def __init__(self, canRender=0):
self.canRender = canRender
self.world = OdeWorld()
self.space = OdeSimpleSpace()
self.contactgroup = OdeJointGroup()
self.bodyList = []
self.geomList = []
self.massList = []
self.rayList = []
self.showContacts = 0
self.jointMarkers = []
self.jointMarkerCount = 64
self.meshDataList = []
self.geomDataList = []
self.commonObjectInfoDict = {}
self.maxColCount = 0
if self.canRender:
self.odePandaRelationList = self.bodyList
self.root = render.attachNewNode('physics root node')
else:
self.root = NodePath('physics root node')
self.placerNode = self.root.attachNewNode('Placer')
self.subPlacerNode = self.placerNode.attachNewNode('Placer Sub Node')
self.commonObjectDict = {}
self.commonId = 0
self.worldAttach = self.root.attachNewNode('physics geom attach point')
self.timingCycleLength = 10.0
self.timingCycleOffset = 0.0
self.timingSimTime = 0.0
self.FPS = 60.0
self.DTAStep = 1.0 / self.FPS
self.DTA = 0
self.useQuickStep = False
self.deterministic = True
self.numStepsInSimulateTask = 0
class Monde(OdeWorld):
def __init__(self, app):
OdeWorld.__init__(self)
self.app = app
self.lock = Lock()
# Creation d'un espace
self.espace = OdeSimpleSpace()
# Activation de la collision automatique
self.espace.setAutoCollideWorld(self)
# Creation d'une jointure entre les collisions
self.contactgroup = OdeJointGroup()
self.espace.setAutoCollideJointGroup(self.contactgroup)
# Creation d'une liste rassemblant les elements dynamique
self.elements = []
def ajouter_element(self, element):
self.lock.acquire()
# Ajout d'un element
if element not in self.elements:
self.elements.append(element)
self.lock.release()
def retirer_element(self, element):
self.lock.acquire()
# Suppression d'un element
if element in self.elements:
self.elements.remove(element)
self.lock.release()
def lancer(self):
self.app.taskMgr.doMethodLater(1.0 / self.app.FPS, self.simulation,
"SimulationPhysique")
def arreter(self):
self.app.taskMgr.remove("SimulationPhysique")
def simulation(self, task):
self.espace.autoCollide() # Setup the contact joints
# Step the simulation and set the new positions
self.quickStep(1.0 / self.app.FPS)
self.lock.acquire()
# Met a jour chaque element dynamique lier a la physique du jeu
for element in self.elements:
element.maj_physique()
self.lock.release()
self.contactgroup.empty() # Clear the contact joints
return task.cont
def setup_ODE(self):
# Setup our physics world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 200, 0.7, 0.2, 0.9, 0.00001, 0.0,
0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.space.setCollisionEvent("on_collision")
def __init__(self, app):
OdeWorld.__init__(self)
self.app = app
self.lock = Lock()
# Creation d'un espace
self.espace = OdeSimpleSpace()
# Activation de la collision automatique
self.espace.setAutoCollideWorld(self)
# Creation d'une jointure entre les collisions
self.contactgroup = OdeJointGroup()
self.espace.setAutoCollideJointGroup(self.contactgroup)
# Creation d'une liste rassemblant les elements dynamique
self.elements = []
def setup_ODE(self):
# Setup our physics world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 200, 0.7, 0.2, 0.9, 0.00001, 0.0, 0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.space.setCollisionEvent("on_collision")
def create_ode_world(self):
self.world = OdeWorld()
self.world.setGravity(0,0,-9.81)
self.world.initSurfaceTable(1)
#self.world.setSurfaceEntry(0,0,0.5,0.35,0.1,0.9,0.00001,0.4,0.002)
