def matchPose(self, pose_rig):
for node, parent in pose_rig.exposed_joints:
if node.getName() not in joints_config:
continue
joint_config = joints_config[node.getName()]
if 'joints' not in joint_config:
continue
joints = joint_config['joints']
if len(joints) == 0:
continue
box_np = self.root.find(node.getName())
if len(joints) > 1:
pos = node.getPos(pose_rig.actor)
hpr = node.getHpr(pose_rig.actor)
box_np.setPosHpr(self.root, pos, hpr)
else:
joint = joints.keys()[0]
child_node, child_parent = next((child_node, child_parent) for child_node, child_parent in pose_rig.exposed_joints if child_node.getName() == joint)
box_np.setPos(child_parent, child_node.getPos(child_parent) / 2.0)
quat = Quat()
lookAt(quat, child_node.getPos(child_parent), Vec3.up())
box_np.setQuat(child_parent, quat)
box_np.node().clearForces()
def create_colliders(root, pose_rig, joints_config):
for node, parent in pose_rig.exposed_joints:
if node.getName() not in joints_config:
continue
joint_config = joints_config[node.getName()]
if "joints" not in joint_config:
continue
joints = joint_config["joints"]
if len(joints) == 0:
continue
mass = joint_config["mass"] if "mass" in joint_config else 1
box_rb = BulletRigidBodyNode(node.getName())
box_rb.setMass(1.0)
# box_rb.setLinearDamping(0.2)
# box_rb.setAngularDamping(0.9)
# box_rb.setFriction(1.0)
# box_rb.setAnisotropicFriction(1.0)
# box_rb.setRestitution(0.0)
for joint in joints:
child_node, child_parent = next(
(child_node, child_parent)
for child_node, child_parent in pose_rig.exposed_joints
if child_node.getName() == joint
)
pos = child_node.getPos(child_parent)
width = pos.length() / 2.0
scale = Vec3(3, width, 3)
shape = BulletBoxShape(scale)
quat = Quat()
lookAt(quat, child_node.getPos(child_parent), Vec3.up())
if len(joints) > 1:
transform = TransformState.makePosHpr(child_node.getPos(child_parent) / 2.0, quat.getHpr())
else:
transform = TransformState.makeHpr(quat.getHpr())
box_rb.addShape(shape, transform)
box_np = root.attachNewNode(box_rb)
if len(joints) > 1:
pos = node.getPos(pose_rig.actor)
hpr = node.getHpr(pose_rig.actor)
box_np.setPosHpr(root, pos, hpr)
else:
box_np.setPos(child_parent, child_node.getPos(child_parent) / 2.0)
box_np.lookAt(child_parent, child_node.getPos(child_parent))
yield box_np
def guide_missile(self, task):
try:
quat = Quat()
lookAt(quat, self.target.np.getPos() - self.missile.anp.getPos(), Vec3.up())
self.missile.anp.setQuat(quat)
fwd = quat.getForward()
fwd.normalize()
mvel = self.missile.anpo.getVelocity().length()
self.missile.anpo.setVelocity(fwd*mvel)
except:
return task.done
return task.cont
