def vec_to_hpr (v):
q = Quat ()
q.setX (v.getX ())
q.setY (v.getY ())
q.setZ (v.getZ ())
q.setW (v.getW ())
return q.getHpr ()
def OnUpdate(self, task):
# Position axes 30 pixels from top left corner
self.axes.setPos(Vec3(30, 0, -30))
# Set rotation to inverse of camera rotation
cameraQuat = Quat(self.getQuat())
cameraQuat.invertInPlace()
self.axes.setQuat(cameraQuat)
def synchronize(self, _pandaCJoint, _smrJoint):
smrQuaternion = _smrJoint.getRot()
pandaQuaternion = Quat()
pandaQuaternion.setI(smrQuaternion.getX())
pandaQuaternion.setJ(smrQuaternion.getY())
pandaQuaternion.setK(smrQuaternion.getZ())
pandaQuaternion.setR(smrQuaternion.getW())
if not (pandaQuaternion.isNan()):
_pandaCJoint.setQuat(pandaQuaternion)
def synchronize(self, _pandaCJoint, _smrJoint):
#_smrJoint.setRot(3.14/20.0,0,0);
smrQuaternion = _smrJoint.getRot()
pandaQuaternion = Quat()
pandaQuaternion.setI(smrQuaternion.getX())
pandaQuaternion.setJ(smrQuaternion.getY())
pandaQuaternion.setK(smrQuaternion.getZ())
pandaQuaternion.setR(smrQuaternion.getW())
_pandaCJoint.setQuat(pandaQuaternion)
def AxesTask( self, task ):
# Position axes 30 pixels from bottom left corner
#posY = 100# self.GetSize()[1]
self.axes.setPos( Vec3( 30, 0, -30 ) )
# Set rotation to inverse of camera rotation
cameraQuat = Quat( self.getQuat() )
cameraQuat.invertInPlace()
self.axes.setQuat( cameraQuat )
return Task.cont
def OnUpdate( self, task ):
# Position axes 30 pixels from top left corner
self.axes.setPos( Vec3( 30, 0, -30 ) )
# Set rotation to inverse of camera rotation
cameraQuat = Quat( self.getQuat() )
cameraQuat.invertInPlace()
self.axes.setQuat( cameraQuat )
def RotatePoint3(p, v1, v2):
v1.normalize()
v2.normalize()
cross = v1.cross(v2)
cross.normalize()
if cross.length():
a = v1.angleDeg(v2)
quat = Quat()
quat.setFromAxisAngle(a, cross)
p = quat.xform(p)
return p
def updateStars(self, newCameraPos):
# TODO: Add unit tests!
self.stars.setPos(newCameraPos)
cameraDeltaPos = tupleSegment(self.lastCameraPos,
vec3ToTuple(newCameraPos))
xRotation = Quat()
xRotation.setFromAxisAngle(cameraDeltaPos[0] * .1, Vec3(0, 1, 0))
yRotation = Quat()
yRotation.setFromAxisAngle(-cameraDeltaPos[1] * .1, Vec3(1, 0, 0))
newRotation = xRotation.multiply(yRotation)
self.starsRotation *= newRotation
self.stars.setQuat(self.starsRotation)
def simulationTask(task):
if vehicle != None and vehicle.chassiM != None:
base.cam.lookAt(vehicle.chassiM.model)
global text
text.destroy()
text = OnscreenText(text=('fps = ' +
str(globalClock.getAverageFrameRate())),
pos=(0, 0.9),
scale=0.07)
if (keylistener.space):
vehicle.goUp()
if (keylistener.i):
vehicle.goForward()
if (keylistener.k):
vehicle.goBackwards()
if (keylistener.j):
vehicle.turnLeft()
if (keylistener.l):
vehicle.turnRight()
space.autoCollide()
world.quickStep(globalClock.getDt())
for np, body in objects:
np.setPosQuat(render, body.getPosition(), Quat(body.getQuaternion()))
contactgroup.empty()
return task.cont
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 updatePlayer(self):
'''
Needs to get executed every Ode-Step
'''
self._vehicle.model.setPosQuat(
render, self._vehicle.physics_model.getPosition(),
Quat(self._vehicle.physics_model.getQuaternion()
)) #set new position
self._camera.updateCam()
def _move (self, dt, rd):
if self._at_rest:
return
pos = self._pos
quat = self._quat
vel = self._vel
angvel = self._angvel
gracc = self.world.gravacc
pos1 = pos + vel * dt + gracc * (0.5 * dt**2)
vel1 = vel + gracc * dt
touch = self.world.below_surface(pos, elev=self._fix_elev)
if touch:
gpos = self.world.intersect_surface(pos, pos1, elev=self._fix_elev)
gnorm = vtof(self.world.elevation(gpos, wnorm=True)[1])
pos1 -= gnorm * (pos1 - gpos).dot(gnorm) * 2
vel1_el = unitv(pos1 - pos) * vel1.length()
vel1_el_n = gnorm * vel1_el.dot(gnorm)
vel1_el_t = vel1_el - vel1_el_n
vel1 = vel1_el_n * self._norm_rest_fac + vel1_el_t * self._tang_rest_fac
self._at_rest = (vel1.length() < 0.5)
if self._at_rest:
pos1 = gpos
vel1 = Vec3(0.0, 0.0, 0.0)
self.node.setPos(pos1)
raxis = unitv(self._angvel)
if raxis.length() == 0.0:
raxis = Vec3(0.0, 0.0, 1.0)
absangvel1 = self._angvel.length()
if touch:
absangvel1 *= self._tumble_rest_fac
dquat = Quat()
dquat.setFromAxisAngleRad(absangvel1 * dt, raxis)
quat1 = quat * dquat
angvel1 = raxis * absangvel1
self.node.setQuat(quat1)
self._pos = pos1
self._quat = quat1
self._vel = vel1
self._angvel = angvel1
def jump_to (self, pos=None, hpr=None, speed=None):
if pos is None:
pos = self.pos(refbody=self.parent)
if hpr is None:
hpr = self.hpr(refbody=self.parent)
if speed is None:
speed = self.speed(refbody=self.parent)
self.node.setPos(pos)
self.node.setHpr(hpr)
q = Quat()
q.setHpr(hpr)
self._vel = Vec3(q.xform(Vec3(0, speed, 0)))
self._acc = Vec3()
self._angvel = Vec3()
self._angacc = Vec3()
self._prev_vel = Vec3(self._vel)
self._prev_angvel = Vec3(self._angvel)
def __call__(self, task):
for moment in self.dataStream:
for prevSegment, segment, controlJoint, jointName, endJointName in zip(self.prevFobSegments,
segmentsFromMoment(moment),
self.controlJoints[:-1],
self.joints[:-1],
self.joints[1:]):
while self.paused:
return Task.cont
self.prevFobSegments.pop(0)
exposedJoint = self.actor.exposeJoint(None, "modelRoot", jointName)
exposedEndJoint = self.actor.exposeJoint(None, "modelRoot", endJointName)
prevJointSegment = Vec3(exposedEndJoint.getNetTransform().getPos()) - Vec3(exposedJoint.getNetTransform().getPos())
prevSegment.normalize()
segment.normalize()
prevJointSegment.normalize()
axis = prevJointSegment.cross(segment)
axis.normalize()
import logging
# logging.debug("moment: %s" % (moment,))
# logging.debug("segment: %s, prevSegment: %s, prevJointSegment: %s" % (segment, prevSegment, prevJointSegment))
# logging.debug("prevJointSegment: %s" % (prevJointSegment,))
# logging.debug("axis: %s" % (axis,))
angle = prevSegment.angleRad(segment)
quat = Quat()
quat.setFromAxisAngleRad(angle, axis)
controlJoint.setQuat(controlJoint, quat)
self.prevFobSegments.append(segment)
if not self.stopped:
return Task.cont
else:
return Task.done
return Task.done
def constrainQuat(self):
"""keep the object rotating in the correct plane"""
#FIXME is there a better way than fixing at every instant?
if not self.rot:
self.body.setQuaternion(Quat.identQuat())
return
q = self.body.getQuaternion()
q[1] = 0
q[2] = 0
q.normalize()
self.body.setQuaternion(Quat(q))
def simulationTask(task):
global groundImgChanged
space.autoCollide() # Setup the contact joints
# Step the simulation and set the new positions
world.quickStep(globalClock.getDt())
for np, geom, sound in balls:
if not np.isEmpty():
np.setPosQuat(render, geom.getBody().getPosition(), Quat(geom.getBody().getQuaternion()))
contactgroup.empty() # Clear the contact joints
# Load the image into the texture
if groundImgChanged:
groundTexture.load(groundImage)
groundImgChanged = False
return task.cont
class EntitySnapshot(net.Object): def __init__(self): self.pos = Vec3() self.quat = Quat() self.time = 0 self.empty = True def takeSnapshot(self, entity): self.pos = entity.getPosition() self.quat = Quat(entity.getQuaternion()) self.time = engine.clock.time self.empty = False def addTo(self, datagram): pos = HighResVec3(self.pos) quat = StandardQuat(self.quat) pos.addTo(datagram) quat.addTo(datagram) @staticmethod def getFrom(iterator): es = EntitySnapshot() es.pos = HighResVec3.getFrom(iterator) es.quat = StandardQuat.getFrom(iterator) es.time = engine.clock.time es.empty = False return es def commitTo(self, entity): entity.setQuaternion(self.quat) entity.setPosition(self.pos) def lerp(self, snapshot, scale): result = EntitySnapshot() result.pos = self.pos + ((snapshot.pos - self.pos) * scale) result.quat = self.quat + ((snapshot.quat - self.quat) * scale) result.empty = False return result def setFrom(self, snapshot): self.pos = Vec3(snapshot.pos) self.quat = Quat(snapshot.quat) self.time = engine.clock.time self.empty = snapshot.empty def almostEquals(self, snapshot): return self.quat.almostEqual(snapshot.quat, 2) and self.pos.almostEqual(snapshot.pos, 0.2)
def placeBodies(self):
"""Make the nodePaths match up to the physics bodies."""
