def _setup(self):
if hasattr(self, '_model_path'):
# Collidable objects
visNP = loader.loadModel(self._model_path)
visNP.clearModelNodes()
visNP.reparentTo(render)
pos = (0., 0., 0.)
visNP.setPos(pos[0], pos[1], pos[2])
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
bodyNP.setPos(pos[0], pos[1], pos[2])
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
bodyNP.setCollideMask(BitMask32.allOn())
self._world.attachRigidBody(bodyNP.node())
else:
ground = self._worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
ground.node().addShape(shape)
ground.setCollideMask(BitMask32.allOn())
self._world.attachRigidBody(ground.node())
self._place_vehicle()
self._setup_light()
self._setup_restart_pos()
def _setup_collision_object(self,
path,
pos=(0.0, 0.0, 0.0),
hpr=(0.0, 0.0, 0.0),
scale=1):
visNP = loader.loadModel(path)
visNP.clearModelNodes()
visNP.reparentTo(render)
visNP.setPos(pos[0], pos[1], pos[2])
visNP.setHpr(hpr[0], hpr[1], hpr[2])
visNP.set_scale(scale, scale, scale)
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
if not ('wall' in bodyNP.name or 'ground' in bodyNP.name):
bodyNP.setPos(pos[0], pos[1], pos[2] + 0.3)
else:
bodyNP.setPos(pos[0], pos[1], pos[2])
bodyNP.setHpr(hpr[0], hpr[1], hpr[2])
bodyNP.set_scale(scale, scale, scale)
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
bodyNP.setCollideMask(BitMask32.allOn())
self._world.attachRigidBody(bodyNP.node())
else:
print("Issue")
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
for i in range(50):
p00 = Point3(-2, -2, 0)
p10 = Point3( 2, -2, 0)
p01 = Point3(-2, 2, 0)
p11 = Point3( 2, 2, 0)
node = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, 6, 6, 0, True)
node.generateBendingConstraints(2)
node.getCfg().setLiftCoefficient(0.004)
node.getCfg().setDynamicFrictionCoefficient(0.0003)
node.getCfg().setAeroModel(BulletSoftBodyConfig.AMVertexTwoSided)
node.setTotalMass(0.1)
node.addForce(Vec3(0, 2, 0), 0)
np = self.worldNP.attachNewNode(node)
np.setPos(self.Vec3Rand() * 10 + Vec3(0, 0, 20))
np.setHpr(self.Vec3Rand() * 16)
self.world.attachSoftBody(node)
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(node, fmt, True)
node.linkGeom(geom)
nodeV = GeomNode('')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
# collision
visNP = loader.loadModel('../models/coryf2.egg')
visNP.clearModelNodes()
visNP.reparentTo(render)
pos = (7., 60.0, 3.8)
visNP.setPos(pos[0], pos[1], pos[2])
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
bodyNP.setPos(pos[0], pos[1], pos[2])
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
bodyNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(bodyNP.node())
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.ground = self.worldNP.attachNewNode(
BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# collision
self.maze = []
for pos in [(0.0, 72.0, 0.0), (-11.0, 60.0, 0.0), (11.0, 60.0, 0.0),
(-11.0, 48.0, 0.0), (11.0, 48.0, 0.0), (-11.0, 36.0, 0.0),
(11.0, 36.0, 0.0), (-11.0, 24.0, 0.0), (11.0, 24.0, 0.0),
(-11.0, 12.0, 0.0), (11.0, 12.0, 0.0), (-11.0, 0.0, 0.0),
(11.0, 0.0, 0.0), (0.0, -12.0, 0.0), (0.5, 12.0, 1.0),
(-0.5, 12.0, 1.0)]:
translate = False
if (abs(pos[0]) == 0.5):
translate = True
visNP = loader.loadModel('../models/ball.egg')
else:
visNP = loader.loadModel('../models/maze.egg')
visNP.clearModelNodes()
visNP.reparentTo(self.ground)
visNP.setPos(pos[0], pos[1], pos[2])
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
if translate:
bodyNP.setPos(pos[0], pos[1], pos[2] - 1)
else:
bodyNP.setPos(pos[0], pos[1], pos[2])
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
self.maze.append(bodyNP)
for bodyNP in self.maze:
self.world.attachRigidBody(bodyNP.node())
def addTetraMeshSB(self,vertices, faces,normals = None,ghost=False,**kw):
#step 1) create GeomVertexData and add vertex information
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
points = [Point3(x,y,z) * 3 for x,y,z in vertices]
indices = sum([list(x) for x in faces], [])
#step 4) create the bullet softbody and node
bodyNode = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)
bodyNode.setName('Tetra')
bodyNode.setVolumeMass(150000)
bodyNode.getShape(0).setMargin(0.01)
bodyNode.getMaterial(0).setLinearStiffness(0.9)
bodyNode.getCfg().setPositionsSolverIterations(4)
bodyNode.getCfg().clearAllCollisionFlags()
bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
bodyNode.generateClusters(12)
bodyNode.setPose(True, True)
bodyNP = self.worldNP.attachNewNode(bodyNode)
geom = BulletHelper.makeGeomFromFaces(bodyNode)
geomNode = GeomNode('vtetra')
geomNode.addGeom(geom)
# self.setRB(bodyNP,**kw)#set po
# inodenp.setCollideMask(BitMask32.allOn())
self.world.attachSoftBody(bodyNode)
geomNP = bodyNP.attachNewNode(geomNode)
bodyNode.linkGeom(geom)
return bodyNP,geomNP
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.ground = self.worldNP.attachNewNode(
BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# collision
self.maze = []
for pos in [(0.0, 72.0, 0.0), (-11.0, 60.0, 0.0), (11.0, 60.0, 0.0),
(-11.0, 48.0, 0.0), (11.0, 48.0, 0.0), (-11.0, 36.0, 0.0),
(11.0, 36.0, 0.0), (-11.0, 24.0, 0.0), (11.0, 24.0, 0.0),
(-11.0, 12.0, 0.0), (11.0, 12.0, 0.0), (-11.0, 0.0, 0.0),
(11.0, 0.0, 0.0), (0.0, -12.0, 0.0), (0.5, 12.0, 1.0),
(-0.5, 12.0, 1.0)]:
translate = False
if (abs(pos[0]) == 0.5):
translate = True
visNP = loader.loadModel('../models/ball.egg')
else:
visNP = loader.loadModel('../models/maze.egg')
visNP.clearModelNodes()
visNP.reparentTo(self.ground)
visNP.setPos(pos[0], pos[1], pos[2])
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
if translate:
bodyNP.setPos(pos[0], pos[1], pos[2] - 1)
else:
bodyNP.setPos(pos[0], pos[1], pos[2])
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
self.maze.append(bodyNP)
for bodyNP in self.maze:
self.world.attachRigidBody(bodyNP.node())
# Chassis
mass = rospy.get_param('~mass')
#chassis_shape = rospy.get_param('~chassis_shape')
shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5))
ts = TransformState.makePos(Point3(0, 0, 0.5))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Vehicle'))
np.node().addShape(shape, ts)
rand_vals = numpy.random.random(2) * 8 - 4.0
np.setPos(rand_vals[0], 0.0, -0.6)
np.node().setMass(mass)
np.node().setDeactivationEnabled(False)
first_person = rospy.get_param('~first_person')
self.camera_sensor = Panda3dCameraSensor(base,
color=True,
depth=True,
size=(160, 90))
self.camera_node = self.camera_sensor.cam
if first_person:
self.camera_node.reparentTo(np)
self.camera_node.setPos(0.0, 1.0, 1.0)
self.camera_node.lookAt(0.0, 6.0, 0.0)
else:
self.camera_node.reparentTo(np)
self.camera_node.setPos(0.0, -10.0, 5.0)
self.camera_node.lookAt(0.0, 5.0, 0.0)
base.cam.reparentTo(np)
base.cam.setPos(0.0, -10.0, 5.0)
base.cam.lookAt(0.0, 5.0, 0.0)
self.world.attachRigidBody(np.node())
np.node().setCcdSweptSphereRadius(1.0)
np.node().setCcdMotionThreshold(1e-7)
# Vehicle
self.vehicle_node = np.node()
self.vehicle = BulletVehicle(self.world, np.node())
self.vehicle.setCoordinateSystem(ZUp)
self.world.attachVehicle(self.vehicle)
self.yugoNP = loader.loadModel('../models/yugo/yugo.egg')
self.yugoNP.reparentTo(np)
