axis.setPos(hndpos)
axis.setScale(50)
axis.lookAt(hndpos+ydirect)
bullcldrnp = base.render.attachNewNode("bulletcollider")
base.world = BulletWorld()
# hand base
# rtq85hnd.rtq85np.find("**/rtq85base").showTightBounds()
gbnp = rtq85hnd.rtq85np.find("**/rtq85base").find("**/+GeomNode")
gb = gbnp.node().getGeom(0)
gbts = gbnp.getTransform(base.render)
gbmesh = BulletTriangleMesh()
gbmesh.addGeom(gb)
bbullnode = BulletRigidBodyNode('gb')
bbullnode.addShape(BulletTriangleMeshShape(gbmesh, dynamic=True), gbts)
bcollidernp=bullcldrnp.attachNewNode(bbullnode)
base.world.attachRigidBody(bbullnode)
bcollidernp.setCollideMask(BitMask32.allOn())
# rtq85hnd.rtq85np.find("**/rtq85lfgrtip").showTightBounds()
glftnp = rtq85hnd.rtq85np.find("**/rtq85lfgrtip").find("**/+GeomNode")
glft = glftnp.node().getGeom(0)
glftts = glftnp.getTransform(base.render)
glftmesh = BulletTriangleMesh()
glftmesh.addGeom(glft)
# lftbullnode = BulletRigidBodyNode('glft')
# lftbullnode.addShape(BulletTriangleMeshShape(glftmesh, dynamic=True), glftts)
# lftcollidernp=bullcldrnp.attachNewNode(lftbullnode)
# base.world.attachRigidBody(lftbullnode)
# lftcollidernp.setCollideMask(BitMask32.allOn())
def setup(self):
#World
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
#Ground
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
self.ground = BulletRigidBodyNode('Ground')
self.ground.addShape(shape)
self.groundNp = render.attachNewNode(self.ground)
self.groundNp.setPos(0, 0, 0)
self.groundNp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.ground)
#BoxPyramid1
self.pyramid1 = loader.loadModel("models/pyramid/Pyramid")
self.pyramid1.reparentTo(render)
self.pyramid1.setScale(.5)
self.pyramid1.setPos(0,-400,0)
mesh = BulletTriangleMesh()
for geomNP in self.pyramid1.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(self.pyramid1)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape2 = BulletTriangleMeshShape(mesh, dynamic=False)
self.node = BulletRigidBodyNode('BoxPyramid1')
self.node.setMass(0)
self.node.addShape(shape2)
self.np = render.attachNewNode(self.node)
self.np.setPos(0, -400, 0)
self.np.setScale(1.65)
self.np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node)
#BoxPyramid2
self.pyramid2 = loader.loadModel("models/pyramid/Pyramid")
self.pyramid2.reparentTo(render)
self.pyramid2.setScale(.25)
self.pyramid2.setPos(180,-400,0)
mesh2 = BulletTriangleMesh()
for geomNP in self.pyramid2.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(self.pyramid2)
for geom in geomNode.getGeoms():
mesh2.addGeom(geom, ts)
shape3 = BulletTriangleMeshShape(mesh2, dynamic=False)
self.node3 = BulletRigidBodyNode('BoxPyramid2')
self.node3.setMass(0)
self.node3.addShape(shape3)
self.np3 = render.attachNewNode(self.node3)
self.np3.setPos(180, -400, 0)
self.np3.setScale(0.85)
self.np3.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node3)
#BoxPyramid3
self.pyramid3 = loader.loadModel("models/pyramid/Pyramid")
self.pyramid3.reparentTo(render)
self.pyramid3.setScale(.25)
self.pyramid3.setPos(-180,-400,0)
mesh3 = BulletTriangleMesh()
for geomNP in self.pyramid3.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(self.pyramid3)
for geom in geomNode.getGeoms():
mesh3.addGeom(geom, ts)
shape4 = BulletTriangleMeshShape(mesh2, dynamic=False)
self.node4 = BulletRigidBodyNode('BoxPyramid3')
self.node4.setMass(0)
self.node4.addShape(shape4)
self.np4 = render.attachNewNode(self.node4)
self.np4.setPos(-180, -400, 0)
self.np4.setScale(0.85)
self.np4.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node4)
#BoxSphinx
self.sphinx = loader.loadModel("models/sphinx/Sphinx")
self.sphinx.reparentTo(render)
self.sphinx.setScale(.08)
self.sphinx.setPos(100,-50,20)
shape5 = BulletBoxShape(Vec3(18, 55, 30))
self.node5 = BulletRigidBodyNode('BoxSphinx')
self.node5.setMass(0)
self.node5.addShape(shape5)
