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
Example #3
0
 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