# lets see if a sphere can simulate a tire by just taking out P and R
for pair in self.odePandaRelationList:
pandaNodePathGeom = pair[0]
odeBody = pair[1]
if pandaNodePathGeom:
pandaNodePathGeom.setPos(odeBody.getPosition())
# rotation = (odeBody.getRotation() * (180.0/math.pi))
pandaNodePathGeom.setQuat(
Quat(odeBody.getQuaternion()[0],
odeBody.getQuaternion()[1],
odeBody.getQuaternion()[2],
odeBody.getQuaternion()[3]))
pandaNodePathGeom.setP(0)
pandaNodePathGeom.setR(0)
newQuat = pandaNodePathGeom.getQuat()
odeBody.setQuaternion(newQuat)
def alignBodyTo2d(self):
body = self.ballBody
# Constrain position of the body
oldPos = body.getPosition()
newPos = oldPos
newPos[0] = 0
newPos[1] = oldPos[1]
newPos[2] = oldPos[2]
# Constrain quaternion of the body
oldQuat = body.getQuaternion()
newQuat = oldQuat
newQuat[0] = oldQuat[0]
newQuat[1] = oldQuat[1]
newQuat[2] = 0
newQuat[3] = 0
# Set new position and quaternion of the body
body.setPosition(newPos)
body.setQuaternion(Quat(newQuat))
def updateStars(self, newCameraPos):
# TODO: Add unit tests!
self.stars.setPos(newCameraPos)
cameraDeltaPos = tupleSegment(
self.lastCameraPos,
vec3ToTuple( newCameraPos )
)
xRotation = Quat()
xRotation.setFromAxisAngle(
cameraDeltaPos[0] * .1,
Vec3( 0, 1, 0 )
)
yRotation = Quat()
yRotation.setFromAxisAngle(
-cameraDeltaPos[1] * .1,
Vec3( 1, 0, 0 )
)
newRotation = xRotation.multiply( yRotation )
self.starsRotation *= newRotation
self.stars.setQuat( self.starsRotation )
def __init__ (self, world, name, side, texture=None,
pos=None, hpr=None, speed=None, sink=None, damage=None):
if pos is None:
pos = Point3()
if hpr is None:
hpr = Vec3()
if sink is None:
sink = 0.0
if speed is None:
speed = 0.0
pos = Point3(pos[0], pos[1], 0.0)
self.texture = texture
if isinstance(self.modelpath, basestring):
shdmodind = 0
elif self.modelpath:
shdmodind = min(len(self.modelpath) - 1, 1)
else:
shdmodind = None
Body.__init__(self,
world=world,
family=self.family, species=self.species,
hitforce=(self.strength * 0.1),
name=name, side=side,
modeldata=AutoProps(
path=self.modelpath, shadowpath=self.shdmodelpath,
texture=texture, normalmap=self.normalmap,
glowmap=self.glowmap, glossmap=self.glossmap,
scale=self.modelscale,
offset=self.modeloffset, rot=self.modelrot),
hitboxdata=self.hitboxdata,
hitlight=AutoProps(),
hitdebris=self.hitdebris, hitflash=self.hitflash,
amblit=True, dirlit=True, pntlit=2, fogblend=True,
obright=True, shdshow=True, shdmodind=shdmodind,
ltrefl=(self.glossmap is not None),
pos=pos, hpr=hpr, vel=speed)
self.maxbracc = self.maxspeed / 4.0
# Detect shotdown maps.
self._shotdown_texture = self.texture
self._shotdown_normalmap = self.normalmap
self._shotdown_glowmap = self.glowmap if not isinstance(self.glowmap, Vec4) else None
self._shotdown_glossmap = self.glossmap
self._shotdown_change_maps = False
if isinstance(self.modelpath, basestring):
ref_modelpath = self.modelpath
elif isinstance(self.modelpath, (tuple, list)):
ref_modelpath = self.modelpath[0]
else:
ref_modelpath = None
if ref_modelpath:
ref_modeldir = path_dirname(ref_modelpath)
ref_modelname = path_basename(ref_modeldir)
if self.texture:
test_path = self.texture.replace("_tex.", "_burn.")
if path_exists("data", test_path):
self._shotdown_texture = test_path
self._shotdown_change_maps = True
if self.normalmap:
test_path = join_path(ref_modeldir,
ref_modelname + "_burn_nm.png")
if path_exists("data", test_path):
self._shotdown_normalmap = test_path
self._shotdown_change_maps = True
if self.glowmap and not isinstance(self.glowmap, Vec4):
test_path = join_path(ref_modeldir,
ref_modelname + "_burn_gw.png")
if path_exists("data", test_path):
self._shotdown_glowmap = test_path
self._shotdown_change_maps = True
if self.glossmap:
test_path = join_path(ref_modeldir,
ref_modelname + "_burn_gls.png")
if path_exists("data", test_path):
self._shotdown_glossmap = test_path
self._shotdown_change_maps = True
# Prepare shotdown model.
self._shotdown_modelnode = None
if self.sdmodelpath:
modelchain = self.sdmodelpath
if isinstance(modelchain, basestring):
modelchain = [modelchain]
ret = load_model_lod_chain(
world.vfov, modelchain,
texture=self._shotdown_texture,
normalmap=self._shotdown_normalmap,
glowmap=self._shotdown_glowmap,
glossmap=self._shotdown_glossmap,
shadowmap=self.world.shadow_texture,
scale=self.modelscale,
pos=self.modeloffset, hpr=self.modelrot)
lnode, models, fardists = ret[:3]
lnode.setShader(self.shader)
self._shotdown_modelnode = lnode
self._shotdown_models = models
self._shotdown_fardists = fardists
for mlevel, model in enumerate(models):
model.setTwoSided(True)
# Locally reposition and reorient vehicle such as that
# all ground contact points have local z-coordinates zero.
# Do this by first rotating ground contact plane around axis
# normal to z-axis and to initial ground contact plane normal,
# until the ground contact plane normal becomes the z-axis,
# then shift ground contact plane along z-axis to become xy-plane.
if len(self.groundcontact) != 3:
raise StandardError(
"There must be exactly 3 ground contact points.")
