def criaPopulacao(self):
vPos = 0
for n in range(0, self.POPULACAO_TREINAMENTO):
indiv = Individuo()
# TRONCO
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
tronco = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
tronco.node().setMass(1.0)
tronco.node().addShape(shape)
tronco.setPos(vPos + 2, 0.5, 3)
tronco.setScale(2, 0.6, 4)
tronco.setCollideMask(BitMask32.allOn())
#self.boxNP.node().setDeactivationEnabled(False)
indiv.tronco = tronco
self.world.attachRigidBody(tronco.node())
visualNP = loader.loadModel('models/box.egg')
visualNP.clearModelNodes()
visualNP.reparentTo(tronco)
frameA = TransformState.makePosHpr(Point3(0, 0, -2),
Vec3(0, 0, 90))
# PÉS
shape = BulletBoxShape(Vec3(0.5, 1, 0.2))
posicaoPes = [1, 2]
for i in range(2):
for j in range(1):
x = i + posicaoPes[i] + vPos
y = 0.0
z = j
pe = self.criaPe(shape, x, y, z)
if i == 1:
indiv.pe1 = pe
else:
indiv.pe2 = pe
# Cone
# frameB = TransformState.makePosHpr(Point3(-5, 0, 0), Vec3(0, 0, 0))
# cone = BulletConeTwistConstraint(tronco, pe, frameA, frameB)
# cone.setDebugDrawSize(2.0)
# cone.setLimit(30, 45, 170, softness=1.0, bias=0.3, relaxation=8.0)
# self.world.attachConstraint(cone)
self.individuos.append(indiv)
vPos = vPos + 4
