class MyApp(ShowBase):
def __init__(self):
ShowBase.__init__(self)
#standard GeoMipTerrain usage
self.terrain = GeoMipTerrain("worldTerrain")
self.terrain.setHeightfield("mapheight.png")
self.terrain.setColorMap("maptexture.png")
#self.terrain.setBruteforce(True)
#set dynamically updated terrain
self.terrain.setBlockSize(32)
self.terrain.setNearFar(128, 256) #distance in terrain coordinates
self.terrain.setMinLevel(0) #low means high quality
self.terrain.setFocalPoint(base.camera) #a NodePath
#get root
root = self.terrain.getRoot()
root.reparentTo(render)
root.setSz(100)
self.terrain.generate()
taskMgr.add(self.updateTask, "update")
self.camera.setPos(0, 0, 0)
#add person
self.player = Actor("girl4.x", {"girl03_03": "girl"})
print("girl loaded")
self.player.setPos(0, 5, -1)
self.player.reparentTo(self.render)
print("girl reparented")
def updateTask(self, task):
self.terrain.update()
return task.cont
def createTile(self, x, y):
# Set up the GeoMipTerrain
terrain = GeoMipTerrain("terrain")
terrain.setHeightfield("./height-map.png")
# Set terrain properties
terrain.setBlockSize(32)
terrain.setNear(40)
terrain.setFar(100)
terrain.setFocalPoint(self.showBase.camera)
#terrain.setAutoFlatten(GeoMipTerrain.AFMStrong)
terrain.getRoot().setScale(1, 1, 1)
terrain.getRoot().setPos(x * 128 - 64, y * 128 - 64, 0)
terrain.getRoot().setTexture(TextureStage.getDefault(), self.showBase.loader.loadTexture("./grass-texture.png"))
terrain.getRoot().setTexScale(TextureStage.getDefault(), 50)
# Store the root NodePath for convenience
root = terrain.getRoot()
root.reparentTo(self.showBase.render)
root.setSz(100)
# Generate it.
terrain.generate()
return terrain
class Application(ShowBase):
def __init__(self):
ShowBase.__init__(self)
self.terrain = GeoMipTerrain("terrain")
#doesn't use search path
self.terrain.setHeightfield("../textures/height.png")
self.terrain.setColorMap("../textures/grass.png")
self.terrain.getRoot().setSz(35)
#self.terrain.setBlockSize(16)
#self.terrain.setNear(35)
#self.terrain.setFar(75)
self.terrain.getRoot().reparentTo(render)
self.terrain.generate()
z = self.terrain.getElevation(256, 256) * 40
self.cam.setPos(256, 256, z)
self.terrain.setFocalPoint(self.cam)
self.taskMgr.add(self.updateTerrain, "update terrain")
def updateTerrain(self, task):
self.terrain.update()
return task.cont
class Terrain(object):
def __init__(self, main, base, render, type = "heightMap"):
if type == "heightMap":
self.terrainFromHeightMap(main)
elif type == "model":
self.terrainFromModel(main)
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
universeNode = BulletRigidBodyNode('UniverseNode')
universeNode.notifyCollisions(True)
universeNode.addShape(shape)
np = self.parentNodePath.attachNewNode(universeNode)
np.setPos(0, 0, -150)
np.hide()
main.world.attachRigidBody(universeNode)
self.parentNodePath.reparentTo(main.worldNP)
self.hf = self.rigidNodePath.node() # To enable/disable debug visualisation
# Sky Dome
universeBackground = UniverseBackground()
def terrainFromModel(self, main):
self.parentNodePath = NodePath("FloorNodePath")
self.parentNodePath.setPos(0, 0, -1)
self.parentNodePath.setScale(2.0, 2.0, 1.0)
# self.parentNodePath.setP(90)
self.loadModelAndTexture()
self.setupCollisionMeshAndRigidNodeFromModel()
main.world.attachRigidBody(self.rigidNodePath.node())
def loadModelAndTexture(self, path={"model": "models/map", "texture": "models/tex/floor.jpg"}):
self.floorModel = loader.loadModel(path["model"])
# floor_tex = loader.loadTexture(path["texture"])
# self.floorModel.setTexture(floor_tex)
self.parentNodePath.attachNewNode(self.floorModel.node())
def setupCollisionMeshAndRigidNodeFromModel(self):
mesh = BulletTriangleMesh()
for geomNP in self.floorModel.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(self.floorModel)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.rigidNode = BulletRigidBodyNode('Floor')
self.rigidNode.notifyCollisions(False)
self.rigidNodePath = self.parentNodePath.attachNewNode(self.rigidNode)
self.rigidNodePath.node().addShape(shape)
self.rigidNodePath.setScale(12, 12, 1.5)
self.rigidNodePath.setCollideMask(BitMask32.allOn())
self.rigidNodePath.node().notifyCollisions(False)
def toggleHeightfield(self):
self.hf.setDebugEnabled(not self.hf.isDebugEnabled())
def terrainFromHeightMap(self, main):
self.parentNodePath = NodePath("FloorNodePath")
self.parentNodePath.setPos(0, 0, -2)
self.parentNodePath.setScale(5, 5, 0.75)
# Heightfield (static)
height = 8.0
img = PNMImage(Filename('models/elevation.png'))
xdim = img.getXSize()
ydim = img.getYSize()
shape = BulletHeightfieldShape(img, height, ZUp)
shape.setUseDiamondSubdivision(True)
self.rigidNode = BulletRigidBodyNode('Heightfield')
self.rigidNode.notifyCollisions(False)
self.rigidNodePath = self.parentNodePath.attachNewNode(self.rigidNode)
self.rigidNodePath.node().addShape(shape)
self.rigidNodePath.setPos(0, 0, 0)
self.rigidNodePath.setCollideMask(BitMask32.allOn())
self.rigidNodePath.node().notifyCollisions(False)
main.world.attachRigidBody(self.rigidNodePath.node())
self.hf = self.rigidNodePath.node() # To enable/disable debug visualisation
self.terrain = GeoMipTerrain('terrain')
self.terrain.setHeightfield(img)
self.terrain.setBlockSize(32)
self.terrain.setNear(50)
self.terrain.setFar(100)
self.terrain.setFocalPoint(base.camera)
rootNP = self.terrain.getRoot()
rootNP.reparentTo(self.parentNodePath)
rootNP.setSz(8.0)
offset = img.getXSize() / 2.0 - 0.5
rootNP.setPos(-offset, -offset, -height / 2.0)
self.terrain.generate()
# Apply texture
diffuseTexture = loader.loadTexture(Filename('models/diffuseMap.jpg'))
diffuseTexture.setWrapU(Texture.WMRepeat)
diffuseTexture.setWrapV(Texture.WMRepeat)
rootNP.setTexture(diffuseTexture)
# Normal map
texStage = TextureStage('texStageNormal')
texStage.setMode(TextureStage.MNormal)
normalTexture = loader.loadTexture(Filename('models/normalMap.jpg'))
rootNP.setTexture(texStage, normalTexture)
# Glow map
texStage = TextureStage('texStageNormal')
texStage.setMode(TextureStage.MGlow)
glowTexture = loader.loadTexture(Filename('models/glowMap.jpg'))
rootNP.setTexture(texStage, glowTexture)
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -20, 4)
base.cam.lookAt(0, 0, 0)
# 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)
self.accept('x', self.toggleHeightfield)
