def __init__(self, canRender=0):
self.canRender = canRender
self.world = OdeWorld()
self.space = OdeSimpleSpace()
self.contactgroup = OdeJointGroup()
self.bodyList = []
self.geomList = []
self.massList = []
self.rayList = []
self.showContacts = 0
self.jointMarkers = []
self.jointMarkerCount = 64
self.meshDataList = []
self.geomDataList = []
self.commonObjectInfoDict = {}
self.maxColCount = 0
if self.canRender:
self.odePandaRelationList = self.bodyList
self.root = render.attachNewNode('physics root node')
else:
self.root = NodePath('physics root node')
self.placerNode = self.root.attachNewNode('Placer')
self.subPlacerNode = self.placerNode.attachNewNode('Placer Sub Node')
self.commonObjectDict = {}
self.commonId = 0
self.worldAttach = self.root.attachNewNode('physics geom attach point')
self.timingCycleLength = 10.0
self.timingCycleOffset = 0.0
self.timingSimTime = 0.0
self.FPS = 60.0
self.DTAStep = 1.0 / self.FPS
self.DTA = 0
self.useQuickStep = False
self.deterministic = True
self.numStepsInSimulateTask = 0
def __init__(self, canRender = 0):
self.canRender = canRender
self.world = OdeWorld()
self.space = OdeSimpleSpace()
self.contactgroup = OdeJointGroup()
self.bodyList = []
self.geomList = []
self.massList = []
self.rayList = []
self.showContacts = 0
self.jointMarkers = []
self.jointMarkerCount = 64
self.meshDataList = []
self.geomDataList = []
self.commonObjectInfoDict = {}
self.maxColCount = 0
if self.canRender:
self.odePandaRelationList = self.bodyList
self.root = render.attachNewNode('physics root node')
else:
self.root = NodePath('physics root node')
self.placerNode = self.root.attachNewNode('Placer')
self.subPlacerNode = self.placerNode.attachNewNode('Placer Sub Node')
self.commonObjectDict = {}
self.commonId = 0
self.worldAttach = self.root.attachNewNode('physics geom attach point')
self.timingCycleLength = 10.0
self.timingCycleOffset = 0.0
self.timingSimTime = 0.0
self.FPS = 60.0
self.DTAStep = 1.0 / self.FPS
self.DTA = 0
self.useQuickStep = False
self.deterministic = True
self.numStepsInSimulateTask = 0
def createWorldAndStuff():
global world
global space
global contactgroup
world = OdeWorld()
world.setGravity(0, 0, -9.81)
# The surface table is needed for autoCollide
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 15000, 0.001, 0.9, 0.9, 0.00001, 0.1, 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)
def createWorldAndStuff():
global world
global space
global contactgroup
world = OdeWorld()
world.setGravity(0, 0, -9.81)
# The surface table is needed for autoCollide
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 15000, 0.001, 0.9, 0.9, 0.00001, 0.1, 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)
class MinigamePhysicsWorldBase:
notify = DirectNotifyGlobal.directNotify.newCategory(
'MinigamePhysicsWorldBase')
def __init__(self, canRender=0):
self.canRender = canRender
self.world = OdeWorld()
self.space = OdeSimpleSpace()
self.contactgroup = OdeJointGroup()
self.bodyList = []
self.geomList = []
self.massList = []
self.rayList = []
self.showContacts = 0
self.jointMarkers = []
self.jointMarkerCount = 64
self.meshDataList = []
self.geomDataList = []
self.commonObjectInfoDict = {}
self.maxColCount = 0
if self.canRender:
self.odePandaRelationList = self.bodyList
self.root = render.attachNewNode('physics root node')
else:
self.root = NodePath('physics root node')
self.placerNode = self.root.attachNewNode('Placer')
self.subPlacerNode = self.placerNode.attachNewNode('Placer Sub Node')
self.commonObjectDict = {}
self.commonId = 0
self.worldAttach = self.root.attachNewNode('physics geom attach point')
self.timingCycleLength = 10.0
self.timingCycleOffset = 0.0
self.timingSimTime = 0.0
self.FPS = 60.0
self.DTAStep = 1.0 / self.FPS
self.DTA = 0
self.useQuickStep = False
self.deterministic = True
self.numStepsInSimulateTask = 0
def delete(self):
self.notify.debug('Max Collision Count was %s' % self.maxColCount)
self.stopSim()
self.commonObjectDict = None
if self.canRender:
for pair in self.odePandaRelationList:
pair[0].removeNode()
pair[1].destroy()
self.odePandaRelationList = None
else:
for body in self.bodyList:
body[1].destroy()
self.bodyList = None
for mass in self.massList:
mass = None
for geom in self.geomList:
geom.destroy()
geom = None
for ray in self.rayList:
ray.destroy()
ray = None
self.placerNode.removeNode()
self.root.removeNode()
for marker in self.jointMarkers:
marker.removeNode()
self.jointMarkers = None
for data in self.geomDataList:
data.destroy()
for data in self.meshDataList:
data.destroy()
self.contactgroup.empty()
self.world.destroy()
self.space.destroy()
self.world = None
self.space = None
def setupSimulation(self):
if self.canRender:
for count in xrange(self.jointMarkerCount):
testMarker = render.attachNewNode('Joint Marker')
ballmodel = loader.loadModel('phase_3/models/misc/sphere')
ballmodel.reparentTo(testMarker)
ballmodel.setScale(0.1)
testMarker.setPos(0.0, 0.0, -100.0)
self.jointMarkers.append(testMarker)
def startSim(self):
taskMgr.add(self.__simulationTask, 'simulation task')
def stopSim(self):
taskMgr.remove('simulation task')
def __simulationTask(self, task):
self.DTA += globalClock.getDt()
numSteps = int(self.DTA / self.DTAStep)
if numSteps > 10:
self.notify.warning('phyics steps = %d' % numSteps)
startTime = globalClock.getRealTime()
while self.DTA >= self.DTAStep:
if self.deterministic:
OdeUtil.randSetSeed(0)
self.DTA -= self.DTAStep
self.preStep()
self.simulate()
self.postStep()
if self.canRender:
self.placeBodies()
return task.cont
def preStep(self):
pass
def postStep(self):
if self.showContacts and self.canRender:
for count in xrange(self.jointMarkerCount):
pandaNodePathGeom = self.jointMarkers[count]
if count < self.colCount:
pandaNodePathGeom.setPos(
self.space.getContactData(count * 3 + 0),
self.space.getContactData(count * 3 + 1),
self.space.getContactData(count * 3 + 2))
else:
pandaNodePathGeom.setPos(0.0, 0.0, -100.0)
def simulate(self):
self.colCount = self.space.autoCollide()
if self.maxColCount < self.colCount:
self.maxColCount = self.colCount
self.notify.debug('New Max Collision Count %s' % self.maxColCount)
if self.useQuickStep:
self.world.quickStep(self.DTAStep)
else:
self.world.step(self.DTAStep)
for bodyPair in self.bodyList:
self.world.applyDampening(self.DTAStep, bodyPair[1])
self.contactgroup.empty()
self.timingSimTime = self.timingSimTime + self.DTAStep
def placeBodies(self):
for pair in self.odePandaRelationList:
pandaNodePathGeom = pair[0]
odeBody = pair[1]
if pandaNodePathGeom:
pandaNodePathGeom.setPos(odeBody.getPosition())
pandaNodePathGeom.setQuat(
Quat(odeBody.getQuaternion()[0],
odeBody.getQuaternion()[1],
odeBody.getQuaternion()[2],
odeBody.getQuaternion()[3]))
def getOrderedContacts(self, count):
c0 = self.space.getContactId(count, 0)
c1 = self.space.getContactId(count, 1)
if c0 > c1:
chold = c1
c1 = c0
c0 = chold
return (c0, c1)
class MinigamePhysicsWorldBase:
notify = DirectNotifyGlobal.directNotify.newCategory('MinigamePhysicsWorldBase')
def __init__(self, canRender = 0):
self.canRender = canRender
self.world = OdeWorld()
self.space = OdeSimpleSpace()
self.contactgroup = OdeJointGroup()
self.bodyList = []
self.geomList = []
self.massList = []
self.rayList = []
self.showContacts = 0
self.jointMarkers = []
self.jointMarkerCount = 64
self.meshDataList = []
self.geomDataList = []
self.commonObjectInfoDict = {}
self.maxColCount = 0
if self.canRender:
self.odePandaRelationList = self.bodyList
self.root = render.attachNewNode('physics root node')
else:
self.root = NodePath('physics root node')
self.placerNode = self.root.attachNewNode('Placer')
self.subPlacerNode = self.placerNode.attachNewNode('Placer Sub Node')
self.commonObjectDict = {}
self.commonId = 0
self.worldAttach = self.root.attachNewNode('physics geom attach point')
self.timingCycleLength = 10.0
self.timingCycleOffset = 0.0
self.timingSimTime = 0.0
self.FPS = 60.0
self.DTAStep = 1.0 / self.FPS
self.DTA = 0
self.useQuickStep = False