# Right front wheel
np = loader.loadModel('../models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.loadModel('../models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.loadModel('../models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.loadModel('../models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, -1.05, 0.3), False, np)
def __init__(self):
ShowBase.__init__(self)
base.set_background_color(0.1, 0.1, 0.8, 1)
base.set_frame_rate_meter(True)
base.cam.set_pos_hpr(0, 0, 25, 0, -90, 0)
base.disable_mouse()
# Input
self.accept('escape', self.exitGame)
self.accept('f1', base.toggle_wireframe)
self.accept('f2', base.toggle_texture)
self.accept('f3', self.toggle_debug)
self.accept('f5', self.do_screenshot)
# Setup scene 1: World
self.debugNP = render.attach_new_node(BulletDebugNode('Debug'))
self.debugNP.node().show_wireframe(True)
self.debugNP.node().show_constraints(True)
self.debugNP.node().show_bounding_boxes(True)
self.debugNP.node().show_normals(True)
self.debugNP.show()
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Setup scene 2: Ball
#visNP = loader.load_model('models/ball.egg')
visNP = loader.load_model('samples/ball-in-maze/models/ball.egg.pz')
visNP.clear_model_nodes()
bodyNPs = BulletHelper.from_collision_solids(visNP, True)
self.ballNP = bodyNPs[0]
self.ballNP.reparent_to(render)
self.ballNP.node().set_mass(1.0)
self.ballNP.set_pos(4, -4, 1)
self.ballNP.node().set_deactivation_enabled(False)
visNP.reparent_to(self.ballNP)
# Setup scene 3: Maze
visNP = loader.load_model('models/maze.egg')
#visNP = loader.load_model('samples/ball-in-maze/models/maze.egg.pz')
visNP.clear_model_nodes()
visNP.reparent_to(render)
self.holes = []
self.maze = []
self.mazeNP = visNP
bodyNPs = BulletHelper.from_collision_solids(visNP, True);
for bodyNP in bodyNPs:
bodyNP.reparent_to(render)
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().set_mass(0.0)
bodyNP.node().set_kinematic(True)
self.maze.append(bodyNP)
elif isinstance(bodyNP.node(), BulletGhostNode):
self.holes.append(bodyNP)
# Lighting and material for the ball
ambientLight = AmbientLight('ambientLight')
ambientLight.set_color(LVector4(0.55, 0.55, 0.55, 1))
directionalLight = DirectionalLight('directionalLight')
directionalLight.set_direction(LVector3(0, 0, -1))
directionalLight.set_color(LVector4(0.375, 0.375, 0.375, 1))
directionalLight.set_specular_color(LVector4(1, 1, 1, 1))
self.ballNP.set_light(render.attach_new_node(ambientLight))
self.ballNP.set_light(render.attach_new_node(directionalLight))
m = Material()
m.set_specular(LVector4(1,1,1,1))
m.set_shininess(96)
self.ballNP.set_material(m, 1)
# Startup
self.start_game()
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Box
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5) * 2.0)
boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
boxNP.node().setMass(150.0)
boxNP.node().addShape(shape)
boxNP.setPos(0, 0, 2)
boxNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(boxNP.node())
visualNP = loader.loadModel('models/box.egg')
visualNP.clearModelNodes()
visualNP.setScale(2.0)
visualNP.reparentTo(boxNP)
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
nx = 31
ny = 31
p00 = Point3(-8, -8, 0)
p10 = Point3(8, -8, 0)
p01 = Point3(-8, 8, 0)
p11 = Point3(8, 8, 0)
bodyNode = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, nx,
ny, 1 + 2 + 4 + 8, True)
material = bodyNode.appendMaterial()
material.setLinearStiffness(0.4)
bodyNode.generateBendingConstraints(2, material)
bodyNode.setTotalMass(50.0)
bodyNode.getShape(0).setMargin(0.5)
bodyNP = self.worldNP.attachNewNode(bodyNode)
self.world.attachSoftBody(bodyNode)
# Rendering with Geom:
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt, True)
bodyNode.linkGeom(geom)
visNode = GeomNode('')
visNode.addGeom(geom)
visNP = bodyNP.attachNewNode(visNode)
