def __init__(self, root_nodepath, world):
self.world = BulletWorld()
self.world.setGravity((0, 0, -9.81))
self._timestep = 1 / world.tick_rate
# # Seems that this does not function
# on_contact_added = PythonCallbackObject(self._on_contact_added)
# self.world.set_contact_added_callback(on_contact_added)
# on_filter = PythonCallbackObject(self._filter_collision)
# self.world.set_filter_callback(on_filter)
self.listener = DirectObject()
self.listener.accept('bullet-contact-added', self._on_contact_added)
self.listener.accept('bullet-contact-destroyed', self._on_contact_removed)
self.tracked_contacts = defaultdict(int)
self.existing_collisions = set()
# Debugging info
debug_node = BulletDebugNode('Debug')
debug_node.showWireframe(True)
debug_node.showConstraints(True)
debug_node.showBoundingBoxes(False)
debug_node.showNormals(False)
# Add to world
self.debug_nodepath = root_nodepath.attachNewNode(debug_node)
self.world.set_debug_node(debug_node)
self.debug_nodepath.show()
def __init__(self,
camera,
debug=False,
audio3d=None,
client=None,
server=None):
self.objects = {}
self.incarnators = []
self.collidables = set()
self.updatables = set()
self.updatables_to_add = set()
self.garbage = set()
self.render = NodePath('world')
self.camera = camera
self.audio3d = audio3d
self.ambient = self._make_ambient()
self.celestials = CompositeObject()
self.sky = self.attach(Sky())
# Set up the physics world. TODO: let maps set gravity.
self.gravity = DEFAULT_GRAVITY
self.physics = BulletWorld()
self.physics.set_gravity(self.gravity)
self.debug = debug
self.client = client
self.server = server
if debug:
debug_node = BulletDebugNode('Debug')
debug_node.show_wireframe(True)
debug_node.show_constraints(True)
debug_node.show_bounding_boxes(False)
debug_node.show_normals(False)
np = self.render.attach_new_node(debug_node)
np.show()
self.physics.set_debug_node(debug_node)
def __init__(self, scene, suncgDatasetRoot=None, debug=False, objectMode='box',
agentRadius=0.1, agentHeight=1.6, agentMass=60.0, agentMode='capsule'):
super(Panda3dBulletPhysics, self).__init__()
self.__dict__.update(scene=scene, suncgDatasetRoot=suncgDatasetRoot, debug=debug, objectMode=objectMode,
agentRadius=agentRadius, agentHeight=agentHeight, agentMass=agentMass, agentMode=agentMode)
if suncgDatasetRoot is not None:
self.modelCatMapping = ModelCategoryMapping(os.path.join(
suncgDatasetRoot, "metadata", "ModelCategoryMapping.csv"))
else:
self.modelCatMapping = None
self.bulletWorld = BulletWorld()
self.bulletWorld.setGravity(Vec3(0, 0, -9.81))
if debug:
debugNode = BulletDebugNode('physic-debug')
debugNode.showWireframe(True)
debugNode.showConstraints(False)
debugNode.showBoundingBoxes(True)
debugNode.showNormals(False)
self.debugNodePath = self.scene.scene.attachNewNode(debugNode)
self.debugNodePath.show()
self.bulletWorld.setDebugNode(debugNode)
else:
self.debugNodePath = None
self._initLayoutModels()
self._initAgents()
self._initObjects()
self.scene.worlds['physics'] = self
def __init__(self):
debugNode = BulletDebugNode('DebugNode')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(True)
debugNode.showNormals(True)
self.debugNP = render.attachNewNode(debugNode)
def __init__(self, base, objpath, bdebug=False):
self.base = base
self.smiley = loader.loadModel(objpath)
self.smileyCount = 0
self.setupBullet()
self.addGround()
# self.addWalls()
self.partlist = []
taskMgr.doMethodLater(.1, self.addSmiley, "AddSmiley")
taskMgr.add(self.updateBlt, "UpdateBlt")
if bdebug:
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
bullcldrnp = self.base.render.attachNewNode("bulletcollider")
debugNP = bullcldrnp.attachNewNode(debugNode)
debugNP.show()
self.bltWorld.setDebugNode(debugNP.node())
def __init__(self,
camera,
debug=False,
audio3d=None,
client=None,
server=None):
self.objects = {}
self.incarnators = []
self.collidables = set()
self.updatables = set()
self.updatables_to_add = set()
self.garbage = set()
self.scene = NodePath('world')