self.np5 = render.attachNewNode(self.node5)
self.np5.setPos(100, -50, 10)
self.np5.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node5)
#start
blocks_tex6 = loader.loadTexture("models/blocks_tex6.jpg")
self.box1= loader.loadModel("models/box/box3")
self.box1.reparentTo(render)
self.box1.setScale(10,400,10)
self.box1.setPos(-300,850,0)
shape8 = BulletBoxShape(Vec3(8, 315, 13.5))
self.node8 = BulletRigidBodyNode('Box1')
self.node8.setMass(0)
self.node8.addShape(shape8)
self.np8 = render.attachNewNode(self.node8)
self.np8.setPos(-300, 850, 10)
self.np8.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node8)
self.box2= loader.loadModel("models/box/box3")
self.box2.reparentTo(render)
self.box2.setScale(10,400,10)
self.box2.setPos(-350,850,0)
shape9 = BulletBoxShape(Vec3(8, 315, 13.5))
self.node9 = BulletRigidBodyNode('Box2')
self.node9.setMass(0)
self.node9.addShape(shape9)
self.np9 = render.attachNewNode(self.node9)
self.np9.setPos(-350, 850, 10)
self.np9.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node9)
self.box3= loader.loadModel("models/box/box4")
self.box3.reparentTo(render)
self.box3.setScale(40,10,10)
self.box3.setPos(-325,543,0)
shape10 = BulletBoxShape(Vec3(30, 8, 13.5))
self.node10 = BulletRigidBodyNode('Box3')
self.node10.setMass(0)
self.node10.addShape(shape10)
self.np10 = render.attachNewNode(self.node10)
self.np10.setPos(-325, 543, 10)
self.np10.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node10)
self.box4= loader.loadModel("models/box/box4")
self.box4.reparentTo(render)
self.box4.setScale(40,10,10)
self.box4.setPos(-325,1157,0)
shape11 = BulletBoxShape(Vec3(30, 8, 13.5))
self.node11 = BulletRigidBodyNode('Box4')
self.node11.setMass(0)
self.node11.addShape(shape11)
self.np11 = render.attachNewNode(self.node11)
self.np11.setPos(-325, 1157, 10)
self.np11.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node11)
#Stars 1
self.stairsList = [0] * 10
self.stairsListNp = [0] * 10
n5 = 0
for i in range(10):
n5 += 2
self.stairsList[i]= loader.loadModel("models/box/box1")
self.stairsList[i].reparentTo(render)
self.stairsList[i].setScale(1.3)
self.stairsList[i].setPos(-325,925-(n5*1.2),n5)
self.stairsList[i].setHpr(0,0,90)
shape6 = BulletBoxShape(Vec3(3.2, 1.1, 1.1))
node6 = BulletRigidBodyNode('Box5 '+str(i))
node6.setMass(0)
node6.addShape(shape6)
self.stairsListNp[i] = render.attachNewNode(node6)
self.stairsListNp[i].setPos(-325, 925-(n5*1.2), n5)
self.stairsListNp[i].setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(node6)
self.n5Upstairs = n5
self.box6= loader.loadModel("models/box/box1")
self.box6.reparentTo(render)
self.box6.setScale(10,87,0.2)
self.box6.setPos(-325,829,n5)
self.shape12 = BulletBoxShape(Vec3(8, 70, 0.75))
self.node12 = BulletRigidBodyNode('Box6')
self.node12.setMass(0)
self.node12.addShape(self.shape12)
self.np12 = render.attachNewNode(self.node12)
self.np12.setPos(-325, 829, n5)
self.np12.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node12)
self.box7= loader.loadModel("models/box/box2")
self.box7.reparentTo(render)
self.box7.setScale(5,12,0.25)
self.box7.setPos(-325,749,n5)
shape13 = BulletBoxShape(Vec3(4, 10, 0.8))
self.node13 = BulletRigidBodyNode('Box7')
self.node13.setMass(0)
self.node13.addShape(shape13)
self.np13 = render.attachNewNode(self.node13)
self.np13.setPos(-325, 749, n5)
self.np13.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node13)
box7Interval1 = self.box7.posInterval(3.3, Point3(-325, 749, n5+5),
startPos=Point3(-325, 749, n5-5))
np13Interval1 = self.np13.posInterval(3, Point3(-325, 749, n5+5),
startPos=Point3(-325, 749, n5-5))
box7Interval2 = self.box7.posInterval(3.3, Point3(-325, 749, n5-5),
startPos=Point3(-325, 749, n5+5))
np13Interval2 = self.np13.posInterval(3, Point3(-325, 749, n5-5),
startPos=Point3(-325, 749, n5+5))
self.box7Pace = Sequence(Parallel(box7Interval1,np13Interval1),
