def __init__(self, x, y, z=1, gravity=10, color=[
Color(0xFFFFFF), Color(0xFFFFFF), Color(0xEEEEEE), Color(0xDDDDDD),
Color(0xCCCCCC), Color(0xBBBBBB)], camera=(0, 0, 10), dt=0.0001):
ccm.Model.__init__(self)
self.size = (x, y, z)
self.world = World()
self.dt = dt
brightness = 180
self.world.setAmbientLight(brightness, brightness, brightness)
self.world.addLight(SimpleVector(2, 2, 5), 10, 10, 10)
self.world.camera.setPosition(*camera)
self.world.camera.setOrientation(
SimpleVector(0, 0, -1), SimpleVector(0, -1, 0))
self.objects = []
collisionConfiguration = DefaultCollisionConfiguration()
dispatcher = CollisionDispatcher(collisionConfiguration)
overlappingPairCache = AxisSweep3(
Vector3f(-x / 2.0, -y / 2.0, -z / 2.0),
Vector3f(x / 2.0, y / 2.0, z / 2.0),
1024)
solver = SequentialImpulseConstraintSolver()
self.physics = DiscreteDynamicsWorld(
dispatcher, overlappingPairCache, solver, collisionConfiguration)
self.physics.setGravity(Vector3f(0, 0, -gravity))
t = Transform()
t.setIdentity()
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(0, 0, 1), 0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(0, 1, 0), -y / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(0, -1, 0), -y / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(1, 0, 0), -x / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(-1, 0, 0), -x / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
self.vehicle_raycaster = DefaultVehicleRaycaster(self.physics)
if not isinstance(color, (list, tuple)):
room = createBox(x / 2.0, y / 2.0, z / 2.0)
room.translate(0, 0, z / 2.0)
room.invert()
colorname = 'room%d' % id(self)
TextureManager.getInstance().addTexture(
colorname, Texture(1, 1, color))
room.setTexture(colorname)
room.shadingMode = Object3D.SHADING_FAKED_FLAT
room.build()
self.world.addObject(room)
else:
room = createBoxPieces(x / 2.0, y / 2.0, z / 2.0)
for i, r in enumerate(room):
r.translate(0, 0, z / 2.0)
r.invert()
colorname = 'room%d_%d' % (id(self), i)
TextureManager.getInstance().addTexture(
colorname, Texture(1, 1, color[i % len(color)]))
r.setTexture(colorname)
r.shadingMode = Object3D.SHADING_FAKED_FLAT
r.build()
self.world.addObject(r)
self.ratelimit = RateLimit()
class Room(ccm.Model):
def __init__(self, x, y, z=1, gravity=10, color=[
Color(0xFFFFFF), Color(0xFFFFFF), Color(0xEEEEEE), Color(0xDDDDDD),
Color(0xCCCCCC), Color(0xBBBBBB)], camera=(0, 0, 10), dt=0.0001):
ccm.Model.__init__(self)
self.size = (x, y, z)
self.world = World()
self.dt = dt
brightness = 180
self.world.setAmbientLight(brightness, brightness, brightness)
self.world.addLight(SimpleVector(2, 2, 5), 10, 10, 10)
self.world.camera.setPosition(*camera)
self.world.camera.setOrientation(
SimpleVector(0, 0, -1), SimpleVector(0, -1, 0))
self.objects = []
collisionConfiguration = DefaultCollisionConfiguration()
dispatcher = CollisionDispatcher(collisionConfiguration)
overlappingPairCache = AxisSweep3(
Vector3f(-x / 2.0, -y / 2.0, -z / 2.0),
Vector3f(x / 2.0, y / 2.0, z / 2.0),
1024)
solver = SequentialImpulseConstraintSolver()
self.physics = DiscreteDynamicsWorld(
dispatcher, overlappingPairCache, solver, collisionConfiguration)
self.physics.setGravity(Vector3f(0, 0, -gravity))
t = Transform()
t.setIdentity()