self._platform = self.node.attachNewNode("vehicle-platform")
gcf, gcl, gcr = self.groundcontact
gcn = unitv((gcl - gcf).cross(gcr - gcf))
zdir = Vec3(0, 0, 1)
graxis = gcn.cross(zdir)
if graxis.normalize():
gang = gcn.signedAngleRad(zdir, graxis)
q = Quat()
q.setFromAxisAngleRad(gang, graxis)
self._platform.setQuat(q)
self._modgndcnts = []
for rgcp in self.groundcontact:
rgcp1 = self.node.getRelativePoint(self._platform, rgcp)
goffz = rgcp1[2] # equal by construction for all points
rgcp1[2] = 0.0
self._modgndcnts.append(rgcp1)
self._platform.setPos(gcn * -goffz)
self.modelnode.reparentTo(self._platform)
# Fix vehicle to the ground, according to contact points.
self.sink = sink
self._gyro = world.node.attachNewNode("vehicle-gyro-%s" % name)
gfix = Vehicle._fix_to_ground(self.world, self._gyro,
self._modgndcnts, self.sink,
ptod(pos), vtod(hpr))
pos1, hpr1 = gfix[:2]
self.node.setPos(ptof(pos1))
self.node.setHpr(vtof(hpr1))
self._prev_gfix = gfix
tvelg = speed
self._prev_dyn = (tvelg,)
width, length, height = self.bbox
self.size = (length + width + height) / 3
self._length = length
self._size_xy = min(width, length)
# Models for detecting moving parts.
mvpt_models = list(self.models)
if base.with_world_shadows and self.shadow_node is not None:
mvpt_models += [self.shadow_node]
if self.sdmodelpath:
mvpt_models += self._shotdown_models
# Detect turning axles.
self._axles = []
for model in mvpt_models:
axlends = model.findAllMatches("**/axle*")
for axlend in axlends:
c1, c2 = axlend.getTightBounds()
dx, dy, dz = c2 - c1
wheelrad = 0.5 * (abs(dy) + abs(dz)) / 2
self._axles.append((axlend, wheelrad))
# Detect turning tracks.
# Use ambient light as shader input for uv-scroll.
self._tracks = []
for model in mvpt_models:
tracknds = model.findAllMatches("**/track*")
for it, tracknd in enumerate(tracknds):
spdfac = self.trkspdfac[it]
kwargs = dict(self.shader_kwargs)
kwargs["uvscrn"] = "INuvscr"
shader = make_shader(**kwargs)
tracknd.setShader(shader)
uvscr = AmbientLight(name=("uvscr-track-%d" % it))
tracknd.setShaderInput(kwargs["uvscrn"], NodePath(uvscr))
uvoff = Vec4()
uvscr.setColor(uvoff)
self._tracks.append((tracknd, spdfac, uvoff, uvscr))
# Detect lights.
# Set up turning on/off through glow factor.
self._lights = []
for model in mvpt_models:
for lnd in model.findAllMatches("**/lights"):
kwargs = dict(self.shader_kwargs)
kwargs["glow"] = rgba(255, 255, 255, 1.0)
kwargs["glowfacn"] = self.world.shdinp.glowfacn
shader = make_shader(**kwargs)
lnd.setShader(shader)
self._lights.append(lnd)
self.set_lights(on=False)
if self.engsoundname:
self.engine_sound = Sound3D(
path=("audio/sounds/%s.ogg" % self.engsoundname),
parent=self, maxdist=3000, limnum="hum",
volume=self.engmaxvol, loop=True, fadetime=2.5)
self.engine_sound.play()
else:
self.engine_sound = None
self.damage = damage or 0.0
self.damage_trails = []
self.launchers = []
self.turrets = []
self.decoys = []
self._prev_path = None
self._path_pos = 0.0
self._throttle = 0.0
# Control inputs.
self.zero_inputs()
# Autopilot constants.
self._ap_adjperiod = 1.03
self._ap_adjpfloat = 0.2
# Autopilot state.
self.zero_ap()