Parallel(box7Interval2,np13Interval2),
name="box7Pace")
self.box7Pace.loop()
self.box8= loader.loadModel("models/box/box2")
self.box8.reparentTo(render)
self.box8.setScale(5,12,0.25)
self.box8.setPos(-325,725,n5)
shape14 = BulletBoxShape(Vec3(4, 10, 0.8))
node14 = BulletRigidBodyNode('Box8')
node14.setMass(0)
node14.addShape(shape14)
self.np14 = render.attachNewNode(node14)
self.np14.setPos(-325, 725, n5)
self.np14.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(node14)
box8Interval1 = self.box8.posInterval(3.3, Point3(-325, 725, n5-5),
startPos=Point3(-325, 725, n5+5))
np14Interval1 = self.np14.posInterval(3, Point3(-325, 725, n5-5),
startPos=Point3(-325, 725, n5+5))
box8Interval2 = self.box8.posInterval(3.3, Point3(-325, 725, n5+5),
startPos=Point3(-325, 725, n5-5))
np14Interval2 = self.np14.posInterval(3, Point3(-325, 725, n5+5),
startPos=Point3(-325, 725, n5-5))
self.box8Pace = Sequence(Parallel(box8Interval1,np14Interval1),
Parallel(box8Interval2,np14Interval2),
name="box8Pace")
self.box8Pace.loop()
self.Cylinder1= loader.loadModel("models/Cylinder/Cylinder")
self.Cylinder1.reparentTo(render)
self.Cylinder1.setScale(8,8,0.2)
self.Cylinder1.setPos(-322,700,n5)
self.Cylinder1.setTexture(blocks_tex6, 1)
radius = 8
height = 1
shape16 = BulletCylinderShape(radius, height, ZUp)
self.node16 = BulletRigidBodyNode('Cylinder1')
self.node16.setMass(0)
self.node16.addShape(shape16)
self.np16 = render.attachNewNode(self.node16)
self.np16.setPos(-322, 700, n5)
self.np16.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node16)
self.Cylinder2= loader.loadModel("models/Cylinder/Cylinder")
self.Cylinder2.reparentTo(render)
self.Cylinder2.setScale(8,8,0.2)
self.Cylinder2.setPos(-327,680,n5)
self.Cylinder2.setTexture(blocks_tex6, 1)
radius = 8
height = 1
shape17 = BulletCylinderShape(radius, height, ZUp)
self.node17 = BulletRigidBodyNode('Cylinder2')
self.node17.setMass(0)
self.node17.addShape(shape17)
self.np17 = render.attachNewNode(self.node17)
self.np17.setPos(-327, 680, n5)
self.np17.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node17)
self.Cylinder3= loader.loadModel("models/Cylinder/Cylinder")
self.Cylinder3.reparentTo(render)
self.Cylinder3.setScale(8,8,0.2)
self.Cylinder3.setPos(-322,660,n5)
self.Cylinder3.setTexture(blocks_tex6, 1)
radius = 8
height = 1
shape18 = BulletCylinderShape(radius, height, ZUp)
self.node18 = BulletRigidBodyNode('Cylinder3')
self.node18.setMass(0)
self.node18.addShape(shape18)
self.np18 = render.attachNewNode(self.node18)
self.np18.setPos(-322, 660, n5)
self.np18.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node18)
self.Cylinder4= loader.loadModel("models/Cylinder/Cylinder")
self.Cylinder4.reparentTo(render)
self.Cylinder4.setScale(8,8,0.2)
self.Cylinder4.setPos(-327,640,n5)
self.Cylinder4.setTexture(blocks_tex6, 1)
radius = 8
height = 1
shape19 = BulletCylinderShape(radius, height, ZUp)
self.node19 = BulletRigidBodyNode('Cylinder4')
self.node19.setMass(0)
self.node19.addShape(shape19)
self.np19 = render.attachNewNode(self.node19)
self.np19.setPos(-327, 640, n5)
self.np19.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.node19)
self.fire= loader.loadModel("models/stop_sign/stop_sign")
self.fire.setScale(0.01)
self.fire.reparentTo(render)
self.fire.setPos(-327,640,n5+5)
#setup the items to be collected
self.setupItems()
self.setupEndPoint()
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, 0)
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)
vnpgeom = visualNP.find("**/+GeomNode").node().getGeom(0)
vnpxform = visualNP.getTransform(base.render)
gbmesh = BulletTriangleMesh()
gbmesh.addGeom(vnpgeom)
bbullnode = BulletRigidBodyNode('gb')
bbullnode.addShape(BulletTriangleMeshShape(gbmesh, dynamic=True),
vnpxform)
self.worldNP.attachNewNode(bbullnode)
self.world.attachRigidBody(bbullnode)