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')
# 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')
def toggleHeightfield(self):
self.hf.setDebugEnabled(not self.hf.isDebugEnabled())
# ____TASK___
def processInput(self, dt):
force = Vec3(0, 0, 0)
torque = Vec3(0, 0, 0)
if inputState.isSet('forward'): force.setY(1.0)
if inputState.isSet('reverse'): force.setY(-1.0)
if inputState.isSet('left'): force.setX(-1.0)
if inputState.isSet('right'): force.setX(1.0)
if inputState.isSet('turnLeft'): torque.setZ(1.0)
if inputState.isSet('turnRight'): torque.setZ(-1.0)
force *= 30.0
torque *= 10.0
self.boxNP.node().setActive(True)
self.boxNP.node().applyCentralForce(force)
self.boxNP.node().applyTorque(torque)
def update(self, task):
dt = globalClock.getDt()
self.processInput(dt)
self.world.doPhysics(dt, 10, 0.008)
self.terrain.update()
return task.cont
def cleanup(self):
self.world = 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().showNormals(True)
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Box (dynamic)
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(0, 0, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
self.boxNP = np # For applying force & torque
visualNP = loader.loadModel('models/box.egg')
visualNP.clearModelNodes()
visualNP.reparentTo(self.boxNP)
# Heightfield (static)
height = 8.0
img = PNMImage(Filename('models/elevation.png'))
shape = BulletHeightfieldShape(img, height, ZUp)
shape.setUseDiamondSubdivision(True)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Heightfield'))
np.node().addShape(shape)
np.setPos(0, 0, 0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
self.hf = np.node() # To enable/disable debug visualisation
self.terrain = GeoMipTerrain('terrain')
self.terrain.setHeightfield(img)
self.terrain.setBlockSize(32)
self.terrain.setNear(50)
self.terrain.setFar(100)
self.terrain.setFocalPoint(base.camera)
rootNP = self.terrain.getRoot()
rootNP.reparentTo(render)
rootNP.setSz(8.0)
offset = img.getXSize() / 2.0 - 0.5
rootNP.setPos(-offset, -offset, -height / 2.0)
self.terrain.generate()
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -20, 4)
base.cam.lookAt(0, 0, 0)
# 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)
self.accept('x', self.toggleHeightfield)
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')
# 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')
def toggleHeightfield(self):
self.hf.setDebugEnabled(not self.hf.isDebugEnabled())
# ____TASK___
def processInput(self, dt):
force = Vec3(0, 0, 0)
torque = Vec3(0, 0, 0)
if inputState.isSet('forward'): force.setY( 1.0)
if inputState.isSet('reverse'): force.setY(-1.0)
if inputState.isSet('left'): force.setX(-1.0)
if inputState.isSet('right'): force.setX( 1.0)
if inputState.isSet('turnLeft'): torque.setZ( 1.0)
if inputState.isSet('turnRight'): torque.setZ(-1.0)
force *= 30.0
torque *= 10.0
self.boxNP.node().setActive(True)
self.boxNP.node().applyCentralForce(force)
self.boxNP.node().applyTorque(torque)
def update(self, task):
dt = globalClock.getDt()
self.processInput(dt)
self.world.doPhysics(dt, 10, 0.008)
self.terrain.update()
return task.cont
def cleanup(self):
self.world = 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().showNormals(True)
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Box (dynamic)
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(0, 0, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
self.boxNP = np # For applying force & torque
visualNP = loader.loadModel('models/box.egg')
visualNP.clearModelNodes()
visualNP.reparentTo(self.boxNP)
# Heightfield (static)
height = 8.0
img = PNMImage(Filename('models/elevation.png'))
shape = BulletHeightfieldShape(img, height, ZUp)
shape.setUseDiamondSubdivision(True)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Heightfield'))
np.node().addShape(shape)
np.setPos(0, 0, 0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
self.hf = np.node() # To enable/disable debug visualisation
self.terrain = GeoMipTerrain('terrain')
self.terrain.setHeightfield(img)
self.terrain.setBlockSize(32)
self.terrain.setNear(50)
self.terrain.setFar(100)
self.terrain.setFocalPoint(base.camera)
rootNP = self.terrain.getRoot()
rootNP.reparentTo(render)
rootNP.setSz(8.0)
offset = img.getXSize() / 2.0 - 0.5
rootNP.setPos(-offset, -offset, -height / 2.0)
self.terrain.generate()
class Terrain():
def __init__(self, _heightField):
texture = loader.loadTexture("ground_tex.png")
self.zScale = 45
self.terrain = GeoMipTerrain("BasicTerrain")
self.terrain.setHeightfield(_heightField)
# Dynamic settings?
self.terrain.setBlockSize(16)
self.terrain.setNear(20)
self.terrain.setFar(100)
self.terrain.setFocalPoint(base.camera)
# Settings
self.terrain.getRoot().setSz(self.zScale)
self.terrain.getRoot().setTexture(texture)
self.terrain.getRoot().reparentTo(render)
self.terrain.generate()
self.terrainSize = (self.terrain.heightfield().getReadXSize(), self.terrain.heightfield().getReadYSize())
print "Terrain Size:", self.terrainSize
taskMgr.add(self.terrainTask, "TerrainTask")
self.skydome = loader.loadModel("Skydome")
self.skydome.setDepthTest(False)
self.skydome.setAttrib(CullBinAttrib.make("skydomeBin", 1000))
self.skydome.reparentTo(camera)
self.skydome.setScale(2)
self.skydome.setPos(0, 0, -0.5)
self.skydome.setCollideMask(BitMask32.allOff())
taskMgr.add(self.skydomeTask, "paperplanet_skydome")
# Add some fancy fog
self.fog = Fog("Fog Name")
self.fog.setColor(0.4,0.2,0.3)
self.fog.setExpDensity(0.015)
render.setFog(self.fog)
# Some Test light
dlight = DirectionalLight("dlight")
dlight.setColor(VBase4(0.8, 0.8, 0.5, 1))
dlnp = render.attachNewNode(dlight)
dlnp.setHpr(0, -60, 0)
render.setLight(dlnp)
# Add basic blacksmith hut
tmp = loader.loadModel("blacksmith_hut")
tmp.reparentTo(render)
tmp.setPos(164.054, 340.92, 11.3384)
def skydomeTask(self, task):
self.skydome.setHpr(render, 0,0,0)
return task.cont
def terrainTask(self, task):
# tmp
self.terrain.update()
return task.cont
class MyApp(ShowBase):
def __init__(self):
ShowBase.__init__(self)
# Load the environment model.
self.setup_environment()
#self.scene = self.loader.loadModel("models/environment")
# Reparent the model to render.
#self.scene.reparentTo(self.render)
