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(-3, 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) # Slider frameA = TransformState.make_pos_hpr(LPoint3(2, 0, 0), LVector3(0, 0, 45)) frameB = TransformState.make_pos_hpr(LPoint3(0, -3, 0), LVector3(0, 0, 0)) slider = BulletSliderConstraint(bodyA, bodyB, frameA, frameB, True) slider.set_debug_draw_size(2.0) slider.set_lower_linear_limit(0) slider.set_upper_linear_limit(6) slider.set_lower_angular_limit(-60) slider.set_upper_angular_limit(60) self.world.attach(slider)
def init_objects(self): # Make Playfer Box shape = BulletBoxShape(Vec3(0.25, 0.25, 0.25)) node = BulletRigidBodyNode('Playfer Box') node.setMass(110.0) node.setFriction(1.0) node.addShape(shape) node.setAngularDamping(0.0) np = render.attachNewNode(node) np.setPos(-1.4, 1.7, -1.7) self.world.attachRigidBody(node) playferboxmodel = loader.loadModel('../data/mod/playferbox.egg') playferboxmodel.reparentTo(np) # Make Pendlepot shape = BulletBoxShape(Vec3(0.2, 0.15, 0.1)) node = BulletRigidBodyNode('Pendlepot') node.setMass(5.0) node.setFriction(1.0) node.addShape(shape) node.setAngularDamping(0.0) np = render.attachNewNode(node) np.setPos(-1.4, 1.7, -1.5) self.world.attachRigidBody(node) pendlepotmodel = loader.loadModel('../data/mod/pendlepot.egg') pendlepotmodel.reparentTo(np)
def construirePlancher(self): #Optimisation... on attache les objets statiques au même noeud et on utiliser #la méthode flattenStrong() pour améliorer les performances. self.noeudOptimisation = NodePath('NoeudOptimisation') self.noeudOptimisation.reparentTo(render) #Construction du plancher # On charge les tuiles qui vont former le plancher for i in range(0, self.map_nb_tuile_x): for j in range(0, self.map_nb_tuile_y): modele = loader.loadModel("../asset/Floor/Floor") # Reparentage du modèle à la racine de la scène modele.reparentTo(self.noeudOptimisation) self.placerSurGrille(modele, i, j) #Construction du plancher si on tombe #Un plan devrait marche mais j'ai un bug de collision en continu... shape = BulletBoxShape(Vec3(50, 50, 5)) node = BulletRigidBodyNode('Frontfiere sol') node.addShape(shape) np = render.attachNewNode(node) np.setTag("EntiteTankem", "LimiteJeu") np.setPos(Vec3(0, 0, -9.0)) self.mondePhysique.attachRigidBody(node) #Construction de l'aire de jeu sur laquelle on joue shape = BulletBoxShape( Vec3(-self.position_depart_x, -self.position_depart_y, 2)) node = BulletRigidBodyNode('Plancher') node.addShape(shape) np = render.attachNewNode(node) np.setTag("EntiteTankem", "Plancher") HACK_VALUE = 0.02 #Optimisation de collision, les masques ne marchent pas np.setZ(-2.00 - HACK_VALUE) self.mondePhysique.attachRigidBody(node)
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Ground shape = BulletPlaneShape(Vec3(0, 0, 1), -1) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground')) np.node().addShape(shape) np.setPos(0, 0, -1) np.setCollideMask(BitMask32.bit(0)) self.world.attachRigidBody(np.node()) # Boxes self.boxes = [None,]*6 for i in range(6): shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box-1')) np.node().setMass(1.0) np.node().addShape(shape) self.world.attachRigidBody(np.node()) self.boxes[i] = np visualNP = loader.loadModel('models/box.egg') visualNP.reparentTo(np) self.boxes[0].setPos(-3, -3, 0) self.boxes[1].setPos( 0, -3, 0) self.boxes[2].setPos( 3, -3, 0) self.boxes[3].setPos(-3, 3, 0) self.boxes[4].setPos( 0, 3, 0) self.boxes[5].setPos( 3, 3, 0) self.boxes[0].setCollideMask(BitMask32.bit(1)) self.boxes[1].setCollideMask(BitMask32.bit(2)) self.boxes[2].setCollideMask(BitMask32.bit(3)) self.boxes[3].setCollideMask(BitMask32.bit(1)) self.boxes[4].setCollideMask(BitMask32.bit(2)) self.boxes[5].setCollideMask(BitMask32.bit(3)) self.boxNP = self.boxes[0] self.world.setGroupCollisionFlag(0, 1, True) self.world.setGroupCollisionFlag(0, 2, True) self.world.setGroupCollisionFlag(0, 3, True) self.world.setGroupCollisionFlag(1, 1, False) self.world.setGroupCollisionFlag(1, 2, True)