# bcollidernp.setPos(0,1,0)
# self.box = np.node()
self.box = bbullnode
# 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(0, 0, 0)
# np.setCollideMask(BitMask32.allOn())
#
# self.world.attachRigidBody(np.node())
#
# self.sphere = np.node()
visualNP2 = loader.loadModel('models/box.egg')
visualNP2.setPos(0, 0.5, 0)
visualNP2.reparentTo(np)
vnpgeom2 = visualNP2.find("**/+GeomNode").node().getGeom(0)
vnpxform2 = visualNP2.getTransform(base.render)
gbmesh2 = BulletTriangleMesh()
gbmesh2.addGeom(vnpgeom2)
bbullnode2 = BulletRigidBodyNode('gb')
bbullnode2.addShape(BulletTriangleMeshShape(gbmesh2, dynamic=True),
vnpxform2)
self.worldNP.attachNewNode(bbullnode2)
self.world.attachRigidBody(bbullnode2)
self.sphere = bbullnode2
def planContactpairs(self, torqueresist = 50, fgrtipdist = 82, dotnormpara = -0.75):
"""
find the grasps using parallel pairs
:param: torqueresist the maximum allowable distance to com
:param: fgrtipdist the maximum dist between finger tips
:param: dotnormpara parallelity
:return:
author: weiwei
date: 20161130, harada office @ osaka university
"""
# note that pairnormals and pairfacets are duplicated for each contactpair
# the duplication is performed on purpose for convenient access
# also, each contactpair"s" corresponds to a facetpair
# it is empty when no contactpair is available
self.gripcontactpairs = []
# gripcontactpairnormals and gripcontactpairfacets are not helpful
# they are kept for convenience (they could be accessed using facetnormals and facetpairs)
self.gripcontactpairnormals = []
self.gripcontactpairfacets = []
# for precollision detection
# bulletworldprecc = BulletWorld()
# # build the collision shape of objtrimesh
# geomobj = pandageom.packpandageom(self.objtrimesh.vertices, self.objtrimesh.face_normals,
# self.objtrimesh.faces)
# objmesh = BulletTriangleMesh()
# objmesh.addGeom(geomobj)
# objmeshnode = BulletRigidBodyNode('objmesh')
# objmeshnode.addShape(BulletTriangleMeshShape(objmesh, dynamic=True))
# bulletworldprecc.attachRigidBody(objmeshnode)
# for raytracing
bulletworldray = BulletWorld()
nfacets = self.facets.shape[0]
self.facetpairs = list(itertools.combinations(range(nfacets), 2))
for facetpair in self.facetpairs:
# print("facetpair")
# print(facetpair, len(self.facetpairs))
self.gripcontactpairs.append([])
self.gripcontactpairnormals.append([])
self.gripcontactpairfacets.append([])
# if one of the facet doesnt have samples, jump to next
if self.objsamplepnts_refcls[facetpair[0]].shape[0] is 0 or \
self.objsamplepnts_refcls[facetpair[1]].shape[0] is 0:
# print("no sampled points")
continue
# check if the faces are opposite and parallel
dotnorm = np.dot(self.facetnormals[facetpair[0]], self.facetnormals[facetpair[1]])
if dotnorm < dotnormpara:
# check if any samplepnts's projection from facetpairs[i][0] falls in the polygon of facetpairs[i][1]
facet0pnts = self.objsamplepnts_refcls[facetpair[0]]
facet0normal = self.facetnormals[facetpair[0]]
facet1normal = self.facetnormals[facetpair[1]]
# generate collision mesh
facetmesh = BulletTriangleMesh()
faceidsonfacet = self.facets[facetpair[1]]
geom = pandageom.packpandageom_fn(self.objtrimesh.vertices,
self.objtrimesh.face_normals[faceidsonfacet],
self.objtrimesh.faces[faceidsonfacet])
facetmesh.addGeom(geom)
facetmeshbullnode = BulletRigidBodyNode('facet')
facetmeshbullnode.addShape(BulletTriangleMeshShape(facetmesh, dynamic=True))
bulletworldray.attachRigidBody(facetmeshbullnode)
# check the projection of a ray
for facet0pnt in facet0pnts:
pFrom = Point3(facet0pnt[0], facet0pnt[1], facet0pnt[2])
pTo = pFrom + Vec3(facet1normal[0], facet1normal[1], facet1normal[2])*9999
result = bulletworldray.rayTestClosest(pFrom, pTo)
if result.hasHit():
hitpos = result.getHitPos()
if np.linalg.norm(np.array(facet0pnt.tolist())-np.array([hitpos[0], hitpos[1], hitpos[2]])) < fgrtipdist:
fgrcenter = (np.array(facet0pnt.tolist())+np.array([hitpos[0], hitpos[1], hitpos[2]]))/2.0
# avoid large torque
if np.linalg.norm(self.objtrimesh.center_mass - fgrcenter) < torqueresist:
self.gripcontactpairs[-1].append([facet0pnt.tolist(), [hitpos[0], hitpos[1], hitpos[2]]])
self.gripcontactpairnormals[-1].append([[facet0normal[0], facet0normal[1], facet0normal[2]],
[facet1normal[0], facet1normal[1], facet1normal[2]]])
self.gripcontactpairfacets[-1].append(facetpair)
# pre collision checking: it takes one finger as a cylinder and
# computes its collision with the object
## first finger
# cylindernode0 = BulletRigidBodyNode('cylindernode0')
# cylinder0height = 50
# cylinder0normal = Vec3(facet0normal[0], facet0normal[1], facet0normal[2])
# cylindernode0.addShape(BulletCylinderShape(radius=self.preccradius,
# height=cylinder0height,
# up=cylinder0normal),
# TransformState.makePos(pFrom+cylinder0normal*cylinder0height*.6))
# bulletworldprecc.attachRigidBody(cylindernode0)
# ## second finger
# cylindernode1 = BulletRigidBodyNode('cylindernode1')
# cylinder1height = cylinder1height
# # use the inverse of facet0normal instead of facet1normal to follow hand orientation
# cylinder1normal = Vec3(-facet0normal[0], -facet0normal[1], -facet0normal[2])
# cylindernode1.addShape(BulletCylinderShape(radius=self.preccradius,
# height=cylinder1height,
# up=cylinder1normal),
# TransformState.makePos(pFrom+cylinder1normal*cylinder1height*.6))
# bulletworldprecc.attachRigidBody(cylindernode1)
# if bulletworldprecc.contactTestPair(cylindernode0, objmeshnode) and \
# bulletworldprecc.contactTestPair(cylindernode1, objmeshnode):
bulletworldray.removeRigidBody(facetmeshbullnode)
# update the pairs
availablepairids = np.where(self.gripcontactpairs)[0]
self.facetpairs = np.array(self.facetpairs)[availablepairids]
self.gripcontactpairs = np.array(self.gripcontactpairs)[availablepairids]
self.gripcontactpairnormals = np.array(self.gripcontactpairnormals)[availablepairids]
self.gripcontactpairfacets = np.array(self.gripcontactpairfacets)[availablepairids]
# axis = loader.loadModel('zup-axis.egg')
# axis.reparentTo(base.render)
bullcldrnp = base.render.attachNewNode("bulletcollider")
base.world = BulletWorld()
# hand base
# rtq85hnd.rtq85np.find("**/rtq85base").showTightBounds()
gbnp = rtq85hnd.rtq85np.find("**/rtq85base").find("**/+GeomNode")
gb = gbnp.node().getGeom(0)
gbts = gbnp.getTransform(base.render)
gbmesh = BulletTriangleMesh()
gbmesh.addGeom(gb)
bbullnode = BulletRigidBodyNode('gb')
bbullnode.addShape(BulletTriangleMeshShape(gbmesh, dynamic=True), gbts)
bcollidernp = bullcldrnp.attachNewNode(bbullnode)
base.world.attachRigidBody(bbullnode)
bcollidernp.setCollideMask(BitMask32.allOn())
# rtq85hnd.rtq85np.find("**/rtq85base").showTightBounds()
# rtq85hnd.rtq85np.find("**/rtq85lfgrtip").showTightBounds()
glftnp = rtq85hnd.rtq85np.find("**/rtq85lfgrtip").find("**/+GeomNode")
glft = glftnp.node().getGeom(0)
glftts = glftnp.getTransform(base.render)
glftmesh = BulletTriangleMesh()
glftmesh.addGeom(glft)
lftbullnode = BulletRigidBodyNode('glft')
lftbullnode.addShape(BulletTriangleMeshShape(glftmesh, dynamic=True),
glftts)
lftcollidernp = bullcldrnp.attachNewNode(lftbullnode)
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(True)
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane (static)
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 (dynamic)
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.allOn())
self.world.attachRigidBody(np.node())
self.boxNP = np # For applying force & torque
#np.node().notifyCollisions(True)
#self.accept('bullet-contact-added', self.doAdded)
#self.accept('bullet-contact-destroyed', self.doRemoved)
# Sphere (dynamic)
shape = BulletSphereShape(0.6)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Sphere'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(-4, 0, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Cone (dynamic)