self.world.setSurfaceEntry(0,0,0.8,0.7,0.1,0.9,0.00001,0.4,0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.groundGeom = OdePlaneGeom(self.space, Vec4(0,0,1,0))
def ode_cols(self):
world = OdeWorld()
world.setGravity(0, 0, -9)
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)
space.autoCollide()
#try ODE for collisions
t_trimesh = OdeTriMeshData(self.terrain.getRoot(), True)
t_geom = OdeTriMeshGeom(space, t_trimesh)
def __init__(self):
#init the world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
#init the friction
self.world.initSurfaceTable(1)
surfaceId1 = 0
surfaceId2 = 0
mu = 500
bounce = 0. # 2
bounce_vel = 0.1
soft_erp = 0.9
soft_cfm = 0.00001
slip = 0.0
dampen = 0.002
self.world.setSurfaceEntry(
surfaceId1,
surfaceId2,
mu,
bounce,
bounce_vel,
soft_erp,
soft_cfm,
slip,
dampen)
#init the collision space
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contactgroup = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contactgroup)
self.servogroup = OdeJointGroup()
#cm = CardMaker("ground")
#cm.setFrame(-20, 20, -20, 20)
#ground = render.attachNewNode(cm.generate())
#ground.setPos(0, 0, 0); ground.lookAt(0, 0, -1)
# Ground definition
self.groundGeom = OdePlaneGeom(self.space, Vec4(0, 0, 1, 0))
self.groundGeom.setCollideBits(BitMask32(0x00000001))
self.groundGeom.setCategoryBits(BitMask32(0x00000002))
self.deltaTimeAccumulator = 0.0
self.stepSize = 0.01
def __init__(self, game):
super(World, self).__init__()
self.game = game
self.things = []
#initialize the rendering
self.renderer = self.game.render
self.initFog()
#FIXME do better lighting
alight = AmbientLight('alight')
alight.setColor(VBase4(0.2, 0.2, 0.2, 1))
alnp = self.renderer.attachNewNode(alight)
self.renderer.setLight(alnp)
#initialize a hud
self.hud = HUD()
self.add(self.hud)
#physics
self.world = OdeWorld()
self.world.setGravity(0, -20, 0) #FIXME (0,-9.81) would be realistic physics
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 0.6, 0.0, 9.1, 0.9, 0.00001, 1.0, 0.02) #FIXME I have no idea what this means
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contactGroup = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contactGroup)
#constrain to 2d
self.plane = OdePlane2dJoint(self.world)
self.timeAccumulator = 0
self.dt = 1.0 / 60.0
#give it a player
self.player = Player(self, Point3(0,10,0))
self.add(self.player)
self.game.taskMgr.add(self.player.move, "movePlayer")
class MinigamePhysicsWorldBase:
notify = DirectNotifyGlobal.directNotify.newCategory(
'MinigamePhysicsWorldBase')
def __init__(self, canRender=0):
self.canRender = canRender
self.world = OdeWorld()
self.space = OdeSimpleSpace()
self.contactgroup = OdeJointGroup()
self.bodyList = []
self.geomList = []
self.massList = []
self.rayList = []
self.showContacts = 0
self.jointMarkers = []
self.jointMarkerCount = 64
self.meshDataList = []
self.geomDataList = []
self.commonObjectInfoDict = {}
self.maxColCount = 0
if self.canRender:
self.odePandaRelationList = self.bodyList
self.root = render.attachNewNode('physics root node')
else:
self.root = NodePath('physics root node')
self.placerNode = self.root.attachNewNode('Placer')
self.subPlacerNode = self.placerNode.attachNewNode('Placer Sub Node')
self.commonObjectDict = {}
self.commonId = 0
self.worldAttach = self.root.attachNewNode('physics geom attach point')
self.timingCycleLength = 10.0
self.timingCycleOffset = 0.0
self.timingSimTime = 0.0
self.FPS = 60.0
self.DTAStep = 1.0 / self.FPS
self.DTA = 0
self.useQuickStep = False
self.deterministic = True
self.numStepsInSimulateTask = 0