def __add_elements(self): # Walk Capsule self.__walk_capsule = BulletCapsuleShape(self.__walk_capsule_r, self.__walk_capsule_h) self.__walk_capsule_node = self.node.attachNewNode( BulletRigidBodyNode('Capsule')) self.__walk_capsule_node.node().addShape(self.__walk_capsule) self.__walk_capsule_node.node().setKinematic(True) self.__walk_capsule_node.setCollideMask(BitMask32.allOn()) self.__world.attachRigidBody(self.__walk_capsule_node.node()) # Crouch Capsule self.__crouch_capsule = BulletCapsuleShape(self.__crouch_capsule_r, self.__crouch_capsule_h) self.__crouch_capsule_node = self.node.attachNewNode( BulletRigidBodyNode('crouchCapsule')) self.__crouch_capsule_node.node().addShape(self.__crouch_capsule) self.__crouch_capsule_node.node().setKinematic(True) self.__crouch_capsule_node.setCollideMask(BitMask32.allOn()) # Set default self.capsule = self.__walk_capsule self.capsule_node = self.__walk_capsule_node # Init self.__update_capsule()
def __init__(self, base): self.model = base.loader.load_model("models/room.egg", ) self.model.reparentTo(base.render) s = 4000 self.back_shape = BulletBoxShape(Vec3(s, 1, s)) self.back_phy_node = BulletRigidBodyNode('backwall') self.back_phy_node.addShape(self.back_shape) self.back_node = globals.gui.render.attachNewNode(self.back_phy_node) globals.gui.world.attachRigidBody(self.back_phy_node) self.back_node.setPos(0, 2000, 0) self.left_shape = BulletBoxShape(Vec3(1, s, s)) self.left_phy_node = BulletRigidBodyNode('leftwall') self.left_phy_node.addShape(self.left_shape) self.left_node = globals.gui.render.attachNewNode(self.left_phy_node) globals.gui.world.attachRigidBody(self.left_phy_node) self.left_node.setPos(-2000, 0, 0) self.right_shape = BulletBoxShape(Vec3(s, 1, s)) self.right_phy_node = BulletRigidBodyNode('rightwall') self.right_phy_node.addShape(self.right_shape) self.right_node = globals.gui.render.attachNewNode(self.right_phy_node) globals.gui.world.attachRigidBody(self.right_phy_node) self.right_node.setPos(2000, 0, 0) self.setCollideBit(2)
def reset(self): namelist = [ 'Ground', 'Conveyor', 'Finger', 'Block', 'Scrambled Block', 'Not Rewardable', 'Teleport Me' ] for child in render.getChildren(): for test in namelist: if child.node().name == test: self.world.remove(child.node()) child.removeNode() break # Plane self.plane_shape = BulletPlaneShape(Vec3(0, 0, 1), 1) self.plane_node = BulletRigidBodyNode('Ground') self.plane_node.addShape(self.plane_shape) self.plane_np = self.render.attachNewNode(self.plane_node) self.plane_np.setPos(0.0, 0.0, -1.0) self.world.attachRigidBody(self.plane_node) # Conveyor self.conv_node = BulletRigidBodyNode('Conveyor') self.conv_node.setFriction(1.0) self.conv_np = self.render.attachNewNode(self.conv_node) self.conv_shape = BulletBoxShape(Vec3(100.0, 1.0, 0.05)) self.conv_node.setMass(1000.0) self.conv_np.setPos(-95.0, 0.0, 0.1) self.conv_node.addShape(self.conv_shape) self.world.attachRigidBody(self.conv_node) self.model = loader.loadModel('assets/conv.egg') self.model.flattenLight() self.model.reparentTo(self.conv_np) # Finger self.finger_node = BulletRigidBodyNode('Finger') self.finger_node.setFriction(1.0) self.finger_np = self.render.attachNewNode(self.finger_node) self.finger_shape = BulletCylinderShape(0.1, 0.25, ZUp) self.finger_node.setMass(0) self.finger_np.setPos(1.8, 0.0, 0.24 + 0.0254 * 3.5) self.finger_node.addShape(self.finger_shape) self.world.attachRigidBody(self.finger_node) self.model = loader.loadModel('assets/finger.egg') self.model.flattenLight() self.model.reparentTo(self.finger_np) self.blocks = [] for block_num in range(15): new_block = self.spawn_block(Vec3(18, 0, (0.2 * block_num) + 2.0)) self.blocks.append(new_block) self.have_scramble = False self.penalty_applied = False self.spawnned = False self.score = 10 self.teleport_cooled_down = True self.fps = 20 self.framecount = 0 return self.step(1)[0]