shape = BulletConeShape(0.6, 1.2, ZUp)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Cone'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(4, 0, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Capsule (dynamic)
shape = BulletCapsuleShape(0.5, 1.0, ZUp)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Capsule'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(0, 4, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Cyliner (dynamic)
shape = BulletCylinderShape(0.7, 1.5, ZUp)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Cylinder'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(4, 4, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Convex (dynamic)
shape = BulletConvexHullShape()
shape.addPoint(Point3(1, 1, 2))
shape.addPoint(Point3(0, 0, 0))
shape.addPoint(Point3(2, 0, 0))
shape.addPoint(Point3(0, 2, 0))
shape.addPoint(Point3(2, 2, 0))
# Another way to create the convex hull shape:
#shape = BulletConvexHullShape()
#shape.addArray([
# Point3(1, 1, 2),
# Point3(0, 0, 0),
# Point3(2, 0, 0),
# Point3(0, 2, 0),
# Point3(2, 2, 0),
#])
# Yet another way to create the convex hull shape:
#geom = loader.loadModel('models/box.egg')\
# .findAllMatches('**/+GeomNode')\
# .getPath(0)\
# .node()\
# .getGeom(0)
#shape = BulletConvexHullShape()
#shape.addGeom(geom)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Convex'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(-4, 4, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Mesh (static)
p0 = Point3(-10, -10, 0)
p1 = Point3(-10, 10, 0)
p2 = Point3(10, -10, 0)
p3 = Point3(10, 10, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
# Another way to create the triangle mesh shape:
#geom = loader.loadModel('models/box.egg')\
# .findAllMatches('**/+GeomNode')\
# .getPath(0)\
# .node()\
# .getGeom(0)
#mesh = BulletTriangleMesh()
#mesh.addGeom(geom)
#shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, 0.1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# MutiSphere
points = [Point3(-1, 0, 0), Point3(0, 0, 0), Point3(1, 0, 0)]
radii = [.4, .8, .6]
shape = BulletMultiSphereShape(points, radii)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('MultiSphere'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(8, 0, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(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
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody - From points/indices
#import cube
#points = [Point3(x,y,z) * 3 for x,y,z in cube.nodes]
#indices = sum([list(x) for x in cube.elements], [])
#node = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)
#node.setVolumeMass(300);
#node.getShape(0).setMargin(0.01)
#node.getMaterial(0).setLinearStiffness(0.8)
#node.getCfg().setPositionsSolverIterations(1)
#node.getCfg().clearAllCollisionFlags()
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
#node.generateClusters(16)
#softNP = self.worldNP.attachNewNode(node)
#softNP.setPos(0, 0, 8)
#softNP.setHpr(0, 0, 45)
#self.world.attachSoftBody(node)
# Softbody - From tetgen data
ele = open('models/cube/cube.1.ele', 'r').read()
face = open('models/cube/cube.1.face', 'r').read()
node = open('models/cube/cube.1.node', 'r').read()
node = BulletSoftBodyNode.makeTetMesh(info, ele, face, node)
node.setName('Tetra')
node.setVolumeMass(300)
node.getShape(0).setMargin(0.01)
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setPositionsSolverIterations(1)
node.getCfg().clearAllCollisionFlags()
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft,
True)
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft,
True)
node.generateClusters(6)
softNP = self.worldNP.attachNewNode(node)
softNP.setPos(0, 0, 8)
softNP.setHpr(45, 0, 0)
self.world.attachSoftBody(node)
# Option 1:
visNP = loader.loadModel('models/cube/cube.egg')