self.collisionEventName = 'ode-collision-%s' % id(self)
self.space.setCollisionEvent(self.collisionEventName)
self.accept(self.collisionEventName, self.__handleCollision)
def delete(self):
self.notify.debug('Max Collision Count was %s' % self.maxColCount)
self.stopSim()
self.commonObjectDict = None
if self.canRender:
for pair in self.odePandaRelationList:
pair[0].removeNode()
pair[1].destroy()
self.odePandaRelationList = None
else:
for body in self.bodyList:
body[1].destroy()
self.bodyList = None
for mass in self.massList:
mass = None
for geom in self.geomList:
geom.destroy()
geom = None
for ray in self.rayList:
ray.destroy()
ray = None
self.placerNode.removeNode()
self.root.removeNode()
for marker in self.jointMarkers:
marker.removeNode()
self.jointMarkers = None
for data in self.geomDataList:
data.destroy()
for data in self.meshDataList:
data.destroy()
self.contactgroup.empty()
self.world.destroy()
self.space.destroy()
self.world = None
self.space = None
self.ignore(self.collisionEventName)
return
def setupSimulation(self):
if self.canRender:
for count in xrange(self.jointMarkerCount):
testMarker = render.attachNewNode('Joint Marker')
ballmodel = loader.loadModel('phase_3/models/misc/sphere')
ballmodel.reparentTo(testMarker)
ballmodel.setScale(0.1)
testMarker.setPos(0.0, 0.0, -100.0)
self.jointMarkers.append(testMarker)
def startSim(self):
taskMgr.add(self.__simulationTask, 'simulation task')
def stopSim(self):
taskMgr.remove('simulation task')
def __simulationTask(self, task):
self.DTA += globalClock.getDt()
numSteps = int(self.DTA / self.DTAStep)
if numSteps > 10:
self.notify.warning('phyics steps = %d' % numSteps)
startTime = globalClock.getRealTime()
while self.DTA >= self.DTAStep:
if self.deterministic:
OdeUtil.randSetSeed(0)
self.DTA -= self.DTAStep
self.preStep()
self.simulate()
self.postStep()
if self.canRender:
self.placeBodies()
return task.cont
def preStep(self):
pass
def postStep(self):
if self.showContacts and self.canRender:
for count in xrange(self.jointMarkerCount):
pandaNodePathGeom = self.jointMarkers[count]
if count < self.colCount:
pandaNodePathGeom.setPos(
self.space.getContactData(count * 3 + 0),
self.space.getContactData(count * 3 + 1),
self.space.getContactData(count * 3 + 2))
else:
pandaNodePathGeom.setPos(0.0, 0.0, -100.0)
def __handleCollision(self, entry):
self.colEntries.append(entry)
def simulate(self):
self.colEntries = []
self.space.autoCollide()
eventMgr.doEvents()
self.colCount = len(self.colEntries)
if self.maxColCount < self.colCount:
self.maxColCount = self.colCount
self.notify.debug('New Max Collision Count %s' % self.maxColCount)
if self.useQuickStep:
self.world.quickStep(self.DTAStep)
else:
self.world.step(self.DTAStep)
for bodyPair in self.bodyList:
self.world.applyDampening(self.DTAStep, bodyPair[1])
self.contactgroup.empty()
self.timingSimTime = self.timingSimTime + self.DTAStep
def placeBodies(self):
for pair in self.odePandaRelationList:
pandaNodePathGeom = pair[0]
odeBody = pair[1]
if pandaNodePathGeom:
pandaNodePathGeom.setPos(odeBody.getPosition())
pandaNodePathGeom.setQuat(
Quat(odeBody.getQuaternion()[0],
odeBody.getQuaternion()[1],
odeBody.getQuaternion()[2],
odeBody.getQuaternion()[3]))
def getOrderedContacts(self, entry):
c0 = self.space.getCollideId(entry.getGeom1())
c1 = self.space.getCollideId(entry.getGeom2())
if c0 > c1:
return c1, c0
else:
return c0, c1
class PhysicsSimulator(ShowBase):
def __init__(self):
ShowBase.__init__(self)
self.smiley = loader.loadModel("smiley")
self.smiley.set_scale(1)