# Apply scale and position transforms on the model.
#self.scene.setScale(0.25, 0.25, 0.25)
#self.scene.setPos(-8, 42, 0)
# Needed for camera image
self.dr = self.camNode.getDisplayRegion(0)
# Needed for camera depth image
winprops = WindowProperties.size(self.win.getXSize(),
self.win.getYSize())
fbprops = FrameBufferProperties()
fbprops.setDepthBits(1)
self.depthBuffer = self.graphicsEngine.makeOutput(
self.pipe, "depth buffer", -2, fbprops, winprops,
GraphicsPipe.BFRefuseWindow, self.win.getGsg(), self.win)
self.depthTex = Texture()
self.depthTex.setFormat(Texture.FDepthComponent)
self.depthBuffer.addRenderTexture(self.depthTex,
GraphicsOutput.RTMCopyRam,
GraphicsOutput.RTPDepth)
lens = self.cam.node().getLens()
lens.setFov(90.0, 90.0)
# the near and far clipping distances can be changed if desired
# lens.setNear(5.0)
# lens.setFar(500.0)
self.depthCam = self.makeCamera(self.depthBuffer,
lens=lens,
scene=self.render)
self.depthCam.reparentTo(self.cam)
# TODO: Scene is rendered twice: once for rgb and once for depth image.
# How can both images be obtained in one rendering pass?
self.render.setAntialias(AntialiasAttrib.MAuto)
def setup_environment(self):
# encapsulate some stuff
# set up ambient lighting
self.alight = AmbientLight('alight')
self.alight.setColor(VBase4(0.1, 0.1, 0.1, 1))
self.alnp = self.render.attachNewNode(self.alight)
self.render.setLight(self.alnp)
# set up a point light
self.plight = PointLight('plight')
self.plight.setColor(VBase4(0.8, 0.8, 0.8, 1))
self.plnp = self.render.attachNewNode(self.plight)
self.plnp.setPos(0, 0, 100)
self.render.setLight(self.plnp)
# set up terrain model
self.terr_material = Material()
self.terr_material.setShininess(1.0)
self.terr_material.setAmbient(VBase4(0, 0, 0, 0))
self.terr_material.setDiffuse(VBase4(1, 1, 1, 1))
self.terr_material.setEmission(VBase4(0, 0, 0, 0))
self.terr_material.setSpecular(VBase4(0, 0, 0, 0))
# general scaling
self.trrHorzSc = 4.0
self.trrVertSc = 4.0 # was 4.0
# Create sky
#terrctr = self.trrHorzSc*65.0
#self.setup_skybox(terrctr,800.0,2.0,0.3)
self.skysphere = self.loader.loadModel("sky-forest/SkySphere.bam")
self.skysphere.setBin('background', 1)
self.skysphere.setDepthWrite(0)
self.skysphere.reparentTo(self.render)
# Load some textures
self.grsTxtSc = 5
self.numTreeTexts = 7
# ground texture
self.txtGrass = self.loader.loadTexture('tex/ground005.png')
self.txtGrass.setWrapU(Texture.WM_mirror)
self.txtGrass.setWrapV(Texture.WM_mirror)
self.txtGrass.setMagfilter(Texture.FTLinear)
self.txtGrass.setMinfilter(Texture.FTLinearMipmapLinear)
# set up terrain texture stages
self.TS1 = TextureStage('terrtext')
self.TS1.setSort(0)
self.TS1.setMode(TextureStage.MReplace)
# Set up the GeoMipTerrain
self.terrain = GeoMipTerrain("myDynamicTerrain")
img = PNMImage(Filename('tex/bowl_height_map.png'))
self.terrain.setHeightfield(img)
self.terrain.setBruteforce(0)
self.terrain.setAutoFlatten(GeoMipTerrain.AFMMedium)
# Set terrain properties
self.terrain.setBlockSize(32)
self.terrain.setNear(50)
self.terrain.setFar(500)
self.terrain.setFocalPoint(self.camera)
# Store the root NodePath for convenience
self.root = self.terrain.getRoot()
self.root.clearTexture()
self.root.setTwoSided(0)
self.root.setCollideMask(BitMask32.bit(0))
self.root.setSz(self.trrVertSc)
self.root.setSx(self.trrHorzSc)
self.root.setSy(self.trrHorzSc)
self.root.setMaterial(self.terr_material)
self.root.setTexture(self.TS1, self.txtGrass)
self.root.setTexScale(self.TS1, self.grsTxtSc, self.grsTxtSc)
offset = 0.5 * img.getXSize() * self.trrHorzSc - 0.5
self.root.setPos(-offset, -offset, 0)
self.terrain.generate()
self.root.reparentTo(self.render)
# load tree billboards
self.txtTreeBillBoards = []
for a in range(self.numTreeTexts):
fstr = 'trees/tree' + '%03d' % (a + 991)
self.txtTreeBillBoards.append( \
self.loader.loadTexture(fstr + '-color.png', fstr + '-opacity.png'))
self.txtTreeBillBoards[a].setMinfilter(
Texture.FTLinearMipmapLinear)
#self.placePlantOnTerrain('trees',300,0,20,20,self.trrHorzSc,self.trrVertSc, \
# self.numTreeTexts,self.txtTreeBillBoards,'scene-def/trees.txt')
self.setup_house()
self.setup_vehicle()
self.taskMgr.add(self.skysphereTask, "SkySphere Task")
def setup_house(self):
# place farmhouse on terrain
self.house = ModelNode('house1')
self.loadModelOntoTerrain(self.render, self.terrain, self.house, 43.0,
0.275, 0.0, 0.0, self.trrHorzSc,
self.trrVertSc, 'models/FarmHouse',
Vec3(0, 0, 0),
Point3(-12.0567, -29.1724, 0.0837742),
Point3(12.2229, 21.1915, 21.3668))
def setup_vehicle(self):
# place HMMWV on terrain
self.hmmwv = ModelNode('hmmwv1')
self.loadModelOntoTerrain(self.render, self.terrain, self.hmmwv, 33.0,
1.0, 20.0, 24.0, self.trrHorzSc,
self.trrVertSc, 'models/hmmwv',
Vec3(0, -90, 0),
Point3(-1.21273, -2.49153, -1.10753),
Point3(1.21273, 2.49153, 1.10753))
def setup_skybox(self,
terrctr=645.0,
boxsz=1000.0,
aspect=1.0,
uplift=0.0):
vsz = boxsz / aspect
self.bckgtx = []
self.bckgtx.append(self.loader.loadTexture('sky/Back2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Right2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Front2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Left2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Up.png'))
for a in range(4):
self.bckg = CardMaker('bkcard')