# Now we want to have a texture and texture coordinates.
# The geom's format has already a column for texcoords, so we just need
# to write texcoords using a GeomVertexRewriter.
tex = loader.loadTexture('models/panda.jpg')
visNP.setTexture(tex)
BulletHelper.makeTexcoordsForPatch(geom, nx, ny)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
#self.debugNP.showTightBounds()
#self.debugNP.showBounds()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Stair
origin = Point3(0, 0, 0)
size = Vec3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Stair%i' % i))
np.node().addShape(shape)
np.setPos(pos)
np.setCollideMask(BitMask32.allOn())
npV = loader.loadModel('models/box.egg')
npV.reparentTo(np)
npV.setScale(size)
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
center = Point3(0, 0, 0)
radius = Vec3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.makeEllipsoid(info, center, radius, 128)
node.setName('Ellipsoid')
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setDynamicFrictionCoefficient(1)
node.getCfg().setDampingCoefficient(0.001)
node.getCfg().setPressureCoefficient(1500)
node.setTotalMass(30, True)
node.setPose(True, False)
np = self.worldNP.attachNewNode(node)
np.setPos(15, 0, 12)
#np.setH(90.0)
#np.showBounds()
#np.showTightBounds()
self.world.attachSoftBody(np.node())
geom = BulletHelper.makeGeomFromFaces(node)
node.linkGeom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPosHpr(0, 0, 25, 0, -90, 0)
base.disableMouse()
# Input
self.accept('escape', self.exitGame)
self.accept('f1', self.toggleWireframe)
self.accept('f2', self.toggleTexture)
self.accept('f3', self.toggleDebug)
self.accept('f5', self.doScreenshot)
# Setup scene 1: World
self.debugNP = render.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.node().showWireframe(True)
self.debugNP.node().showConstraints(True)
self.debugNP.node().showBoundingBoxes(True)
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: Ball
visNP = loader.loadModel('models/ball.egg')
visNP.clearModelNodes()
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
self.ballNP = bodyNPs[0]
self.ballNP.reparentTo(render)
self.ballNP.node().setMass(1.0)
self.ballNP.setPos(4, -4, 1)
self.ballNP.node().setDeactivationEnabled(False)
visNP.reparentTo(self.ballNP)
# Setup scene 3: Maze
visNP = loader.loadModel('models/maze.egg')
visNP.clearModelNodes()
visNP.reparentTo(render)
self.holes = []
self.maze = []
self.mazeNP = visNP
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
self.maze.append(bodyNP)
elif isinstance(bodyNP.node(), BulletGhostNode):
self.holes.append(bodyNP)
# Lighting and material for the ball
ambientLight = AmbientLight('ambientLight')
ambientLight.setColor(Vec4(0.55, 0.55, 0.55, 1))
directionalLight = DirectionalLight('directionalLight')
directionalLight.setDirection(Vec3(0, 0, -1))
directionalLight.setColor(Vec4(0.375, 0.375, 0.375, 1))
directionalLight.setSpecularColor(Vec4(1, 1, 1, 1))
self.ballNP.setLight(render.attachNewNode(ambientLight))
self.ballNP.setLight(render.attachNewNode(directionalLight))
m = Material()
m.setSpecular(Vec4(1, 1, 1, 1))
m.setShininess(96)
self.ballNP.setMaterial(m, 1)
# Startup
self.startGame()
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
for i in range(50):
p00 = Point3(-2, -2, 0)
p10 = Point3(2, -2, 0)
p01 = Point3(-2, 2, 0)
p11 = Point3(2, 2, 0)
node = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, 6, 6,
0, True)
node.generateBendingConstraints(2)
node.getCfg().setLiftCoefficient(0.004)
node.getCfg().setDynamicFrictionCoefficient(0.0003)
node.getCfg().setAeroModel(BulletSoftBodyConfig.AMVertexTwoSided)
node.setTotalMass(0.1)
node.addForce(Vec3(0, 2, 0), 0)
np = self.worldNP.attachNewNode(node)
np.setPos(self.Vec3Rand() * 10 + Vec3(0, 0, 20))
np.setHpr(self.Vec3Rand() * 16)
self.world.attachSoftBody(node)
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(node, fmt, True)
node.linkGeom(geom)