self.cam.set_pos(0, -50, 25)
self.setup_ODE()
self.add_ground()
self.add_static_box(1, 1, 1)
self.s1 = self.add_smiley(0, 0, 50)
self.s2 = self.add_smiley(0, 0, 40)
self.accept("escape", sys.exit)
self.accept('a', self.velocity)
taskMgr.add(self.update_ODE, "update_ODE")
self.accept('on_collision', self.on_collision)
def velocity(self):
self.s2.set_linear_vel(0, 0, 10)
def setup_ODE(self):
# Setup our physics world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 200, 0.7, 0.2, 0.9, 0.00001, 0.0, 0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.space.setCollisionEvent("on_collision")
def on_collision(self, entry):
geom1 = entry.getGeom1()
geom2 = entry.getGeom2()
body1 = entry.getBody1()
body2 = entry.getBody2()
def add_ground(self):
cm = CardMaker("ground")
cm.setFrame(-1, 1, -1, 1)
ground = render.attachNewNode(cm.generate())
ground.setColor(0.5, 0.7, 0.8)
ground.lookAt(0, 0, -1)
groundGeom = OdePlaneGeom(self.space, Vec4(0, 0, 1, 0))
def add_smiley(self, x, y, z):
sm = render.attachNewNode("smiley-instance")
sm.setPos(x, y, z)
self.smiley.instanceTo(sm)
body = OdeBody(self.world)
mass = OdeMass()
mass.setSphereTotal(10, 1)
body.setMass(mass)
body.setPosition(sm.getPos())
geom = OdeSphereGeom(self.space, 1)
geom.setBody(body)
sm.setPythonTag("body", body)
return body
def add_static_box(self, x, y, z):
self.box = OdeBoxGeom(self.space, Vec3(x, y, z))
self.box.set_position(0, 0, 25)
def draw_box(self, box):
line_collection = LineNodePath(parent=render, thickness=1.0, colorVec=Vec4(1, 0, 0, 1))
pos = box.get_position()
lengths = box.get_lengths()
x = pos[0]
y = pos[1]
z = pos[2]
half_width = lengths[0] / 2
half_length = lengths[1] / 2
half_height = lengths[2] / 2
lines = [
# Bottom Face
((x - half_width, y - half_length, z - half_height), (x + half_width, y - half_length, z - half_height)),
((x + half_width, y - half_length, z - half_height), (x + half_width, y + half_length, z - half_height)),
((x + half_width, y + half_length, z - half_height), (x - half_width, y + half_length, z - half_height)),
((x - half_width, y + half_length, z - half_height), (x - half_width, y - half_length, z - half_height)),
# Top Face
((x - half_width, y - half_length, z + half_height), (x + half_width, y - half_length, z + half_height)),
((x + half_width, y - half_length, z + half_height), (x + half_width, y + half_length, z + half_height)),
((x + half_width, y + half_length, z + half_height), (x - half_width, y + half_length, z + half_height)),
((x - half_width, y + half_length, z + half_height), (x - half_width, y - half_length, z + half_height)),
# Vertical Lines
((x - half_width, y - half_length, z - half_height), (x - half_width, y - half_length, z + half_height)),
((x + half_width, y - half_length, z - half_height), (x + half_width, y - half_length, z + half_height)),
((x + half_width, y + half_length, z - half_height), (x + half_width, y + half_length, z + half_height)),
((x - half_width, y + half_length, z - half_height), (x - half_width, y + half_length, z + half_height)),
]
line_collection.drawLines(lines)
line_collection.create()
def update_ODE(self, task):
self.space.autoCollide()
self.world.quickStep(globalClock.getDt())
self.draw_box(self.box)
for smiley in render.findAllMatches("smiley-instance"):
body = smiley.getPythonTag("body")
smiley.setPosQuat(body.getPosition(), Quat(body.getQuaternion()))
self.contacts.empty()
return task.cont
class BaseApp(ShowBase):
odeBoxes = []
def createOdeEnv(self, model):