lr = Point3(0.5 * boxsz, 0.5 * boxsz, -0.5 * vsz)
ur = Point3(0.5 * boxsz, 0.5 * boxsz, 0.5 * vsz)
ul = Point3(-0.5 * boxsz, 0.5 * boxsz, 0.5 * vsz)
ll = Point3(-0.5 * boxsz, 0.5 * boxsz, -0.5 * vsz)
self.bckg.setFrame(ll, lr, ur, ul)
self.bckg.setHasNormals(0)
self.bckg.setHasUvs(1)
#self.bckg.setUvRange(self.bckgtx[a])
bkcrd = self.render.attachNewNode(self.bckg.generate())
bkcrd.setTexture(self.bckgtx[a])
self.bckgtx[a].setWrapU(Texture.WMClamp)
self.bckgtx[a].setWrapV(Texture.WMClamp)
bkcrd.setLightOff()
bkcrd.setFogOff()
bkcrd.setHpr(90.0 * a, 0, 0)
cz = 0.5 * boxsz * uplift
#print 'set card at:', terrctr,terrctr,cz, ' with points: ', lr,ur,ul,ll
bkcrd.setPos(terrctr, terrctr, cz)
self.top = CardMaker('bkcard')
lr = Point3(0.5 * boxsz, -0.5 * boxsz, 0)
ur = Point3(0.5 * boxsz, 0.5 * boxsz, 0)
ul = Point3(-0.5 * boxsz, 0.5 * boxsz, 0)
ll = Point3(-0.5 * boxsz, -0.5 * boxsz, 0)
self.top.setFrame(ll, lr, ur, ul)
self.top.setHasNormals(0)
self.top.setHasUvs(1)
#self.top.setUvRange(self.bckgtx[4])
bkcrd = self.render.attachNewNode(self.bckg.generate())
bkcrd.setTexture(self.bckgtx[4])
self.bckgtx[4].setWrapU(Texture.WMClamp)
self.bckgtx[4].setWrapV(Texture.WMClamp)
bkcrd.setLightOff()
bkcrd.setFogOff()
bkcrd.setHpr(0, 90, 90)
bkcrd.setPos(terrctr, terrctr, 0.5 * vsz + 0.5 * boxsz * uplift)
def placePlantOnTerrain(self, itemStr, itemCnt, Mode, typItemWidth,
typItemHeight, trrHorzSc, trrVertSc, numTxtTypes,
txtList, planFileName):
# Billboarding plants
crd = CardMaker('mycard')
crd.setColor(0.5, 0.5, 0.5, 1)
ll = Point3(-0.5 * typItemWidth, 0, 0)
lr = Point3(0.5 * typItemWidth, 0, 0)
ur = Point3(0.5 * typItemWidth, 0, typItemHeight)
ul = Point3(-0.5 * typItemWidth, 0, typItemHeight)
crd.setFrame(ll, lr, ur, ul)
crd.setHasNormals(False)
crd.setHasUvs(True)
# generate/save/load locations
try:
plan_data_fp = open(planFileName, 'r')
item_list = []
for line in plan_data_fp:
toks = line.split(',')
px = float(toks[0].strip(' '))
py = float(toks[1].strip(' '))
ang = float(toks[2].strip(' '))
dht = float(toks[3].strip(' '))
scl = float(toks[4].strip(' '))
idx = int(toks[5].strip(' '))
item_list.append((px, py, ang, dht, scl, idx))
plan_data_fp.close()
print 'loaded ', itemStr, ' data file of size:', len(item_list)
except IOError:
# generate list and try to save
item_list = []
for a in range(itemCnt):
px = random.randrange(-self.trrHorzSc * 64,
self.trrHorzSc * 64)
py = random.randrange(-self.trrHorzSc * 64,
self.trrHorzSc * 64)
ang = 180 * random.random()
dht = 0.0
scl = 0.75 + 0.25 * (random.random() + random.random())
idx = random.randrange(0, numTxtTypes)
item_list.append([px, py, ang, dht, scl, idx])
try:
plan_data_fp = open(planFileName, 'w')
for c in item_list:
print >> plan_data_fp, c[0], ',', c[1], ',', c[2], ',', c[
3], ',', c[4], ',', c[5]
plan_data_fp.close()
print 'saved ', itemStr, ' data of size: ', len(item_list)
except IOError:
print 'unable to store ', itemStr, ' data of size: ', len(
item_list)
# define each plant
for c in item_list:
px = c[0]
py = c[1]
ang = c[2]
dht = c[3]
scl = c[4]
idx = c[5]
if idx >= numTxtTypes:
idx = 0
if Mode > 0:
for b in range(Mode):
crdNP = self.render.attachNewNode(crd.generate())
crdNP.setTexture(txtList[idx])
crdNP.setScale(scl)
crdNP.setTwoSided(True)
ht = self.terrain.getElevation(px / trrHorzSc,
py / trrHorzSc)
crdNP.setPos(px, py, ht * trrVertSc + dht)
crdNP.setHpr(ang + (180 / Mode) * b, 0, 0)
crdNP.setTransparency(TransparencyAttrib.MAlpha)
crdNP.setLightOff()
else:
# set up item as defined
crd.setUvRange(txtList[idx])
crdNP = self.render.attachNewNode(crd.generate())
crdNP.setBillboardAxis()
crdNP.setTexture(txtList[idx])
crdNP.setScale(scl)
ht = self.terrain.getElevation(px / trrHorzSc, py / trrHorzSc)
crdNP.setPos(px, py, ht * trrVertSc)
crdNP.setTransparency(TransparencyAttrib.MAlpha)
crdNP.setLightOff()
def loadModelOntoTerrain(self, render_node, terr_obj, model_obj, hdg, scl,
xctr, yctr, terr_horz_sc, terr_vert_sc,
model_path, rotA, minP, maxP):
# load model onto terrain
hdg_rads = hdg * math.pi / 180.0
model_obj = self.loader.loadModel(model_path)
rotAll = rotA
rotAll.setX(rotAll.getX() + hdg)
model_obj.setHpr(rotA)
model_obj.setLightOff()
# if model changes, these will have to be recomputed
# minP = Point3(0,0,0)
# maxP = Point3(0,0,0)
# model_obj.calcTightBounds(minP,maxP)
print minP
print maxP
htl = []
maxzofs = -1000.0
for xi in [minP[0], maxP[0]]:
for yi in [minP[1], maxP[1]]:
tx = xctr + scl * xi * math.cos(hdg_rads)
ty = yctr + scl * yi * math.sin(hdg_rads)
tht = self.terrain.getElevation(tx / terr_horz_sc,
ty / terr_horz_sc)
print 'tx=', tx, ', ty=', ty, ', tht=', tht
htl.append(tht * terr_vert_sc - minP.getZ())
for hi in htl:
if hi > maxzofs:
maxzofs = hi
print maxzofs
model_obj.setPos(xctr, yctr, maxzofs)
model_obj.setHpr(rotAll)
model_obj.setScale(scl)
model_obj.reparentTo(render_node)
return maxzofs, minP, maxP
def get_camera_image(self, requested_format=None):
"""
Returns the camera's image, which is of type uint8 and has values
between 0 and 255.
The 'requested_format' argument should specify in which order the
components of the image must be. For example, valid format strings are
"RGBA" and "BGRA". By default, Panda's internal format "BGRA" is used,
in which case no data is copied over.