def genHand(self, handz=100.0): # fgr0 boxx = 5.0 boxy = 2.0 boxz = 20.0 boxpx = 0.0 boxpy = 10.0 boxpz = handz shape = BulletBoxShape(Vec3(boxx, boxy, boxz)) # the parameters are half extends node = BulletRigidBodyNode('fgr0') node.addShape(shape) node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz))) self.bltWorld.attachRigidBody(node) base.pggen.plotBox(self.base.render, pos=[boxpx, boxpy, boxpz], x=boxx * 2.0, y=boxy * 2.0, z=boxz * 2.0, rgba=None) # fgr1 boxx = 5.0 boxy = 2.0 boxz = 20.0 boxpx = 0.0 boxpy = -10.0 boxpz = handz shape = BulletBoxShape(Vec3(boxx, boxy, boxz)) # the parameters are half extends node = BulletRigidBodyNode('fgr1') node.addShape(shape) node.setTransform(TransformState.makePos(VBase3(boxpx, boxpy, boxpz))) self.bltWorld.attachRigidBody(node) base.pggen.plotBox(self.base.render, pos=[boxpx, boxpy, boxpz], x=boxx * 2.0, y=boxy * 2.0, z=boxz * 2.0, rgba=None)
def __addElements(self): # Walk Capsule self.__walkCapsule = BulletCapsuleShape(self.__walkCapsuleR, self.__walkCapsuleH) self.__walkCapsuleNP = self.movementParent.attachNewNode(BulletRigidBodyNode('Capsule')) self.__walkCapsuleNP.node().addShape(self.__walkCapsule) self.__walkCapsuleNP.node().setKinematic(True) self.__walkCapsuleNP.setCollideMask(BitMask32.allOn()) self.__world.attachRigidBody(self.__walkCapsuleNP.node()) # Crouch Capsule self.__crouchCapsule = BulletCapsuleShape(self.__crouchCapsuleR, self.__crouchCapsuleH) self.__crouchCapsuleNP = self.movementParent.attachNewNode(BulletRigidBodyNode('crouchCapsule')) self.__crouchCapsuleNP.node().addShape(self.__crouchCapsule) self.__crouchCapsuleNP.node().setKinematic(True) self.__crouchCapsuleNP.setCollideMask(BitMask32.allOn()) # Set default self.capsule = self.__walkCapsule self.capsuleNP = self.__walkCapsuleNP # Init self.__updateCapsule()
def makeMapBorders(self, offset): plane1 = BulletPlaneShape(Vec3(1, 0, 0), 0) np = self.worldNP.attachNewNode(BulletRigidBodyNode('border1')) np.node().addShape(plane1) np.setPos(-offset, -offset, -self.height / 2.0) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) plane2 = BulletPlaneShape(Vec3(0, 1, 0), 0) np = self.worldNP.attachNewNode(BulletRigidBodyNode('border2')) np.node().addShape(plane2) np.setPos(-offset, -offset, -self.height / 2.0) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) plane3 = BulletPlaneShape(Vec3(0, -1, 0), 0) np = self.worldNP.attachNewNode(BulletRigidBodyNode('border3')) np.node().addShape(plane3) np.setPos(offset, offset, self.height / 2.0) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) plane4 = BulletPlaneShape(Vec3(-1, 0, 0), 0) np = self.worldNP.attachNewNode(BulletRigidBodyNode('border4')) np.node().addShape(plane4) np.setPos(offset, offset, self.height / 2.0) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node())
def makeVPPhysics(multipart=False): from panda3d.core import TransformState from panda3d.bullet import BulletBoxShape, BulletRigidBodyNode carriage = BulletBoxShape((4.40625, 7.125, 2.75)) tread = BulletBoxShape((1.9, 10.34, 2.75)) legs = BulletBoxShape((3.375, 3.375, 2.1875)) gear = BulletBoxShape((6.72, 6.72, 1.1)) torso = BulletBoxShape((4.44, 3.625, 4.125)) head = BulletBoxShape((2, 2, 2.22)) torsoTrans = TransformState.makePos((0, 0, 13.93)) headTrans = TransformState.makePos((0, 0, 20.28)) bodyNode = BulletRigidBodyNode("VPPhysics") bodyNode.addShape(carriage, TransformState.makePos((0, 0, 2.75))) bodyNode.addShape(tread, TransformState.makePos((6.3, 0, 2.75))) bodyNode.addShape(tread, TransformState.makePos((-6.3, 0, 2.75))) bodyNode.addShape(legs, TransformState.makePos((0, 0, 7.75))) bodyNode.addShape(gear, TransformState.makePos((0, 0, 10.94))) if not multipart: bodyNode.addShape(torso, torsoTrans) bodyNode.addShape(head, headTrans) bodyNode.setKinematic(True) bodyNode.setMass(0.0) if multipart: upperNode = BulletRigidBodyNode("VPPhysics-upper") upperNode.addShape(torso, torsoTrans) upperNode.addShape(head, headTrans) upperNode.setKinematic(True) upperNode.setMass(0.0) if multipart: return [bodyNode, upperNode] return bodyNode