# Set up the physics world. TODO: let maps set gravity.
self.gravity = DEFAULT_GRAVITY
self.physics = BulletWorld()
self.physics.set_gravity(self.gravity)
self.debug = debug
if debug:
debug_node = BulletDebugNode('Debug')
debug_node.show_wireframe(True)
debug_node.show_constraints(True)
debug_node.show_bounding_boxes(False)
debug_node.show_normals(False)
np = self.scene.attach_new_node(debug_node)
np.show()
self.physics.set_debug_node(debug_node)
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_debug(self):
debug_node = BulletDebugNode('Debug')
debug_node.showWireframe(True)
debug_node.showConstraints(True)
debug_node.showBoundingBoxes(True)
debug_node.showNormals(True)
self.world.setDebugNode(debug_node)
return debug_node
def setupDebug(self):
node = BulletDebugNode("Debug")
node.showWireframe(True)
self.world.setDebugNode(node)
np = self.render.attachNewNode(node)
np.show()
def bullet_debug(self):
debug_node = BulletDebugNode('Debug')
debug_node.show_wireframe(True)
debug_node.show_constraints(True)
debug_node.show_bounding_boxes(False)
debug_node.show_normals(False)
self.debug_np = self.render.attach_new_node(debug_node)
self.environment.physics_world.set_debug_node(debug_node)
def init(self):
self.collision_objs = []
self.__obj2coll = {}
self.root = BulletWorld()
self.root.setGravity((0, 0, -9.81))
debug_node = BulletDebugNode('Debug')
debug_node.show_bounding_boxes(True)
self.__debug_np = render.attach_new_node(debug_node)
self.root.set_debug_node(self.__debug_np.node())
def _debug_mode(self):
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(True)
debugNP = self.render.attachNewNode(debugNode)
self.physics_world.dynamic_world.setDebugNode(debugNP.node())
self.debug_node = debugNP
def __init__(self, base, objpath, bdebug = False):
self.base = base
self.smiley = loader.loadModel(objpath)
self.smileyCount = 0
self.setupBullet()
self.addGround()
# self.addWalls()
self.partlist = []
taskMgr.doMethodLater(.1, self.addSmiley, "AddSmiley")
taskMgr.add(self.updateBlt, "UpdateBlt")
if bdebug:
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
bullcldrnp = self.base.render.attachNewNode("bulletcollider")
debugNP = bullcldrnp.attachNewNode(debugNode)
debugNP.show()
self.bltWorld.setDebugNode(debugNP.node())
def __init__(self):
self.register_signals()
self.world = BulletWorld()
self.world.setGravity((0, 0, -9.81))
# # Seems that this does not function
# on_contact_added = PythonCallbackObject(self._on_contact_added)
# self.world.set_contact_added_callback(on_contact_added)
# on_filter = PythonCallbackObject(self._filter_collision)
# self.world.set_filter_callback(on_filter)
self.listener = DirectObject()
self.listener.accept('bullet-contact-added', self._on_contact_added)
self.listener.accept('bullet-contact-destroyed', self._on_contact_removed)
debug_node = BulletDebugNode('Debug')
debug_node.showWireframe(True)
debug_node.showConstraints(True)
debug_node.showBoundingBoxes(False)
debug_node.showNormals(False)
self.debug_nodepath = render.attachNewNode(debug_node)
self.world.set_debug_node(debug_node)
self.debug_nodepath.show()
def __init__(self, camera, debug=False, audio3d=None, client=None, server=None):
self.objects = {}
self.incarnators = []
self.collidables = set()
self.updatables = set()
self.updatables_to_add = set()
self.garbage = set()
self.scene = NodePath('world')
# Set up the physics world. TODO: let maps set gravity.
self.gravity = DEFAULT_GRAVITY
self.physics = BulletWorld()
self.physics.set_gravity(self.gravity)
self.debug = debug
if debug:
debug_node = BulletDebugNode('Debug')
debug_node.show_wireframe(True)
debug_node.show_constraints(True)
debug_node.show_bounding_boxes(False)
debug_node.show_normals(False)
np = self.scene.attach_new_node(debug_node)
np.show()
self.physics.set_debug_node(debug_node)
def __init__(self, camera, debug=False, audio3d=None, client=None, server=None):
self.objects = {}
self.incarnators = []
self.collidables = set()
self.updatables = set()
self.updatables_to_add = set()
self.garbage = set()
self.render = NodePath('world')
self.camera = camera
self.audio3d = audio3d
self.ambient = self._make_ambient()
self.celestials = CompositeObject()
self.sky = self.attach(Sky())
# Set up the physics world. TODO: let maps set gravity.
self.gravity = DEFAULT_GRAVITY
self.physics = BulletWorld()
self.physics.set_gravity(self.gravity)
self.debug = debug
self.client = client
self.server = server
if debug:
debug_node = BulletDebugNode('Debug')
debug_node.show_wireframe(True)
debug_node.show_constraints(True)
debug_node.show_bounding_boxes(False)
debug_node.show_normals(False)
np = self.render.attach_new_node(debug_node)
np.show()
self.physics.set_debug_node(debug_node)
def __init__(self):
debugNode = BulletDebugNode('DebugNode')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(True)
debugNode.showNormals(True)
self.debugNP = render.attachNewNode(debugNode)
def setup_debug(self):
"""Set up a debug node, which will render skeletons for all the
physics objects in the physics world."""
debug_node = BulletDebugNode('Debug')
debug_node.show_wireframe(True)
debug_node.show_constraints(True)
debug_node.show_bounding_boxes(True)
debug_node.show_normals(True)
self.world.set_debug_node(debug_node)
self.debug_np = self.render.attach_new_node(debug_node)
def setupDebug(self):
debug = BulletDebugNode()
debug.showWireframe(
False
) # Yeah, don't set this to true unless you want to emulate an 80's computer running Crysis on Ultra settings.
debug.showConstraints(True)
debug.showBoundingBoxes(True) # This is the main use I have for it.
