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car.py
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car.py
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# -*- coding: utf_8 -*-
from random import randint, random
from direct.showbase import DirectObject
import math
from pandac.PandaModules import *
from direct.gui.OnscreenImage import OnscreenImage
#from direct.gui.OnscreenText import OnscreenText
loadPrcFileData("editor-startup", "sync-video #t")
loadPrcFileData("editor-startup", "show-frame-rate-meter #t")
from direct.directbase import DirectStart
class World():
def __init__(self):
#self.infoText = OnscreenText(text = '0', pos = (-0.9, 0.9), scale = 0.07, mayChange=1)
#lights
self.ambientLight = render.attachNewNode( AmbientLight( "ambientLight" ) )
self.ambientLight.node().setColor( Vec4( .8, .8, .8, 1 ) )
self.PointLight = camera.attachNewNode( PointLight( "PointLight" ) )
self.PointLight.node().setColor( Vec4( 0.8, 0.8, 0.8, 1 ) )
self.PointLight.node().setAttenuation( Vec3( .1, 0.04, 0.0 ) )
render.setLight( self.ambientLight )
render.setLight( self.PointLight )
#set physic world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
#Adjustment of interaction surfaces
self.world.initSurfaceTable(4)
# (surfaceId1, surfaceId2, mu, bounce, bounce_vel, soft_erp, soft_cfm, slip, dampen)
self.world.setSurfaceEntry(0, 0, 0.8, 0.0, 10 , 0.9, 0.00001, 100, 0.002)
self.world.setSurfaceEntry(0, 1, 0.8, 0.1, 10, 0.8, 0.00005, 0, 1)
self.world.setSurfaceEntry(0, 2, 0.9, 0.1, 10, 0.8, 0.00005, 0, 1)
self.world.setSurfaceEntry(3, 1, 0.4, 0.2, 10, 0.7, 0.00005, 0, 1)
self.world.setSurfaceEntry(3, 2, 0.4, 0.2, 10, 0.7, 0.00005, 0, 1)
#Create ODE space; add contact group for store contact joints
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contactgroup = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contactgroup)
self.world.setQuickStepNumIterations(10)
#Create basic box for copy later
box = loader.loadModel("box")
tex = loader.loadTexture('box.png')
ts = TextureStage('ts')
ts.setMode(TextureStage.MModulate)
box.setTexture(ts,tex)
#list of boxes
self.boxes = []
#generate some random boxes
for i in range(randint(10, 20)):
#randomize size
sx=(random()+0.5) * 3
sy=(random()+0.5) * 3
sz=(random()+0.5) * 3
#copy of the basic box
boxNP = box.copyTo(render)
#random position,
boxNP.setPos(randint(-40, 40), randint(-40, 40), 20 + randint(0,20))
#color
boxNP.setColor(random()*2, random()*2, random()*2, 1)
#and orientation
boxNP.setHpr(randint(-45, 45), randint(-45, 45), randint(-45, 45))
#set size
boxNP.setScale(sx,sy,sz)
#Set physic body for our box
boxBody = OdeBody(self.world)
M = OdeMass()
M.setBox(1.5, 1, 1, 1)
boxBody.setMass(M)
#sync box and body position and orientation
boxBody.setPosition(boxNP.getPos(render))
boxBody.setQuaternion(boxNP.getQuat(render))
#set ODE geometry for body. Panda's visual geometry-mesh and
#ODE geometry is different things
boxGeom = OdeBoxGeom(self.space, sx,sy,sz)
boxGeom.setBody(boxBody)
# Add box and body to list for use later
self.boxes.append((boxNP, boxBody))
## self.cm = CardMaker("ground")
## self.cm.setUvRange(Point2(0, 0), Point2(100, 100))
## self.cm.setFrame(-2000, 2000, -2000, 2000)
## self.ground = render.attachNewNode(self.cm.generate())
## self.ground.setPos(0, 0, 0); self.ground.lookAt(0, 0, -2)
## ts = TextureStage('ts')
## self.ground.setTexture(ts,tex)
self.groundGeom = OdePlaneGeom(self.space, Vec4(0, 0, 1, 0))
#the border for the road
b1 = loader.loadModel('border.egg')
b1.setScale(8)
b1.flattenStrong() #apply transform before read vertex info for create ODE geometry
b1Trimesh = OdeTriMeshData(b1)
self.b1Geom = OdeTriMeshGeom(self.space, b1Trimesh)
self.space.setSurfaceType(self.b1Geom, 3)
b1.reparentTo(render)
#Our border must collide with the box and car, but never with the road
self.b1Geom.setCollideBits(BitMask32(0x00000002))
self.b1Geom.setCategoryBits(BitMask32.allOff())
#Load the road similar the border
road = loader.loadModel('track.egg')
road.setScale(8)
road.flattenLight()
roadTrimesh = OdeTriMeshData(road, False)
self.roadGeom = OdeTriMeshGeom(self.space, roadTrimesh)
road.reparentTo(render)
self.roadGeom.setCollideBits(BitMask32(0x00000002))
self.roadGeom.setCategoryBits(BitMask32.allOff())
print render.ls()
#car
self.car=Car(self.world,self.space,Vec3(0,0,5))
base.disableMouse()
#add simulation to the task manager
taskMgr.doMethodLater(0.5, self.simulationTask, "Physics Simulation")
#simulation procedure
def simulationTask(self,task):
iterations = 5
#We limit the maximum time not to receive explosion of physic system if application stuck
dt=globalClock.getDt()
if dt>0.02: dt=0.02
dt=dt / iterations * 3
#Some iterations for the more stable simulation
for i in xrange(iterations):
self.world.quickStep(dt)
cc=self.space.autoCollide()
#Sync the box with the bodies
for np, body in self.boxes:
np.setPos(render, body.getPosition())
np.setQuat(render,Quat(body.getQuaternion()))
self.contactgroup.empty() #clear contacts before next step
self.car.Sync()#sync the car
return task.cont
#Car class
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)
World()
run()