"""
tex = self.dr.getScreenshot()
if requested_format is None:
data = tex.getRamImage()
else:
data = tex.getRamImageAs(requested_format)
image = np.frombuffer(
data.get_data(),
np.uint8) # use data.get_data() instead of data in python 2
image.shape = (tex.getYSize(), tex.getXSize(), tex.getNumComponents())
image = np.flipud(image)
return image
def get_camera_depth_image(self):
"""
Returns the camera's depth image, which is of type float32 and has
values between 0.0 and 1.0.
"""
data = self.depthTex.getRamImage()
depth_image = np.frombuffer(data.get_data(), np.float32)
depth_image.shape = (self.depthTex.getYSize(),
self.depthTex.getXSize(),
self.depthTex.getNumComponents())
depth_image = np.flipud(depth_image)
'''
Surface position can be inferred by calculating backward from the
depth buffer. Each pixel on the screen represents a ray from the
camera into the scene, and the depth value in the pixel indicates a
distance along the ray. Because of this, it is not actually necessary
to store surface position explicitly - it is only necessary to store
depth values. Of course, OpenGL does that for free.
So the framebuffer now needs to store surface normal, diffuse color,
and depth value (to infer surface position). In practice, most
ordinary framebuffers can only store color and depth - they don't have
any place to store a third value. So we need to use a special
offscreen buffer with an "auxiliary" bitplane. The auxiliary bitplane
stores the surface normal.
So then, there's the final postprocessing pass. This involves
combining the diffuse color texture, the surface normal texture, the
depth texture, and the light parameters into a final rendered output.
The light parameters are passed into the postprocessing shader as
constants, not as textures.
If there are a lot of lights, things get interesting. You use one
postprocessing pass per light. Each pass only needs to scan those
framebuffer pixels that are actually in range of the light in
question. To traverse only the pixels that are affected by the light,
just render the illuminated area's convex bounding volume.
The shader to store the diffuse color and surface normal is trivial.
But the final postprocessing shader is a little complicated. What
makes it tricky is that it needs to regenerate the original surface
position from the screen position and depth value. The math for that
deserves some explanation.
We need to take a clip-space coordinate and depth-buffer value
(ClipX,ClipY,ClipZ,ClipW) and unproject it back to a view-space
(ViewX,ViewY,ViewZ) coordinate. Lighting is then done in view-space.
Okay, so here's the math. Panda uses the projection matrix to
transform view-space into clip-space. But in practice, the projection
matrix for a perspective camera always contains four nonzero
constants, and they're always in the same place:
-- here are the non-zero elements of the projection matrix --
A 0 0 0
0 0 B 1
0 C 0 0
0 0 D 0
-- precompute these from above projection matrix --
'''
proj = self.cam.node().getLens().getProjectionMat()
proj_x = 0.5 * proj.getCell(3, 2) / proj.getCell(0, 0)
proj_y = 0.5 * proj.getCell(3, 2)
proj_z = 0.5 * proj.getCell(3, 2) / proj.getCell(2, 1)
proj_w = -0.5 - 0.5 * proj.getCell(1, 2)
'''
-- now for each pixel compute viewpoint coordinates --
viewx = (screenx * projx) / (depth + projw)
viewy = (1 * projy) / (depth + projw)
viewz = (screeny * projz) / (depth + projw)
'''
grid = np.mgrid[0:depth_image.shape[0], 0:depth_image.shape[1]]
ygrid = np.float32(np.squeeze(
grid[0, :, :])) / float(depth_image.shape[0] - 1)
ygrid -= 0.5
xgrid = np.float32(np.squeeze(
grid[1, :, :])) / float(depth_image.shape[1] - 1)
xgrid -= 0.5
xview = 2.0 * xgrid * proj_x
zview = 2.0 * ygrid * proj_z
denom = np.squeeze(depth_image) + proj_w
xview = xview / denom
yview = proj_y / denom
zview = zview / denom
sqrng = xview**2 + yview**2 + zview**2
range_image = np.sqrt(sqrng)
range_image_1 = np.expand_dims(range_image, axis=2)
return depth_image, range_image_1
def compute_sample_pattern(self, limg_shape, res_factor):
# assume velocity is XYZ and we are looking +X up and towards -Z
pattern = []
lens = self.cam.node().getLens()
sx = self.win.getXSize()
sy = self.win.getYSize()
ifov_vert = 2.0 * math.tan(
0.5 * math.radians(lens.getVfov())) / float(sy - 1)
ifov_horz = 2.0 * math.tan(
0.5 * math.radians(lens.getHfov())) / float(sx - 1)
#ifov_vert = lens.getVfov() / float(sy-1)
#ifov_horz = lens.getHfov() / float(sy-1)
for ldr_row in range(limg_shape[0]):
theta = -10.0 - 41.33 * (
float(ldr_row) / float(limg_shape[0] - 1) - 0.5)
for ldr_col in range(limg_shape[1]):
psi = 60.0 * (float(ldr_col) / float(limg_shape[1] - 1) - 0.5)
cpsi = math.cos(math.radians(psi))
vert_ang = theta / cpsi
img_row_flt = (0.5 * float(sy - 1) -
(math.tan(math.radians(vert_ang)) / ifov_vert))
#img_row_flt = 0.5*(sy-1) - (vert_ang / ifov_vert)
if img_row_flt < 0:
print('img_row_flt=%f' % img_row_flt)
img_row_flt = 0.0
if img_row_flt >= sy:
print('img_row_flt=%f' % img_row_flt)
img_row_flt = float(sy - 1)
img_col_flt = (0.5 * float(sx - 1) +
(math.tan(math.radians(psi)) / ifov_horz))
#img_col_flt = 0.5*(sx-1) + (psi / ifov_horz)
if img_col_flt < 0:
print('img_col_flt=%f' % img_col_flt)
img_col_flt = 0.0
if img_col_flt >= sx:
print('img_col_flt=%f' % img_col_flt)
img_col_flt = float(sx - 1)
pattern.append((ldr_row, ldr_col, img_row_flt, img_col_flt))
return pattern
def find_sorted_ladar_returns(self, rangearr, intensarr, ks_m):
my_range = rangearr.copy()
my_inten = intensarr.copy()
'''
pixels data is organized by:
[0] starting range of this return
[1] ending range of this return
