class MinigamePhysicsWorldBase:
notify = DirectNotifyGlobal.directNotify.newCategory(
'MinigamePhysicsWorldBase')
def __init__(self, canRender=0):
self.canRender = canRender
self.world = OdeWorld()
self.space = OdeSimpleSpace()
self.contactgroup = OdeJointGroup()
self.bodyList = []
self.geomList = []
self.massList = []
self.rayList = []
self.showContacts = 0
self.jointMarkers = []
self.jointMarkerCount = 64
self.meshDataList = []
self.geomDataList = []
self.commonObjectInfoDict = {}
self.maxColCount = 0
if self.canRender:
self.odePandaRelationList = self.bodyList
self.root = render.attachNewNode('physics root node')
else:
self.root = NodePath('physics root node')
self.placerNode = self.root.attachNewNode('Placer')
self.subPlacerNode = self.placerNode.attachNewNode('Placer Sub Node')
self.commonObjectDict = {}
self.commonId = 0
self.worldAttach = self.root.attachNewNode('physics geom attach point')
self.timingCycleLength = 10.0
self.timingCycleOffset = 0.0
self.timingSimTime = 0.0
self.FPS = 60.0
self.DTAStep = 1.0 / self.FPS
self.DTA = 0
self.useQuickStep = False
self.deterministic = True
self.numStepsInSimulateTask = 0
self.collisionEventName = 'ode-collision-%s' % id(self)
self.space.setCollisionEvent(self.collisionEventName)
self.accept(self.collisionEventName, self.__handleCollision)
def delete(self):
self.notify.debug('Max Collision Count was %s' % self.maxColCount)
self.stopSim()
self.commonObjectDict = None
if self.canRender:
for pair in self.odePandaRelationList:
pair[0].removeNode()
pair[1].destroy()
self.odePandaRelationList = None
else:
for body in self.bodyList:
body[1].destroy()
self.bodyList = None
for mass in self.massList:
mass = None
for geom in self.geomList:
geom.destroy()
geom = None
for ray in self.rayList:
ray.destroy()
ray = None
self.placerNode.removeNode()
self.root.removeNode()
for marker in self.jointMarkers:
marker.removeNode()
self.jointMarkers = None
for data in self.geomDataList:
data.destroy()
for data in self.meshDataList:
data.destroy()
self.contactgroup.empty()
self.world.destroy()
self.space.destroy()
self.world = None
self.space = None
self.ignore(self.collisionEventName)
return
def setupSimulation(self):
if self.canRender:
for count in xrange(self.jointMarkerCount):
testMarker = render.attachNewNode('Joint Marker')
ballmodel = loader.loadModel('phase_3/models/misc/sphere')
ballmodel.reparentTo(testMarker)
ballmodel.setScale(0.1)
testMarker.setPos(0.0, 0.0, -100.0)
self.jointMarkers.append(testMarker)
def startSim(self):
taskMgr.add(self.__simulationTask, 'simulation task')
def stopSim(self):
taskMgr.remove('simulation task')
def __simulationTask(self, task):
self.DTA += globalClock.getDt()
numSteps = int(self.DTA / self.DTAStep)
if numSteps > 10:
self.notify.warning('phyics steps = %d' % numSteps)
startTime = globalClock.getRealTime()
while self.DTA >= self.DTAStep:
if self.deterministic:
OdeUtil.randSetSeed(0)
self.DTA -= self.DTAStep
self.preStep()
self.simulate()
self.postStep()
if self.canRender:
self.placeBodies()
return task.cont
def preStep(self):
pass
def postStep(self):
if self.showContacts and self.canRender:
for count in xrange(self.jointMarkerCount):
pandaNodePathGeom = self.jointMarkers[count]
if count < self.colCount:
pandaNodePathGeom.setPos(
self.space.getContactData(count * 3 + 0),
self.space.getContactData(count * 3 + 1),
self.space.getContactData(count * 3 + 2))
else:
pandaNodePathGeom.setPos(0.0, 0.0, -100.0)
def __handleCollision(self, entry):
self.colEntries.append(entry)
def simulate(self):
self.colEntries = []
self.space.autoCollide()
eventMgr.doEvents()
self.colCount = len(self.colEntries)
if self.maxColCount < self.colCount:
self.maxColCount = self.colCount
self.notify.debug('New Max Collision Count %s' % self.maxColCount)
if self.useQuickStep:
self.world.quickStep(self.DTAStep)
else:
self.world.step(self.DTAStep)
for bodyPair in self.bodyList:
self.world.applyDampening(self.DTAStep, bodyPair[1])
self.contactgroup.empty()
self.timingSimTime = self.timingSimTime + self.DTAStep
def placeBodies(self):
for pair in self.odePandaRelationList:
pandaNodePathGeom = pair[0]
odeBody = pair[1]
if pandaNodePathGeom:
pandaNodePathGeom.setPos(odeBody.getPosition())
pandaNodePathGeom.setQuat(
Quat(odeBody.getQuaternion()[0],
odeBody.getQuaternion()[1],
odeBody.getQuaternion()[2],
odeBody.getQuaternion()[3]))
def getOrderedContacts(self, entry):
c0 = self.space.getCollideId(entry.getGeom1())
c1 = self.space.getCollideId(entry.getGeom2())
if c0 > c1:
return c1, c0
else:
return c0, c1
