def make_plane(size=(1.0, 1.0)):
"""Make a plane geometry.
Arguments:
size {tuple} -- plane size x,y
Returns:
Geom -- p3d geometry
"""
vformat = GeomVertexFormat.get_v3n3t2()
vdata = GeomVertexData('vdata', vformat, Geom.UHStatic)
vdata.uncleanSetNumRows(4)
vertex = GeomVertexWriter(vdata, 'vertex')
normal = GeomVertexWriter(vdata, 'normal')
tcoord = GeomVertexWriter(vdata, 'texcoord')
quad = ((0, 0), (1, 0), (0, 1), (1, 1))
for u, v in quad:
vertex.addData3((u - 0.5) * size[0], (v - 0.5) * size[1], 0)
normal.addData3(0, 0, 1)
tcoord.addData2(u, v)
prim = GeomTriangles(Geom.UHStatic)
prim.addVertices(0, 1, 2)
prim.addVertices(2, 1, 3)
geom = Geom(vdata)
geom.addPrimitive(prim)
return geom
def make_box():
"""Make a uniform box geometry.
Returns:
Geom -- p3d geometry
"""
vformat = GeomVertexFormat.get_v3n3t2()
vdata = GeomVertexData('vdata', vformat, Geom.UHStatic)
vdata.uncleanSetNumRows(24)
vertex = GeomVertexWriter(vdata, 'vertex')
normal = GeomVertexWriter(vdata, 'normal')
tcoord = GeomVertexWriter(vdata, 'texcoord')
axes = itertools.permutations(np.eye(3), r=2)
quad = ((0, 0), (1, 0), (0, 1), (1, 1))
for x, y in axes:
z = np.cross(x, y)
for u, v in quad:
vertex.addData3(*(x * (u - 0.5) + y * (v - 0.5) + z * 0.5))
normal.addData3(*z)
tcoord.addData2(u, v)
prim = GeomTriangles(Geom.UHStatic)
for i in range(0, 24, 4):
prim.addVertices(i + 0, i + 1, i + 2)
prim.addVertices(i + 2, i + 1, i + 3)
geom = Geom(vdata)
geom.addPrimitive(prim)
return geom
def make_cylinder(num_segments=16, closed=True):
"""Make a uniform cylinder geometry.
Keyword Arguments:
num_segments {int} -- segments number (default: {16})
closed {bool} -- add caps (default: {True})
Returns:
Geom -- p3d geometry
"""
vformat = GeomVertexFormat.get_v3n3t2()
vdata = GeomVertexData('vdata', vformat, Geom.UHStatic)
vertex = GeomVertexWriter(vdata, 'vertex')
normal = GeomVertexWriter(vdata, 'normal')
tcoord = GeomVertexWriter(vdata, 'texcoord')
cyl_rows = num_segments * 2
cap_rows = num_segments + 1
if closed:
vdata.uncleanSetNumRows(cyl_rows + 2 * cap_rows)
else:
vdata.uncleanSetNumRows(cyl_rows)
for phi in np.linspace(0, 2 * np.pi, num_segments):
x, y = np.cos(phi), np.sin(phi)
for z in (-1, 1):
vertex.addData3(x, y, z * 0.5)
normal.addData3(x, y, 0)
tcoord.addData2(phi / (2 * np.pi), (z + 1) / 2)
prim = GeomTriangles(Geom.UHStatic)
for i in range(num_segments - 1):
prim.addVertices(i * 2, i * 2 + 3, i * 2 + 1)
prim.addVertices(i * 2, i * 2 + 2, i * 2 + 3)
if closed:
for z in (-1, 1):
vertex.addData3(0, 0, z * 0.5)
normal.addData3(0, 0, z)
tcoord.addData2(0, 0)
for phi in np.linspace(0, 2 * np.pi, num_segments):
x, y = np.cos(phi), np.sin(phi)
vertex.addData3(x, y, z * 0.5)
normal.addData3(0, 0, z)
tcoord.addData2(x, y)
for i in range(num_segments):
r0 = cyl_rows
r1 = r0 + cap_rows
prim.addVertices(r0, r0 + i + 1, r0 + i)
prim.addVertices(r1, r1 + i, r1 + i + 1)
geom = Geom(vdata)
geom.addPrimitive(prim)
return geom
def make_capsule(radius, length, num_segments=16, num_rings=16):
"""Make capsule geometry.