[2] peak range of this return
[3] total intensity of this return
'''
int_mult = len(my_inten)
pixels = map(
list,
zip(my_range.tolist(), my_range.tolist(), my_range.tolist(),
my_inten.tolist()))
spix = sorted(pixels, key=lambda x: x[0])
done = False
while not done:
mxpi = len(spix)
if mxpi > 2:
mindel = 1e20
mnidx = None
for pidx in range(mxpi - 1):
rdel = spix[pidx + 1][0] - spix[pidx][1]
# must be within ks_m meters in range to merge
if (rdel < ks_m) and (rdel < mindel):
mindel = rdel
mnidx = pidx
# merge best two returns
if mnidx is not None:
# new range span for testing against neighbors
spix[mnidx][1] = spix[mnidx + 1][1]
# new peak range is range of max contributor
if spix[mnidx + 1][3] > spix[mnidx][3]:
spix[mnidx][2] = spix[mnidx + 1][2]
# intensity of return is sum of contributors
spix[mnidx][3] += spix[mnidx + 1][3]
# remove one of the two merged
del spix[mnidx + 1]
else:
done = True
else:
done = True
# now eliminate all but max and last returns
max_idx = None
max_val = 0.0
for ci, pix in enumerate(spix):
if pix[3] > max_val:
max_val = pix[3] / int_mult
max_idx = ci
# if they are the same, return only one
if spix[-1][3] >= spix[max_idx][3]:
return [spix[-1]]
else:
return [spix[max_idx], spix[-1]]
def sample_range_image(self, rng_img, int_img, limg_shape, vel_cam, pps,
ldr_err, pattern):
# depth image is set up as 512 x 512 and is 62.5 degrees vertical FOV
# the center row is vertical, but we want to sample from the
# region corresponding to HDL-32 FOV: from +10 to -30 degrees
detailed_sensor_model = False
fwd_vel = vel_cam[1]
beam_div = 0.002
lens = self.cam.node().getLens()
#sx = self.win.getXSize()
sy = self.win.getYSize()
ifov_vert = 2.0 * math.tan(
0.5 * math.radians(lens.getVfov())) / float(sy - 1)
#ifov_horz = 2.0*math.tan(0.5*math.radians(lens.getHfov()))/float(sx-1)
#ifov = math.radians(self.cam.node().getLens().getVfov() / self.win.getYSize())
sigma = beam_div / ifov_vert
hs = int(2.0 * sigma + 1.0)
gprof = gauss_kern(sigma, hs, normalize=False)
rimg = np.zeros(limg_shape, dtype=np.float32)
iimg = np.zeros(limg_shape, dtype=np.float32)
margin = 10.0
for pidx, relation in enumerate(pattern):
# get the usual scan pattern sample
ldr_row, ldr_col, img_row_flt, img_col_flt = relation
if ((img_row_flt > -margin) and (img_col_flt > -margin)
and (img_row_flt < rng_img.shape[0] + margin)
and (img_col_flt < rng_img.shape[1] + margin)):
# within reasonable distance from image limits
img_row = int(round(img_row_flt))
img_col = int(round(img_col_flt))
# motion compensation
trng = np.float32(rng_img[img_row, img_col])
if trng > 0.0:
# TODO: change this back to False
done = True
ic = 0
while not done:
old_trng = trng
del_row = pidx * fwd_vel / (ifov_vert * trng * pps)
if (abs(del_row) > 1e-1) and (ic < 10):
img_row_f = img_row_flt + del_row
img_row = int(round(img_row_f))
trng = np.float32(rng_img[img_row, img_col])
ic += 1
if abs(trng - old_trng) < 0.5:
done = True
else:
done = True
# simple sensor processing: just sample from large images
rimg[ldr_row, ldr_col] = np.float32(rng_img[img_row,
img_col])
iimg[ldr_row, ldr_col] = np.float32(int_img[img_row,
img_col])
if detailed_sensor_model:
# detailed model subsamples whole beam width
gpatch = copy_patch_centered((img_row, img_col), hs,
int_img, 0.0)
gpatch = np.float32(gpatch)
gpatch *= gprof
rpatch = copy_patch_centered((img_row, img_col), hs,
rng_img, 0.0)
rpatch = np.squeeze(rpatch)
valid = rpatch > 1e-3
if np.count_nonzero(valid) > 0:
rpatch_ts = rpatch[valid]
gpatch_ts = gpatch[valid]
returns = self.find_sorted_ladar_returns(
rpatch_ts, gpatch_ts, 2.5)
# for now we just take first return
rimg[ldr_row, ldr_col] = returns[0][2]
iimg[ldr_row, ldr_col] = returns[0][3]
else:
rimg[ldr_row, ldr_col] = 0.0
iimg[ldr_row, ldr_col] = np.float32(int_img[img_row,
img_col])
rimg += ldr_err * np.random.standard_normal(rimg.shape)
return rimg, iimg
def skysphereTask(self, task):
if self.base is not None:
self.skysphere.setPos(self.base.camera, 0, 0, 0)
self.terrain.generate()
return task.cont
class TerrainCell(DirectObject):
def __init__(self):
self.settings = {}
def configure(self, name, heightmap, texture, posx, posy):
self.settings["name"] = name
self.settings["heightmap"] = heightmap
self.settings["texture"] = texture
self.settings["x"] = posx
self.settings["y"] = posy
def create(self):
self.test_texture = base.loader.loadTexture(self.settings["texture"])
self.terrain = GeoMipTerrain(self.settings["name"])
self.terrain.setHeightfield(self.settings["heightmap"])
# Set terrain properties
self.terrain.setBruteforce(False)
self.terrain.setBlockSize(32)
self.terrain.setNear(40)
self.terrain.setFar(100)
#self.terrain.setMinLevel(16)
self.terrain.setFocalPoint(base.camera)
self.terrain.setBorderStitching(True)
self.terrain.getRoot().setSz(300)
self.terrain.getRoot().setSx(Globals.TERRAIN_MULT)
self.terrain.getRoot().setSy(Globals.TERRAIN_MULT)
self.terrain.getRoot().setPos((self.settings["x"]*512)*Globals.TERRAIN_MULT, \
(self.settings["y"]*512)*Globals.TERRAIN_MULT, 0)
self.terrain.getRoot().setTexture(self.test_texture)
self.terrain.generate()
#self.fast_cols(16, 16)
#self.generate_collisions()
#self.ode_cols()
def ode_cols(self):
world = OdeWorld()
world.setGravity(0, 0, -9)
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)
space.autoCollide()
#try ODE for collisions
t_trimesh = OdeTriMeshData(self.terrain.getRoot(), True)
t_geom = OdeTriMeshGeom(space, t_trimesh)
def fast_cols(self, x, y):
#simpler, and faster
return (self.terrain.getElevation(x, y), self.terrain.getNormal(x, y))
def generate_collisions(self):
#try panda's collisions
print("generating collisions...")