geomNodeCollection = model.findAllMatches('**/+GeomNode')
for nodePath in geomNodeCollection:
geomNode = nodePath.node()
#print "\n\nGeomNode: ", geomNode.getName()
for i in range(geomNode.getNumGeoms()):
geom = geomNode.getGeom(i)
#state = geomNode.getGeomState(i)
T = geomNode.getTransform()
#print " - ", T
pos = T.getPos()
if T.hasComponents():
Q = T.getQuat()
S = T.getScale()
vdata = geom.getVertexData()
vertex = GeomVertexReader(vdata, 'vertex')
#mins and maxes for MBB
minX = 1e10
maxX = -1e10
minY = 1e10
maxY = -1e10
minZ = 1e10
maxZ = -1e10
while not vertex.isAtEnd():
v = vertex.getData3f()
minX = min(minX,v[0])
minY = min(minY,v[1])
minZ = min(minZ,v[2])
maxX = max(maxX,v[0])
maxY = max(maxY,v[1])
maxZ = max(maxZ,v[2])
#print "v = %s" % (repr(v))
#print "X:(%f->%f) Y(%f->%f) Z(%f->%f)" % (minX, maxX, minY, maxY, minZ, maxZ)
minX *= S[0]
maxX *= S[0]
minY *= S[1]
maxY *= S[1]
minZ *= S[2]
maxZ *= S[2]
#print "X:(%f->%f) Y(%f->%f) Z(%f->%f)" % (minX, maxX, minY, maxY, minZ, maxZ)
box = OdeBoxGeom(self.space, maxX-minX, maxY-minY, maxZ-minZ)
box.setPosition(pos)
box.setQuaternion(Q)
self.odeBoxes.append(box)
else:
print "Error Transform does not have components - skipping"
def load_environment(self, modelfile):
self.room = loader.loadModel(modelfile)
self.room.reparentTo(render)
self.room.setPos(0,0,0)
self.createOdeEnv(self.room)
def __init__(self):
ShowBase.__init__(self)
ambLight = AmbientLight("ambient")
ambLight.setColor(Vec4(0.1,0.11,0.12,1.0))
ambNode = render.attachNewNode(ambLight)
render.setLight(ambNode)
dirLight = DirectionalLight("directional")
dirLight.setColor(Vec4(0.7,0.7,0.68,1.0))
dirNode = render.attachNewNode(dirLight)
dirNode.setHpr(60,-40,90)
render.setLight(dirNode)
sptLight = Spotlight("spot")
sptLens = PerspectiveLens()
sptLight.setLens(sptLens)
sptLight.setColor(Vec4(0.6,0.6,0.6,1.0))
sptLight.setShadowCaster(True)
sptNode = render.attachNewNode(sptLight)
sptNode.setPos(0,0,20)
sptNode.lookAt(0,0,0)
render.setLight(sptNode)
render.setShaderAuto()
base.camLens.setFov(70)
base.camLens.setNear(0.1)
base.camLens.setFar(50)
self.cam.setPos(-1,-4,4)
self.cam.lookAt(0,-1,1)
def create_ode_world(self):
self.world = OdeWorld()
self.world.setGravity(0,0,-9.81)
self.world.initSurfaceTable(1)
#self.world.setSurfaceEntry(0,0,0.5,0.35,0.1,0.9,0.00001,0.4,0.002)
self.world.setSurfaceEntry(0,0,0.8,0.7,0.1,0.9,0.00001,0.4,0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.groundGeom = OdePlaneGeom(self.space, Vec4(0,0,1,0))
def updateODE(self, n_millis):
for n in range(0,n_millis):
self.space.autoCollide()
self.world.quickStep(0.001)
self.contacts.empty()
return True
from panda3d.ode import OdeBody, OdeMass, OdeBoxGeom, OdePlaneGeom, OdeTriMeshGeom, OdeTriMeshData
from panda3d.core import BitMask32, CardMaker, Vec4, Quat
from random import randint, random
# Setup our physics world
world = OdeWorld()
world.setGravity(0, 0, -9.81)
# The surface table is needed for autoCollide
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)
# Load the box
box = loader.loadModel("box")
# Make sure its center is at 0, 0, 0 like OdeBoxGeom
box.setPos(-.5, -.5, -.5)
box.flattenLight() # Apply transform
box.setTextureOff()
# Add a random amount of boxes
boxes = []
for i in range(randint(5, 10)):
# Setup the geometry
boxNP = box.copyTo(render)
# boxNP.setPos(randint(-10, 10), randint(-10, 10), 10 + random())
class World(object):
def __init__(self, game):
super(World, self).__init__()
self.game = game
self.things = []
#initialize the rendering
self.renderer = self.game.render
