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 __init__(self, bulletWorld):
#model used as collision mesh VOLCANO
collisionModel = loader.loadModel('models/VolcanoCollision2')
tex = loader.loadTexture("models/mars_1k_tex.jpg")
collisionModel.setTexture(tex)
mesh = BulletTriangleMesh()
for geomNP in collisionModel.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(collisionModel)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.rigidNode = BulletRigidBodyNode('Heightfield')
self.rigidNode.notifyCollisions(False)
np = render.attachNewNode(self.rigidNode)
np.node().addShape(shape)
collisionModel.reparentTo(np)
np.setScale(7)
###Ucomment next line for RAZOR map:
#np.setHpr(0,90,0)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
np.node().notifyCollisions(False)
bulletWorld.attachRigidBody(np.node())
self.hf = np.node() # To enable/disable debug visualization
def __init__(self, model, world, worldNP, pos, scale, hpr):
self.worldNP = worldNP
bulletWorld = world
# Initialize the model.
self.AIModel = loader.loadModel(model)
self.AINode = BulletRigidBodyNode('AIChar')
self.AIModel.setScale(scale)
self.AIModel.flattenLight() # Combines all geom nodes into one geom node.
# Build the triangle mesh shape and attach it with the transform.
geom = self.AIModel.findAllMatches('**/+GeomNode').getPath(0).node().getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.AINode.addShape(shape, TransformState.makePosHprScale(Point3(0,0,0), hpr, scale))
self.AINode.setMass(0)
bulletWorld.attachRigidBody(self.AINode)
# Apply the same transforms on the model being rendered.
self.AIModel.reparentTo(render)
self.AIModel.setH(hpr.getX())
self.AIModel.setP(hpr.getY())
self.AIModel.setR(hpr.getZ())
self.AINode.setAngularFactor(Vec3(0,0,0))
# Attach it to the world.
self.AIChar = self.worldNP.attachNewNode(self.AINode)
self.AIModel.reparentTo(self.AIChar)
self.AIChar.setPos(pos)
def addMeshConvexRB(self,vertices, faces,ghost=False,**kw):
#step 1) create GeomVertexData and add vertex information
format=GeomVertexFormat.getV3()
vdata=GeomVertexData("vertices", format, Geom.UHStatic)
vertexWriter=GeomVertexWriter(vdata, "vertex")
[vertexWriter.addData3f(v[0],v[1],v[2]) for v in vertices]
#step 2) make primitives and assign vertices to them
tris=GeomTriangles(Geom.UHStatic)
[self.setGeomFaces(tris,face) for face in faces]
#step 3) make a Geom object to hold the primitives
geom=Geom(vdata)
geom.addPrimitive(tris)
#step 4) create the bullet mesh and node
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletConvexHullShape(mesh, dynamic=not ghost)#
if ghost :
inodenp = self.worldNP.attachNewNode(BulletGhostNode('Mesh'))
else :
inodenp = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
inodenp.node().addShape(shape)
# inodenp.setPos(0, 0, 0.1)
self.setRB(inodenp,**kw)
inodenp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(inodenp.node())
return inodenp
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 createLetter(self, loadFile, name, x, y, z):
self.name = name
self.letter = loader.loadModel(loadFile)
geomnodes = self.letter.findAllMatches('**/+GeomNode')
gn = geomnodes.getPath(0).node()
geom = gn.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.letterNode = BulletRigidBodyNode('Letter')
self.letterNode.setMass(0)
self.letterNode.addShape(shape)
self.letters.append(self.letterNode)
letternn = render.attachNewNode(self.letterNode)
letternn.setPos(x, y, z)
letternn.setScale(1)
letternn.setP(90) # orients the mesh for the letters to be upright
self.world.attachRigidBody(self.letterNode)
self.letter.reparentTo(letternn)
self.letter.setP(
-90) # orients the actual letter objects to be upright
def loadModel(self):
if (self.viewing_object):
self.world.removeRigidBody(self.viewing_object.node())
Tk().withdraw(
) # we don't want a full GUI, so keep the root window from appearing
filename = askopenfilename(
) # show an "Open" dialog box and return the path to the selected file
# filename = "models/new2.obj"
pandafile = Filename.fromOsSpecific(filename)
viewing_object_NP = loader.loadModel(pandafile)
geom = viewing_object_NP.findAllMatches("**/+GeomNode").getPath(
0).node().getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=True)
body = BulletRigidBodyNode("viewing_object")
self.viewing_object = self.worldNP.attachNewNode(body)
self.viewing_object.node().addShape(shape)
self.viewing_object.setPos(0, 0, 0)
self.viewing_object.setHpr(0, 90, 0)
self.viewing_object.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.viewing_object.node())
self.viewing_object.setScale(50)
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 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 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 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 __init__(self, model, world, worldNP, pos, scale, hpr):
self.worldNP = worldNP
bulletWorld = world
# Initialize the model.
self.AIModel = loader.loadModel(model)
self.AINode = BulletRigidBodyNode("AIChar")
self.AIModel.setScale(scale)
self.AIModel.flattenLight() # Combines all geom nodes into one geom node.
# Build the triangle mesh shape and attach it with the transform.
geom = self.AIModel.findAllMatches("**/+GeomNode").getPath(0).node().getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.AINode.addShape(shape, TransformState.makePosHprScale(Point3(0, 0, 0), hpr, scale))
self.AINode.setMass(0)
bulletWorld.attachRigidBody(self.AINode)
# Apply the same transforms on the model being rendered.
self.AIModel.reparentTo(render)
self.AIModel.setH(hpr.getX())
self.AIModel.setP(hpr.getY())
self.AIModel.setR(hpr.getZ())
self.AINode.setAngularFactor(Vec3(0, 0, 0))