Arguments:
radius {float} -- capsule radius
length {float} -- capsule length
Keyword Arguments:
num_segments {int} -- segments number (default: {16})
num_rings {int} -- rings number (default: {16})
Returns:
Geom -- p3d geometry
"""
vformat = GeomVertexFormat.get_v3n3t2()
vdata = GeomVertexData('vdata', vformat, Geom.UHStatic)
vdata.uncleanSetNumRows(num_segments * num_rings)
vertex = GeomVertexWriter(vdata, 'vertex')
normal = GeomVertexWriter(vdata, 'normal')
tcoord = GeomVertexWriter(vdata, 'texcoord')
for u in np.linspace(0, np.pi, num_rings):
for v in np.linspace(0, 2 * np.pi, num_segments):
x, y, z = np.cos(v) * np.sin(u), np.sin(v) * np.sin(u), np.cos(u)
offset = np.sign(z) * 0.5 * length
vertex.addData3(x * radius, y * radius, z * radius + offset)
normal.addData3(x, y, z)
tcoord.addData2(u / np.pi, v / (2 * np.pi))
prim = GeomTriangles(Geom.UHStatic)
for i in range(num_rings - 1):
for j in range(num_segments - 1):
r0 = i * num_segments + j
r1 = r0 + num_segments
if i < num_rings - 2:
prim.addVertices(r0, r1, r1 + 1)
if i > 0:
prim.addVertices(r0, r1 + 1, r0 + 1)
geom = Geom(vdata)
geom.addPrimitive(prim)
return geom
from tsim.core.geometry import Vector
from tsim.core.network.intersection import ConflictPointType
from tsim.core.network.lane import LANE_WIDTH
from tsim.core.network.node import Node
from tsim.ui import textures
from tsim.ui.objects.way import LEVEL_HEIGHT
from tsim.ui.textures import create_texture
CARD_MAKER = CardMaker('lane_connections_card_maker')
CARD_MAKER.set_frame((-16, 16, -16, 16))
COLORS = ('crimson', 'orange', 'gold', 'limegreen', 'turquoise', 'deepskyblue',
'blueviolet', 'hotpink')
RESOLUTION = 2048
MIDDLE = Vector(RESOLUTION // 2, -RESOLUTION // 2)
PPM = RESOLUTION // 32
VERTEX_FORMAT = GeomVertexFormat.get_v3n3t2()
FONT = aggdraw.Font('black',
resource_filename('tsim', 'data/fonts/caladea-tsim.otf'),
15)
def create(parent: NodePath, node: Node) -> NodePath:
"""Create node for given node and attach it to the parent."""
geom = _generate_mesh(node)
node_ = GeomNode(str(node.id))
node_.add_geom(geom)
node_.adjust_draw_mask(0x00000000, 0x00010000, 0xfffeffff)
node_path = parent.attach_new_node(node_)
node_path.set_texture(textures.get('intersection'))
return node_path
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
p0 = LPoint3(-20, -20, 0)
p1 = LPoint3(-20, 20, 0)
p2 = LPoint3(20, -20, 0)
p3 = LPoint3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.add_triangle(p0, p1, p2)
mesh.add_triangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh'))
np.node().add_shape(shape)
np.set_pos(0, 0, -2)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Soft body world information
info = self.world.get_world_info()
info.set_air_density(1.2)
info.set_water_density(0)
info.set_water_offset(0)
info.set_water_normal(LVector3(0, 0, 0))
# Softbody
for i in range(50):
p00 = LPoint3(-2, -2, 0)
p10 = LPoint3(2, -2, 0)
p01 = LPoint3(-2, 2, 0)
p11 = LPoint3(2, 2, 0)
node = BulletSoftBodyNode.make_patch(info, p00, p10, p01, p11, 6,
6, 0, True)
node.generate_bending_constraints(2)
node.get_cfg().set_lift_coefficient(0.004)
node.get_cfg().set_dynamic_friction_coefficient(0.0003)
node.get_cfg().set_aero_model(
BulletSoftBodyConfig.AM_vertex_two_sided)
node.set_total_mass(0.1)
node.add_force(LVector3(0, 2, 0), 0)
np = self.worldNP.attach_new_node(node)
np.set_pos(self.LVector3_rand() * 10 + LVector3(0, 0, 20))
np.set_hpr(self.LVector3_rand() * 16)
self.world.attach(node)
