def start(self):
for component in self.node.data:
if isinstance(component, Rigidbody):
# Check if parent has rigidbody, and use that node if it does
for p_component in self.node.parent.data:
if isinstance(p_component, Rigidbody):
self.parent_path = p_component.body_path
self.update_parent = False
if self.parent_path is None:
parent_node = BulletRigidBodyNode(self.node.parent.name + "_node")
parent_node.set_mass(0)
self.parent_path = EComponent.panda_root_node.attach_new_node(parent_node)
self.parent_path.setPos(helper.np_vec3_to_panda(self.node.parent.transform.get_world_translation()))
rot = np.degrees(self.node.parent.transform.get_world_rotation())
self.parent_path.setHpr(LVector3f(rot[1],
rot[0],
rot[2]))
self.parent_path.setScale(helper.np_vec3_to_panda(self.node.parent.transform.get_world_scale()))
# Create constraint
child_transform = TransformState.make_pos(LVector3f(0, 0, 0))
node_pos = self.node.transform.get_translation() * self.node.transform.get_world_scale()
parent_transform = TransformState.make_pos(helper.np_vec3_to_panda(node_pos))
constraint = BulletConeTwistConstraint(component.body_path.node(),
self.parent_path.node(),
child_transform,
parent_transform)
constraint.set_limit(float(self.property_vals["swing_1"]),
float(self.property_vals["swing_2"]),
float(self.property_vals["max_twist"]))
EComponent.physics_world.attachConstraint(constraint)
def setup(self):
self.worldNP = render.attach_new_node('World')
# World
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.debugNP.show()
self.debugNP.node().show_wireframe(True)
self.debugNP.node().show_constraints(True)
self.debugNP.node().show_bounding_boxes(False)
self.debugNP.node().show_normals(False)
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Box A
shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5))
bodyA = BulletRigidBodyNode('Box A')
bodyNP = self.worldNP.attach_new_node(bodyA)
bodyNP.node().add_shape(shape)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos(-2, 0, 4)
visNP = loader.load_model('models/box.egg')
visNP.clear_model_nodes()
visNP.reparent_to(bodyNP)
self.world.attach(bodyA)
# Box B
shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5))
bodyB = BulletRigidBodyNode('Box B')
bodyNP = self.worldNP.attach_new_node(bodyB)
bodyNP.node().add_shape(shape)
bodyNP.node().set_mass(1.0)
bodyNP.node().set_deactivation_enabled(False)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos(0, 0, 0)
visNP = loader.load_model('models/box.egg')
visNP.clear_model_nodes()
visNP.reparent_to(bodyNP)
self.world.attach(bodyB)
# Cone
frameA = TransformState.make_pos_hpr(LPoint3(0, 0, -2),
LVector3(0, 0, 90))
frameB = TransformState.make_pos_hpr(LPoint3(-5, 0, 0),
LVector3(0, 0, 0))
cone = BulletConeTwistConstraint(bodyA, bodyB, frameA, frameB)
cone.set_debug_draw_size(2.0)
cone.set_limit(30, 45, 170, softness=1.0, bias=0.3, relaxation=8.0)
self.world.attach(cone)