# Attach it to the world.
self.AIChar = self.worldNP.attachNewNode(self.AINode)
self.AIModel.reparentTo(self.AIChar)
self.AIChar.setPos(pos)
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
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 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
def getCollisionShapeFromModel(model, mode='box', defaultCentered=False):
#NOTE: make sure the position is relative to the center of the object
minBounds, maxBounds = model.getTightBounds()
offset = minBounds + (maxBounds - minBounds) / 2.0
transform = TransformState.makeIdentity()
if mode == 'mesh':
# Use exact triangle mesh approximation
mesh = BulletTriangleMesh()
geomNodes = model.findAllMatches('**/+GeomNode')
for nodePath in geomNodes:
geomNode = nodePath.node()
for n in range(geomNode.getNumGeoms()):
geom = geomNode.getGeom(n)
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
transform = model.getTransform()
elif mode == "sphere":
minBounds, maxBounds = model.getTightBounds()
dims = maxBounds - minBounds
radius = np.sqrt(np.square(dims[0]) + np.square(dims[1])) / 2.0
height = dims[2]
shape = BulletCapsuleShape(radius, 2 * radius)
if not defaultCentered:
transform = TransformState.makePos(offset)
elif mode == "hull":
shape = BulletConvexHullShape()
geomNodes = model.findAllMatches('**/+GeomNode')
for nodePath in geomNodes:
geomNode = nodePath.node()
for n in range(geomNode.getNumGeoms()):
geom = geomNode.getGeom(n)
shape.addGeom(geom)
elif mode == 'box':
# Bounding box approximation
minBounds, maxBounds = model.getTightBounds()
dims = maxBounds - minBounds
shape = BulletBoxShape(Vec3(dims.x / 2, dims.y / 2, dims.z / 2))
if not defaultCentered:
transform = TransformState.makePos(offset)
elif mode == 'capsule':
minBounds, maxBounds = model.getTightBounds()
dims = maxBounds - minBounds
radius = np.sqrt(np.square(dims[0]) + np.square(dims[1])) / 2.0
height = dims[2]
shape = BulletCapsuleShape(radius, height - 2 * radius)
if not defaultCentered:
transform = TransformState.makePos(offset)
else:
raise Exception(
'Unknown mode type for physic object collision shape: %s' % (mode))
return shape, transform
def __init__(self):
base.accept('f1', self.toggleDebug)
self.debugNode = BulletDebugNode('Debug')
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNode.showBoundingBoxes(False)
self.debugNode.showNormals(False)
self.debugNP = base.render.attachNewNode(self.debugNode)
# self.debugNP.show()
# World
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Terrain
visNP = base.loader.loadModel('models/terrain.egg')
mesh = BulletTriangleMesh()
for x in visNP.findAllMatches('**/+GeomNode'):
geom = x.node().getGeom(0)
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=True)
body = BulletRigidBodyNode('Bowl')
bodyNP = base.render.attachNewNode(body)
bodyNP.node().addShape(shape)
bodyNP.setPos(0, 0, 1)
bodyNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(bodyNP.node())
visNP.reparentTo(bodyNP)
shapex = BulletBoxShape(5)
bodyx = BulletRigidBodyNode('Egg')
bodyNPx = base.render.attachNewNode(bodyx)
bodyNPx.setPos(0, 0, 3)
bodyNPx.node().setMass(100.0)
bodyNPx.node().addShape(shapex)
self.world.attachRigidBody(bodyNPx.node())
# visNP.reparentTo(bodyNPx)
# Player
self.players = []
self.myId = -1
self.speed = Vec3(0, 0, 0)
self.walk_speed = 2.5
# Camera
base.disableMouse()
props = WindowProperties()
props.setCursorHidden(True)
base.win.requestProperties(props)
# SkySphere
Sky()
self.initCam()
def ModelToBTS(model):
geomnodes = model.findAllMatches('**/+GeomNode')
gn = geomnodes.getPath(0).node()
geom = gn.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
return shape
def get_bullet_shape(geom_node):
shape = BulletTriangleMesh()
for i in range(geom_node.getNumGeoms()):
geom = geom_node.getGeom(i)
# state = geom_node.getGeomState(i)
shape.addGeom(geom)
shape = BulletTriangleMeshShape(shape, True)
return shape
def gen_cdmesh_vvnf(vertices, vertex_normals, faces, name='auto'):
geom = da.pandageom_from_vvnf(vertices * SCALE_FOR_PRECISION, vertex_normals, faces)
bullet_triangles_mesh = BulletTriangleMesh()
bullet_triangles_mesh.addGeom(geom)
bullet_triangles_shape = BulletTriangleMeshShape(bullet_triangles_mesh, dynamic=True)
bullet_triangles_shape.setMargin(0)
geombullnode = BulletRigidBodyNode(name=name)
geombullnode.addShape(bullet_triangles_shape)
return geombullnode
def bullet_shape_from(source, dynamic=False):
mesh = BulletTriangleMesh()
for geom_node in source.findAllMatches('**/+GeomNode'):
gn = geom_node.node()
ts = gn.getTransform()
for geom in gn.getGeoms():
mesh.addGeom(geom, True, ts)
return BulletTriangleMeshShape(mesh, dynamic=dynamic)
def __init__(self, bulletWorld):
self.env = loader.loadModel("models/env")
self.env.reparentTo(render)
self.env.setPos(0,0,-6)
self.env.setScale(400)
self.environ_tex = loader.loadTexture("models/tex/env_sky.jpg")
self.env.setTexture(self.environ_tex, 1)
self.period_cloud = self.env.hprInterval(400, (360, 0, 0))
self.period_cloud.loop()
self.ground = loader.loadModel("models/Ground2")
self.ground.reparentTo(render)
self.ground.setPos(0,0,-5)
self.ground.setScale(0.5,0.5,0)
self.ground_tex = loader.loadTexture("models/tex/ground.tif")
self.ground.setTexture(self.ground_tex, 1)
# model used as collision mesh
collisionModel = loader.loadModel('models/Track2')
# model used as display model
model = loader.loadModel('models/Track2')
tex = loader.loadTexture("models/tex/Main.png")
model.setTexture(tex)
# renders track from two camera views
model.setTwoSided(True)
collisionModel.setScale(1, 1, 100)
mesh = BulletTriangleMesh()
for geomNP in collisionModel.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(collisionModel)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.rigidNode = BulletRigidBodyNode('Heightfield')
self.rigidNode.notifyCollisions(False)
np = render.attachNewNode(self.rigidNode)
np.node().addShape(shape)
model.setScale(1, 1, .1)
model.reparentTo(np)
np.setScale(.7)
np.setPos(0, 0, -5)
np.setCollideMask(BitMask32(0xf0))
np.node().notifyCollisions(False)
bulletWorld.attachRigidBody(np.node())
self.hf = np.node() # To enable/disable debug visualisation
def build_bullet_from_model(modelNP):
body = BulletRigidBodyNode('...')