visNP.reparentTo(softNP)
geom = visNP \
.findAllMatches('**/+GeomNode').getPath(0).node() \
.modifyGeom(0)
node.linkGeom(geom)
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 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
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
def makeSB(pos, hpr):
import torus
geom = torus.makeGeom()
#geom = loader.loadModel('models/torus.egg') \
# .findAllMatches('**/+GeomNode').getPath(0).node() \
# .modifyGeom(0)
geomNode = GeomNode('')
geomNode.addGeom(geom)
node = BulletSoftBodyNode.makeTriMesh(info, geom)
node.linkGeom(geomNode.modifyGeom(0))
node.generateBendingConstraints(2)
node.getCfg().setPositionsSolverIterations(2)
node.getCfg().setCollisionFlag(
BulletSoftBodyConfig.CFVertexFaceSoftSoft, True)
node.randomizeConstraints()
node.setTotalMass(50, True)
softNP = self.worldNP.attachNewNode(node)
softNP.setPos(pos)
softNP.setHpr(hpr)
self.world.attachSoftBody(node)
geomNP = softNP.attachNewNode(geomNode)
makeSB(Point3(-3, 0, 4), (0, 0, 0))
makeSB(Point3(0, 0, 4), (0, 90, 90))
makeSB(Point3(3, 0, 4), (0, 0, 0))
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
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
for i in range(50):
p00 = Point3(-2, -2, 0)
p10 = Point3(2, -2, 0)
p01 = Point3(-2, 2, 0)
p11 = Point3(2, 2, 0)
node = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, 6, 6,
0, True)
node.generateBendingConstraints(2)
node.getCfg().setLiftCoefficient(0.004)
node.getCfg().setDynamicFrictionCoefficient(0.0003)
node.getCfg().setAeroModel(BulletSoftBodyConfig.AMVertexTwoSided)
node.setTotalMass(0.1)
node.addForce(Vec3(0, 2, 0), 0)
np = self.worldNP.attachNewNode(node)
np.setPos(self.Vec3Rand() * 10 + Vec3(0, 0, 20))
np.setHpr(self.Vec3Rand() * 16)
self.world.attachSoftBody(node)
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(node, fmt, True)
node.linkGeom(geom)
nodeV = GeomNode('')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
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())
# Ground
shape = BulletPlaneShape(LVector3(0, 0, 1), 0)
body = BulletRigidBodyNode('Ground')
bodyNP = self.worldNP.attach_new_node(body)
bodyNP.node().add_shape(shape)
bodyNP.set_pos(0, 0, 0)
bodyNP.set_collide_mask(BitMask32.all_on())
self.world.attach(bodyNP.node())
# Bowl
visNP = loader.load_model('models/bowl.egg')
geom = (visNP.findAllMatches('**/+GeomNode').get_path(
0).node().get_geom(0))
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=True)
body = BulletRigidBodyNode('Bowl')
bodyNP = self.worldNP.attach_new_node(body)
bodyNP.node().add_shape(shape)
bodyNP.node().set_mass(10.0)
bodyNP.set_pos(0, 0, 0)
bodyNP.set_collide_mask(BitMask32.all_on())
self.world.attach(bodyNP.node())
visNP.reparent_to(bodyNP)
self.bowlNP = bodyNP
self.bowlNP.set_scale(2)
# Eggs
self.eggNPs = []
for i in range(5):
x = random.gauss(0, 0.1)
y = random.gauss(0, 0.1)
z = random.gauss(0, 0.1) + 1
h = random.random() * 360
p = random.random() * 360
r = random.random() * 360
visNP = loader.load_model('models/egg.egg')
geom = (visNP.find_all_matches('**/+GeomNode').get_path(
0).node().get_geom(0))
shape = BulletConvexHullShape()
shape.addGeom(geom)
body = BulletRigidBodyNode('Egg-%i' % i)
bodyNP = self.worldNP.attach_new_node(body)
bodyNP.node().set_mass(1.0)
bodyNP.node().add_shape(shape)
bodyNP.node().set_deactivation_enabled(False)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos_hpr(x, y, z, h, p, r)
#bodyNP.set_scale(1.5)
self.world.attach(bodyNP.node())
visNP.reparent_to(bodyNP)
self.eggNPs.append(bodyNP)
def makeBulletCollFromGeoms(rootNode,
exclusions=[],
enableNow=True,
world=None):
"""
Creates and attaches bullet triangle mesh nodes underneath each GeomNode
of `rootNode`, which contains the same mesh as the Geoms.
This can be expensive if the geometry contains lots of triangles or GeomNodes.