def __init__(self): base.accept('f1', self.toggleDebug) self.debugNode = BulletDebugNode('Debug') self.debugNode.showWireframe(True) self.debugNode.showConstraints(True) self.debugNode.showBoundingBoxes(False) self.debugNode.showNormals(False) self.debugNP = base.render.attachNewNode(self.debugNode) # self.debugNP.show() # World self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Terrain visNP = base.loader.loadModel('models/terrain.egg') mesh = BulletTriangleMesh() for x in visNP.findAllMatches('**/+GeomNode'): geom = x.node().getGeom(0) mesh.addGeom(geom) shape = BulletTriangleMeshShape(mesh, dynamic=True) body = BulletRigidBodyNode('Bowl') bodyNP = base.render.attachNewNode(body) bodyNP.node().addShape(shape) bodyNP.setPos(0, 0, 1) bodyNP.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(bodyNP.node()) visNP.reparentTo(bodyNP) shapex = BulletBoxShape(5) bodyx = BulletRigidBodyNode('Egg') bodyNPx = base.render.attachNewNode(bodyx) bodyNPx.setPos(0, 0, 3) bodyNPx.node().setMass(100.0) bodyNPx.node().addShape(shapex) self.world.attachRigidBody(bodyNPx.node()) # visNP.reparentTo(bodyNPx) # Player self.players = [] self.myId = -1 self.speed = Vec3(0, 0, 0) self.walk_speed = 2.5 # Camera base.disableMouse() props = WindowProperties() props.setCursorHidden(True) base.win.requestProperties(props) # SkySphere Sky() self.initCam()
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Ground shape = BulletPlaneShape(Vec3(0, 0, 1), 0) #img = PNMImage(Filename('models/elevation2.png')) #shape = BulletHeightfieldShape(img, 1.0, ZUp) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground')) np.node().addShape(shape) np.setPos(0, 0, -1) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) # Box shape = BulletBoxShape(Vec3(1.0, 3.0, 0.3)) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box')) np.node().setMass(10.0) np.node().addShape(shape) np.setPos(3, 0, 4) np.setH(20.0) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) # Character self.crouching = False h = 1.75 w = 0.4 shape = BulletCapsuleShape(w, h - 2 * w, ZUp) self.character = BulletCharacterControllerNode(shape, 0.4, 'Player') # self.character.setMass(1.0) self.characterNP = self.worldNP.attachNewNode(self.character) self.characterNP.setPos(-2, 0, 14) self.characterNP.setH(45) self.characterNP.setCollideMask(BitMask32.allOn()) self.world.attachCharacter(self.character) self.actorNP = Actor('models/ralph/ralph.egg', { 'run' : 'models/ralph/ralph-run.egg', 'walk' : 'models/ralph/ralph-walk.egg', 'jump' : 'models/ralph/ralph-jump.egg'}) self.actorNP.reparentTo(self.characterNP) self.actorNP.setScale(0.3048) # 1ft = 0.3048m self.actorNP.setH(180) self.actorNP.setPos(0, 0, -1)
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, 1) 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(2, 0, 1) visNP = loader.load_model('models/box.egg') visNP.clear_model_nodes() visNP.reparent_to(bodyNP) self.world.attach(bodyB) # Hinge pivotA = LPoint3(2, 0, 0) pivotB = LPoint3(-4, 0, 0) axisA = LVector3(0, 0, 1) axisB = LVector3(0, 0, 1) hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA, axisB, True) hinge.set_debug_draw_size(2.0) hinge.set_limit(-90, 120, softness=0.9, bias=0.3, relaxation=1.0) self.world.attach(hinge)
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.debugNP.node().showWireframe(True) self.debugNP.node().showConstraints(True) self.debugNP.node().showBoundingBoxes(False) self.debugNP.node().showNormals(False) self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Box A shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) bodyA = BulletRigidBodyNode('Box A') bodyNP = self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(-2, 0, 1) visNP = loader.loadModel('models/box.egg') visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyA) # Box B shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) bodyB = BulletRigidBodyNode('Box B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(2, 0, 1) visNP = loader.loadModel('models/box.egg') visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) # Hinge pivotA = Point3(2, 0, 0) pivotB = Point3(-4, 0, 0) axisA = Vec3(0, 0, 1) axisB = Vec3(0, 0, 1) hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA, axisB, True) hinge.setDebugDrawSize(2.0) hinge.setLimit(-90, 120, softness=0.9, bias=0.3, relaxation=1.0) self.world.attachConstraint(hinge)