for geomNP in modelNP.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNode.getTransform()
for geom in geomNode.getGeoms():
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
body.addShape(shape, ts)
return body
def __init__(
self, world:BulletWorld, entity:Entity,
dynamic=False, rotation=[None, None, None]
):
geomNodes = entity.model.findAllMatches('**/+GeomNode')
geomNode = geomNodes.getPath(0).node()
geom = geomNode.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=dynamic)
super().__init__(world, entity, shape, 'mesh', rotation)
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 modelToShape2(model):
"""
:type model: str
:return: panda3d.bullet.BulletTriangleMeshShape
"""
np = loader.loadModel(model) #####componer luego
mesh = BulletTriangleMesh()
for geomNP in np.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(np)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape = BulletTriangleMeshShape(mesh, False)
return shape
def modelToShape(model, dynamic=False):
"""
:type model: panda3d.core.NodePath
:type dynamic: bool
:return: tuple(panda3d.bullet.BulletTriangleMeshShape, transform)
"""
geomnodes = model.findAllMatches('**/+GeomNode')
transform = model.getTransform()
gn = geomnodes.getPath(0).node()
geom = gn.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic)
return shape, transform
def createElement(self, name, type, start, end=None):
if type == "cell":
model_file = "sphere.dae"
elif type == "bit":
model_file = "box.dae"
elif type == "segment" or type == "synapse":
model_file = "cylinder.dae"
# Create the rigid body
body_node = BulletRigidBodyNode(name)
body_node.setDeactivationEnabled(False)
body_np = self.render.attachNewNode(body_node)
body_np.setName(name)
if type == "segment" or type == "synapse":
# Calculate the linear distance between the start and the end position of the segment.
length = (Point3(start) - Point3(end)).length()
body_np.setPos(start)
body_np.lookAt(end)
body_np.setScale(1, length / 2, 1)
else:
body_np.setPos(start)
# Load the 3d model file using the asset folder relative path and attach the geom node to rigid body
object_np = self.loader.loadModel(
Filename.from_os_specific(
os.path.join(REPO_DIR, "models", model_file)))
object_np.reparentTo(body_np)
object_np.setPosHpr((0, 0, 0), (0, 0, 0))
object_np.setName(name + "_geom")
object_np.setTexGen(TextureStage.getDefault(),
TexGenAttrib.MWorldPosition)
# Apply any transforms from modelling sotware to gain performance
object_np.flattenStrong()
# Create the shape used for collisions
geom_nodes = object_np.findAllMatches("**/+GeomNode")
mesh = BulletTriangleMesh()
for geom in geom_nodes[0].node().getGeoms():
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=True)
body_node.addShape(shape)
self.physics_manager.attachRigidBody(body_node)
return body_np
def setupCollisionMeshAndRigidNodeFromModel(self):
mesh = BulletTriangleMesh()
for geomNP in self.floorModel.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(self.floorModel)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.rigidNode = BulletRigidBodyNode('Floor')
self.rigidNode.notifyCollisions(False)
self.rigidNodePath = self.parentNodePath.attachNewNode(self.rigidNode)
self.rigidNodePath.node().addShape(shape)
self.rigidNodePath.setScale(12, 12, 1.5)
self.rigidNodePath.setCollideMask(BitMask32.allOn())
self.rigidNodePath.node().notifyCollisions(False)
def setup_collision(self, modelName):
mesh = BulletTriangleMesh()
geoms = GeomNode('{}'.format(modelName))
a = 0
for x in self.model.findAllMatches('**/+GeomNode').getPath(
0).node().modifyGeoms():
if a <= len(self.model.findAllMatches('**/+GeomNode')):
geoms.addGeom(x)
for geom in geoms.getGeoms():
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=self.dynamic)
self.nodePath = self.worldnp.attachNewNode(
BulletRigidBodyNode('{}'.format(self.model)))
self.nodePath.node().addShape(shape)
self.model.reparentTo(self.nodePath)
self.model.setPos(self.nodePath.getPos())
def setupWalls(self, _obj, _eggFile):
tmpMesh = BulletTriangleMesh()
node = _obj.node()
if node.isGeomNode():
tmpMesh.addGeom(node.getGeom(0))
else:
return
body = BulletRigidBodyNode("wall")
body.addShape(BulletTriangleMeshShape(tmpMesh, dynamic=False))
body.setMass(0)
np = self.rootNode.attachNewNode(body)
np.setCollideMask(BitMask32.bit(1))
self.parent.physics_world.attachRigidBody(body)
def __init__(self, app, map_name):
map_file = 'assets/maps/{}/{}.bam'.format(map_name, map_name)
self.app = app
self.physics_world = BulletWorld()
node = BulletRigidBodyNode('Ground')
self.np = self.app.render.attach_new_node(node)
self.np.setPos(0, 0, 0)
self.physics_world.attachRigidBody(node)
self.model = loader.load_model(map_file)
self.model.reparent_to(self.np)
self.env_data = EnvironmentData(self.model, map_name, 'maps')
self.physics_world.setGravity(self.env_data.gravity)
sky = self.model.find(SKYSPHERE)
sky.reparent_to(base.cam)
sky.set_bin('background', 0)
sky.set_depth_write(False)
sky.set_compass()
sky.set_light_off()
# Bullet collision mesh
collision_solids = self.model.find_all_matches(
'{}*'.format(TERRAIN_COLLIDER)
)
#collision_solids.hide()
for collision_solid in collision_solids:
collision_solid.flatten_strong()
for geom_node in collision_solid.find_all_matches('**/+GeomNode'):
mesh = BulletTriangleMesh()
for geom in geom_node.node().get_geoms():
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
terrain_node = BulletRigidBodyNode('terrain')
terrain_node.add_shape(shape)
terrain_node.set_friction(self.env_data.friction)
terrain_np = geom_node.attach_new_node(terrain_node)
terrain_np.set_collide_mask(CM_TERRAIN | CM_COLLIDE)
self.physics_world.attach_rigid_body(terrain_node)
def createPlatform(self, x, y, z):
self.platform = loader.loadModel('../models/disk/disk.egg')
geomnodes = self.platform.findAllMatches('**/+GeomNode')
gn = geomnodes.getPath(0).node()
geom = gn.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
node = BulletRigidBodyNode('Platform')
node.setMass(0)
node.addShape(shape)
platformnn = render.attachNewNode(node)
platformnn.setPos(x, y, z)
platformnn.setScale(3)
self.world.attachRigidBody(node)
self.platform.reparentTo(platformnn)
def _shape_from_mesh_component(entity, component):
"""Load triangle mesh from class MeshComponent"""
mesh_filename = "{}.egg".format(component.mesh_name)
root_path = entity.scene.resource_manager.root_path
model_path = path.join(root_path, "meshes", mesh_filename)
filename = Filename.from_os_specific(model_path)
nodepath = loader.loadModel(filename)
geom_nodepath = nodepath.find('**/+GeomNode')
geom_node = geom_nodepath.node()
geom = geom_node.get_geom(0)
transform = geom_node.getTransform()
mesh = BulletTriangleMesh()
mesh.addGeom(geom, True, transform)
return BulletTriangleMeshShape(mesh, dynamic=False)
def createPlatform(self, x, y, z):
self.platform = loader.loadModel('../models/disk/disk.egg')
geomnodes = self.platform.findAllMatches('**/+GeomNode')
gn = geomnodes.getPath(0).node()
geom = gn.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
node = BulletRigidBodyNode('Platform')
node.setMass(0)
node.addShape(shape)
platformnn = render.attachNewNode(node)
platformnn.setPos(x, y, z)
platformnn.setScale(3)
self.world.attachRigidBody(node)
self.platform.reparentTo(platformnn)
def genBulletCDMesh(objcm, 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 = objcm.objnp.findAllMatches("+GeomNode")
geombullnode = BulletRigidBodyNode(name)
for gnd in gndcollection:
geom = copy.deepcopy(gnd.node().getGeom(0))
# vdata = geom.modifyVertexData()
# vertrewritter = GeomVertexRewriter(vdata, 'vertex')
# while not vertrewritter.isAtEnd():
# v = vertrewritter.getData3f()
# vertrewritter.setData3f(v[0]-objcm.com[0], v[1]-objcm.com[1], v[2]-objcm.com[2])
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(-2)
geombullnode.addShape(bullettmshape, geomtf)