debug.showNormals(True)
debugNP = render.attachNewNode(debug)
self.worldBullet.setDebugNode(debugNP.node())
debugNP.hide()
return debugNP
def showBulletDebug(self):
"""Show bullet Debug"""
# Bullet DEBUG
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
debugNP = render.attachNewNode(debugNode)
debugNP.show()
self.bulletWorld.setDebugNode(debugNP.node())
def setupDebug(self): debug = BulletDebugNode() debug.showWireframe(False) # Yeah, don't set this to true unless you want to emulate an 80's computer running Crysis on Ultra settings. debug.showConstraints(True) debug.showBoundingBoxes(True) # This is the main use I have for it. debug.showNormals(True) debugNP = render.attachNewNode(debug) self.worldBullet.setDebugNode(debugNP.node()) debugNP.hide() return debugNP
def __init__(self, base):
self.__base = base
self.__base.world = BulletWorld()
bulletcolliderrender = self.__base.render.attachNewNode("bulletcollider")
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
self.__debugNP = bulletcolliderrender.attachNewNode(debugNode)
self.__base.world.setDebugNode(self.__debugNP.node())
self.worldrigidbodylist = []
def setupBulletPhysics(self):
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
self.debugNP = render.attachNewNode(debugNode)
self.mondePhysique = BulletWorld()
self.mondePhysique.setGravity(Vec3(0, 0, -9.81))
self.mondePhysique.setDebugNode(self.debugNP.node())
taskMgr.add(self.updatePhysics, "updatePhysics")
taskMgr.add(self.updateCarte, "updateCarte")
def setPhysics(self):
print "Setting physics"
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -10))
self.Base.taskMgr.add(self.physicsUpdate, "physicsUpdate", priority=0)
if self.debugDrawing:
print "Debug drawing"
self.debug = BulletDebugNode("debug")
self.debug.showWireframe(True)
self.debug.showBoundingBoxes(False)
self.debug.showNormals(True)
self.debugNP = self.Base.render.attachNewNode(self.debug)
self.debugNP.show()
self.world.setDebugNode(self.debug)
def __init__(self):
#self.gui = loadGui()
#init_pause_state(self.menu)
init_pause_state()
test = World()
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, -9))
self.world.setDebugNode(debugNP.node())
#Add a gravity region
self.add_gravity_region(
(100, 100, 100),
(100, -400, 0),
(0, 0, 1000))
taskMgr.add(self.update_bullet, 'update_bullet')
self.bulletList = self.loadBulletList()
base.disableMouse()
self.loadLevel()
self.initClasses()
self.setCamera()
self.addWinProps()
#TODO: Fix the healthbars
#self.gui.healthBar("Player1")
#self.gui.healthBar("AI1")
#self.gui.healthBar("AI2")
#self.gui.healthBar("AI3")
self.loadStation()
self.addlight()
self.createControls()
taskMgr.add(self.updateMenus, 'MenuUpdater')
print("Instance of game class running.")
self.simmpoleXP()
self.flipsXP()
def setup_debug(self):
"""Set up a debug node, which will render skeletons for all the
physics objects in the physics world."""
debug_node = BulletDebugNode('Debug')
debug_node.show_wireframe(True)
debug_node.show_constraints(True)
debug_node.show_bounding_boxes(True)
debug_node.show_normals(True)
self.world.set_debug_node(debug_node)
self.debug_np = self.render.attach_new_node(debug_node)
def setPhysicsDebug(self, _bool=False):
debugNode = BulletDebugNode('Debug')
self.debugNP = render.attachNewNode(debugNode)
if _bool:
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
self.debugNP = render.attachNewNode(debugNode)
self.physicsWorld.setDebugNode(self.debugNP.node())
self.debugNP.show()
else:
self.debugNP.hide()
def showBulletDebug(self):
"""Show bullet Debug"""
# Bullet DEBUG
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
debugNP = render.attachNewNode(debugNode)
debugNP.show()
self.bulletWorld.setDebugNode(debugNP.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())
# 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())
# initial vehicles
self.vehicles = []
#self.vehicles.append(basicVehicle(self,[13,2,0.5],18)) # [10,0.1,0.5] is vehicle start position
self.vehicles.append(
basicVehicle(self, [10, 0.1, 0.5],
18)) # [10,0.1,0.5] is vehicle start position
sensor = basicSensor(self) # initial sensor
sensor.setVehicle(self.vehicles[0])
self.vehicles[0].setSensor(sensor)
self.vehicles[0].sensor.align()
agent = basicAgent(50, 10.8, 15) # initial agent
agent.setVehicle(self.vehicles[0])
self.vehicles[0].setAgent(agent)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
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)
# collision
visNP = loader.loadModel('../models/coryf2.egg')
visNP.clearModelNodes()
visNP.reparentTo(render)
pos = (7., 60.0, 3.8)
visNP.setPos(pos[0], pos[1], pos[2])
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
bodyNP.setPos(pos[0], pos[1], pos[2])
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
bodyNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(bodyNP.node())
def setup(self):
self.worldNP = self.render.attachNewNode('World')
self.world = PGPhysicsWorld()
self.physics_world = self.world
# World
if self.debug:
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.debugNP.node().showWireframe(True)
self.debugNP.node().showConstraints(True)
self.debugNP.node().showBoundingBoxes(True)
self.debugNP.node().showNormals(True)
self.debugNP.showTightBounds()
self.debugNP.showBounds()
self.world.dynamic_world.setDebugNode(self.debugNP.node())
# Ground (static)
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
self.groundNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
self.groundNP.node().addShape(shape)
self.groundNP.setPos(0, 0, 0)
self.groundNP.setCollideMask(BitMask32.allOn())
self.world.dynamic_world.attachRigidBody(self.groundNP.node())
def setup(self):
# World
self.worldNP = render.attachNewNode("World")
self.GUI = self.worldNP.attachNewNode("GUI")
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(True)
self.setDefaults()
self.addGUI()
self.createCurve()
self.world = BulletWorld()
# self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setGravity(Vec3(0, 0, 0))
self.world.setDebugNode(self.debugNP.node())
# Plane (static)
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
nodePath = self.worldNP.attachNewNode(BulletRigidBodyNode("Ground"))
nodePath.node().addShape(shape)
nodePath.setPos(0, 0, 0)
nodePath.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(nodePath.node())
self.loadModel()
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 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__(self, toggledebug=False):
self.world = BulletWorld()
self._toggledebug = toggledebug
if self._toggledebug:
bulletcolliderrender = base.render.attachNewNode(
"bulletboxcollider")
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
self._debugNP = bulletcolliderrender.attachNewNode(debugNode)
self.world.setDebugNode(self._debugNP.node())
self.worldrigidbodylist = []
self._isupdateworldadded = False
def drawDebugNode(self):
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
self.debugNP = render.attachNewNode(debugNode)
#print "TankWorld.drawDebugNode: debug node activated"
self.accept('9', self.debugNP.show)
self.accept('8', self.debugNP.hide)
self.__bulletWorld.setDebugNode(debugNode)
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.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.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 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.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.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 __init__(self):
ShowBase.__init__(self)
utilities.setApp(self)
loadPrcFileData('', 'bullet-enable-contact-events true')
self.world = World(10)
self.taskMgr.add(self.update, "update")
self.accept("a", self.world.player.moveLeft, [True])
self.accept("a-up", self.world.player.moveLeft, [False])
self.accept("d", self.world.player.moveRight, [True])
self.accept("d-up", self.world.player.moveRight, [False])
self.accept("space", self.world.player.jump, [True])
self.accept("space-up", self.world.player.jump, [False])
self.accept("c", self.world.player.crouch, [True])
self.accept("c-up", self.world.player.crouch, [False])
self.accept("mouse1", self.world.player.activate, [])
self.accept("escape", sys.exit, [])
self.accept('bullet-contact-added', self.onContactAdded)
self.accept('bullet-contact-destroyed', self.onContactDestroyed)
self.accept("h", self.showDBG, [True])
self.accept("h-up", self.showDBG, [False])
self.prevTime = 0
self.mousePos = Point2()
base.disableMouse()
self.rl = base.camLens.makeCopy()
# bullet testing
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
self.debugNP = render.attachNewNode(debugNode)
self.debugNP.show()
self.world.bw.setDebugNode(self.debugNP.node())
def __init__(self, app):
self.app = app
utilities.setApp(self.app)
self.world = World(10)
self.app.taskMgr.add(self.update, "update")
self.app.accept("a", self.world.player.moveLeft, [True])
self.app.accept("a-up", self.world.player.moveLeft, [False])
self.app.accept("d", self.world.player.moveRight, [True])
self.app.accept("d-up", self.world.player.moveRight, [False])
self.app.accept("w", self.world.player.jump, [True])
self.app.accept("w-up", self.world.player.jump, [False])
self.app.accept("s", self.world.player.crouch, [True])
self.app.accept("s-up", self.world.player.crouch, [False])
self.app.accept("mouse1", self.world.player.activate, [])
self.app.accept("q", self.world.player.scrollItem, [1])
self.app.accept("1", self.world.player.selectItem, [1])
self.app.accept("2", self.world.player.selectItem, [2])
self.app.accept("escape", sys.exit, [])
self.app.mousePos = Point2()
self.app.disableMouse()
self.app.rl = base.camLens.makeCopy()
if utilities.debug:
self.app.accept("h", self.showDBG, [True])
self.app.accept("h-up", self.showDBG, [False])
#bullet debug rendering
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
self.debugNP = render.attachNewNode(debugNode)
self.debugNP.show()
self.world.bw.setDebugNode(self.debugNP.node())
def initBullet(self):
self.world.setGravity(Vec3(0, 0, -9.81))
self.debugNode = BulletDebugNode('Debug')