def task_1_Bullet_Hello_World(): strOf_FuncName = "task_1_Bullet_Hello_World" '''################### step : 1 opening, vars ###################''' print() print ("[%s:%d] starting : %s (time=%s)" % ( os.path.basename(os.path.basename(libs.thisfile())) , libs.linenum() , strOf_FuncName , libs.get_TimeLabel_Now() ) ) '''################### step : 2 ###################''' base.cam.setPos(0, -10, 0) base.cam.lookAt(0, 0, 0) # World world = BulletWorld() world.setGravity(Vec3(0, 0, -9.81)) # Plane shape = BulletPlaneShape(Vec3(0, 0, 1), 1) node = BulletRigidBodyNode('Ground') node.addShape(shape) np = render.attachNewNode(node) np.setPos(0, 0, -2) world.attachRigidBody(node) # Box shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) node = BulletRigidBodyNode('Box') node.setMass(1.0) node.addShape(shape) np = render.attachNewNode(node) np.setPos(0, 0, 2) world.attachRigidBody(node) model = loader.loadModel('models/box.egg') model.flattenLight() model.reparentTo(np) # Update def update(task): dt = globalClock.getDt() world.doPhysics(dt) return task.cont taskMgr.add(update, 'update') base.run() '''###################
def setup(self): self.worldNP = render.attach_new_node('World') # World self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.set_gravity(LVector3(0, 0, -9.81)) self.world.set_debug_node(self.debugNP.node()) # Ground shape = BulletPlaneShape(LVector3(0, 0, 1), 0) #img = PNMImage(Filename('models/elevation.png')) #shape = BulletHeightfieldShape(img, 1.0, ZUp) np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) np.node().add_shape(shape) np.set_pos(0, 0, -1) np.set_collide_mask(BitMask32.all_on()) self.world.attach(np.node()) # Box shape = BulletBoxShape(LVector3(1.0, 3.0, 0.3)) np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) np.node().set_mass(10.0) np.node().add_shape(shape) np.set_pos(3, 0, 4) np.setH(20.0) np.set_collide_mask(BitMask32.all_on()) self.world.attach(np.node()) # Character self.crouching = False h = 1.75 w = 0.4 shape = BulletCapsuleShape(w, h - 2 * w, ZUp) self.character = BulletCharacterControllerNode(shape, 0.4, 'Player') self.characterNP = self.worldNP.attach_new_node(self.character) self.characterNP.set_pos(-2, 0, 14) self.characterNP.set_h(45) self.characterNP.set_collide_mask(BitMask32.all_on()) self.world.attach(self.character) self.actorNP = Actor( 'samples/roaming-ralph/models/ralph.egg.pz', { 'run': 'samples/roaming-ralph/models/ralph-run.egg.pz', 'walk': 'samples/roaming-ralph/models/ralph-walk.egg.pz' }) self.actorNP.reparent_to(self.characterNP) self.actorNP.set_scale(0.3048) # 1ft = 0.3048m self.actorNP.setH(180) self.actorNP.set_pos(0, 0, -1)
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.debugNP.node().showWireframe(True) self.debugNP.node().showConstraints(True) self.debugNP.node().showBoundingBoxes(False) self.debugNP.node().showNormals(False) self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Box A shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) bodyA = BulletRigidBodyNode('Box A') bodyNP = self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(-3, 0, 4) visNP = loader.loadModel('models/box.egg') visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyA) # Box B shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) bodyB = BulletRigidBodyNode('Box B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(0, 0, 0) visNP = loader.loadModel('models/box.egg') visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) # Slider frameA = TransformState.makePosHpr(Point3(2, 0, 0), Vec3(0, 0, 45)) frameB = TransformState.makePosHpr(Point3(0, -3, 0), Vec3(0, 0, 0)) slider = BulletSliderConstraint(bodyA, bodyB, frameA, frameB, True) slider.setDebugDrawSize(2.0) slider.setLowerLinearLimit(0) slider.setUpperLinearLimit(6) slider.setLowerAngularLimit(-60) slider.setUpperAngularLimit(60) self.world.attachConstraint(slider)