fmt = GeomVertexFormat.get_v3n3t2()
geom = BulletHelper.make_geom_from_faces(node, fmt, True)
node.link_geom(geom)
nodeV = GeomNode('')
nodeV.add_geom(geom)
npV = np.attach_new_node(nodeV)
tex = loader.load_texture('models/panda.jpg')
npV.set_texture(tex)
BulletHelper.make_texcoords_for_patch(geom, 6, 6)
def __init__(self):
ShowBase.__init__(self)
props = WindowProperties()
props.setTitle("The Rat Cave")
self.win.requestProperties(props)
self.win.setClearColor((0.5, 0.5, 0.9, 1.0))
self.disableMouse()
self.locked = False
lens = PerspectiveLens()
lens.set_fov(70)
self.cam.node().setLens(lens)
self.position = [30, 30, 30]
self.velocity = [0, 0, 0]
self.setFrameRateMeter(True)
self.myFog = Fog("Fog Name")
self.myFog.setColor(0.5, 0.5, 0.9)
self.myFog.setExpDensity(0.005)
render.setFog(self.myFog)
#cool bg
#b=OnscreenImage(parent=render2d, image="space.png")
#base.cam.node().getDisplayRegion(0).setSort(20)
render.setAntialias(AntialiasAttrib.MMultisample)
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
debugNP = render.attachNewNode(debugNode)
debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -80))
#self.world.setDebugNode(debugNP.node())
loader = Loader(self)
myShader = Shader.load(Shader.SL_GLSL,
vertex="vertshader.vert",
fragment="fragshader.frag")
floorMesh = BulletTriangleMesh()
texs = [
loader.loadTexture("flatstone.png"),
loader.loadTexture("flatstone2.png"),
loader.loadTexture("flatgrass.png"),
loader.loadTexture("flatgrass2.png"),
loader.loadTexture("flatrock.png"),
loader.loadTexture("flatrock2.png"),
loader.loadTexture("flatsnow.png"),
loader.loadTexture("flatsand.png"),
loader.loadTexture("flatsand2.png")
]
hmap = generator.generate(200, 200, 50, 0.01, 5)
groundTypes = [[] for x in range(9)]
for thing in hmap:
groundTypes[thing[3]].append(thing[0:3])
for i in range(len(groundTypes)):
if len(groundTypes[i]) == 0:
continue
format = GeomVertexFormat.get_v3n3t2()
format = GeomVertexFormat.registerFormat(format)
vdata = GeomVertexData('name', format, Geom.UHStatic)
vdata.setNumRows(3)
vertex = GeomVertexWriter(vdata, 'vertex')
normal = GeomVertexWriter(vdata, 'normal')
texcoord = GeomVertexWriter(vdata, 'texcoord')
prim = GeomTriangles(Geom.UHStatic)
for grid in groundTypes[i]:
v0 = (grid[0][0], grid[0][2], grid[0][1])
vertex.addData3(v0)
if grid[1][2] < 0:
normal.addData3(grid[1][0], grid[1][2], grid[1][1])
else:
normal.addData3(-grid[1][0], -grid[1][2], -grid[1][1])
texcoord.addData2(grid[2][0], grid[2][1])
v1 = (grid[0][3], grid[0][5], grid[0][4])
vertex.addData3(v1)
if grid[1][5] < 0:
normal.addData3(grid[1][3], grid[1][5], grid[1][4])
else:
normal.addData3(-grid[1][3], -grid[1][5], -grid[1][4])
texcoord.addData2(grid[2][2], grid[2][3])
v2 = (grid[0][6], grid[0][8], grid[0][7])
vertex.addData3(v2)
if grid[1][8] < 0:
normal.addData3(grid[1][6], grid[1][8], grid[1][7])
else:
normal.addData3(-grid[1][6], -grid[1][8], -grid[1][7])
texcoord.addData2(grid[2][4], grid[2][5])
floorMesh.addTriangle(v0, v1, v2)
prim.add_next_vertices(3)
geom = Geom(vdata)
geom.addPrimitive(prim)
node = GeomNode('gnode')
node.addGeom(geom)
nodePath = render.attachNewNode(node)
nodePath.setTexture(texs[i])
nodePath.setShader(myShader)
vdata2 = GeomVertexData('wata', format, Geom.UHStatic)
vdata2.setNumRows(3)
prim2 = GeomTriangles(Geom.UHStatic)
vertex2 = GeomVertexWriter(vdata2, 'vertex')
normal2 = GeomVertexWriter(vdata2, 'normal')
texcoord2 = GeomVertexWriter(vdata2, 'texcoord')
vertex2.addData3((0, 0, 0))
