class Simulation(DirectObject):
scale = 10
R = RE
throttle = 0.0
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(-8 * self.scale, -8 * self.scale, 4 * self.scale)
base.cam.lookAt(0, 0, 1 * self.scale)
# Light
alight = AmbientLight('ambientLight')
alight.setColor(Vec4(0.5, 0.5, 0.5, 1))
alightNP = render.attachNewNode(alight)
dlight = DirectionalLight('directionalLight')
dlight.setDirection(Vec3(1, 1, -1))
dlight.setColor(Vec4(0.7, 0.7, 0.7, 1))
dlightNP = render.attachNewNode(dlight)
render.clearLight()
render.setLight(alightNP)
render.setLight(dlightNP)
# Input
self.accept('escape', self.doExit)
self.accept('r', self.doReset)
self.accept('f1', self.toggleWireframe)
self.accept('f2', self.toggleTexture)
self.accept('f3', self.toggleDebug)
self.accept('f5', self.doScreenshot)
inputState.watchWithModifiers('forward', 'w')
inputState.watchWithModifiers('left', 'a')
inputState.watchWithModifiers('reverse', 's')
inputState.watchWithModifiers('right', 'd')
inputState.watchWithModifiers('turnLeft', 'q')
inputState.watchWithModifiers('turnRight', 'e')
# Task
taskMgr.add(self.update, 'updateWorld')
self.ostData = OnscreenText(text='ready',
pos=(-1.3, 0.9),
scale=0.07,
fg=Vec4(1, 1, 1, 1),
align=TextNode.ALeft)
# Physics
self.setup()
# _____HANDLER_____
def doExit(self):
self.cleanup()
sys.exit(1)
def doReset(self):
self.cleanup()
self.setup()
def toggleWireframe(self):
base.toggleWireframe()
def toggleTexture(self):
base.toggleTexture()
def toggleDebug(self):
if self.debugNP.isHidden():
self.debugNP.show()
else:
self.debugNP.hide()
def doScreenshot(self):
base.screenshot('Bullet')
# ____TASK___
def processInput(self, dt):
force = Vec3(0, 0, 0)
throttleChange = 0.0
#torque = Vec3(0, 0, 0)
if inputState.isSet('forward'): force.setX(1)
if inputState.isSet('reverse'): force.setX(-1)
if inputState.isSet('left'): force.setY(-1)
if inputState.isSet('right'): force.setY(1)
if inputState.isSet('turnLeft'): throttleChange = -1.0
if inputState.isSet('turnRight'): throttleChange = 1.0
force *= -20.0 / 180.0 * math.pi
self.throttle += throttleChange / 100.0
self.throttle = min(max(self.throttle, 0), 1)
thrust = Vec3(0, 0, self.throttle * 50)
quatGimbal = self.rocketNozzle.getTransform(self.worldNP).getQuat()
self.rocketNozzle.node().applyForce(quatGimbal.xform(thrust),
LPoint3f(0, 0, 0))
#torque *= 10.0
#force = render.getRelativeVector(self.rocketNP, force)
#torque = render.getRelativeVector(self.rocketNP, torque)
self.rocketNozzle.node().setActive(True)
self.rocketNP.node().setActive(True)
#self.rocketNozzle.node().applyCentralForce(force)
#self.rocketNozzle.node().applyTorque(torque)
force = rot.from_euler('zyx', force).as_quat()
self.cone.setMotorTarget(
LQuaternionf(force[0], force[1], force[2], force[3]))
def update(self, task):
dt = globalClock.getDt()
self.processInput(dt)
#self.world.doPhysics(dt)
self.world.doPhysics(dt, 5, 1.0 / 180.0)
yawpitchroll = rot.from_quat(
self.rocketNozzle.getTransform(self.rocketNP).getQuat())
yawpitchroll = yawpitchroll.as_euler('zyx', degrees=True)
#self.ostData.destroy()
telemetry = []
telemetry.append(
'Nozzle Position:\n Yaw: {}\n Pitch: {}\n Roll: {}'.format(
int(yawpitchroll[0]), int(yawpitchroll[1]),
int(yawpitchroll[2])))
telemetry.append('\nThrottle: {}'.format(self.throttle))
self.ostData.setText('\n'.join(telemetry))
return task.cont
def cleanup(self):
self.world.removeRigidBody(self.groundNP.node())
self.world.removeRigidBody(self.rocketNP.node())
self.world = None
self.debugNP = None
self.groundNP = None
self.rocketNP = None
self.worldNP.removeNode()
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(True)
#self.debugNP.showTightBounds()
#self.debugNP.showBounds()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground (static)
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
self.groundNP = self.worldNP.attachNewNode(
BulletRigidBodyNode('Ground'))
self.groundNP.node().addShape(shape)
self.groundNP.setPos(0, 0, -2)
self.groundNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.groundNP.node())
#Rocket
shape = BulletCylinderShape(0.2 * self.scale, 2 * self.scale, ZUp)
self.rocketNP = self.worldNP.attachNewNode(
BulletRigidBodyNode('Cylinder'))
self.rocketNP.node().setMass(3.0)
self.rocketNP.node().addShape(shape)
self.rocketNP.setPos(0, 0, 2 * self.scale)
self.rocketNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.rocketNP.node())
for i in range(4):
leg = BulletCylinderShape(0.02 * self.scale, 1 * self.scale, XUp)
self.rocketNP.node().addShape(
leg,
TransformState.makePosHpr(
Vec3(0.6 * self.scale * math.cos(i * math.pi / 2),
0.6 * self.scale * math.sin(i * math.pi / 2),
-1.2 * self.scale), Vec3(i * 90, 0, 30)))
shape = BulletConeShape(0.15 * self.scale, 0.3 * self.scale, ZUp)
self.rocketNozzle = self.worldNP.attachNewNode(
BulletRigidBodyNode('Cone'))
self.rocketNozzle.node().setMass(1)
self.rocketNozzle.node().addShape(shape)
self.rocketNozzle.setPos(0, 0, 0.8 * self.scale)
self.rocketNozzle.setCollideMask(BitMask32.allOn())
self.rocketNozzle.node().setCollisionResponse(0)
self.world.attachRigidBody(self.rocketNozzle.node())
frameA = TransformState.makePosHpr(Point3(0, 0, -1 * self.scale),
Vec3(0, 0, 90))
frameB = TransformState.makePosHpr(Point3(0, 0, 0.2 * self.scale),
Vec3(0, 0, 90))
self.cone = BulletConeTwistConstraint(self.rocketNP.node(),
self.rocketNozzle.node(), frameA,
frameB)
self.cone.enableMotor(1)
#self.cone.setMaxMotorImpulse(2)
#self.cone.setDamping(1000)
self.cone.setDebugDrawSize(2.0)
self.cone.setLimit(20, 20, 0, softness=1.0, bias=1.0, relaxation=10.0)
self.world.attachConstraint(self.cone)
self.npThrustForce = LineNodePath(self.render,
'Thrust',
thickness=4,
colorVec=VBase4(1, 0.5, 0, 1))