self.initFog()
#FIXME do better lighting
alight = AmbientLight('alight')
alight.setColor(VBase4(0.2, 0.2, 0.2, 1))
alnp = self.renderer.attachNewNode(alight)
self.renderer.setLight(alnp)
#initialize a hud
self.hud = HUD()
self.add(self.hud)
#physics
self.world = OdeWorld()
self.world.setGravity(0, -20, 0) #FIXME (0,-9.81) would be realistic physics
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 0.6, 0.0, 9.1, 0.9, 0.00001, 1.0, 0.02) #FIXME I have no idea what this means
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contactGroup = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contactGroup)
#constrain to 2d
self.plane = OdePlane2dJoint(self.world)
self.timeAccumulator = 0
self.dt = 1.0 / 60.0
#give it a player
self.player = Player(self, Point3(0,10,0))
self.add(self.player)
self.game.taskMgr.add(self.player.move, "movePlayer")
def initFog(self):
f = Fog("World Fog")
f.setColor(0.5,0.5,0.5)
f.setLinearOnsetPoint(0,0,0)
f.setLinearOpaquePoint(0,0,-Thing.REVERTS_VISIBLE * 3)#THING_REVERT_DISTANCE)
self.renderer.attachNewNode(f)
self.renderer.setFog(f)
def add(self, obj):
obj.model.reparentTo(self.renderer)
if isinstance(obj, Physical):
self.things += [obj]
self.plane.attach(obj.body, None)
def step(self, task):
self.timeAccumulator += globalClock.getDt()
while(self.timeAccumulator > self.dt):
self.timeAccumulator -= self.dt
self.space.autoCollide()
self.world.quickStep(self.dt)
self.contactGroup.empty()
for x in self.things:
x.constrainQuat()
x.model.setPosQuat(self.renderer, x.body.getPosition(), Quat(x.body.getQuaternion()))
return task.cont
class PhysicsSimulator(ShowBase):
def __init__(self):
ShowBase.__init__(self)
self.smiley = loader.loadModel("smiley")
self.smiley.set_scale(1)
self.cam.set_pos(0, -50, 25)
self.setup_ODE()
self.add_ground()
self.add_static_box(1, 1, 1)
self.s1 = self.add_smiley(0, 0, 50)
self.s2 = self.add_smiley(0, 0, 40)
self.accept("escape", sys.exit)
self.accept('a', self.velocity)
taskMgr.add(self.update_ODE, "update_ODE")
self.accept('on_collision', self.on_collision)
def velocity(self):
self.s2.set_linear_vel(0, 0, 10)
def setup_ODE(self):
# Setup our physics world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 200, 0.7, 0.2, 0.9, 0.00001, 0.0,
0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.space.setCollisionEvent("on_collision")
def on_collision(self, entry):
geom1 = entry.getGeom1()
geom2 = entry.getGeom2()
body1 = entry.getBody1()
body2 = entry.getBody2()
def add_ground(self):
cm = CardMaker("ground")
cm.setFrame(-1, 1, -1, 1)
ground = render.attachNewNode(cm.generate())
ground.setColor(0.5, 0.7, 0.8)
ground.lookAt(0, 0, -1)
groundGeom = OdePlaneGeom(self.space, Vec4(0, 0, 1, 0))
def add_smiley(self, x, y, z):
sm = render.attachNewNode("smiley-instance")
sm.setPos(x, y, z)
self.smiley.instanceTo(sm)
body = OdeBody(self.world)
mass = OdeMass()
mass.setSphereTotal(10, 1)
body.setMass(mass)
body.setPosition(sm.getPos())
geom = OdeSphereGeom(self.space, 1)
geom.setBody(body)
sm.setPythonTag("body", body)
return body
def add_static_box(self, x, y, z):
self.box = OdeBoxGeom(self.space, Vec3(x, y, z))
self.box.set_position(0, 0, 25)
def draw_box(self, box):
line_collection = LineNodePath(parent=render,
thickness=1.0,
colorVec=Vec4(1, 0, 0, 1))
pos = box.get_position()
lengths = box.get_lengths()
x = pos[0]
y = pos[1]
z = pos[2]
half_width = lengths[0] / 2
half_length = lengths[1] / 2
half_height = lengths[2] / 2
lines = [
# Bottom Face
((x - half_width, y - half_length, z - half_height),
