class Car():
def __init__(self,world,space,pos):
#variables
self.world=world
self.world.setContactSurfaceLayer(0.01)
self.space=space
self.turn=False
self.turnspeed=0.0
self.turnangle=0.0
self.carOrientation=1
self.acceleration=False
self.maxSpeed=0
self.accForce=0
#Body of the our car - similar the boxes
self.box = loader.loadModel("car")
self.box.setPos(pos)
self.box.setColor(1,0.5,0.5)
self.box.reparentTo(render)
self.body=OdeBody(self.world)
M = OdeMass()
M.setBox(4, 1.8, 4, 0.5)
self.body.setMass(M)
self.body.setPosition(self.box.getPos(render))
self.bodyGeom = OdeBoxGeom(self.space, 1,3,1)
self.bodyGeom.setBody(self.body)
self.joints=[] #suspensions
self.wheelsbody=[] #wheels body
self.wheelsgeom=[] #wheels geometry
self.wheels=[] #wheels visualisation
for i in range(4):
#set physic of the wheel
self.wheelsbody.append(OdeBody(self.world))
M = OdeMass()
M.setCylinder(2,2,1, 0.4)
self.wheelsbody[i].setMass(M)
self.wheelsbody[i].setQuaternion(Quat(0.7,0,0.7,0))
self.wheelsbody[i].setFiniteRotationMode(1)
#self.wheelsgeom.append(OdeCylinderGeom(self.space, 1,0.4))
self.wheelsgeom.append(OdeSphereGeom(self.space, 1))
self.wheelsgeom[i].setBody(self.wheelsbody[i])
self.wheelsgeom[i].setCategoryBits(BitMask32(0x00000002))
#add hinge2 joint, wich simulate suspension
self.joints.append(OdeHinge2Joint(self.world))
self.joints[i].attachBodies(self.body,self.wheelsbody[i])
#min/max angle for the wheel. Set min=max for stable turn
self.joints[i].setParamHiStop(0, 0.0)
self.joints[i].setParamLoStop(0, 0.0)
#Error reduction parameter of suspension
self.joints[i].setParamSuspensionERP(0, 0.9)
#Blending of forces - in this case influences rigidity of a suspension
self.joints[i].setParamSuspensionCFM(0, 0.001)
#self.joints[i].setParamFudgeFactor(0,0.1)
#axis of joint: set one - vertical, and one - horisontal
self.joints[i].setAxis1(0,0,1)
self.joints[i].setAxis2(1,0,0)
#visual mesh of wheel
self.wheels.append(loader.loadModelCopy("wheel"))
self.wheels[i].setColor(1,0.5,0.5)
self.wheels[i].setScale(1,1,2)
self.wheels[i].reparentTo(render)
wheelDistance = 3.1 #1.8
bodyDistance = 5.2 # 1.1
#bodyHeight = 2.5
bodyHeight= -1.5#car add
#set wheels to start position
self.wheelsbody[0].setPosition(pos.getX()-wheelDistance,pos.getY()+bodyDistance,pos.getZ()+bodyHeight)
self.wheelsbody[1].setPosition(pos.getX()-wheelDistance,pos.getY()-bodyDistance,pos.getZ()+bodyHeight)
self.wheelsbody[2].setPosition(pos.getX()+wheelDistance,pos.getY()+bodyDistance,pos.getZ()+bodyHeight)
self.wheelsbody[3].setPosition(pos.getX()+wheelDistance,pos.getY()-bodyDistance,pos.getZ()+bodyHeight)
#set joints to start position
self.joints[0].setAnchor(Vec3(pos.getX()-(wheelDistance-0.2),pos.getY()+bodyDistance,pos.getZ()+bodyHeight))
self.joints[1].setAnchor(Vec3(pos.getX()-(wheelDistance-0.2),pos.getY()-bodyDistance,pos.getZ()+bodyHeight))
self.joints[2].setAnchor(Vec3(pos.getX()+(wheelDistance-0.2),pos.getY()+bodyDistance,pos.getZ()+bodyHeight))
self.joints[3].setAnchor(Vec3(pos.getX()+(wheelDistance-0.2),pos.getY()-bodyDistance,pos.getZ()+bodyHeight))
#Set surface types for the wheels
self.space.setSurfaceType(self.wheelsgeom[0],1)
self.space.setSurfaceType(self.wheelsgeom[2],1)
self.space.setSurfaceType(self.wheelsgeom[1],2)
self.space.setSurfaceType(self.wheelsgeom[3],2)
self.maxVelocity = 65
self.maxSpeed=50
self.accForce=500
# register actions and tasks
axis=[1,3]
axis2=[1,3,0,2]
base.accept('w', self.Accel,[self.maxVelocity, 40,axis])
base.accept('w-up', self.Accel,[0, 15,axis2])
base.accept('s', self.Accel,[-25, 40,axis])
base.accept('s-up', self.Accel,[0, 15,axis2])
base.accept('space', self.Accel, [0, 200,axis2])
base.accept('space-up', self.Accel, [0, 15,axis2])
base.accept('shift', self.Accel, [0, 50,axis2])
base.accept('shift-up', self.Accel, [0, 15,axis2])
base.accept('d', self.Turn,[True,0.01])