nodeV = GeomNode('')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
#self.debugNP.showTightBounds()
#self.debugNP.showBounds()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Stair
origin = Point3(0, 0, 0)
size = Vec3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Stair%i' % i))
np.node().addShape(shape)
np.setPos(pos)
np.setCollideMask(BitMask32.allOn())
npV = loader.loadModel('models/box.egg')
npV.reparentTo(np)
npV.setScale(size)
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
center = Point3(0, 0, 0)
radius = Vec3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.makeEllipsoid(info, center, radius, 128)
node.setName('Ellipsoid')
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setDynamicFrictionCoefficient(1)
node.getCfg().setDampingCoefficient(0.001)
node.getCfg().setPressureCoefficient(1500)
node.setTotalMass(30, True)
node.setPose(True, False)
np = self.worldNP.attachNewNode(node)
np.setPos(15, 0, 12)
#np.setH(90.0)
#np.showBounds()
#np.showTightBounds()
self.world.attachSoftBody(np.node())
geom = BulletHelper.makeGeomFromFaces(node)
node.linkGeom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Box
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5) * 2.0)
boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
boxNP.node().setMass(150.0)
boxNP.node().addShape(shape)
boxNP.setPos(0, 0, 2)
boxNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(boxNP.node())
visualNP = loader.loadModel('models/box.egg')
visualNP.clearModelNodes()
visualNP.setScale(2.0)
visualNP.reparentTo(boxNP)
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
nx = 31
ny = 31
p00 = Point3(-8, -8, 0)
p10 = Point3( 8, -8, 0)
p01 = Point3(-8, 8, 0)
p11 = Point3( 8, 8, 0)
bodyNode = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, nx, ny, 1+2+4+8, True)
material = bodyNode.appendMaterial()
material.setLinearStiffness(0.4)
bodyNode.generateBendingConstraints(2, material);
bodyNode.setTotalMass(50.0)
bodyNode.getShape(0).setMargin(0.5)
bodyNP = self.worldNP.attachNewNode(bodyNode)
self.world.attachSoftBody(bodyNode)
# Rendering with Geom:
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt, True)
bodyNode.linkGeom(geom)
visNode = GeomNode('')
visNode.addGeom(geom)
visNP = bodyNP.attachNewNode(visNode)
# Now we want to have a texture and texture coordinates.
# The geom's format has already a column for texcoords, so we just need
# to write texcoords using a GeomVertexRewriter.
tex = loader.loadTexture('models/panda.jpg')
visNP.setTexture(tex)
BulletHelper.makeTexcoordsForPatch(geom, nx, ny)
def setup(self):
self.worldNP = render.attach_new_node('World')
# World
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Ground
p0 = LPoint3(-20, -20, 0)
p1 = LPoint3(-20, 20, 0)
p2 = LPoint3(20, -20, 0)
p3 = LPoint3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.add_triangle(p0, p1, p2)
mesh.add_triangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh'))
np.node().add_shape(shape)
np.set_pos(0, 0, -2)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Soft body world information
info = self.world.get_world_info()
info.set_air_density(1.2)
info.set_water_density(0)
info.set_water_offset(0)
info.set_water_normal(LVector3(0, 0, 0))
# Softbody
for i in range(50):
p00 = LPoint3(-2, -2, 0)
p10 = LPoint3(2, -2, 0)
p01 = LPoint3(-2, 2, 0)
p11 = LPoint3(2, 2, 0)
node = BulletSoftBodyNode.make_patch(info, p00, p10, p01, p11, 6,
6, 0, True)
node.generate_bending_constraints(2)
node.get_cfg().set_lift_coefficient(0.004)
node.get_cfg().set_dynamic_friction_coefficient(0.0003)
node.get_cfg().set_aero_model(
BulletSoftBodyConfig.AM_vertex_two_sided)
node.set_total_mass(0.1)
node.add_force(LVector3(0, 2, 0), 0)
np = self.worldNP.attach_new_node(node)
np.set_pos(self.LVector3_rand() * 10 + LVector3(0, 0, 20))
np.set_hpr(self.LVector3_rand() * 16)
self.world.attach(node)
fmt = GeomVertexFormat.get_v3n3t2()
geom = BulletHelper.make_geom_from_faces(node, fmt, True)
node.link_geom(geom)