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNode.showBoundingBoxes(False)
self.debugNode.showNormals(False)
self.debugNP = render.attachNewNode(self.debugNode)
self.world.setDebugNode(self.debugNP.node())
def setup(self):
self.node = NodePath('world')
self.node.set_transparency(TransparencyAttrib.MAlpha)
if self.debug:
d = BulletDebugNode('Debug')
d.show_wireframe(True)
d.show_normals(True)
self.node.attach_new_node(d).show()
self.physics.set_debug_node(d)
if self.camera:
self.camera.node().get_lens().set_fov(80.0, 50.0)
self.camera.node().get_lens().set_near(0.1)
# Default ambient light
alight = AmbientLight('ambient')
alight.set_color(DEFAULT_AMBIENT_COLOR)
self.ambient = self.node.attach_new_node(alight)
self.node.set_light(self.ambient)
# Default directional lights
self.add_celestial(math.radians(20), math.radians(45), (1, 1, 1, 1), 0.4, 30.0)
self.add_celestial(math.radians(200), math.radians(20), (1, 1, 1, 1), 0.3, 30.0)
def showDebug(self):
# To enable debug
self.debugNode = BulletDebugNode("Debug")
self.debugNode.showBoundingBoxes(True)
self.debugNode.showNormals(False)
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNP = render.attachNewNode(self.debugNode)
self.debugNP.show()
# Add the debug node to the physics world
self.world.setDebugNode(self.debugNP.node())
def __init__(self, xml):
globalClock.setMaxDt(0.1)
#init pre and post callbacks
self.prePhysics = {}
self.postPhysics = {}
#bullet debug node
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(True)
debugNP = render.attachNewNode(debugNode)
debugNP.show()
#create bullet world
self.bulletworld = BulletWorld()
self.bulletworld.setDebugNode(debugNP.node())
self.bulletworld.setGravity(Vec3(0, 0, 0))
#start doing physics
self.physicsTask = taskMgr.add(self.simulationTask, 'Physics Loop', sort=100)
def __init__(self, KEY_LIST):
ShowBase.__init__(self)
#---------------------------------------------------------------
# clock
self.globalClock = ClockObject()
#---------------------------------------------------------------
# KeyHandler
self.kh = KeyHandler(KEY_LIST)
#---------------------------------------------------------------
# Bullet
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -12.81))
self.gravityUp = False
self.debugNode = BulletDebugNode('Debug')
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNode.showBoundingBoxes(True)
self.debugNode.showNormals(True)
self.debugNP = self.render.attachNewNode(self.debugNode)
#self.debugNP.show()
self.world.setDebugNode(self.debugNode)
self._debug = False
#---------------------------------------------------------------
# Player
#---------------------------------------------------------------
# CharacterController
self.player = CharacterController(self)
self.player.setActor('models/characters/female', {
'walk' : 'models/characters/female-walk.egg'
},
flip = True,
pos = (0,0,-1),
scale = 1.0)
self.player.setPos(0, -5, 3)
self.player.playerModel.loop("walk")
self.playerNp = self.player.np
#---------------------------------------------------------------
# Camera
self.camHandler = CamHandler(self)
def __init__(self):
ShowBase.__init__(self)
self.taskMgr.add(self.spinCameraTask, "SpinCameraTask")
self.plight = PointLight('plight')
self.pnlp = self.camera.attachNewNode(self.plight)
render.setLight(self.pnlp)
self.debugNode = BulletDebugNode('Debug')
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNode.showBoundingBoxes(False)
self.debugNode.showNormals(False)
self.debugNP = render.attachNewNode(self.debugNode)
self.debugNP.show()
self.world = BulletWorld()
self.world.setDebugNode(self.debugNode)
self.planet = Planet()
self.planet.perlin_terrain(5, 0.5)
self.planet.build_node_path(render, self.world)
shape = BulletCapsuleShape(0.25, 0.5)
node = BulletRigidBodyNode('Capsule')
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(Vec3(0, 0.8, 0.8)*self.planet.get_radius())
new_up_vector = Vec3(
np.getPos() - self.planet.get_node_path().getPos())
old_up_vector = Vec3(0, 0, 1)
q = self.__quatFromTo(old_up_vector, new_up_vector)
np.setQuat(q)
self.np01 = np
self.world.attachRigidBody(node)
#node.applyCentralImpulse(Vec3(0.4, 0.6, 1.0))
self.taskMgr.add(self.physicsUpdateTask, "PhysicsUpdateTask")
self.accept('arrow_up', self.test01, ["shalala"])
class Mecha01Client(ShowBase):
def __init__(self):
ShowBase.__init__(self)
self.taskMgr.add(self.spinCameraTask, "SpinCameraTask")
self.plight = PointLight('plight')
self.pnlp = self.camera.attachNewNode(self.plight)
render.setLight(self.pnlp)
self.debugNode = BulletDebugNode('Debug')
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNode.showBoundingBoxes(False)
self.debugNode.showNormals(False)
self.debugNP = render.attachNewNode(self.debugNode)
self.debugNP.show()
self.world = BulletWorld()
self.world.setDebugNode(self.debugNode)
self.planet = Planet()
self.planet.perlin_terrain(5, 0.5)
self.planet.build_node_path(render, self.world)
shape = BulletCapsuleShape(0.25, 0.5)
node = BulletRigidBodyNode('Capsule')
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(Vec3(0, 0.8, 0.8)*self.planet.get_radius())