(x + half_width, y - half_length, z - half_height)),
((x + half_width, y - half_length, z - half_height),
(x + half_width, y + half_length, z - half_height)),
((x + half_width, y + half_length, z - half_height),
(x - half_width, y + half_length, z - half_height)),
((x - half_width, y + half_length, z - half_height),
(x - half_width, y - half_length, z - half_height)),
# Top Face
((x - half_width, y - half_length, z + half_height),
(x + half_width, y - half_length, z + half_height)),
((x + half_width, y - half_length, z + half_height),
(x + half_width, y + half_length, z + half_height)),
((x + half_width, y + half_length, z + half_height),
(x - half_width, y + half_length, z + half_height)),
((x - half_width, y + half_length, z + half_height),
(x - half_width, y - half_length, z + half_height)),
# Vertical Lines
((x - half_width, y - half_length, z - half_height),
(x - half_width, y - half_length, z + half_height)),
((x + half_width, y - half_length, z - half_height),
(x + half_width, y - half_length, z + half_height)),
((x + half_width, y + half_length, z - half_height),
(x + half_width, y + half_length, z + half_height)),
((x - half_width, y + half_length, z - half_height),
(x - half_width, y + half_length, z + half_height)),
]
line_collection.drawLines(lines)
line_collection.create()
def update_ODE(self, task):
self.space.autoCollide()
self.world.quickStep(globalClock.getDt())
self.draw_box(self.box)
for smiley in render.findAllMatches("smiley-instance"):
body = smiley.getPythonTag("body")
smiley.setPosQuat(body.getPosition(), Quat(body.getQuaternion()))
self.contacts.empty()
return task.cont
class Physics():
def __init__(self):
#init the world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
#init the friction
self.world.initSurfaceTable(1)
surfaceId1 = 0
surfaceId2 = 0
mu = 500
bounce = 0. # 2
bounce_vel = 0.1
soft_erp = 0.9
soft_cfm = 0.00001
slip = 0.0
dampen = 0.002
self.world.setSurfaceEntry(
surfaceId1,
surfaceId2,
mu,
bounce,
bounce_vel,
soft_erp,
soft_cfm,
slip,
dampen)
#init the collision space
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contactgroup = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contactgroup)
self.servogroup = OdeJointGroup()
#cm = CardMaker("ground")
#cm.setFrame(-20, 20, -20, 20)
#ground = render.attachNewNode(cm.generate())
#ground.setPos(0, 0, 0); ground.lookAt(0, 0, -1)
# Ground definition
self.groundGeom = OdePlaneGeom(self.space, Vec4(0, 0, 1, 0))
self.groundGeom.setCollideBits(BitMask32(0x00000001))
self.groundGeom.setCategoryBits(BitMask32(0x00000002))
self.deltaTimeAccumulator = 0.0
self.stepSize = 0.01
# The task for our simulation
def simulationTask(self, creatures, dt=0):
# Add the deltaTime for the task to the accumulator
self.stepSize = dt
for c in creatures:
c.update_angles(dt)
c.draw()
#model.setPosQuat(render, body.getPosition(), Quat(body.getQuaternion()))
if dt == 0:
self.deltaTimeAccumulator += globalClock.getDt()
else:
self.deltaTimeAccumulator = dt
#while self.deltaTimeAccumulator > self.stepSize:
# Remove a stepSize from the accumulator until
# the accumulated time is less than the stepsize
# self.deltaTimeAccumulator -= self.stepSize
# Step the simulation
self.space.autoCollide() # Setup the contact joints
self.world.quickStep(self.stepSize)
# set the new positions
self.contactgroup.empty() # Clear the contact joints
def run_physics(self, t, creatures):
""" run physics for t steps """
for i in range(t):
self.simulationTask(creatures, 0.01)