x = 512
y = 512
while x:
z = self.terrain.getElevation(x, y)
cap = CollisionCapsule(0, 0, 1, 1)
self.collision_node = base.render.attachNewNode(
CollisionNode('cap1'))
self.collision_node.node().addSolid(cap)
#self.collision_node.show()
#self.accept('into-cap1', self.hanev)
#self.accept('out-cap1', self.hanev)
self.collision_node.setPos(x, y, z * 300)
x -= 16
y = 512
while y:
z = self.terrain.getElevation(x, y)
cap = CollisionCapsule(0, 0, 0, 0, 0, 1, 1)
self.collision_node = base.render.attachNewNode(
CollisionNode('cap1'))
self.collision_node.node().addSolid(cap)
self.collision_node.show()
#self.accept('into-cap1', self.hanev)
#self.accept('out-cap1', self.hanev)
self.collision_node.setPos(x, y, z * 300)
y -= 16
base.cTrav.addCollider(self.collision_node, base.mchandler)
self.collision_node.setPos(10, 0, -3)
def json_encode(self):
with open("terrains.json", "a") as write_file:
json.dump(self.settings, write_file, indent=4)
write_file.write("\n")
def json_decode(self, name):
with open("terrains.json", "r") as read_file:
terrains = json.load(read_file)
try:
self.settings = terrains[name]
except KeyError:
print("Key not found in json: " + name)
return (False)
else:
return (True)
def bam_encode(self):
self.terrain.getRoot().writeBamFile(self.settings["name"])
class environment(DirectObject):
def __init__(self, *args, **kwargs):
super(environment, self).__init__()
self.sky = loader.loadModel(
'models/environmentModels/sceneModels/sky/skydome2.egg')
self.modelList = []
self.terrain = GeoMipTerrain('terrain')
def setupPhysics(self, **kwargs):
self.barn = sceneModel(
modelName='models/environmentModels/sceneModels/New folder.egg',
world=kwargs['world'],
dynamic=False)
self.modelList.append(self.barn)
self.barn.model.setScale(.14)
self.barn.nodePath.setPos(8, -5, -1.2)
self.barn.nodePath.setScale(.4)
self.barn.model.setZ(self.barn.nodePath.getZ())
self.mainNp = kwargs['world'].attachNewNode(
BulletRigidBodyNode('Heightfield'))
self.debugNP = kwargs['world'].attachNewNode(BulletDebugNode('Debug'))
self.crate = sceneModel(
modelName='models/environmentModels/sceneModels/crate.egg',
world=kwargs['world'],
dynamic=True)
self.crate.nodePath.setScale(.06)
self.modelList.append(self.crate)
self.crate.nodePath.setPos(self.barn.nodePath, (-4, -3, -.9))
self.crate.model.setPos(self.crate.nodePath, (15.8, 5.6, -1.9))
self.crate.model.setScale(1.2)
self.debugNP.show()
self.debugNP.node().showNormals(True)
height = 10.0
skytexture = loader.loadTexture(
'models/environmentModels/sceneModels/sky/tex/skydome.png')
self.sky.setTexture(skytexture)
self.sky.reparentTo(kwargs['world'])
img = PNMImage(
Filename(
'models/environmentModels/eartharena/tex/terrainHeight.png'))
shape = BulletHeightfieldShape(img, height, ZUp)
shape.setUseDiamondSubdivision(True)
self.mainNp.node().addShape(shape)
self.mainNp.setPos(0, 0, .01)
self.mainNp.setScale(.340)
self.mainNp.setCollideMask(kwargs['mask'])
self.terrain.setHeightfield(
Filename(
'models/environmentModels/eartharena/tex/terrainHeight.png'))
self.terrain.setBlockSize(64)
self.terrain.setNear(50)
self.terrain.setFar(100)
self.terrain.setFocalPoint(base.camera)
rootNp = self.terrain.getRoot()
rootNp.reparentTo(render)
rootNp.setSz(15)
texture = loader.loadTexture(
'models/environmentModels/eartharena/tex/nova_TX.jpg')
rootNp.setTexture(texture)
offset = img.getXSize() / 2.0 - 0.25
rootNp.setPos(-offset, -offset, -height / 2.0)
self.terrain.generate()
class Terrain:
folder = os.path.dirname(os.path.abspath(__file__))
subfolder = "/Maps/"
file = "simple.jpg"
filepath = folder + subfolder + file
def __init__(self):
fn = Filename.fromOsSpecific(self.filepath)
self.terrain = GeoMipTerrain("mySimpleTerrain")
self.terrain.setHeightfield("Entities/Maps/heightmap.png")
self.terrain.getRoot().setSz(40)
#terrain.setBruteforce(True)
self.terrain.getRoot().reparentTo(render)
# Set terrain properties
self.terrain.setBlockSize(16)
self.terrain.setNear(500)
self.terrain.setFar(100)
self.terrain.setFocalPoint(base.camera)
# Store the root NodePath for convenience
root = self.terrain.getRoot()
root.reparentTo(render)
# some tinkering
"""
# tell renderer to repeat texture when reading over the edge.
texGrass.setWrapU(Texture.WM_repeat)
texGrass.setWrapV(Texture.WM_repeat)
# apply mipmapping: tell renderer how to handle multiple texture pixels being rendered t a single screen pixel (makes textures 30% larger in GPU mem.)
texGrass.setMinfilter(SamplerState.FT_linear_mipmap_linear)
"""
self.terrain.generate()
"""
new attempt to include blend mapping:
"""
# determine terrain size
self.heightmap = self.terrain.heightfield()
if self.heightmap.getXSize() > self.heightmap.getYSize():
self.size = self.heightmap.getXSize() - 1
else:
self.size = self.heightmap.getYSize() - 1
self.xsize = self.heightmap.getXSize() - 1
self.ysize = self.heightmap.getYSize() - 1
# Set multi texture
# Source http://www.panda3d.org/phpbb2/viewtopic.php?t=4536
self.generateSurfaceTextures()
# load a blend texture from file:
self.blendTexture = loader.loadTexture("Entities/Maps/blendMap.png")
self.blendTS = TextureStage('blend')
self.blendTS.setSort(0)
self.blendTS.setPriority(1)
# apply textures to the terrain and connect custom shader for blend mapping:
self.setSurfaceTextures()
# Add a task to keep updating the terrain (for changing terrain, or synamic resolution)
def updateTask(task):
self.terrain.update()
return task.cont
taskMgr.add(updateTask, "update")
# this is where we load the textures to be assigned to the terrain
def generateSurfaceTextures(self):
# Textureize
self.grassTexture = loader.loadTexture("Entities/Maps/grassy2.png")
self.grassTexture.setWrapU(Texture.WMRepeat)
self.grassTexture.setWrapV(Texture.WMRepeat)
self.grassTexture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
self.grassTexture.setAnisotropicDegree(8)
self.grassTS = TextureStage('grass')
self.grassTS.setSort(
1) # sorting order is relevent for assigning textures to the four
self.rockTexture = loader.loadTexture("Entities/Maps/simple.jpg")
self.rockTexture.setWrapU(Texture.WMRepeat)
self.rockTexture.setWrapV(Texture.WMRepeat)
self.rockTexture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
#self.grassTexture.setAnisotropicDegree(8)
self.rockTS = TextureStage('rock')
self.rockTS.setSort(2)
# self.rockTS.setCombineRgb(TextureStage.CMAdd, TextureStage.CSLastSavedResult, TextureStage.COSrcColor, TextureStage.CSTexture, TextureStage.COSrcColor)
self.sandTexture = loader.loadTexture("Entities/Maps/stars.png")
self.sandTexture.setWrapU(Texture.WMRepeat)
self.sandTexture.setWrapV(Texture.WMRepeat)
self.sandTexture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
#self.sandTexture.setAnisotropicDegree(8)
self.sandTS = TextureStage('sand')
self.sandTS.setSort(3)
self.sandTS.setPriority(5) # TODO: figure out what this is for...