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(0, 0, 1), 0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(0, 1, 0), -y / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(0, -1, 0), -y / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(1, 0, 0), -x / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t), StaticPlaneShape(
Vector3f(-1, 0, 0), -x / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
self.vehicle_raycaster = DefaultVehicleRaycaster(self.physics)
if not isinstance(color, (list, tuple)):
room = createBox(x / 2.0, y / 2.0, z / 2.0)
room.translate(0, 0, z / 2.0)
room.invert()
colorname = 'room%d' % id(self)
TextureManager.getInstance().addTexture(
colorname, Texture(1, 1, color))
room.setTexture(colorname)
room.shadingMode = Object3D.SHADING_FAKED_FLAT
room.build()
self.world.addObject(room)
else:
room = createBoxPieces(x / 2.0, y / 2.0, z / 2.0)
for i, r in enumerate(room):
r.translate(0, 0, z / 2.0)
r.invert()
colorname = 'room%d_%d' % (id(self), i)
TextureManager.getInstance().addTexture(
colorname, Texture(1, 1, color[i % len(color)]))
r.setTexture(colorname)
r.shadingMode = Object3D.SHADING_FAKED_FLAT
r.build()
self.world.addObject(r)
self.ratelimit = RateLimit()
def add(self, obj, x, y, z=None):
if z is None:
t = Transform()
min = Vector3f()
max = Vector3f()
obj.physics.getAabb(min, max)
z = -min.z
self.temp = obj
if hasattr(obj, 'physics'):
t = Transform()
ms = obj.physics.motionState
ms.getWorldTransform(t)
m = Matrix4f()
t.getMatrix(m)
m.m03 = x
m.m13 = y
m.m23 = z
t.set(m)
ms.worldTransform = t
obj.physics.motionState = ms
self.physics.addRigidBody(obj.physics)
if hasattr(obj, 'wheels'):
tuning = VehicleTuning()
obj.vehicle = RaycastVehicle(
tuning, obj.physics, self.vehicle_raycaster)
obj.physics.setActivationState(
CollisionObject.DISABLE_DEACTIVATION)
self.physics.addVehicle(obj.vehicle)
obj.vehicle.setCoordinateSystem(1, 2, 0)
for w in obj.wheels:
wheel = obj.vehicle.addWheel(Vector3f(w.x, w.y, w.z),
Vector3f(w.dir),
Vector3f(w.axle),
w.suspension_rest_len,
w.radius,
tuning,
False)
wheel.suspensionStiffness = w.suspension_stiffness
wheel.maxSuspensionTravelCm = w.suspension_max_travel * 100
wheel.frictionSlip = w.friction
wheel.wheelsDampingRelaxation = w.damping_relaxation
wheel.wheelsDampingCompression = w.damping_compression
wheel.rollInfluence = w.roll_influence
self.objects.append(obj)
self.world.addObject(obj.shape)
def start(self):
dt = self.dt
while True:
self.physics_dump()
# p = self.physics_dump()
# self.update_shapes(p)
for obj in self.objects:
if hasattr(obj, 'vehicle'):
for i, w in enumerate(obj.wheels):
obj.vehicle.updateWheelTransform(i, True)
obj.vehicle.applyEngineForce(w.force, i)
# obj.vehicle.setBrake(w.brake, i)
self.physics.stepSimulation(dt, 10, dt * 0.1)
yield dt
def physics_dump(self):
d = {}
for obj in self.objects:
if hasattr(obj, 'physics'):
t = Transform()
obj.physics.getMotionState().getWorldTransform(t)
m = Matrix4f()
t.getMatrix(m)
trans = Matrix()
trans.set(3, 0, m.m03)
trans.set(3, 1, m.m13)
trans.set(3, 2, m.m23)
rot = Matrix()
for i in range(3):
for j in range(3):
rot.set(i, j, m.getElement(j, i))
d[obj] = (trans, rot)
return d
def update_shapes(self, physics):
for obj in self.objects:
if hasattr(obj, 'physics') and obj in physics:
trans, rot = physics[obj]
obj.shape.translationMatrix = trans
obj.shape.rotationMatrix = rot
if hasattr(obj, 'extra_shapes'):
for s, x, y, z in obj.extra_shapes:
p = SimpleVector(x, y, z)
p.matMul(rot)
m4 = Matrix(trans)
m4.translate(p)
s.translationMatrix = m4
s.rotationMatrix = rot