vertex2.addData3((200, 0, 0))
vertex2.addData3((0, 200, 0))
normal2.addData3((0, 0, 1))
normal2.addData3((0, 0, 1))
normal2.addData3((0, 0, 1))
texcoord2.addData2((0, 0))
texcoord2.addData2((1, 0))
texcoord2.addData2((0, 1))
prim2.addNextVertices(3)
vertex2.addData3((200, 200, 0))
vertex2.addData3((0, 200, 0))
vertex2.addData3((200, 0, 0))
normal2.addData3((0, 0, 1))
normal2.addData3((0, 0, 1))
normal2.addData3((0, 0, 1))
texcoord2.addData2((1, 1))
texcoord2.addData2((0, 1))
texcoord2.addData2((1, 0))
prim2.addNextVertices(3)
water = Geom(vdata2)
water.addPrimitive(prim2)
waterNode = GeomNode('water')
waterNode.addGeom(water)
waterNodePath = render.attachNewNode(waterNode)
waterNodePath.setTransparency(True)
waterNodePath.setTexture(loader.loadTexture("water.png"))
floorMeshShape = BulletTriangleMeshShape(floorMesh, dynamic=False)
fNode = BulletRigidBodyNode('floor')
fNode.addShape(floorMeshShape)
self.floorPhysNode = render.attachNewNode(fNode)
self.world.attachRigidBody(fNode)
for i in range(25):
rat = loader.loadModel("deer.obj")
rat.setScale((0.003, 0.003, 0.003))
rat.setHpr((0, 90, 0))
rat.setPos((0, 0, -0.8))
rat.setTexture(texs[5])
shape = BulletSphereShape(1)
node = BulletRigidBodyNode('ratBox')
#node.setAngularFactor((0,0,1))
node.setMass(10.0)
node.addShape(shape)
node.setActive(False)
#node.friction = 1
np = render.attachNewNode(node)
np.setPos((i % 5) * 2 + 40, int(i / 5) * 2 + 40, 50)
self.world.attachRigidBody(node)
rat.flattenLight()
rat.reparentTo(np)
#posInterval1 = rat.hprInterval(0.1,
# Point3(10, 90, 0),
# startHpr=Point3(-10, 90, 0))
#posInterval2 = rat.hprInterval(0.1,
# Point3(-10, 90, 0),
# startHpr=Point3(10,90,0))
#pandaPace = Sequence(posInterval1, posInterval2,
# name="pandaPace" + str(i))
#pandaPace.loop()
self.ratto = np
self.deer = loader.loadModel("rat.obj")
self.deer.setScale((0.15, 0.15, 0.15))
self.deer.setHpr((0, 90, 0))
self.deer.setPos((0, 0, -2))
self.deerShape = BulletBoxShape((3, 1, 3))
self.deerNode = BulletRigidBodyNode('deerBox')
self.deerNode.setAngularFactor((0, 0, 1))
self.deerNode.setMass(10.0)
self.deerNode.setFriction(1)
self.deerNode.addShape(self.deerShape)
self.deerNodePath = render.attachNewNode(self.deerNode)
self.deerNodePath.setPos((30, 30, 130))
self.world.attachRigidBody(self.deerNode)
self.deer.reparentTo(self.deerNodePath)
self.keyMap = {
"w": False,
"s": False,
"a": False,
"d": False,
"space": False,
"lshift": False,
"p": False,
"o": False
}
self.accept("w", self.setKey, ["w", True])
self.accept("s", self.setKey, ["s", True])
self.accept("a", self.setKey, ["a", True])
self.accept("d", self.setKey, ["d", True])
self.accept("space", self.setKey, ["space", True])
self.accept("lshift", self.setKey, ["lshift", True])
self.accept("e", self.lockMouse)
self.accept("p", self.setKey, ["p", True])
self.accept("o", self.setKey, ["o", True])
self.accept("w-up", self.setKey, ["w", False])
self.accept("s-up", self.setKey, ["s", False])
self.accept("a-up", self.setKey, ["a", False])
self.accept("d-up", self.setKey, ["d", False])
self.accept("space-up", self.setKey, ["space", False])
self.accept("lshift-up", self.setKey, ["lshift", False])
self.accept("e-up", self.setKey, ["e", False])
self.accept('escape', sys.exit)
self.accept("p-up", self.setKey, ["p", False])
self.accept("o-up", self.setKey, ["o", False])
# Add the spinCameraTask procedure to the task manager.
self.taskMgr.add(self.cameraControl, "CameraControl")
self.camera.setPos(tuple(self.position))