# rotmatpd4 = objcm.getMat(base.render)
# geombullnode.addShape(bullettmshape,
# TransformState.makeMat(rotmatpd4).
# setPos(rotmatpd4.xformPoint(Vec3(objcm.com[0], objcm.com[1], objcm.com[2]))))
from panda3d.core import Mat3, Mat4
# geombullnode.setTransform(TransformState.makeMat(Mat4(Mat3.identMat(), rotmatpd4.xformPoint(Vec3(objcm.com[0], objcm.com[1], objcm.com[2])))))
# print(objcm.com)
# print(geomtf.getMat())
# geombullnode.setTransform(TransformState.makeMat(geomtf.getMat()).setPos(geomtf.getMat().xformPoint(Vec3(objcm.com[0], objcm.com[1], objcm.com[2]))))
return geombullnode
def createWall(self, x, y, z, h):
self.wall = loader.loadModel('../models/wall/wall.egg')
geomnodes = self.wall.findAllMatches('**/+GeomNode')
gn = geomnodes.getPath(0).node()
geom = gn.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
wallNode = BulletRigidBodyNode('Wall')
wallNode.setMass(0)
wallNode.addShape(shape)
wallnn = render.attachNewNode(wallNode)
wallnn.setPos(x, y, z)
wallnn.setH(h)
wallnn.setScale(0.5, 50.5, 4.5)
self.world.attachRigidBody(wallNode)
self.wall.reparentTo(wallnn)
def __addTriangleMesh(self, body, model, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1), dynamic=True):
mesh = BulletTriangleMesh()
def one():
geom = model.node().getGeom(0)
mesh.addGeom(geom)
return []
children = model.findAllMatches('**/+GeomNode') or one()
model.flattenLight()
for piece in children:
geom = piece.node().getGeom(0)
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=dynamic )
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def createWall(self, x, y, z, h):
self.wall = loader.loadModel('../models/wall/wall.egg')
geomnodes = self.wall.findAllMatches('**/+GeomNode')
gn = geomnodes.getPath(0).node()
geom = gn.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
wallNode = BulletRigidBodyNode('Wall')
wallNode.setMass(0)
wallNode.addShape(shape)
wallnn = render.attachNewNode(wallNode)
wallnn.setPos(x, y, z)
wallnn.setH(h)
wallnn.setScale(0.5, 50.5, 4.5)
self.world.attachRigidBody(wallNode)
self.wall.reparentTo(wallnn)
def _createBulletShape_(self,np, apply_scale = True, apply_transform = True):
"""
@brief Creates a BulletTriangleMeshShape from the geometries in the model node. The passed
node path must point to a GeomNode type. The Geom objects are then added to a
BulletTriangleMesh object which is then used to initialize the Shape. Optionally,
the node's transform and scaled can be baked into the Geometries (recommended
according to the Panda3D guide https://www.panda3d.org/manual/index.php/Bullet_FAQ).
If you apply the scale and transform make sure not to apply them again to the shape or
the bullet node that contains the shape as it'll compound the effect.
@warning: If the underlying GeomNode contains multiple geometries each with a different
transform and scale then it's best to set apply_scale and apply_transform to True.
@param np: The nodepath containing the GeomNode
@param apply_scale: Boolean that allows choosing whether or not to apply the nodepath's scale to the geometries
@param apply_transform: Boolean that indicates whether or not to apply the nodepath's trasform to the geometries.
