(self):
# Load objects
for model in self.scene.scene.findAllMatches('**/objects/object*/model*'):
modelId = model.getParent().getTag('model-id')
# XXX: we could create BulletGhostNode instance for non-collidable objects,
# but we would need to filter out the collisions later on
if modelId not in self.openedDoorModelIds:
# NOTE: ignore models that have no geometry defined
if model.getTightBounds() is None:
logger.warning('Object %s has no geometry defined and will be ignored for physics!' % (str(model)))
continue
shape, transform = getCollisionShapeFromModel(
model, self.objectMode, defaultCentered=True)
node = BulletRigidBodyNode('physics')
node.addShape(shape)
node.setFriction(self.defaultMaterialFriction)
node.setRestitution(self.defaultMaterialRestitution)
node.setIntoCollideMask(BitMask32.allOn())
node.setDeactivationEnabled(True)
if self.suncgDatasetRoot is not None:
# Check if it is a movable object
category = self.modelCatMapping.getCoarseGrainedCategoryForModelId(
modelId)
if category in self.movableObjectCategories:
# Estimate mass of object based on volumetric data and
# default material density
objVoxFilename = os.path.join(
self.suncgDatasetRoot, 'object_vox', 'object_vox_data', modelId, modelId + '.binvox')
voxelData = ObjectVoxelData.fromFile(objVoxFilename)
mass = Panda3dBulletPhysics.defaultDensity * voxelData.getFilledVolume()
node.setMass(mass)
else:
node.setMass(0.0)
node.setStatic(True)
else:
node.setMass(0.0)
node.setStatic(True)
if node.isStatic():
model.getParent().setTag('physics-mode', 'static')
else:
model.getParent().setTag('physics-mode', 'dynamic')
model.getParent().setTag('mass', str(node.getMass()))
# Attach the physic-related node to the scene graph
physicsNp = model.getParent().attachNewNode(node)
physicsNp.setTransform(transform)
# Reparent render and acoustics nodes (if any) below the new physic node
# XXX: should be less error prone to just reparent all children
# (except the hidden model)
renderNp = model.getParent().find('**/render')
if not renderNp.isEmpty():
renderNp.reparentTo(physicsNp)
acousticsNp = model.getParent().find('**/acoustics')
if not acousticsNp.isEmpty():
acousticsNp.reparentTo(physicsNp)
semanticsNp = model.getParent().find('**/semantics')
if not semanticsNp.isEmpty():
semanticsNp.reparentTo(physicsNp)
# NOTE: we need this to update the transform state of the
# internal bullet node
node.setTransformDirty()
# NOTE: we need to add the node to the bullet engine only after
# setting all attributes
self.bulletWorld.attach(node)
# Validation
assert np.allclose(mat4ToNumpyArray(physicsNp.getNetTransform().getMat()),
mat4ToNumpyArray(model.getParent().getNetTransform().getMat()), atol=1e-6)
else:
logger.debug('Object %s ignored from physics' % (modelId))