# Route settings.
self._route_current_point = None
self._route_points = []
self._route_point_inc = 1
self._route_patrol = False
self._route_circle = False
self._state_info_text = None
self._wait_time_state_info = 0.0
base.taskMgr.add(self._loop, "vehicle-loop-%s" % self.name)
def _move (self, dt, rd):
pos = self._pos
quat = self._quat
fvel = self._fvel
tvel = self._tvel
termspeed = self._termspeed
gracc = self.world.gravacc
fspeed = fvel.length()
fdir = unitv(fvel)
absdracc = self.world.absgravacc * (fspeed**2 / termspeed**2)
if fspeed - absdracc * dt < 0.0:
absdracc = (fspeed / dt) * 0.5
dracc = fdir * -absdracc
facc = gracc + dracc
#facc = Vec3()
dfpos = fvel * dt + facc * (0.5 * dt**2)
fvel1 = fvel + facc * dt
rollspeed = self._rollspeed
rollrad = self._rollrad
if rollspeed != 0.0 and rollrad != 0.0:
rollspeed1 = rollspeed * (1.0 - rd)**2
rollrad1 = rollrad * (1.0 - rd)**2
tdir = unitv(tvel) * (sign(rollspeed * rollrad) or 1)
fdir1 = unitv(fvel1)
dsroll = rollspeed1 * dt
dtquat = Quat()
dtquat.setFromAxisAngleRad(dsroll, fdir)
tdir1p = Vec3(dtquat.xform(tdir))
tdir1 = unitv(fdir1.cross(tdir1p).cross(fdir1))
tspeed1 = rollspeed1 * rollrad1
dtpos = tvel * dt
tvel1 = tdir1 * tspeed1
else:
dtpos = Vec3()
dtquat = Quat()
tvel1 = Vec3()
pos1 = pos + dfpos + dtpos
self.node.setPos(pos1)
fdir1 = unitv(fvel1)
paxis = fdir.cross(fdir1)
if paxis.length() > 1e-5:
paxis.normalize()
dspitch = fdir.signedAngleRad(fdir1, paxis)
else:
paxis = quat.getRight()
paxis.normalize()
dspitch = 0.0
dfquat = Quat()
dfquat.setFromAxisAngleRad(dspitch, paxis)
quat1 = quat * dfquat * dtquat
self.node.setQuat(quat1)
self._pos = pos1
self._quat = quat1
self._fvel = fvel1
self._tvel = tvel1
def __init__ (self, body, handle, duration,
offpos=None, offdir=None, offspeed=0.0,
traildurfac=1.0, traillifespan=0.0,
trailthickness=0.0, trailendthfac=4.0,
trailspacing=1.0, trailtcol=0.0,
trailfire=False,
keeptogether=False, texture=None):
if isinstance(body, tuple):
model, world = body
models = [model]
shadow_model = None
body = None
self.world = world
else:
self.world = body.world
models = list(body.models)
if base.with_world_shadows and body.shadow_node is not None:
shadow_model = body.shadow_node
else:
shadow_model = None
self.node = self.world.node.attachNewNode("breakup-part")
if not keeptogether:
shader = make_shader(ambln=self.world.shdinp.ambln,
dirlns=self.world.shdinp.dirlns)
self.node.setShader(shader)
if texture is not None:
set_texture(self.node, texture)
if isinstance(handle, basestring):
handles = [handle]
else:
handles = handle
offset = offpos
pos = None
quat = None
self._together_nodes = []
for model in models:
if model is None:
continue
for handle in handles:
nd = model.find("**/%s" % handle)
if not nd.isEmpty():
if offset is None:
if body is not None:
offset = nd.getPos(body.node)
else:
offset = nd.getPos(self.world.node)
if pos is None:
# Must be done here because of wrtReparentTo below.
if body is not None:
pos = body.pos(offset=offset)
quat = body.quat()
else:
pos = self.world.node.getRelativePoint(model, offset)
quat = model.getQuat(self.world.node)
self.node.setPos(pos)
self.node.setQuat(quat)
if offdir is None:
offdir = unitv(offset)
if not keeptogether:
nd.wrtReparentTo(self.node)
else:
offset2 = nd.getPos(self.node)
self._together_nodes.append((nd, offset2))
if pos is None:
if offpos is not None:
pos = offpos
self.node.setPos(pos)
else:
raise StandardError(
"No subnodes found for given handle, "
"and no initial position given.")
if shadow_model is not None:
for handle in handles:
nd = shadow_model.find("**/%s" % handle)
if not nd.isEmpty():
nd.removeNode()
if body is not None:
odir = self.world.node.getRelativeVector(body.node, offdir)
bvel = body.vel()
elif models[0] is not None:
odir = self.world.node.getRelativeVector(models[0], offdir)
bvel = Vec3(0.0, 0.0, 0.0)
else:
odir = offdir
bvel = Vec3(0.0, 0.0, 0.0)
vel = bvel + odir * offspeed
if quat is None:
quat = Quat()
quat.setHpr(vectohpr(vel))
self._pos0 = pos
self._vel0 = vel
self._quat0 = quat
self._duration = duration
self._time = 0.0
self._trails = []
if traildurfac > 0.0 and traillifespan > 0.0 and trailthickness > 0.0:
self._start_trail(traildurfac, traillifespan, trailthickness,
trailendthfac, trailspacing, trailtcol, trailfire)