@return: A BulletTriangleMeshShape object containing the node's geometries
"""
geom_node = np.node()
if type(geom_node) is not GeomNode:
logging.error("Node %s is not a GeomNode node type"%(np.getName()))
return None
bullet_mesh = BulletTriangleMesh()
# Assembling transform
tr = TransformState.makeIdentity()
geom_scale = np.getScale()
if apply_transform:
tr = tr.setPos(np.getPos())
tr = tr.setQuat(np.getQuat())
sc = LPoint3(1)
tr = tr.setScale(sc)
if apply_scale: # baking scale into geometry data
tr = tr.setScale(geom_scale)
for geom in geom_node.getGeoms():
bullet_mesh.addGeom(geom,True,tr)
bullet_shape = BulletTriangleMeshShape(bullet_mesh,False,True,True)
bullet_shape.setMargin(GameObject.DEFAULT_COLLISION_MARGIN)
return bullet_shape
def addPhysicsObject(self, model, objectType):
"""Adds a physical object to the level
The object isn't linked with a graphical object
"""
if objectType == "barrier":
# Use a triangle mesh to represent the barrier as
# it could be concave
mesh = BulletTriangleMesh()
mesh.addGeom(model.node().getGeom(0))
shape = BulletTriangleMeshShape(mesh, dynamic=False)
rigidNode = BulletRigidBodyNode("barrier")
rigidNode.addShape(shape)
self.physicsWorld.attachRigidBody(rigidNode)
# Set the position from the model
pNode = self.outsideWorldRender.attachNewNode(rigidNode)
pNode.setPos(model.getPos())
else:
raise ValueError("Invalid physics object type: %s" % objectType)
def genCollisionMeshGeom(geom, name='autogen'):
"""
generate the collision mesh of a nodepath using geom
:param geom: the panda3d geom of the object
:param basenodepath: the nodepath to compute relative transform
:return: bulletrigidbody
author: weiwei
date: 20161212, tsukuba
"""
geomtf = TransformState.makeIdentity()
geombullmesh = BulletTriangleMesh()
geombullmesh.addGeom(geom)
geombullnode = BulletRigidBodyNode(name)
bullettmshape = BulletTriangleMeshShape(geombullmesh, dynamic=True)
bullettmshape.setMargin(0)
geombullnode.addShape(bullettmshape, geomtf)
return geombullnode
def _create_bullet_nodepath(geom, geom_node, entity):
bullet_node = BulletRigidBodyNode("NavmeshCollision")
transform = geom_node.getTransform()
mesh = BulletTriangleMesh()
mesh.addGeom(geom, True, transform)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
bullet_node.addShape(shape)
mask = BitMask32()
mask.set_word(CollisionGroups.navmesh)
bullet_node.set_into_collide_mask(mask)
# Associate with entity
bullet_nodepath = base.render.attachNewNode(bullet_node)
bullet_nodepath.set_python_tag("entity", entity)
return bullet_nodepath
def __init__(self, bulletWorld):
self.sky = SkyDome()
# model used as collision mesh
collisionModel = loader.loadModel('models/walledTrack')
# model used as display model
model = loader.loadModel('models/FullTrack')
tex = loader.loadTexture("models/tex/Main.png")
ts = TextureStage('ts')
ts.setMode(TextureStage.MBlend)
model.setTexture(ts, tex, 2)
#model.setTexScale(ts, 70)
# renders track from two camera views
model.setTwoSided(True)
mesh = BulletTriangleMesh()
for geomNP in collisionModel.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(collisionModel)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.rigidNode = BulletRigidBodyNode('Track')
self.rigidNode.notifyCollisions(False)
np = render.attachNewNode(self.rigidNode)
np.node().addShape(shape)
model.reparentTo(np)
np.setScale(70)
np.setPos(0, 0, -5)
np.setCollideMask(BitMask32(0xf0))
np.node().notifyCollisions(False)
bulletWorld.attachRigidBody(np.node())
self.hf = np.node() # To enable/disable debug visualisation
def createEnvironment(self):
self.environ = loader.loadModel("models/square")
self.environ.reparentTo(render)
self.environ.setPos(0, 0, 0)
self.environ.setScale(500, 500, 1)
self.moon_tex = loader.loadTexture("models/moon_1k_tex.jpg")
self.environ.setTexture(self.moon_tex, 1)
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(0, 0, 0)
self.bulletWorld.attachRigidBody(node)
self.visNP = loader.loadModel('models/track.egg')
self.tex = loader.loadTexture("models/tex/Main.png")
self.visNP.setTexture(self.tex)
geom = self.visNP.findAllMatches('**/+GeomNode').getPath(0).node().getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
trackShape = BulletTriangleMeshShape(mesh, dynamic=False)
body = BulletRigidBodyNode('Bowl')
self.visNP.node().getChild(0).addChild(body)
bodyNP = render.anyPath(body)
bodyNP.node().addShape(trackShape)
bodyNP.node().setMass(0.0)
bodyNP.setTexture(self.tex)
self.bulletWorld.attachRigidBody(bodyNP.node())
self.visNP.reparentTo(render)
self.bowlNP = bodyNP
self.visNP.setScale(70)
def create_object(self):
from panda3d.core import Filename, NodePath, BitMask32
from panda3d.bullet import BulletRigidBodyNode, BulletTriangleMesh, BulletTriangleMeshShape
from game_system.resources import ResourceManager
f = Filename.fromOsSpecific(ResourceManager.get_absolute_path(ResourceManager["Map"]["map.egg"]))
model = loader.loadModel(f)
bullet_node = BulletRigidBodyNode("MapCollision")
bullet_nodepath = NodePath(bullet_node)
mesh = BulletTriangleMesh()
for geomNP in model.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNode.getTransform()
for geom in geomNode.getGeoms():
mesh.addGeom(geom, True, ts)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
bullet_node.addShape(shape)
bullet_nodepath.set_collide_mask(BitMask32.bit(0))
model.reparentTo(bullet_nodepath)
return bullet_nodepath
def __init__(self, render, world, x, y, z):
self.movingPlatform = loader.loadModel('../models/square-flat/square.egg')
geomnodes = self.movingPlatform.findAllMatches('**/+GeomNode')
gn = geomnodes.getPath(0).node()
geom = gn.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.node = BulletRigidBodyNode('MovingPlatform')
self.node.setMass(0)
self.node.addShape(shape)
self.movingPlatformnn = render.attachNewNode(self.node)
self.movingPlatformnn.setPos(x, y, z)
self.movingPlatformnn.setScale(9, 7, 0.5)
world.attachRigidBody(self.node)
self.movingPlatform.reparentTo(self.movingPlatformnn)
# Associates movingPlatformnn with movingPlatform
self.movingPlatformnn.setPythonTag("movingPlatformNP", self.movingPlatform)
# Create a sequence of intervals and play them together using parallel
downInterval = self.movingPlatformnn.posInterval(3, Point3(x, y, z), startPos=Point3(x, y, z + 15))
upInterval = self.movingPlatformnn.posInterval(3, Point3(x, y, z + 15), startPos=Point3(x, y, z))
# To randomize a little, take x position of platform. If it's even move downward. If it's odd, upward
if x % 2 == 0:
elevate = Sequence(downInterval, upInterval, name="elevate")
else:
elevate = Sequence(upInterval, downInterval, name="elevateOpposite")
elevateParallel = Parallel()
elevateParallel.append(elevate)
elevateParallel.loop()
def buildTriangleMesh(cls, _engine, _obj, _levelEgg, _mass=0, _isDynamic=False):
"""Build a bullet TriangleMesh for objects"""
mesh = BulletTriangleMesh()
node = _obj.node()
if node.isGeomNode():
mesh.addGeom(node.getGeom(0))
else:
return
body = BulletRigidBodyNode(_obj.getTag("level"))#+str(_obj.getTag("id")))
body.addShape(BulletTriangleMeshShape(mesh, dynamic=_isDynamic))
body.setMass(_mass)
np = _engine.BulletObjects["level"].attachNewNode(body)
#np.setCollideMask(BitMask32.allOn())
np.setScale(_obj.getScale(_levelEgg))
np.setPos(_obj.getPos(_levelEgg))
np.setHpr(_obj.getHpr(_levelEgg))
_engine.bulletWorld.attachRigidBody(body)
return np
def makeSB():
body = BulletRigidBodyNode('...')