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Ground shape = BulletPlaneShape(Vec3(0, 0, 1), 0) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground')) np.node().addShape(shape) np.setPos(0, 0, 0) np.setCollideMask(BitMask32(0x0f)) self.world.attachRigidBody(np.node()) # Box shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box')) np.node().setMass(1.0) np.node().addShape(shape) np.setPos(0, 0, 4) np.setCollideMask(BitMask32(0x0f)) self.world.attachRigidBody(np.node()) self.boxNP = np visualNP = loader.loadModel('models/box.egg') visualNP.reparentTo(self.boxNP) # Sphere shape = BulletSphereShape(0.6) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Sphere')) np.node().setMass(1.0) np.node().addShape(shape) np.setPos(3, 0, 4) np.setCollideMask(BitMask32(0x0f)) self.world.attachRigidBody(np.node()) # Cone shape = BulletConeShape(0.6, 1.0) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Cone')) np.node().setMass(1.0) np.node().addShape(shape) np.setPos(6, 0, 4) np.setCollideMask(BitMask32(0x0f)) self.world.attachRigidBody(np.node())
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)
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.debugNP.node().showWireframe(True) self.debugNP.node().showConstraints(True) self.debugNP.node().showBoundingBoxes(False) self.debugNP.node().showNormals(False) self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Box A shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) bodyA = BulletRigidBodyNode('Box A') bodyNP = self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(-1, 0, 4) visNP = loader.loadModel('models/box.egg') visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyA) # Box B shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) bodyB = BulletRigidBodyNode('Box B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setDeactivationEnabled(False) bodyNP.node().setLinearDamping(0.6) bodyNP.node().setAngularDamping(0.6) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(2, 0, 0) visNP = loader.loadModel('models/box.egg') visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) # Spherical Constraint pivotA = Point3(2, 0, 0) pivotB = Point3(0, 0, 4) joint = BulletSphericalConstraint(bodyA, bodyB, pivotA, pivotB) joint.setDebugDrawSize(2.0) self.world.attachConstraint(joint)
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(-1, 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.node().setLinearDamping(0.6) bodyNP.node().setAngularDamping(0.6) bodyNP.set_collide_mask(BitMask32.all_on()) bodyNP.set_pos(2, 0, 0) visNP = loader.load_model('models/box.egg') visNP.clear_model_nodes() visNP.reparent_to(bodyNP) self.world.attach(bodyB) # Spherical Constraint pivotA = LPoint3(2, 0, 0) pivotB = LPoint3(0, 0, 4) joint = BulletSphericalConstraint(bodyA, bodyB, pivotA, pivotB) joint.set_debug_draw_size(2.0) self.world.attach(joint)
def setupVehicle(self, bulletWorld): # Chassis shape = BulletBoxShape(Vec3(1, 2.2, 0.5)) ts = TransformState.makePos(Point3(0, 0, .7)) if self.isMainChar: self.chassisNode = BulletRigidBodyNode(self.username) else: self.chassisNode = BulletRigidBodyNode('vehicle') self.chassisNode.setTag("username", str(self.username)) self.chassisNP = render.attachNewNode(self.chassisNode) self.chassisNP.node().addShape(shape, ts) if self.isMainChar: self.chassisNP.node().notifyCollisions(True) else: self.chassisNP.node().notifyCollisions(False) self.setVehiclePos(self.pos[0], self.pos[1], self.pos[2], self.pos[3], self.pos[4], self.pos[5]) # self.chassisNP.setPos(-5.34744, 114.773, 6) #self.chassisNP.setPos(49.2167, 64.7968, 10) self.chassisNP.node().setMass(800.0) self.chassisNP.node().setDeactivationEnabled(False) bulletWorld.attachRigidBody(self.chassisNP.node()) #np.node().setCcdSweptSphereRadius(1.0) #np.node().setCcdMotionThreshold(1e-7) # Vehicle self.vehicle = BulletVehicle(bulletWorld, self.chassisNP.node()) self.vehicle.setCoordinateSystem(ZUp) bulletWorld.attachVehicle(self.vehicle) self.carNP = loader.loadModel('models/batmobile-chassis.egg') #self.yugoNP.setScale(.7) self.carNP.reparentTo(self.chassisNP) # Right front wheel np = loader.loadModel('models/batmobile-wheel-right.egg') np.reparentTo(render) self.addWheel(Point3(1, 1.1, .7), True, np) # Left front wheel np = loader.loadModel('models/batmobile-wheel-left.egg') np.reparentTo(render) self.addWheel(Point3(-1, 1.1, .7), True, np) # Right rear wheel np = loader.loadModel('models/batmobile-wheel-right.egg') np.reparentTo(render) self.addWheel(Point3(1, -2, .7), False, np) # Left rear wheel np = loader.loadModel('models/batmobile-wheel-left.egg') np.reparentTo(render) self.addWheel(Point3(-1, -2, .7), False, np)
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.debugNP.node().showWireframe(True) self.debugNP.node().showConstraints(True) self.debugNP.node().showBoundingBoxes(False) self.debugNP.node().showNormals(False) self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Box A shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) bodyA = BulletRigidBodyNode('Box A') bodyNP = self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(-2, 0, 4) visNP = loader.loadModel('models/box.egg') visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyA) # Box B shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) bodyB = BulletRigidBodyNode('Box B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(0, 0, 0) visNP = loader.loadModel('models/box.egg') visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) # Cone frameA = TransformState.makePosHpr(Point3(0, 0, -2), Vec3(0, 0, 90)) frameB = TransformState.makePosHpr(Point3(-5, 0, 0), Vec3(0, 0, 0)) cone = BulletConeTwistConstraint(bodyA, bodyB, frameA, frameB) cone.setDebugDrawSize(2.0) cone.setLimit(30, 45, 170, softness=1.0, bias=0.3, relaxation=8.0) self.world.attachConstraint(cone)
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Plane shape = BulletPlaneShape(Vec3(0, 0, 1), 0) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground')) np.node().addShape(shape) np.setPos(0, 0, -1) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) # Box shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5)) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box')) np.node().setMass(1.0) np.node().addShape(shape) np.node().addShape(shape, TransformState.makePos(Point3(0, 1, 0))) np.node().setDeactivationEnabled(False) np.setPos(2, 0, 4) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) visualNP = loader.loadModel('models/box.egg') visualNP.reparentTo(np) self.box = np.node() # Sphere shape = BulletSphereShape(0.6) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Sphere')) np.node().setMass(1.0) np.node().addShape(shape) np.node().addShape(shape, TransformState.makePos(Point3(0, 1, 0))) np.setPos(-2, 0, 4) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) self.sphere = np.node()
def setup(self): self.worldNP = render.attach_new_node('World') # World self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.set_gravity(LVector3(0, 0, -9.81)) self.world.set_debug_node(self.debugNP.node()) # Plane shape = BulletPlaneShape(LVector3(0, 0, 1), 0) np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) np.node().add_shape(shape) np.set_pos(0, 0, -1) np.set_collide_mask(BitMask32.all_on()) self.world.attach(np.node()) # Box shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5)) np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) np.node().set_mass(1.0) np.node().add_shape(shape) np.node().set_deactivation_enabled(False) np.set_pos(2, 0, 4) np.set_collide_mask(BitMask32.all_on()) self.world.attach(np.node()) visualNP = loader.load_model('models/box.egg') visualNP.reparent_to(np) self.box = np.node() # Sphere shape = BulletSphereShape(0.6) np = self.worldNP.attach_new_node(BulletRigidBodyNode('Sphere')) np.node().set_mass(1.0) np.node().add_shape(shape) np.set_pos(-2, 0, 4) np.set_collide_mask(BitMask32.all_on()) self.world.attach(np.node()) self.sphere = np.node()
