def make_SB(pos, hpr): #use this to construct a torus geom. #import torus #geom = torus.make_geom() geom = (loader.load_model('models/torus.egg').find_all_matches( '**/+GeomNode').get_path(0).node().modify_geom(0)) geomNode = GeomNode('') geomNode.add_geom(geom) node = BulletSoftBodyNode.make_tri_mesh(info, geom) node.link_geom(geomNode.modify_geom(0)) node.generate_bending_constraints(2) node.get_cfg().set_positions_solver_iterations(2) node.get_cfg().set_collision_flag( BulletSoftBodyConfig.CF_vertex_face_soft_soft, True) node.randomize_constraints() node.set_total_mass(50, True) softNP = self.worldNP.attach_new_node(node) softNP.set_pos(pos) softNP.set_hpr(hpr) self.world.attach(node) geomNP = softNP.attach_new_node(geomNode)
class Orbit(VisibleObject): ignore_light = True default_shown = False selected_color = LColor(1.0, 0.0, 0.0, 1.0) appearance = None shader = None def __init__(self, body): VisibleObject.__init__(self, body.get_ascii_name() + '-orbit') self.body = body self.owner = body self.nbOfPoints = 360 self.orbit = self.find_orbit(self.body) self.color = None self.fade = 0.0 if not self.orbit: print("No orbit for", self.get_name()) self.visible = False def get_oid_color(self): if self.body is not None: return self.body.oid_color else: return LColor() @classmethod def create_shader(cls): cls.appearance = ModelAppearance(attribute_color=True) if settings.use_inv_scaling: vertex_control = LargeObjectVertexControl() else: vertex_control = None cls.shader = BasicShader(lighting_model=FlatLightingModel(), vertex_control=vertex_control) def check_settings(self): if self.body.body_class is None: print("No class for", self.body.get_name()) return self.set_shown(settings.show_orbits and bodyClasses.get_show_orbit(self.body.body_class)) def find_orbit(self, body): if body != None: if not isinstance(body.orbit, FixedOrbit): return body.orbit else: return None, None else: return None, None def set_selected(self, selected): if selected: self.color = self.selected_color else: self.color = self.parent.get_orbit_color() if self.instance: self.instance.setColor(srgb_to_linear(self.color * self.fade)) def create_instance(self): self.vertexData = GeomVertexData('vertexData', GeomVertexFormat.getV3(), Geom.UHStatic) self.vertexWriter = GeomVertexWriter(self.vertexData, 'vertex') delta = self.body.parent.get_local_position() if self.orbit.is_periodic(): epoch = self.context.time.time_full - self.orbit.period / 2 step = self.orbit.period / (self.nbOfPoints - 1) else: #TODO: Properly calculate orbit start and end time epoch = self.orbit.get_time_of_perihelion() - self.orbit.period * 5.0 step = self.orbit.period * 10.0 / (self.nbOfPoints - 1) for i in range(self.nbOfPoints): time = epoch + step * i pos = self.orbit.get_position_at(time) - delta self.vertexWriter.addData3f(*pos) self.lines = GeomLines(Geom.UHStatic) for i in range(self.nbOfPoints-1): self.lines.addVertex(i) self.lines.addVertex(i+1) if self.orbit.is_periodic() and self.orbit.is_closed(): self.lines.addVertex(self.nbOfPoints-1) self.lines.addVertex(0) self.geom = Geom(self.vertexData) self.geom.addPrimitive(self.lines) self.node = GeomNode(self.body.get_ascii_name() + '-orbit') self.node.addGeom(self.geom) self.instance = NodePath(self.node) self.instance.setRenderModeThickness(settings.orbit_thickness) self.instance.setCollideMask(GeomNode.getDefaultCollideMask()) self.instance.node().setPythonTag('owner', self) self.instance.reparentTo(self.context.annotation) if self.color is None: self.color = self.parent.get_orbit_color() self.instance.setColor(srgb_to_linear(self.color * self.fade)) self.instance_ready = True if self.shader is None: self.create_shader() self.shader.apply(self, self.appearance) self.shader.update(self, self.appearance) def update_geom(self): geom = self.node.modify_geom(0) vdata = geom.modify_vertex_data() vwriter = GeomVertexRewriter(vdata, InternalName.get_vertex()) #TODO: refactor with above code !!! delta = self.body.parent.get_local_position() if self.orbit.is_periodic(): epoch = self.context.time.time_full - self.orbit.period step = self.orbit.period / (self.nbOfPoints - 1) else: #TODO: Properly calculate orbit start and end time epoch = self.orbit.get_time_of_perihelion() - self.orbit.period * 5.0 step = self.orbit.period * 10.0 / (self.nbOfPoints - 1) for i in range(self.nbOfPoints): time = epoch + step * i pos = self.orbit.get_position_at(time) - delta vwriter.setData3f(*pos) def check_visibility(self, pixel_size): if self.parent.parent.visible and self.parent.shown and self.orbit: distance_to_obs = self.parent.distance_to_obs if distance_to_obs > 0.0: size = self.orbit.get_apparent_radius() / (distance_to_obs * pixel_size) else: size = 0.0 self.visible = size > settings.orbit_fade self.fade = min(1.0, max(0.0, (size - settings.orbit_fade) / settings.orbit_fade)) if self.color is not None and self.instance is not None: self.instance.setColor(srgb_to_linear(self.color * self.fade)) else: self.visible = False def update_instance(self, camera_pos, camera_rot): if self.instance: self.place_instance_params(self.instance, self.body.parent.scene_position, self.body.parent.scene_scale_factor, LQuaternion()) self.shader.update(self, self.appearance) def update_user_parameters(self): if self.instance is not None: self.update_geom()