geomNodeCollection = loader.loadModel('out2.egg').findAllMatches('**/+GeomNode')
for geomNP in geomNodeCollection:
geomNode = geomNP.node()
ts = geomNode.getTransform()
mesh = BulletTriangleMesh()
for geom in geomNode.getGeoms():
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=True)
body.addShape(shape, ts)
body.addChild(geomNode)
#world.attachRigidBody(node)
#body.copyTo(np)
body.setMass(100.0)
world.attachRigidBody(body)
np1 = render.attachNewNode(body)
np1.setPos(0, 0, 10)
np1.setHpr(0,0,90)
np1.setScale(0.5,0.5,0.5)
print(body.getNumChildren())
return body
#body = makeSB()
# Update
#taskMgr.add(update, 'update')
#run()
def createLetter(self, loadFile, name, x, y, z):
self.name = name
self.letter = loader.loadModel(loadFile)
geomnodes = self.letter.findAllMatches('**/+GeomNode')
gn = geomnodes.getPath(0).node()
geom = gn.getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.letterNode = BulletRigidBodyNode('Letter')
self.letterNode.setMass(0)
self.letterNode.addShape(shape)
self.letters.append(self.letterNode)
letternn = render.attachNewNode(self.letterNode)
letternn.setPos(x, y, z)
letternn.setScale(1)
letternn.setP(90) # orients the mesh for the letters to be upright
self.world.attachRigidBody(self.letterNode)
self.letter.reparentTo(letternn)
self.letter.setP(-90) # orients the actual letter objects to be upright
class Map(object):
def __init__(self, mainReference):
self.mainRef = mainReference
# fog experiment
myFog = Fog("Mist")
myFog.setColor(0.6, 0.6, 0.6)
myFog.setExpDensity(0.0007)
render.setFog(myFog)
# loading H_Block
self.H_Block = loader.loadModel("../../models/H_Block/H_Block")
self.H_Block.reparentTo(self.mainRef.render)
# loading H_Block's colision mesh
self.H_Block_col = loader.loadModel("../../models/H_Block/H_Block_collision")
self.H_Block_col.ls()
# creating triangle meshes for all static nodes
self.hBlockRoomGeom = self.H_Block_col.getChild(0).getNode(0).getGeom(0)
self.hBlockBulletMesh = BulletTriangleMesh()
self.hBlockBulletMesh.addGeom(self.hBlockRoomGeom)
self.hBlockBulletShape = BulletTriangleMeshShape(self.hBlockBulletMesh, dynamic=False)
self.bulletHBlockNode = BulletRigidBodyNode('hBlockNode')
self.bulletHBlockNode.addShape(self.hBlockBulletShape)
self.mainRef.world.attachRigidBody(self.bulletHBlockNode)
self.mainRef.render.attachNewNode(self.bulletHBlockNode).setCollideMask(BitMask32.allOn())
# arrays containing all regions and portals dividing those regions
self.convexRegions = []
self.portals = []
self.convexRegionsGeometry = loader.loadModel("../../models/H_Block/ConvexRegions2")
self.portalsGeometry = loader.loadModel("../../models/H_Block/Portals2")
# self.portalsGeometry.reparentTo(self.mainRef.render)
# Regions
self.convexRegions.append( Region(0) ) # Just making the access to convexRegions easier
for convexRegion in self.convexRegionsGeometry.getChild(0).getChildren():
regionNode = convexRegion.getNode(0)
regionID = int( regionNode.getTag("prop") )
self.convexRegions.append( Region(regionID) )
# Get vertices that define the convex region
vertexReader = GeomVertexReader(regionNode.getGeom(0).getVertexData(), InternalName.getVertex())
while( not(vertexReader.isAtEnd() ) ):
data = vertexReader.getData3()
X = data.getX()
Y = data.getY()
Z = data.getZ()
self.convexRegions[-1].vertices.append(Vec3(X,Y,Z))
self.convexRegions = sorted(self.convexRegions, key=lambda convexRegion: convexRegion.regionID)
# Debug
# for cr in self.convexRegions:
# print cr.regionID
# Portals
for portal in self.portalsGeometry.getChild(0).getChildren():
portalNode = portal.getNode(0)
# Get vertices that define the portal
frontiers = []
vertexReader = GeomVertexReader(portalNode.getGeom(0).getVertexData(), InternalName.getVertex())
for i in range(2): # We got 2 vertices per portal
data = vertexReader.getData3()
X = data.getX()
Y = data.getY()
frontiers.append(Vec2(X,Y))
connectedRegionsIDs = map(int, portalNode.getTag("prop").split(','))
self.portals.append( Portal(connectedRegionsIDs, frontiers) )
self.convexRegions[ connectedRegionsIDs[0] ].portalEntrancesList.append( PortalEntrance( self.portals[-1], connectedRegionsIDs[1] ) )
self.convexRegions[ connectedRegionsIDs[1] ].portalEntrancesList.append( PortalEntrance( self.portals[-1], connectedRegionsIDs[0] ) )
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.debugNP.node().showWireframe(True)
self.debugNP.node().showConstraints(True)
self.debugNP.node().showBoundingBoxes(False)
self.debugNP.node().showNormals(False)
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
body = BulletRigidBodyNode('Ground')
bodyNP = self.worldNP.attachNewNode(body)
bodyNP.node().addShape(shape)
bodyNP.setPos(0, 0, 0)
bodyNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(bodyNP.node())
# Bowl
visNP = loader.loadModel('models/bowl.egg')
geom = visNP.findAllMatches('**/+GeomNode').getPath(0).node().getGeom(0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=True)
body = BulletRigidBodyNode('Bowl')
bodyNP = self.worldNP.attachNewNode(body)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(10.0)
bodyNP.setPos(0, 0, 0)
bodyNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(bodyNP.node())
visNP.reparentTo(bodyNP)
self.bowlNP = bodyNP
self.bowlNP.setScale(2)
# Eggs
self.eggNPs = []
for i in range(5):
x = random.gauss(0, 0.1)
y = random.gauss(0, 0.1)
z = random.gauss(0, 0.1) + 1
h = random.random() * 360
p = random.random() * 360
r = random.random() * 360
visNP = loader.loadModel('models/egg.egg')
geom = visNP.findAllMatches('**/+GeomNode').getPath(0).node().getGeom(0)
shape = BulletConvexHullShape()
shape.addGeom(geom)
body = BulletRigidBodyNode('Egg-%i' % i)
bodyNP = self.worldNP.attachNewNode(body)
bodyNP.node().setMass(1.0)
bodyNP.node().addShape(shape)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPosHpr(x, y, z, h, p, r)
#bodyNP.setScale(1.5)
self.world.attachRigidBody(bodyNP.node())
visNP.reparentTo(bodyNP)
self.eggNPs.append(bodyNP)
def setup(self):
# Setup scene 1: bullet World
self.worldNP = render.attachNewNode('World')
# Debug bullet nodepath
self.debugNP = render.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.node().showWireframe(True)
self.debugNP.node().showConstraints(True)
self.debugNP.node().showBoundingBoxes(False)
self.debugNP.node().showNormals(True)
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Setup scene 2: city
# Store the visual model in visNP
visNP = loader.loadModel(self.map)
visNP.ls()
#Find all the geom's in the models visual node path;
#There should only be one so we d ont need to iterate th rough all geoms found
#This is so we can get the vertex information
#We want to only find the lowpoly collision mesh geomnodes.