new_up_vector = Vec3(
np.getPos() - self.planet.get_node_path().getPos())
old_up_vector = Vec3(0, 0, 1)
q = self.__quatFromTo(old_up_vector, new_up_vector)
np.setQuat(q)
self.np01 = np
self.world.attachRigidBody(node)
#node.applyCentralImpulse(Vec3(0.4, 0.6, 1.0))
self.taskMgr.add(self.physicsUpdateTask, "PhysicsUpdateTask")
self.accept('arrow_up', self.test01, ["shalala"])
def test01(self, x):
print x
def gravity(self, position):
down_vector = Vec3(0, 0, 0) - position
down_vector.normalize()
gravity = LVector3f(down_vector*9.81)
def physicsUpdateTask(self, task):
dt = globalClock.getDt()
# simulating spherical gravity
node = self.np01.getNode(0)
pos = self.np01.getPos()
gravity = self.gravity(pos)
#self.np01.setQuat(Quat(0, 1.1, 1.1, 0))
self.world.doPhysics(dt)
return Task.cont
def spinCameraTask(self, task):
# angleDegrees = task.time * 6.0
# angleRadians = angleDegrees * (pi / 180.0)
# self.camera.setPos(
# 100.0 * sin(angleRadians),
# -100.0 * cos(angleRadians), 0.0)
# self.camera.setHpr(angleDegrees, 0, 0)
self.camera.setPos(self.np01.getPos()*5.0)
self.camera.lookAt(self.np01)
return Task.cont
def __quatFromTo(self, v0, v1):
print (v0, v1)
q = Quat(
sqrt(v0.length()**2 * v1.length()**2) + v0.dot(v1),
v0.cross(v1))
q.normalize()
return q
class initGame():
def __init__(self, windowProps, user, connection):
self.user = user
self.connection = connection
render.setShaderAuto()
self.wp = windowProps
# keeps the game running the same on all systems (kinda sorta barely)#
FPS = 60
globalClock = ClockObject.getGlobalClock()
globalClock.setMode(ClockObject.MLimited)
globalClock.setFrameRate(FPS)
globalClock.setMaxDt(1)
self.world = BulletWorld()
self.fakeNode = render.attachNewNode("fakeNode")
self.initFakeGui()
self.playIntroLevelMusic()
self.initBullet()
self.initScore()
self.initCollisions()
self.loadPlayer()
self.createCamera(self.player.np)
self.parseLevelFile("Home")
self.getLevelBounds()
self.startTime()
self.createLight()
self.loadSkyBox()
self.loadControls()
#self.parseStory()
colour = (0.5,0.8,0.8)
expfog = Fog("Scene-wide exponential Fog object")
expfog.setColor(*colour)
expfog.setExpDensity(0.0005)
render.setFog(expfog)
base.setBackgroundColor(*colour)
base.camLens.setFar(1000)
def playIntroLevelMusic(self):
self.music = Music("play","./sounds/batfeet.mp3", .1, True)
def getLevelBounds(self):
self.levelNodeBounds = render.find("renderDummy").getBounds()
def parseStory(self):
self.story = StoryParser("./stories/Story.txt")
def searchDirectories(self):
for root, dirs, files in os.walk("./"):
for name in files:
if name.endswith((".txt")):
print(name)
for name in dirs:
if name == "textures":
for root, dirs, files in os.walk(name):
for name in files:
if name.endswith(".jpg"):
print(name)
def initFakeGui(self):
self.menuBar = OnscreenImage(image = './graphics/MenuBar.png', pos = (0,0,-.94))
self.userText = OnscreenText(text = self.user, pos = (-1.05, -.9625), scale = 0.1)
self.menuBar.setScale(1.625, 1, .0625)
def initScore(self):
self.scoreHandler = ScoreHandler()
def initCollisions(self):
self.collisions = pCollisions(self.scoreHandler, self.music)
def parseLevelFile(self, arg):
if arg == "Home":
self.parsedLevel = LevelParser("./levels/HomeLevel.txt", self.collisions, self.player.np, self.world, self.scoreHandler)
def startTime(self):
self.time = KeepTime()
def initBullet(self):
self.world.setGravity(Vec3(0, 0, -9.81))
self.debugNode = BulletDebugNode('Debug')
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNode.showBoundingBoxes(False)
self.debugNode.showNormals(False)
self.debugNP = render.attachNewNode(self.debugNode)
self.world.setDebugNode(self.debugNP.node())
def loadSkyBox(self):
self.skyBox = SkyBox("Box")
def createCamera(self, nodePath):
self.camera = gameCamera(nodePath, self.world, self.collisions)
def loadControls(self):
#args order = bullet update loop, bullet debug node, camera, windowProps, player class, spotLightNode, windowProps, timerTask, bulletWorld, collisions#
self.controlHandler = ControlHandler(self.update, self.debugNP, self.camera, self.wp, self.player, self.time.timerTask, self.world, self.collisions, self.music)
def loadPlayer(self):
self.player = Player(self.collisions, "sphere", self.world, self.music, self.scoreHandler)
#self.player = Player("sphere", self.world, 0, 0, 16)
def createLight(self):
self.lightSource = GameLight(self.player.np)
def update(self, task):
##############################################
# #BULLET UPDATE# #
##############################################
dt = globalClock.getDt()
#self.dtTimer()
self.world.doPhysics(dt*2, 7)
#############################################
# #CAMERA UPDATE# #
#############################################
self.camera.cn.setPos(self.player.np.getPos())
#self.fakeNode.setPos(self.player.np.getPos())
self.camera.hNode.setPos(self.player.np.getPos())
self.camera.pNode.setPos(self.player.np.getPos())
self.camera.cn.setP(self.camera.pNode.getP())
self.camera.cn.setH(self.camera.hNode.getH())