self.alive = True
# Before general loops, e.g. to have updated position in effect loops.
base.taskMgr.add(self._loop, "breakup-part-loop", sort=-1)
def quat(self):
""" return the current quaternion representation of the attitude """
return Quat(self.ode_body.getQuaternion())
def updatePosFromPhysics(self):
if self.body != None:
self.node.setPosQuat(render, self.body.getPosition(),
Quat(self.body.getQuaternion()))
def vec_to_hpr(v):
q = Quat()
q.setX(v.getX())
q.setY(v.getY())
q.setZ(v.getZ())
q.setW(v.getW())
return q.getHpr()
def hpr2quat(h,p,r):
q = Quat()
q.setHpr((h,p,r))
return q
def takeSnapshot(self, entity): self.pos = entity.getPosition() self.quat = Quat(entity.getQuaternion()) self.time = engine.clock.time self.empty = False
def __init__(self): self.pos = Vec3() self.quat = Quat() self.time = 0 self.empty = True
def getFrom(iterator): return Quat(net.StandardFloat.getFrom(iterator), net.StandardFloat.getFrom(iterator), net.StandardFloat.getFrom(iterator), net.StandardFloat.getFrom(iterator))
def updateModelNode(self):
''' Update objects after one physics iteration '''
now = globalClock.getLongTime()
body = self.ballBody
g = self.world.getGravity()
if self.limitedYMovement:
if body.getPosition().getY() > self.limitedYCoords[1]:
self.ballBody.setLinearVel(Vec3(0, -10, 0))
if body.getPosition().getY() < self.limitedYCoords[0]:
self.ballBody.setLinearVel(Vec3(0, 10, 0))
if self.limitedZMovement:
if body.getPosition().getZ() > self.limitedZCoords[1]:
messenger.send(EventType.RESTART)
return
if body.getPosition().getZ() < self.limitedZCoords[0]:
messenger.send(EventType.RESTART)
return
if Ball.MOVEMENT_DEBUG and now - self.lastDrawTime2 > 0.2:
v = body.getLinearVel()
v2 = self.perpendicularUnitVec3WithFixedX(v)
self.lines.reset()
self.lines3.reset()
x = body.getPosition().getX(
) + 1.2 # This will bring the line in front of the ball
y = body.getPosition().getY()
z = body.getPosition().getZ()
self.lines.drawLines([((x, y, z), (x + v.getX(), y + v.getY(),
z + v.getZ()))])
self.lines3.drawLines([((x, y, z), (x + v2.getX(), y + v2.getY(),
z + v2.getZ()))])
self.lines.create()
self.lines3.create()
self.lastDrawTime2 = 0.0
''' Can move better when on (touching) something, moving in the air is harder '''
divisor = 3.5
if self.isColliding() and self.lastCollisionIsGround:
divisor = 1.0
if self.moveLeft or self.moveRight:
factor = 1.0
if self.moveLeft:
factor = -1.0
# Limit speed to some constant
v3 = self.perpendicularUnitVec3WithFixedX(g)
v3 *= factor * Ball.FORCE / divisor
lv = self.ballBody.getLinearVel()
lv.setX(0.0)
lv.setZ(0.0)
if self.haveRoughlySameDirection(
lv, v3) and abs(lv.length()) > self.MAX_MOVEMENT_SPEED:
factor = 0.0
v3 = self.perpendicularUnitVec3WithFixedX(g)
v3 *= factor * Ball.FORCE / divisor
self.ballBody.setForce(y=v3.getY(), x=v3.getX(), z=v3.getZ())
v3 = self.perpendicularUnitVec3WithFixedX(g)
v3 *= factor * Ball.TORQUE / divisor
self.ballBody.setTorque(y=v3.getY(), x=v3.getX(), z=v3.getX())
''' This is still really crappy, will revise later '''
if self.jumping == True:
g = -g
g /= g.length()
if Ball.STATIC_JUMP:
g *= Ball.STATIC_JUMP_FORCE
self.ballBody.setForce(y=g.getY(), x=g.getX(), z=g.getZ())
self.jumping = False
else:
elapsed = now - self.jumpStarted
if elapsed > 0.0 and elapsed < Ball.MAX_JUMP_REACH_TIME:
g *= Ball.JUMP_FORCE
self.ballBody.setForce(y=g.getY(), x=g.getX(), z=g.getZ())
elif elapsed > Ball.MAX_JUMP_REACH_TIME:
self.jumping = False
# Keep the body in 2d position
self.alignBodyTo2d()
# Set the new position
self.modelNode.setPos(render, self.ballBody.getPosition())
self.modelNode.setQuat(render, Quat(self.ballBody.getQuaternion()))
def hpr_to_quat(hpr):
q = Quat()
q.setHpr(hpr)
return q
def __init__ (self, world,
family, species, hitforce,
name, side,
mass=None,
pos=Point3(), hpr=Vec3(),
vel=Vec3(), angvel=Vec3(),
acc=Vec3(), angacc=Vec3(),
modeldata=None,
hitboxdata=[], hitboxcritdata=[],