geomCollect = visNP.findAllMatches('**/=col=1')
#Create a mesh to store the data.
mesh = BulletTriangleMesh()
#loop through all the geoms found and add them to the mesh
for np in geomCollect:
ts = np.getTransform(visNP)
for i in range(np.node().getNumGeoms()):
geom = np.node().getGeom(i)
#Add the geom information to the mesh
#along with transform information from the visual mesh
mesh.addGeom(geom, True, ts)
#create a physical shape out of the triangle mesh information
shape = BulletTriangleMeshShape(mesh, dynamic=False)
#Create a rigid body node to add the shape too.
body = BulletRigidBodyNode('City')
#Attach the city node to the worldNP so its visible
bodyNP = self.worldNP.attachNewNode(body)
#Add the shape we created to the node
bodyNP.node().addShape(shape)
#bodyNP.node().setMass(0.0)
bodyNP.setPos(0, 0, 0)
bodyNP.setCollideMask(BitMask32.allOn())
#Attach it to the bullet world so its simulated
self.world.attachRigidBody(bodyNP.node())
#Reparent the visual node to the collision mesh node
visNPHigh = visNP.find('**/=vis=1')
visNPHigh.reparentTo(bodyNP)
self.level = bodyNP
axis = loader.loadModel('zup-axis.egg')
axis.reparentTo(base.render)
axis.setPos(hndpos)
axis.setScale(50)
axis.lookAt(hndpos+ydirect)
bullcldrnp = base.render.attachNewNode("bulletcollider")
base.world = BulletWorld()
# hand base
# rtq85hnd.rtq85np.find("**/rtq85base").showTightBounds()
gbnp = rtq85hnd.rtq85np.find("**/rtq85base").find("**/+GeomNode")
gb = gbnp.node().getGeom(0)
gbts = gbnp.getTransform(base.render)
gbmesh = BulletTriangleMesh()
gbmesh.addGeom(gb)
bbullnode = BulletRigidBodyNode('gb')
bbullnode.addShape(BulletTriangleMeshShape(gbmesh, dynamic=True), gbts)
bcollidernp=bullcldrnp.attachNewNode(bbullnode)
base.world.attachRigidBody(bbullnode)
bcollidernp.setCollideMask(BitMask32.allOn())
# rtq85hnd.rtq85np.find("**/rtq85lfgrtip").showTightBounds()
glftnp = rtq85hnd.rtq85np.find("**/rtq85lfgrtip").find("**/+GeomNode")
glft = glftnp.node().getGeom(0)
glftts = glftnp.getTransform(base.render)
glftmesh = BulletTriangleMesh()
glftmesh.addGeom(glft)
# lftbullnode = BulletRigidBodyNode('glft')
# lftbullnode.addShape(BulletTriangleMeshShape(glftmesh, dynamic=True), glftts)
# lftcollidernp=bullcldrnp.attachNewNode(lftbullnode)
def __addTriangleMesh(self, body, geom, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1), dynamic=True):
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=dynamic )
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def setup(self):
# Debug (useful to turn on for physics)
self.debugNP = self.render.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.hide()
# Physics World
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Main Character
self.player = Player()
self.player.createPlayer(render, self.world)
# Enemies
self.createEnemies()
# Music
self.backgroundMusic = loader.loadSfx('../sounds/elfman-piano-solo.ogg')
self.backgroundMusic.setLoop(True)
self.backgroundMusic.stop()
self.backgroundMusic.setVolume(0.9) # lower this when I add sound effects
# Sound Effects
self.collect = base.loader.loadSfx("../sounds/collect-sound.wav")
self.collect.setVolume(1)
self.damage = base.loader.loadSfx("../sounds/damage.wav")
self.damage.setVolume(0.5)
self.winner = base.loader.loadSfx("../sounds/win-yay.wav")
self.winner.setVolume(1)
self.dead = base.loader.loadSfx("../sounds/severe-damage.wav")
self.dead.setVolume(1)
# Level 1 Skybox
self.skybox = loader.loadModel('../models/skybox_galaxy.egg')
self.skybox.setScale(1000) # make big enough to cover whole terrain
self.skybox.setBin('background', 1)
self.skybox.setDepthWrite(0)
self.skybox.setLightOff()
self.skybox.reparentTo(render)
# Lighting
dLight = DirectionalLight("dLight")
dLight.setColor(Vec4(0.8, 0.8, 0.5, 1))
dLight.setDirection(Vec3(-5, -5, -5))
dlnp = render.attachNewNode(dLight)
dlnp.setHpr(0, 60, 0)
render.setLight(dlnp)
aLight = AmbientLight("aLight")
aLight.setColor(Vec4(0.5, 0.5, 0.5, 1))
alnp = render.attachNewNode(aLight)
render.setLight(alnp)
# Fog
colour = (0.2, 0.2, 0.3)
genfog = Fog("general fog")
genfog.setColor(*colour)
genfog.setExpDensity(0.003)
render.setFog(genfog)
base.setBackgroundColor(*colour)
# Create wall (x, y, z, h)
self.createWall(-30.2215, -6.2, -2, 45)
self.createWall(-203, 555.8, -2, 70)
#-----Level 1 Platforms-----
# Platform to collect B
self.createPlatform(72, 70.2927, -1)
# Platforms to collect R
self.createPlatform(211, 210, -1)
self.createPlatform(225, 223, 2.7)
# Platforms to collect E and A
self.createPlatform(330, 462, -0.4)
self.createPlatform(340, 471, 2.1)
self.createPlatform(350, 480, 4)
self.createPlatform(335, 483, 5)
# Platforms to collect K
self.createPlatform(184, 712, -1)
self.createPlatform(208, 730, -1)
self.createPlatform(207, 711, -1)
self.createPlatform(186, 731, -1)
#-----Level 2 Platforms-----
# Moving platforms
if self.movingPlatforms > 0:
del self.movingPlatforms[:]
self.createMovingPlatforms()
# Create complex mesh for Track using BulletTriangleMeshShape
mesh = BulletTriangleMesh()
self.track = loader.loadModel("../models/mountain_valley_track.egg")
self.track.flattenStrong()
for geomNP in self.track.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(self.track)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
node = BulletRigidBodyNode('Track')