base.accept('a', self.Turn,[True,-0.01])
base.accept('d-up', self.Turn,[False,0.01])
base.accept('a-up', self.Turn,[False,-0.01])
taskMgr.add(self.TurnTask,"Rule Car")
taskMgr.add(self.JetTask,"Jet Task")
taskMgr.doMethodLater(0.5,self.checkRotation, "checkRotation")
#Setup the camera basis
self.camPosNode = self.box.attachNewNode('camPosNode')
self.camPosNode.setPos(0,6,-2)
self.camLookatNode = self.box.attachNewNode('camLookatNode')
self.camLookatNode.setPos(0,0,2)
base.camLens.setFar(10000)
#spedometer
spdm = OnscreenImage(image = 'spdm.png', scale=0.25, pos = (1, 0, -0.6))
spdm.setTransparency(TransparencyAttrib.MAlpha)
self.pointer = OnscreenImage(image = 'spdm_pointer.png', scale=0.25, pos = (1, 0, -0.6))
self.pointer.setTransparency(TransparencyAttrib.MAlpha)
self.lastPos = Vec3(0,0,0)
def addCamdist(self, v):
self.camDistance += v
print "new camdistance:", self.camDistance
#acceleration function
def Accel(self, aspect, force, axis):
for i in [1,3,0,2]:
self.joints[i].setParamFMax(1, 0)
#We use two different methods for move forward and backward
#Forward - "jet engine" - add force to the body of the car
#Backward - angular engine - add angular speed to the wheels
if aspect>0:
self.acceleration=True
else:
self.acceleration=False
for i in axis:
#set angular engine speed
self.joints[i].setParamVel(1,aspect*self.carOrientation)
#and force to it
self.joints[i].setParamFMax(1, force)
#check car orientation, and change control according to it
def checkRotation(self,task):
oldO=self.carOrientation
if abs(int(self.box.getR()))<90:
self.carOrientation=1
else:
self.carOrientation=-1
if oldO<>self.carOrientation:
self.camPosNode.setZ(-self.camPosNode.getZ())
for i in [1,3,0,2]:
self.joints[i].setParamVel(1,-self.joints[i].getParamVel(1))
return task.again
#turn wheels - set variables
def Turn(self,enabled,aspect):
self.turn=enabled
self.turnspeed=aspect
#immediately, turn wheels here
def TurnTask(self,task):
#calculate angle
if not self.turn:
if self.turnangle>0:
self.turnspeed=-0.01*self.carOrientation
if self.turnangle<0:
self.turnspeed=0.01*self.carOrientation
if -0.01<self.turnangle<0.01:
self.turnangle=0;
self.turnangle=self.turnangle+self.turnspeed*self.carOrientation
if self.turnangle>0.3:
self.turnangle=0.3
if self.turnangle<-0.3:
self.turnangle=-0.3
# and set angle to the front wheels
self.joints[0].setParamHiStop(0, self.turnangle)
self.joints[0].setParamLoStop(0, self.turnangle)
self.joints[2].setParamHiStop(0, self.turnangle)
self.joints[2].setParamLoStop(0, self.turnangle)
# will fix wheel position a bit better
for i in xrange(4):
self.wheelsbody[i].setFiniteRotationAxis(self.joints[i].getAxis2())
return task.cont
#task for jet engeene
def JetTask(self,task):
if self.acceleration<>0:
if self.maxSpeed>self.body.getLinearVel().length():
self.body.addRelForce(0,self.accForce,0)
return task.cont
#sync our visible geometry with them physic bodyes
def Sync(self):
self.box.setPos(render, self.body.getPosition())
self.box.setQuat(render,Quat(self.body.getQuaternion()))
for i in range(4):
self.wheels[i].setPos(render, self.wheelsbody[i].getPosition())
self.wheels[i].setQuat(render,Quat(self.wheelsbody[i].getQuaternion()))
# update the camera
camVec = self.camPosNode.getPos(render) - self.body.getPosition()
camDistance = Vec2(-5, 3)
targetCamPos = self.body.getPosition() + camVec * camDistance.getX() + Vec3(0,0,camDistance.getY())
camLookat = self.camLookatNode.getPos(render)
dPos = targetCamPos - base.camera.getPos(render)
dt = globalClock.getDt()
base.camera.setPos(base.camera.getPos(render) + dPos * dt / .5)
base.camera.lookAt(camLookat)
# the speedometer pointer
curPos = self.box.getPos(render)
vel = (self.lastPos - curPos).length() * 6000 / self.maxVelocity
self.lastPos = curPos
dr=vel-self.pointer.getR()
if dr>30:
dr=30
dr=dr*0.1
self.pointer.setR(self.pointer.getR()+dr)