hitinto=True, hitfrom=True,
sensordata=None,
center=None, bbox=None, bboxcenter=None,
hitlight=None, hitdebris=None, hitflash=None,
passhitfx=False,
amblit=False, dirlit=False, pntlit=0, fogblend=False,
obright=False, ltrefl=False,
shdshow=False, shdmodind=None,
parent=None):
self.alive = True
self.world = world
self.family = family
self.species = species
self.name = name
self.side = side
self.parent = parent or world
self.mass = mass
self.hitforce = hitforce
self.hitlight = hitlight
self.hitdebris = hitdebris
self.hitflash = hitflash
self.passhitfx = passhitfx
self.racc = Vec3()
self.aacc = Vec3()
self.rangacc = Vec3()
self.aangacc = Vec3()
if isinstance(vel, (float, int)):
q = Quat()
q.setHpr(hpr)
vel = q.xform(Vec3(0, vel, 0))
self._acc = Vec3(acc)
self._angacc = Vec3(angacc)
self._vel = Vec3(vel)
self._prev_vel = Vec3(vel)
self._angvel = Vec3(angvel)
self._prev_angvel = Vec3(angvel)
self.birth_time = world.time
self.initiator = None
arg_bbox = bbox
arg_bboxcenter = bboxcenter
self.node = self.parent.node.attachNewNode(self.name)
if modeldata and modeldata.path:
if ltrefl:
glossmap = modeldata.glossmap
if not glossmap:
glossmap = "images/_glossmap_none.png"
else:
glossmap = None
if isinstance(modeldata.glowmap, Vec4):
glowcol = modeldata.glowmap
glowmap = None
else:
glowcol = None
glowmap = modeldata.glowmap
if modeldata.clamp is not None:
clamp = modeldata.clamp
else:
clamp = True
shadowmap = base.world_shadow_texture if shdshow else None
if isinstance(modeldata.path, (tuple, list)):
if (len(modeldata.path) == 2 and
isinstance(modeldata.path[0], NodePath) and
isinstance(modeldata.path[1], str)):
pnode, tname = modeldata.path
ret = extract_model_lod_chain(pnode, tname,
texture=modeldata.texture, normalmap=modeldata.normalmap,
glowmap=glowmap, glossmap=glossmap,
shadowmap=shadowmap,
clamp=clamp)
lnode, models, fardists, bbox, bcen, ppos, phpr = ret
if pos is None:
pos = ppos
if hpr is None:
hpr = phpr
for model in models:
model.setPos(Point3())
model.setHpr(Vec3())
else:
ret = load_model_lod_chain(
world.vfov, modeldata.path,
texture=modeldata.texture, normalmap=modeldata.normalmap,
glowmap=glowmap, glossmap=glossmap,
shadowmap=shadowmap,
clamp=clamp, scale=modeldata.scale,
pos=modeldata.offset, hpr=modeldata.rot)
lnode, models, fardists, bbox, bcen = ret
self.modelnode = lnode
self.models = models
self.fardists = fardists
self.bbox = bbox
self.bboxcenter = bcen
lnode.reparentTo(self.node)
else:
model = load_model(
modeldata.path,
texture=modeldata.texture, normalmap=modeldata.normalmap,
glowmap=glowmap, glossmap=glossmap,
shadowmap=shadowmap,
clamp=clamp, scale=modeldata.scale,
pos=modeldata.offset, hpr=modeldata.rot)
self.modelnode = model
self.models = [model]
self.fardists = [-1.0]
model.reparentTo(self.node)
if not modeldata.nobbox:
bmin, bmax = model.getTightBounds()
self.bbox = bmax - bmin
self.bboxcenter = (bmin + bmax) * 0.5
else:
self.bbox = Vec3()
self.bboxcenter = Vec3()
else:
self.modelnode = None
self.models = []
self.fardists = []
self.bbox = Vec3()
self.bboxcenter = Vec3()
if arg_bbox is not None:
self.bbox = arg_bbox
if arg_bboxcenter is not None:
self.bboxcenter = arg_bboxcenter
else:
self.bboxcenter = Vec3()
elif arg_bboxcenter is not None:
self.bboxcenter = arg_bboxcenter
self.update_bbox(bbox=self.bbox, bboxcenter=self.bboxcenter)
self.node.setPos(pos)
self.node.setHpr(hpr)
self.hitboxes = []
self.set_hitboxes(hitboxdata, hitboxcritdata, hitinto, hitfrom)
#for hbx in self.hitboxes:
#hbx.cnode.show()
self.inert_collide = False
self.hits_critical = True
if center is not None:
self.center = center
elif self.hitboxes:
self.center = Point3()
volume = 0.0
for hbx in self.hitboxes:
self.center += hbx.center * hbx.volume
volume += hbx.volume
self.center /= volume
else:
self.center = self.bboxcenter
if self.hitlight:
self._init_hitlight()
if self.hitdebris:
self._init_hitdebris()
if self.hitflash:
self._init_hitflash()