node.setMass(0)
node.addShape(shape)
tracknn = render.attachNewNode(node)
self.world.attachRigidBody(tracknn.node())
tracknn.setPos(27, -5, -2)
self.track.reparentTo(tracknn)
def planContactpairs(self, torqueresist = 50, fgrtipdist = 82):
"""
find the grasps using parallel pairs
:param: torqueresist the maximum allowable distance to com
:param: fgrtipdist the maximum dist between finger tips
:return:
author: weiwei
date: 20161130, harada office @ osaka university
"""
# note that pairnormals and pairfacets are duplicated for each contactpair
# the duplication is performed on purpose for convenient access
# also, each contactpair"s" corresponds to a facetpair
# it is empty when no contactpair is available
self.gripcontactpairs = []
# gripcontactpairnormals and gripcontactpairfacets are not helpful
# they are kept for convenience (they could be accessed using facetnormals and facetpairs)
self.gripcontactpairnormals = []
self.gripcontactpairfacets = []
# for precollision detection
# bulletworldprecc = BulletWorld()
# # build the collision shape of objtrimesh
# geomobj = pandageom.packpandageom(self.objtrimesh.vertices, self.objtrimesh.face_normals,
# self.objtrimesh.faces)
# objmesh = BulletTriangleMesh()
# objmesh.addGeom(geomobj)
# objmeshnode = BulletRigidBodyNode('objmesh')
# objmeshnode.addShape(BulletTriangleMeshShape(objmesh, dynamic=True))
# bulletworldprecc.attachRigidBody(objmeshnode)
# for raytracing
bulletworldray = BulletWorld()
nfacets = self.facets.shape[0]
self.facetpairs = list(itertools.combinations(range(nfacets), 2))
for facetpair in self.facetpairs:
# print "facetpair"
# print facetpair, len(self.facetpairs)
self.gripcontactpairs.append([])
self.gripcontactpairnormals.append([])
self.gripcontactpairfacets.append([])
# if one of the facet doesnt have samples, jump to next
if self.objsamplepnts_refcls[facetpair[0]].shape[0] is 0 or \
self.objsamplepnts_refcls[facetpair[1]].shape[0] is 0:
# print "no sampled points"
continue
# check if the faces are opposite and parallel
dotnorm = np.dot(self.facetnormals[facetpair[0]], self.facetnormals[facetpair[1]])
if dotnorm < -0.95:
# check if any samplepnts's projection from facetpairs[i][0] falls in the polygon of facetpairs[i][1]
facet0pnts = self.objsamplepnts_refcls[facetpair[0]]
facet0normal = self.facetnormals[facetpair[0]]
facet1normal = self.facetnormals[facetpair[1]]
# generate collision mesh
facetmesh = BulletTriangleMesh()
faceidsonfacet = self.facets[facetpair[1]]
geom = pandageom.packpandageom(self.objtrimesh.vertices,
self.objtrimesh.face_normals[faceidsonfacet],
self.objtrimesh.faces[faceidsonfacet])
facetmesh.addGeom(geom)
facetmeshbullnode = BulletRigidBodyNode('facet')
facetmeshbullnode.addShape(BulletTriangleMeshShape(facetmesh, dynamic=True))
bulletworldray.attachRigidBody(facetmeshbullnode)
# check the projection of a ray
for facet0pnt in facet0pnts:
pFrom = Point3(facet0pnt[0], facet0pnt[1], facet0pnt[2])
pTo = pFrom + Vec3(facet1normal[0], facet1normal[1], facet1normal[2])*9999
result = bulletworldray.rayTestClosest(pFrom, pTo)
if result.hasHit():
hitpos = result.getHitPos()
if np.linalg.norm(np.array(facet0pnt.tolist())-np.array([hitpos[0], hitpos[1], hitpos[2]])) < fgrtipdist:
fgrcenter = (np.array(facet0pnt.tolist())+np.array([hitpos[0], hitpos[1], hitpos[2]]))/2.0
# avoid large torque
if np.linalg.norm(self.objtrimesh.center_mass - fgrcenter) < torqueresist:
self.gripcontactpairs[-1].append([facet0pnt.tolist(), [hitpos[0], hitpos[1], hitpos[2]]])
self.gripcontactpairnormals[-1].append([[facet0normal[0], facet0normal[1], facet0normal[2]],
[facet1normal[0], facet1normal[1], facet1normal[2]]])
self.gripcontactpairfacets[-1].append(facetpair)
# pre collision checking: it takes one finger as a cylinder and
# computes its collision with the object
## first finger
# cylindernode0 = BulletRigidBodyNode('cylindernode0')
# cylinder0height = 50
# cylinder0normal = Vec3(facet0normal[0], facet0normal[1], facet0normal[2])
# cylindernode0.addShape(BulletCylinderShape(radius=self.preccradius,
# height=cylinder0height,
# up=cylinder0normal),
# TransformState.makePos(pFrom+cylinder0normal*cylinder0height*.6))
# bulletworldprecc.attachRigidBody(cylindernode0)
# ## second finger
# cylindernode1 = BulletRigidBodyNode('cylindernode1')
# cylinder1height = cylinder1height
# # use the inverse of facet0normal instead of facet1normal to follow hand orientation
# cylinder1normal = Vec3(-facet0normal[0], -facet0normal[1], -facet0normal[2])
# cylindernode1.addShape(BulletCylinderShape(radius=self.preccradius,
# height=cylinder1height,
# up=cylinder1normal),
# TransformState.makePos(pFrom+cylinder1normal*cylinder1height*.6))
# bulletworldprecc.attachRigidBody(cylindernode1)
# if bulletworldprecc.contactTestPair(cylindernode0, objmeshnode) and \
# bulletworldprecc.contactTestPair(cylindernode1, objmeshnode):
bulletworldray.removeRigidBody(facetmeshbullnode)
# update the pairs
availablepairids = np.where(self.gripcontactpairs)[0]
self.facetpairs = np.array(self.facetpairs)[availablepairids]
self.gripcontactpairs = np.array(self.gripcontactpairs)[availablepairids]
self.gripcontactpairnormals = np.array(self.gripcontactpairnormals)[availablepairids]
self.gripcontactpairfacets = np.array(self.gripcontactpairfacets)[availablepairids]