pointer = base.win.getPointer(0)
pointerX = pointer.getX()
pointerY = pointer.getY()
if base.win.movePointer(0, base.win.getXSize()/2, base.win.getYSize ()/2):
if self.camera.inverted == "yes":
Pitch = -((pointerY - base.win.getYSize()/2)*.1)
else:
Pitch = ((pointerY - base.win.getYSize()/2)*.1)
Heading = -((pointerX - base.win.getXSize()/2)*.1)
#endValue = 0
#endValue += Pitch
self.camera.pNode.setP(self.camera.pNode, Pitch)
self.camera.hNode.setH(self.camera.hNode, Heading)
#self.fakeNode.setH(self.fakeNode, Heading)
#############################################
# #PLAYER UPDATE# #
#############################################
force = Vec3(0, 0, 0)
if inputState.isSet('up'):
force.setY(10.0)
if inputState.isSet('down'):
force.setY(-10.0)
if inputState.isSet('left'):
force.setX(-10.0)
if inputState.isSet('right'):
force.setX(10.0)
#force *= 10
force = render.getRelativeVector(self.camera.cn, force)
self.player.np.node().setActive(True)
self.player.np.node().applyCentralForce(force)
#self.player.np.setColor(random.random(), random.random(), random.random(), random.random())
if self.player.np.getZ() < 0 - (self.levelNodeBounds.getRadius() * 6):
self.player.np.setPos(self.collisions.level.spawn)
self.player.np.node().setLinearVelocity(Vec3(0,0,0))
return task.cont
# robotplot = nxtplot
# robot.goinitpose()
# robot.movearmfk([0.0,-20.0,-60.0,-70.0,-100.0,-30.0,0.0,0.0,0.0])
# robot.movearmfk([0.0,-20.0,60.0,70.0,-100.0,30.0,0.0,0.0,0.0], armid = 'lft')
# robotmnp = robotmesh.genmnp(robot)
# robotmnp.reparentTo(base.render)
# ur5dualmnp = ur5dualplot.genUr5dualmnp(robot, handpkg)
# ur5dualmnp.reparentTo(base.render)
pg.plotAxisSelf(base.render, Vec3(0,0,0))
cdchecker = CollisionChecker(robotmesh)
print cdchecker.isSelfCollided(robot)
bullcldrnp = base.render.attachNewNode("bulletcollider")
debugNode = BulletDebugNode('Debug')
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
debugNP = bullcldrnp.attachNewNode(debugNode)
debugNP.show()
cdchecker.bulletworld.setDebugNode(debugNP.node())
def updateworld(world, task):
world.doPhysics(globalClock.getDt())
return task.cont
base.taskMgr.add(updateworld, "updateworld", extraArgs=[cdchecker.bulletworld], appendTask=True)
base.run()
def __init__(self):
GameBase.__init__(self, KEY_LIST)
FSM.__init__(self, 'Game')
self.setBackgroundColor(0,0,0)
self.accept("space", self.toggleFPS)
self.accept("escape", self.taskMgr.stop)
'''
self.shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
self.node = BulletRigidBodyNode('Ground')
self.node.addShape(self.shape)
self.np = self.render.attachNewNode(self.node)
self.np.setPos(0, 0, 0)
self.world.attachRigidBody(self.node)
'''
self.debugNode = BulletDebugNode('Debug')
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNode.showBoundingBoxes(True)
self.debugNode.showNormals(True)
self.debugNP = self.render.attachNewNode(self.debugNode)
self.debugNP.show()
self.bulletbox = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
self.bulletboxnode = BulletRigidBodyNode('Box')
self.bulletboxnode.setMass(1.0)
self.bulletboxnode.addShape(self.bulletbox)
self.bulletboxnp = self.render.attachNewNode(self.bulletboxnode)
#self.bulletboxnp = NodePath(self.bulletboxnode)
#self.bulletboxnp.reparentTo(self.render)
self.bulletboxnp.setPos(0, 0, 15)
self.bulletboxnp.setScale(5,3,0.5)
self.world.attachRigidBody(self.bulletboxnode)
self.model = self.loader.loadModel("models/props/crate.egg")
self.model.reparentTo(self.bulletboxnp)
#---------------------------------------------------------------
# Ground (StaticTerrain)
self.ground = StaticTerrain(self, 'models/terrain.jpg', 50)
self.ground.setTexture(self.loader.loadTexture("models/ground.jpg"))
self.sky = SkyBox(self)
self.sky.set("teal1")
self.cursor = MouseCursor(self)
self.cursor.addCursor("cursor2")
self.hideCursor()
self.lightManager = LightManager(self)
self.lightManager.addAmbientLight(Vec4(.5,.5,.5,1))
self.lightManager.addPointLight(Vec4(1.0,1.0,1.0,1.0), Point3(2,-4,5))
self.taskMgr.add(self.update, "update")
print self.getAspectRatio()
self.camHandler = CamHandler(self)
self.accept(K_DRAG, self.camHandler.startDrag)
self.accept(K_DRAG+"-up", self.camHandler.stopDrag)
class Physics(DirectObject):
"""
Physics Class:
Handles the all Physics
"""
def __init__(self):
## Setup a bullet world.
# World Node (MAIN)
self.worldNP = render.attachNewNode("World")
# World
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, worldGravity))
PHYSICS["WORLD"] = self.world
# Add the simulation method to the taskmgr
taskMgr.add(self.update, "update bullet world")
# Setup test World
self.box = ""
self.hinge = ""
self.pickTest = False
self.sensor = ""
# test the class test
self.test = MakeObject(self, "Box1", "b", 20.0)
self.test.bodyNP.setPos(0, 1, 1)
pos = 1
# for x in range(5):
# x = MakeObject(self, 'box', 'b', 5.0)
# pos += 1
# x.bodyNP.setPos(0, 0, pos)
self.accept("e", self.playerPickup)
self.accept("f1", self.showDebug)
self.setup_world()
# taskMgr.add(self.checkGhost, 'checkGhost')
def setup_world(self):