self.deterministic = True
self.numStepsInSimulateTask = 0
def delete(self):
self.notify.debug('Max Collision Count was %s' % self.maxColCount)
self.stopSim()
self.commonObjectDict = None
if self.canRender:
for pair in self.odePandaRelationList:
pair[0].removeNode()
pair[1].destroy()
self.odePandaRelationList = None
else:
for body in self.bodyList:
body[1].destroy()
self.bodyList = None
for mass in self.massList:
mass = None
for geom in self.geomList:
geom.destroy()
geom = None
for ray in self.rayList:
ray.destroy()
ray = None
self.placerNode.removeNode()
self.root.removeNode()
for marker in self.jointMarkers:
marker.removeNode()
self.jointMarkers = None
for data in self.geomDataList:
data.destroy()
for data in self.meshDataList:
data.destroy()
self.contactgroup.empty()
self.world.destroy()
self.space.destroy()
self.world = None
self.space = None
return
def setupSimulation(self):
if self.canRender:
for count in range(self.jointMarkerCount):
testMarker = render.attachNewNode('Joint Marker')
ballmodel = loader.loadModel('phase_3/models/misc/sphere')
ballmodel.reparentTo(testMarker)
ballmodel.setScale(0.1)
testMarker.setPos(0.0, 0.0, -100.0)
self.jointMarkers.append(testMarker)
def startSim(self):
taskMgr.add(self.__simulationTask, 'simulation task')
def stopSim(self):
taskMgr.remove('simulation task')
def __simulationTask(self, task):
self.DTA += globalClock.getDt()
numSteps = int(self.DTA / self.DTAStep)
if numSteps > 10:
self.notify.warning('phyics steps = %d' % numSteps)
startTime = globalClock.getRealTime()
while self.DTA >= self.DTAStep:
if self.deterministic:
OdeUtil.randSetSeed(0)
self.DTA -= self.DTAStep
self.preStep()
self.simulate()
self.postStep()
if self.canRender:
self.placeBodies()
return task.cont
def preStep(self):
pass
def postStep(self):
if self.showContacts and self.canRender:
for count in range(self.jointMarkerCount):
pandaNodePathGeom = self.jointMarkers[count]
if count < self.colCount:
pandaNodePathGeom.setPos(self.space.getContactData(count * 3 + 0), self.space.getContactData(count * 3 + 1), self.space.getContactData(count * 3 + 2))
else:
pandaNodePathGeom.setPos(0.0, 0.0, -100.0)
def simulate(self):
self.colCount = self.space.autoCollide()
if self.maxColCount < self.colCount:
self.maxColCount = self.colCount
self.notify.debug('New Max Collision Count %s' % self.maxColCount)
if self.useQuickStep:
self.world.quickStep(self.DTAStep)
else:
self.world.step(self.DTAStep)
for bodyPair in self.bodyList:
self.world.applyDampening(self.DTAStep, bodyPair[1])
self.contactgroup.empty()
self.timingSimTime = self.timingSimTime + self.DTAStep
def placeBodies(self):
for pair in self.odePandaRelationList:
pandaNodePathGeom = pair[0]
odeBody = pair[1]
if pandaNodePathGeom:
pandaNodePathGeom.setPos(odeBody.getPosition())
pandaNodePathGeom.setQuat(Quat(odeBody.getQuaternion()[0], odeBody.getQuaternion()[1], odeBody.getQuaternion()[2], odeBody.getQuaternion()[3]))
def getOrderedContacts(self, count):
c0 = self.space.getContactId(count, 0)
c1 = self.space.getContactId(count, 1)
if c0 > c1:
chold = c1
c1 = c0
c0 = chold
return (c0, c1)
from pandac.PandaModules import OdeWorld, OdeSimpleSpace, OdeJointGroup
from pandac.PandaModules import OdeBody, OdeMass, OdeSphereGeom, OdePlaneGeom
from pandac.PandaModules import BitMask32, CardMaker, Vec4, Quat
from pandac.PandaModules import PNMImage, PNMPainter, PNMBrush, Texture
from random import randint, random
# Setup our physics world
world = OdeWorld()
world.setGravity(0, 0, -9.81)
# The surface table is needed for autoCollide
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 100, 1.0, 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)
# Load the ball
ball = loader.loadModel("cilindroB")
ball.flattenLight() # Apply transform
ball.setTextureOff()
# Add a random amount of balls
balls = []
# This 'balls' list contains tuples of nodepaths with their ode geoms
for i in range(15):
# Setup the geometry
ballNP = ball.copyTo(render)