nodeV = GeomNode('')
nodeV.add_geom(geom)
npV = np.attach_new_node(nodeV)
tex = loader.load_texture('models/panda.jpg')
npV.set_texture(tex)
BulletHelper.make_texcoords_for_patch(geom, 6, 6)
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPosHpr(0, 0, 25, 0, -90, 0)
base.disableMouse()
# Input
self.accept('escape', self.exitGame)
self.accept('f1', self.toggleWireframe)
self.accept('f2', self.toggleTexture)
self.accept('f3', self.toggleDebug)
self.accept('f5', self.doScreenshot)
# Setup scene 1: World
self.debugNP = render.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.node().showWireframe(True)
self.debugNP.node().showConstraints(True)
self.debugNP.node().showBoundingBoxes(True)
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: Ball
visNP = loader.loadModel('models/ball.egg')
visNP.clearModelNodes()
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
self.ballNP = bodyNPs[0]
self.ballNP.reparentTo(render)
self.ballNP.node().setMass(1.0)
self.ballNP.setPos(4, -4, 1)
self.ballNP.node().setDeactivationEnabled(False)
visNP.reparentTo(self.ballNP)
# Setup scene 3: Maze
visNP = loader.loadModel('models/maze.egg')
visNP.clearModelNodes()
visNP.reparentTo(render)
self.holes = []
self.maze = []
self.mazeNP = visNP
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True);
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
self.maze.append(bodyNP)
elif isinstance(bodyNP.node(), BulletGhostNode):
self.holes.append(bodyNP)
# Lighting and material for the ball
ambientLight = AmbientLight('ambientLight')
ambientLight.setColor(Vec4(0.55, 0.55, 0.55, 1))
directionalLight = DirectionalLight('directionalLight')
directionalLight.setDirection(Vec3(0, 0, -1))
directionalLight.setColor(Vec4(0.375, 0.375, 0.375, 1))
directionalLight.setSpecularColor(Vec4(1, 1, 1, 1))
self.ballNP.setLight(render.attachNewNode(ambientLight))
self.ballNP.setLight(render.attachNewNode(directionalLight))
m = Material()
m.setSpecular(Vec4(1,1,1,1))
m.setShininess(96)
self.ballNP.setMaterial(m, 1)
# Startup
self.startGame()
def setup(self):
self.worldNP = render.attach_new_node('World')
# World
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.debugNP.show()
#self.debugNP.show_tight_bounds()
#self.debugNP.show_bounds()
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Ground
p0 = LPoint3(-20, -20, 0)
p1 = LPoint3(-20, 20, 0)
p2 = LPoint3(20, -20, 0)
p3 = LPoint3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.add_triangle(p0, p1, p2)
mesh.add_triangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh'))
np.node().add_shape(shape)
np.set_pos(0, 0, -2)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Stair
origin = LPoint3(0, 0, 0)
size = LVector3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attach_new_node(
BulletRigidBodyNode('Stair{}'.format(i)))
np.node().add_shape(shape)
np.set_pos(pos)
np.set_collide_mask(BitMask32.all_on())
npV = loader.load_model('models/box.egg')
npV.reparent_to(np)
npV.set_scale(size)
self.world.attach(np.node())
# Soft body world information
info = self.world.get_world_info()
info.set_air_density(1.2)
info.set_water_density(0)
info.set_water_offset(0)
info.set_water_normal(LVector3(0, 0, 0))
# Softbody
center = LPoint3(0, 0, 0)
radius = LVector3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.make_ellipsoid(info, center, radius, 128)
node.set_name('Ellipsoid')
node.get_material(0).set_linear_stiffness(0.1)
node.get_cfg().set_dynamic_friction_coefficient(1)
node.get_cfg().set_damping_coefficient(0.001)
node.get_cfg().set_pressure_coefficient(1500)
node.set_total_mass(30, True)
node.set_pose(True, False)
np = self.worldNP.attach_new_node(node)
np.set_pos(15, 0, 12)
#np.setH(90.0)
#np.show_bounds()
#np.show_tight_bounds()
self.world.attach(np.node())
geom = BulletHelper.make_geom_from_faces(node)
node.link_geom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.add_geom(geom)
npV = np.attach_new_node(nodeV)