#############################################
##
## GROUND FOR TESTING
#############################################
pass
# 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.allOn())
# self.world.attachRigidBody(np.node())
##############################################
##############################################
########################
# FIXED :D - Still simple atm.
########################
def playerPickup(self):
# Write a class for pick able objects so that we instance the object in the world and if picked up we change that instance or del it then create new one, then same again when dropped
bodyA = base.camera
# Will have to make a pick up mask so that it collides with walls and floors and w/e else.. except with the player
if self.pickTest == False:
self.test.bodyNP.wrtReparentTo(PLAYER["CLASS"].picker)
# self.test.bodyNP.copyTo(bodyA)
# self.test.worldNP
# bodyB.setPos(0, 2, 0)
self.test.bodyNP.node().setMass(1.0)
# self.test.bodyNP.setScale(1)
# self.test.bodyNP.setCollideMask(BitMask32.allOn())
self.pickTest = True
elif self.pickTest == True:
self.test.bodyNP.wrtReparentTo(GAMEPLAY_NODES["ITEM"])
self.test.bodyNP.node().setMass(1.0)
# self.test.bodyNP.setCollideMask(BitMask32.allOn())
# bodyB.setPos(bodyPos)
self.pickTest = False
# Simulate Physics
def update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 4, 1.0 / 270.0)
return task.cont
# Enable/Disable debug
def showDebug(self):
# To enable debug
self.debugNode = BulletDebugNode("Debug")
self.debugNode.showBoundingBoxes(True)
self.debugNode.showNormals(False)
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNP = render.attachNewNode(self.debugNode)
self.debugNP.show()
# Add the debug node to the physics world
self.world.setDebugNode(self.debugNP.node())
class GameBase(ShowBase):
def __init__(self, KEY_LIST):
ShowBase.__init__(self)
#---------------------------------------------------------------
# clock
self.globalClock = ClockObject()
#---------------------------------------------------------------
# KeyHandler
self.kh = KeyHandler(KEY_LIST)
#---------------------------------------------------------------
# Bullet
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -12.81))
self.gravityUp = False
self.debugNode = BulletDebugNode('Debug')
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNode.showBoundingBoxes(True)
self.debugNode.showNormals(True)
self.debugNP = self.render.attachNewNode(self.debugNode)
#self.debugNP.show()
self.world.setDebugNode(self.debugNode)
self._debug = False
#---------------------------------------------------------------
# Player
#---------------------------------------------------------------
# CharacterController
self.player = CharacterController(self)
self.player.setActor('models/characters/female', {
'walk' : 'models/characters/female-walk.egg'
},
flip = True,
pos = (0,0,-1),
scale = 1.0)
self.player.setPos(0, -5, 3)
self.player.playerModel.loop("walk")
self.playerNp = self.player.np
#---------------------------------------------------------------
# Camera
self.camHandler = CamHandler(self)
#---------------------------------------------------------------
# task
#self.taskMgr.add(self.update, "update")
#---------------------------------------------------------------
# FPS
def toggleFPS(self):
if self.frameRateMeter:
self.setFrameRateMeter(False)
else:
self.setFrameRateMeter(True)
#---------------------------------------------------------------
# Mouse cursor
def hideCursor(self):
props = WindowProperties()
props.setCursorHidden(True)
self.win.requestProperties(props)
def showCursor(self):
props = WindowProperties()
props.setCursorHidden(False)
self.win.requestProperties(props)
def getObjectHoverName(self):
if not self.mouseWatcherNode.hasMouse():
return None
pMouse = self.mouseWatcherNode.getMouse()
pFrom = Point3()
pTo = Point3()
self.camLens.extrude(pMouse, pFrom, pTo)
# Transform to global coordinates
pFrom = self.render.getRelativePoint(self.cam, pFrom)
pTo = self.render.getRelativePoint(self.cam, pTo)
result = self.world.rayTestClosest(pFrom, pTo)
if result.hasHit():
pos = result.getHitPos()
name = result.getNode().getName()
return name
else:
return None
def getObjectCenterScreen(self):
pFrom = Point3()
pTo = Point3()
self.camLens.extrude((0,0), pFrom, pTo)
# Transform to global coordinates
pFrom = self.render.getRelativePoint(self.cam, pFrom)
pTo = self.render.getRelativePoint(self.cam, pTo)
result = self.world.rayTestClosest(pFrom, pTo)
if result.hasHit():
pos = result.getHitPos()
name = result.getNode().getName()
return name
else:
return None
#---------------------------------------------------------------
# Fog
def setFog(self):
myFog = Fog("Fog")
myFog.setColor((0,0,0,1))
myFog.setExpDensity(0.025)
self.render.setFog(myFog)
self.fog = True
def clearFog(self):
self.render.clearFog()
self.fog = False
def toggleFog(self):
if self.fog:
self.clearFog()
else:
self.setFog()
#---------------------------------------------------------------
# Camera
def setFov(self, x):
self.camLens.setFov(x)
def getFov(self):
return self.camLens.getFov()[0]
def setNear(self, n):
self.camLens.setNear(n)
def setFar(self, n):
self.camLens.setFar(n)
#---------------------------------------------------------------
# Physics
def toggleGravity(self):
if self.gravityUp:
self.gravityUp = False
self.world.setGravity(Vec3(0,0,-9.8))
else:
self.gravityUp = True
self.world.setGravity(Vec3(0,0,9.8))
def toggleDebug(self):
#print "Toggle debug, extraArgs = %s" % (extraArgs)
if self._debug:
self._debug = False
self.debugNP.hide()
else:
self._debug = True
self.debugNP.show()
def updatePhysics(self, dt):
#self.world.doPhysics(dt, 20, 1.0/180)
self.world.doPhysics(dt)
#cnt = self.world.contactTest(self.ground.node)
#for boxName in self.objects:
# self.objects[boxName].update(dt)
'''
cntTest = self.world.contactTest(self.objects[boxName].node)
cnt = cntTest.getContacts()
for c in cnt:
node0 = c.getNode0().getName()
node1 = c.getNode1().getName()
#print node0, " in contact with ", node1
'''
def update(self, task):
self.globalClock.tick()
t = self.globalClock.getFrameTime()
dt = self.globalClock.getDt()
self.updatePhysics(dt)
self.player.update(dt)
return task.cont
def quit(self):
self.taskMgr.stop()
def stop(self):
self.taskMgr.stop()
def start(self):
self.taskMgr.run()