# Before shader is set.
if base.with_world_shadows:
if modeldata and modeldata.shadowpath:
model = load_model(
modeldata.shadowpath,
scale=modeldata.scale,
pos=modeldata.offset, hpr=modeldata.rot)
model.reparentTo(world.shadow_node)
self.shadow_node = model
elif self.models and shdmodind is not None:
model = self.models[shdmodind]
self.shadow_node = model.copyTo(world.shadow_node)
else:
self.shadow_node = None
if self.models:
shdinp = world.shdinp
ambln = shdinp.ambln if amblit else None
dirlns = shdinp.dirlns if dirlit else []
#pntlit = 0
pntlns = shdinp.pntlns[:pntlit]
fogn = shdinp.fogn if fogblend else None
camn = shdinp.camn
pntobrn = shdinp.pntobrn if obright else None
normal = modeldata.normalmap is not None
gloss = ltrefl
glow = glowcol if glowcol is not None else (glowmap is not None)
shadowrefn = shdinp.shadowrefn if shdshow else None
shadowdirlin = shdinp.shadowdirlin if shdshow else None
shadowblendn = shdinp.shadowblendn if shdshow else None
shadowpush = 0.003 if shdshow else None
shadowblur = SHADOWBLUR.NONE if shdshow else None
showas = False
#showas = "%s-shader" % (self.family)
ret = make_shader(
ambln=ambln, dirlns=dirlns, pntlns=pntlns,
fogn=fogn, camn=camn, pntobrn=pntobrn,
normal=normal, gloss=gloss, glow=glow,
shadowrefn=shadowrefn, shadowdirlin=shadowdirlin,
shadowblendn=shadowblendn, shadowpush=shadowpush,
shadowblur=shadowblur,
showas=showas, getargs=True)
self.shader, self.shader_kwargs = ret
self.modelnode.setShader(self.shader)
self.pntlit = pntlit
if sensordata is not None:
self.sensorpack = SensorPack(parent=self,
scanperiod=sensordata.scanperiod,
relspfluct=sensordata.relspfluct,
maxtracked=sensordata.maxtracked)
else:
self.sensorpack = None
self.shotdown = False
self.retreating = False
self.outofbattle = False
self.controlout = False
self._last_collide_body = None
self._recorded_as_kill = False
if not base.with_sound_doppler:
self.ignore_flyby = 0
world.register_body(self)
base.taskMgr.add(self._loop_fx, "body-effects-%s" % self.name)
def hpr_to_quat (hpr):
q = Quat ()
q.setHpr (hpr)
return q
def move (self, dt):
# Base override.
# Called by world at end of frame.
# Store or pop the turret.
pos = self.node.getPos()
pos1 = pos
vel = Vec3()
if self._storepos is not None:
speed = self._storespeed
tpos = self._storepos if self._stored else self._pos
dpos = tpos - pos
tdist = dpos.length()
if tdist > 1e-3:
if speed * dt > tdist:
speed = tdist / dt
tdir = unitv(dpos)
vel = tdir * speed
pos1 = pos + vel * dt
stfac = ((pos1 - self._storepos).length() /
(self._pos - self._storepos).length())
stfac = clamp(stfac, 0.0, 1.0)
if self._storedecof:
self._storedecof(stfac)
# Rotate towards the target intercept direction.
idir = self._target_intdir
quat = self._aimref_sviw.getQuat() # to self._aimref_base
if idir is not None:
tdir = self._aimref_base.getRelativeVector(self.world.node, idir)
else:
tdir = hprtovec(Vec3(self.hcenter, self.pcenter, 0.0))
fdir = quat.getForward()
zdir = Vec3(0, 0, 1)
rdir = unitv(fdir.cross(zdir))
cturn = atan2(tdir[1], -tdir[0])
tturn = atan2(fdir[1], -fdir[0])
dturn = norm_ang_delta(cturn, tturn)
celev = atan2(fdir[2], fdir.getXy().length())
telev = atan2(tdir[2], tdir.getXy().length())
delev = norm_ang_delta(celev, telev)
turnrate = self.turnrate
if turnrate * dt > abs(dturn):
turnrate = abs(dturn) / dt
turnrate *= sign(dturn)
elevrate = self.elevrate
if elevrate * dt > abs(delev):
elevrate = abs(delev) / dt
elevrate *= sign(delev)
angvel = zdir * turnrate + rdir * elevrate
# Compute new rotation unconstrained.
angspeed = angvel.length()
if angspeed > 1e-5:
adir = unitv(angvel)
dquat = Quat()
dquat.setFromAxisAngleRad(angspeed * dt, adir)
quat1 = quat * dquat
# Limit to movement arc.
h, p, r = quat1.getHpr()
if isinstance(self.harc, tuple):
harc1, harc2 = self.harc
else:
harc1 = self.hcenter - 0.5 * self.harc
harc2 = self.hcenter + 0.5 * self.harc
h = pclamp(h, harc1, harc2, -180, 180)
if isinstance(self.parc, tuple):
parc1, parc2 = self.parc
else:
parc1 = self.pcenter - 0.5 * self.parc
parc2 = self.pcenter + 0.5 * self.parc
p = pclamp(p, parc1, parc2, -90, 90, mirror=True)
hpr1 = Vec3(h, p, r)
else:
hpr1 = quat.getHpr()
self._update_pos_hpr(pos1, hpr1)
# Needed in base class.
self._prev_vel = self._vel
self._vel = vel
self._acc = (self._vel - self._prev_vel) / dt
self._prev_angvel = self._angvel
self._angvel = angvel
self._angacc = (self._angvel - self._prev_angvel) / dt
def synchronize(self, _pandaCJoint, _smrJoint):
smrQuaternion = _smrJoint.getRot()
pandaQuaternion = Quat()
pandaQuaternion.setI(smrQuaternion.getX())
pandaQuaternion.setJ(smrQuaternion.getY())
pandaQuaternion.setK(smrQuaternion.getZ())
pandaQuaternion.setR(smrQuaternion.getW())
if not (pandaQuaternion.isNan()):
_pandaCJoint.setQuat(pandaQuaternion)
def setFrom(self, snapshot): self.pos = Vec3(snapshot.pos) self.quat = Quat(snapshot.quat) self.time = engine.clock.time self.empty = snapshot.empty