def setup(self): self.worldNP = render.attachNewNode('World') # World self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.setGravity(Vec3(0, 0, -9.81)) self.world.setDebugNode(self.debugNP.node()) # Ground shape = BulletPlaneShape(Vec3(0, 0, 1), 0) #img = PNMImage(Filename('models/elevation2.png')) #shape = BulletHeightfieldShape(img, 1.0, ZUp) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground')) np.node().addShape(shape) np.setPos(0, 0, -1) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) # Box shape = BulletBoxShape(Vec3(1.0, 3.0, 0.3)) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box')) np.node().setMass(50.0) np.node().addShape(shape) np.setPos(3, 0, 4) np.setH(0) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) # Character h = 1.75 w = 0.4 shape = BulletCapsuleShape(w, h - 2 * w, ZUp) self.player = BulletCharacterNode(shape, 0.4, 'Player') self.player.setMass(20.0) self.player.setMaxSlope(45.0) self.player.setGravity(9.81) self.playerNP = self.worldNP.attachNewNode(self.player) self.playerNP.setPos(-2, 0, 10) self.playerNP.setH(-90) self.playerNP.setCollideMask(BitMask32.allOn()) self.world.attachCharacter(self.player)
def setup(self): self.worldNP = render.attach_new_node('World') # World self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.set_gravity(LVector3(0, 0, -9.81)) self.world.set_debug_node(self.debugNP.node()) # Ground shape = BulletPlaneShape(LVector3(0, 0, 1), 0) node = BulletRigidBodyNode('Ground') np = self.worldNP.attach_new_node(node) np.node().add_shape(shape) np.set_pos(0, 0, 0) np.set_collide_mask(BitMask32(0x0f)) self.world.attach(np.node()) # Box shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5)) np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) np.node().set_mass(1.0) np.node().add_shape(shape) np.set_pos(0, 0, 4) np.set_collide_mask(BitMask32(0x0f)) self.world.attach(np.node()) self.boxNP = np visualNP = loader.load_model('models/box.egg') visualNP.reparent_to(self.boxNP) # Trigger shape = BulletBoxShape(LVector3(1, 1, 2)) np = self.worldNP.attach_new_node(BulletGhostNode('Ghost')) np.node().add_shape(shape) np.set_pos(3, 0, 0) np.set_collide_mask(BitMask32(0x0f)) self.world.attach(np.node()) self.ghostNP = np
def update_root_nodepath(self, nodepath): entity = self._entity component = self._class_component # Find appropriate mesh source mesh_name = component.mesh_name if mesh_name is None: physics_node = BulletRigidBodyNode() # Load mesh from first MeshComponent for cls_component in entity.components.values(): if isinstance(cls_component, MeshComponent): shape = self._shape_from_mesh_component( entity, cls_component) physics_node.add_shape(shape) break else: physics_node = self._node_from_bam_name(entity, mesh_name) # Set mass if component.mass is not None: physics_node.set_mass(component.mass) physics_node.notify_collisions(True) physics_node.set_deactivation_enabled(False) physics_nodepath = NodePath(physics_node) nodepath.reparent_to(physics_nodepath) self.body = physics_node self._nodepath = physics_nodepath return physics_nodepath
def newGame(self): # Instantiates dabba in the world. # Makes it rigid too. boxmodel = loader.loadModel("models/misc/rgbCube.egg") boxmodel.setPos(-0.5, -0.5, -0.5) boxmodel.flattenLight() shape3 = BulletBoxShape(Vec3(0.5,0.5,0.5)) playerNode = BulletRigidBodyNode('Player') playerNode.addShape(shape3) playerNode.setMass(1.0) playerNP = render.attachNewNode(playerNode) playerNP.setPos(0, 0, 10) playerNP.node().notifyCollisions(True) self.playerNP = playerNP self.world.attachRigidBody(playerNP.node()) self.playerNode = playerNode boxmodel.copyTo(playerNP) # Connects cam to dabba self.cam1.reparentTo(playerNP) self.cam2.reparentTo(playerNP) self.cam1.setPos(1-0.7,-12,0) self.cam2.setPos( 1+0.7,-12,0) base.accept('u',self.up) base.accept('j',self.down) base.accept('w',self.forward) base.accept('s',self.back) base.accept('a',self.rotLeft) base.accept('d',self.rotRight) base.accept('t',self.rotUp) base.accept('g',self.rotDown) base.acceptOnce('bullet-contact-added', self.onContactAdded)