self.snowTexture = loader.loadTexture("Entities/Maps/grass.png")
self.snowTexture.setWrapU(Texture.WMRepeat)
self.snowTexture.setWrapV(Texture.WMRepeat)
self.snowTexture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
#self.snowTexture.setAnisotropicDegree(8)
self.snowTS = TextureStage('snow')
self.snowTS.setSort(4)
self.snowTS.setPriority(0)
# a background (or rather freground?) texture that will be present independently from the blend map (consider removal)
self.overlayTexture = loader.loadTexture("Entities/Maps/heightmap.png")
self.overlayTexture.setWrapU(Texture.WMRepeat)
self.overlayTexture.setWrapV(Texture.WMRepeat)
self.overlayTexture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
#self.overlayTexture.setAnisotropicDegree(8)
self.overlayTS = TextureStage('overlay')
self.overlayTS.setSort(5)
self.overlayTS.setPriority(10)
# this is where we assign loaded textures to be blended in the shader.
def setSurfaceTextures(self):
self.ownerview = False
root = self.terrain.getRoot()
root.clearTexture()
#self.terrain.setTextureMap()
root.setTexture(
self.blendTS, self.snowTexture
) # this texture determines where the other textures are visible
root.setTexture(self.grassTS, self.snowTexture)
#root.setTexScale(self.grassTS, self.size*5, self.size*5) # I try to make the texture 20 times smaller then the blend map...
root.setTexture(self.rockTS, self.snowTexture) #rockTexture
#root.setTexScale(self.rockTS, self.size*5, self.size*5)
root.setTexture(self.sandTS, self.snowTexture) #sandTexture
#root.setTexScale(self.sandTS, self.size*5, self.size*5)
root.setTexture(self.snowTS, self.snowTexture) #snowTexture
#root.setTexScale(self.snowTS, self.size*5, self.size*5)
#(consider removal)
root.setTexture(self.overlayTS, self.overlayTexture) #overlayTexture
#root.setTexScale(self.overlayTS, self.xsize, self.ysize)
root.setShaderInput('size', self.xsize, self.ysize, self.size,
self.size)
root.setShader(loader.loadShader('Entities/Maps/terrainblender.sha'))
class Simulation(ShowBase):
def __init__(self):
# Heightfield (static)
self.height = 38.0
ShowBase.__init__(self)
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -150, 200)
base.cam.lookAt(0, 0, 0)
# 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)
inputState.watchWithModifiers('forward', 'w')
inputState.watchWithModifiers('left', 'a')
inputState.watchWithModifiers('reverse', 's')
inputState.watchWithModifiers('backward', 'x')
inputState.watchWithModifiers('right', 'd')
# Task
taskMgr.add(self.update, 'updateWorld')
# Physics
self.setup()
# _____HANDLER_____
def doExit(self):
self.cleanup()
sys.exit(1)
# ____TASK___
def processInput(self, dt):
for vehicle in self.controlVehicles:
engineForce = 0.0
brakeForce = 0.0
if inputState.isSet('forward'):
engineForce = 1000.0
brakeForce = 0.0
if inputState.isSet('backward'):
engineForce = -1000.0
brakeForce = 0.0
if inputState.isSet('reverse'):
engineForce = 0.0
brakeForce = 100.0
if inputState.isSet('left'):
vehicle.setAngle(True, dt)
if inputState.isSet('right'):
vehicle.setAngle(False, dt)
# Apply engine and brake to rear wheels
vehicle.setEngineForce(engineForce)
vehicle.setBrakeForce(brakeForce)
#print(vehicle.getAngle())
def update(self, task):
dt = globalClock.getDt()
self.processInput(dt)
self.world.doPhysics(dt, 10, 0.008)
self.terrain.update()
return task.cont
def cleanup(self):
self.world = None
self.worldNP.removeNode()
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
#height map
# Filename:
# small -> 'Maps/HeightMapSmall.png'
# big -> 'Maps/HeightMapBig.png'
img = PNMImage(Filename('Maps/HeightMapSmall.png'))
shape = BulletHeightfieldShape(img, self.height, ZUp)
shape.setUseDiamondSubdivision(True)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Heightfield'))
np.node().addShape(shape)
np.setPos(0, 0, 0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
#adding Texture
#setColorMap:
#small -> 'Maps/TextureMapSmall.jpg'
#big -> 'Maps/TextureMapBig.jpg'
self.terrain = GeoMipTerrain('terrain')
self.terrain.setHeightfield(img)
self.terrain.setColorMap('Maps/TextureMapSmall.jpg')
self.terrain.setBruteforce(True) # level of detail
self.terrain.setBlockSize(32)
self.terrain.setNear(50)
self.terrain.setFar(100)
self.terrain.setFocalPoint(base.camera)
rootNP = self.terrain.getRoot()
rootNP.reparentTo(render)
rootNP.setSz(self.height)
offset = img.getXSize() / 2.0 - 0.5
rootNP.setPos(-offset, -offset, -self.height / 2.0)
self.makeMapBorders(offset)
self.terrain.generate()
# creating vehicles
#controlled vehicles
self.controlVehicles = []
self.controlVehicles.append(
Vehicle(0, 00, 40, "B", self.worldNP, self.world))
#vehicles goint to a specific point
#self.squareVeh = Vehicle(0, 50, 40, "G", self.worldNP, self.world)
#thread.start_new_thread(self.goSquare, (self.squareVeh, 100))
#vehicles following user
#self.followVehicles = []
#self.followVehicles.append(Vehicle(-offset+10, -offset+10, 40, "R", self.worldNP, self.world))
#self.followVehicles.append(Vehicle(offset-10, offset-10, 60, "R", self.worldNP, self.world))
#for veh in self.followVehicles:
# thread.start_new_thread(follow, (veh, self.controlVehicles[0]))
#vehicles for hill climbing
self.hillVehicles = []
self.hillVehicles.append(
Vehicle(-offset + 10, -offset + 10, 40, "R", self.worldNP,
self.world))
self.hillVehicles.append(
Vehicle(offset - 10, offset - 10, 60, "R", self.worldNP,
self.world))
for veh in self.hillVehicles:
thread.start_new_thread(blindClimb, (veh, ))
#function that navigates a vehicle to go in a square
def goSquare(self, vehicle, size):
while (True):
goTo([size, size], vehicle)
goTo([size, -size], vehicle)
goTo([-size, -size], vehicle)
goTo([-size, size], vehicle)
#Borders around the map that vehicles won't fall from terrain
def makeMapBorders(self, offset):
plane1 = BulletPlaneShape(Vec3(1, 0, 0), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('border1'))
np.node().addShape(plane1)
np.setPos(-offset, -offset, -self.height / 2.0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
plane2 = BulletPlaneShape(Vec3(0, 1, 0), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('border2'))
np.node().addShape(plane2)
np.setPos(-offset, -offset, -self.height / 2.0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
plane3 = BulletPlaneShape(Vec3(0, -1, 0), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('border3'))
np.node().addShape(plane3)
np.setPos(offset, offset, self.height / 2.0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
plane4 = BulletPlaneShape(Vec3(-1, 0, 0), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('border4'))
np.node().addShape(plane4)
np.setPos(offset, offset, self.height / 2.0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
#getting height of map at some point
def getHeight(self):
line = CollisionLine(ox, oy, oz, dx, dy, dz)