class Skidmark(GameObject): def __init__(self, whl_pos, whl_radius, car_h): GameObject.__init__(self) self.radius = whl_radius v_f = GeomVertexFormat.getV3() vdata = GeomVertexData('skid', v_f, Geom.UHDynamic) prim = GeomTriangles(Geom.UHStatic) self.vtx_cnt = 1 self.last_pos = whl_pos geom = Geom(vdata) geom.add_primitive(prim) self.node = GeomNode('gnode') self.node.add_geom(geom) nodepath = self.eng.gfx.root.attach_node(self.node) nodepath.set_transparency(True) nodepath.set_depth_offset(1) nodepath.node.set_two_sided(True) # for self-shadowing issues self.__set_material(nodepath) nodepath.p3dnode.set_bounds(OmniBoundingVolume()) self.add_vertices(whl_radius, car_h) self.add_vertices(whl_radius, car_h) def alpha(time, n_p): if not n_p.is_empty: n_p.node.set_shader_input('alpha', time) # this if seems necessary since, if there are skidmarks and you # exit from the race (e.g. back to the menu), then alpha is being # called from the interval manager even if the interval manager # correctly says that there are 0 intervals. self.remove_seq = Sequence( Wait(8), LerpFunc(alpha, 8, .5, 0, 'easeInOut', [nodepath]), Func(nodepath.remove_node)) self.remove_seq.start() @staticmethod def __set_material(nodepath): # mat = Material() # mat.set_ambient((.35, .35, .35, .5)) # mat.set_diffuse((.35, .35, .35, .5)) # mat.set_specular((.35, .35, .35, .5)) # mat.set_shininess(12.5) # nodepath.set_material(mat) nodepath.node.set_shader(Shader.make(Shader.SL_GLSL, vert, frag)) nodepath.node.set_shader_input('alpha', .5) def add_vertices(self, whl_radius, car_h): base_pos = self.last_pos + (0, 0, -whl_radius + .05) rot_mat = Mat4() rot_mat.set_rotate_mat(car_h, (0, 0, 1)) vdata = self.node.modify_geom(0).modify_vertex_data() vwriter = GeomVertexWriter(vdata, 'vertex') vwriter.set_row(vdata.get_num_rows()) vwriter.add_data3f(base_pos + rot_mat.xform_vec((-.12, 0, 0))) vwriter.add_data3f(base_pos + rot_mat.xform_vec((.12, 0, 0))) cnt = self.vtx_cnt prim = self.node.modify_geom(0).modify_primitive(0) if cnt >= 3: prim.add_vertices(cnt - 3, cnt - 2, cnt - 1) prim.add_vertices(cnt - 2, cnt, cnt - 1) self.vtx_cnt += 2 def update(self, whl_pos, car_h): if (whl_pos - self.last_pos).length() > .2: self.last_pos = whl_pos self.add_vertices(self.radius, car_h) def destroy(self): self.remove_seq = self.remove_seq.finish() GameObject.destroy(self)
class PointCloud(): name: str node_path: NodePath geom_node: GeomNode def __init__(self, name='point_cloud', thickness: float = 3) -> None: self.name = name self.geom_node = GeomNode(self.name) self.node_path = NodePath(self.geom_node) self.node_path.set_render_mode_wireframe() self.node_path.set_render_mode_thickness(thickness) self.node_path.set_antialias(AntialiasAttrib.MPoint) @staticmethod def __make_points(vertices, colours=None, geom: Geom = None) -> Geom: """ This function is largely inspired by panda3d_viewer's implementation. Copyright (c) 2020, Igor Kalevatykh Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. """ if not isinstance(vertices, np.ndarray): vertices = np.asarray(vertices, dtype=np.float32) if colours is not None: if not isinstance(colours, np.ndarray): colours = np.asarray(colours) if colours.dtype != np.uint8: colours = np.uint8(colours * 255) vertices = np.column_stack((vertices.view(dtype=np.uint32).reshape(-1, 3), colours.view(dtype=np.uint32))) data = vertices.tostring() if geom is None: if vertices.strides[0] == 12: vformat = GeomVertexFormat.get_v3() elif vertices.strides[0] == 16: vformat = GeomVertexFormat.get_v3c4() else: raise ValueError('Incompatible point clout format: {},{}'.format(vertices.dtype, vertices.shape)) vdata = GeomVertexData('vdata', vformat, Geom.UHDynamic) vdata.unclean_set_num_rows(len(vertices)) vdata.modify_array_handle(0).set_subdata(0, len(data), data) prim = GeomPoints(Geom.UHDynamic) prim.clear_vertices() prim.add_consecutive_vertices(0, len(vertices)) prim.close_primitive() geom = Geom(vdata) geom.add_primitive(prim) else: vdata = geom.modify_vertex_data() vdata.unclean_set_num_rows(len(vertices)) vdata.modify_array_handle(0).set_subdata(0, len(data), data) prim = geom.modify_primitive(0) prim.clear_vertices() prim.add_consecutive_vertices(0, len(vertices)) prim.close_primitive() return geom def update(self, vertices, colours=None) -> None: if self.geom_node.get_num_geoms() == 0: self.geom = self.__make_points(vertices, colours) self.geom_node.add_geom(self.geom) else: self.geom = self.geom_node.modify_geom(0) self.__make_points(vertices, colours, self.geom)