"""
if not world:
world = base.physicsWorld
# BulletRigidBodyNode -> triangle index -> surfaceprop
# (it's so we know which surface we are walking on)
result = {}
for faceNp in rootNode.findAllMatches("**"):
if faceNp.getName() in exclusions:
continue
if faceNp.node().getType() != GeomNode.getClassType():
continue
# Create a separate list of geoms for each possible face type
# ( a wall or floor )
type2geoms = {}
for i in xrange(faceNp.node().getNumGeoms()):
geom = faceNp.node().getGeom(i)
state = faceNp.node().getGeomState(i)
if not geom.getPrimitive(0).isIndexed():
continue
if state.hasAttrib(BSPFaceAttrib.getClassSlot()):
bca = state.getAttrib(BSPFaceAttrib.getClassSlot())
facetype = bca.getFaceType()
else:
facetype = BSPFaceAttrib.FACETYPE_WALL
if not type2geoms.has_key(facetype):
type2geoms[facetype] = [(geom, state)]
else:
type2geoms[facetype].append((geom, state))
# Now create a separate body node to group each face type,
# and assign the correct bit
for facetype, geoms in type2geoms.items():
data = {}
numGeoms = 0
mesh = BulletTriangleMesh()
for i in xrange(len(geoms)):
geom, state = geoms[i]
mesh.addGeom(geom, True)
surfaceprop = "default"
if state.hasAttrib(BSPMaterialAttrib.getClassSlot()):
mat = state.getAttrib(
BSPMaterialAttrib.getClassSlot()).getMaterial()
if mat:
surfaceprop = mat.getSurfaceProp()
for j in xrange(geom.getNumPrimitives()):
prim = geom.getPrimitive(j)
prim = prim.decompose()
tris = prim.getNumVertices() / 3
for tidx in xrange(tris):
data[numGeoms] = surfaceprop
numGeoms += 1
shape = BulletTriangleMeshShape(mesh, False)
rbnode = BulletRigidBodyNode(faceNp.getName() + "_bullet_type" +
str(facetype))
rbnode.setKinematic(True)
rbnode.addShape(shape)
rbnodeNp = NodePath(rbnode)
rbnodeNp.reparentTo(faceNp)
if facetype == BSPFaceAttrib.FACETYPE_WALL:
rbnodeNp.setCollideMask(CIGlobals.WallGroup)
elif facetype == BSPFaceAttrib.FACETYPE_FLOOR:
rbnodeNp.setCollideMask(CIGlobals.FloorGroup)
if enableNow:
world.attachRigidBody(rbnode)
result[rbnode] = data
return result
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
####### MV
self.environ = loader.loadModel("world/world")
self.environ.reparentTo(render)
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)
#actor = Actor('world/world')
mesh = BulletTriangleMesh()
###### create terrein colligion shape
geomNodeCollection = self.environ.findAllMatches('**/+GeomNode')
for nodePath in geomNodeCollection: #.asList():
geomNode = nodePath.node()
print("here1")
for i in range(geomNode.getNumGeoms()):
geom = geomNode.getGeom(i)
print("here2")
print(geom)
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
shape.set_margin(0.0)
#print(geomNodeCollection)
# for geom in actor.getGeomNode().get_geoms():
# mesh.addGeom(geom)
# shape = BulletTriangleMeshShape(mesh, dynamic=False)
#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, 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, 7)
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 = BulletCharacterControllerNode(
shape, 0.4,
'Player') #MV was: BulletCharacterNode(shape, 0.4, 'Player')
#self.player.setMass(20.0)
self.player.setMaxSlope(70.0)
self.player.setGravity(9.81)
#self.player.setFrictionSlip(100.0)
self.playerNP = self.worldNP.attachNewNode(self.player)
#self.playerNP.setMass(20.0)
self.playerNP.setPos(-2, 0, 10)
self.playerNP.setH(-90)
self.playerNP.setCollideMask(BitMask32.allOn())
#self.playerNP.flattenLight()
self.world.attachCharacter(self.player)
self.ralph = Actor("ralph/ralph", {
"run": "ralph/ralph-run",
"walk": "ralph/ralph-walk"
})
self.ralph.reparentTo(render)
self.ralph.setScale(0.3048)
self.ralph.setPos(0, 0, -1)
self.ralph.setH(180)
self.ralph.reparentTo(self.playerNP)
## Camera
self.camera = base.cam
base.disableMouse()
self.camera.setPos(self.playerNP.getX(), self.playerNP.getY() + 10, 2)
self.camera.lookAt(self.playerNP)
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.show_tight_bounds()
#self.debugNP.show_bounds()
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())
# Stair
origin = LPoint3(0, 0, 0)
size = LVector3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attach_new_node(
BulletRigidBodyNode('Stair{}'.format(i)))
np.node().add_shape(shape)
np.set_pos(pos)
np.set_collide_mask(BitMask32.all_on())
npV = loader.load_model('models/box.egg')
npV.reparent_to(np)
npV.set_scale(size)
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
center = LPoint3(0, 0, 0)
radius = LVector3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.make_ellipsoid(info, center, radius, 128)
node.set_name('Ellipsoid')
node.get_material(0).set_linear_stiffness(0.1)
node.get_cfg().set_dynamic_friction_coefficient(1)
node.get_cfg().set_damping_coefficient(0.001)
node.get_cfg().set_pressure_coefficient(1500)
node.set_total_mass(30, True)
node.set_pose(True, False)
np = self.worldNP.attach_new_node(node)
np.set_pos(15, 0, 12)
#np.setH(90.0)
#np.show_bounds()
#np.show_tight_bounds()
self.world.attach(np.node())
geom = BulletHelper.make_geom_from_faces(node)
node.link_geom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.add_geom(geom)
npV = np.attach_new_node(nodeV)
def __addTriangleMesh(self, body, geom, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1), dynamic=True):
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=dynamic )
body.addShape( shape, TransformState.makePosHprScale(pos,hpr,scale) )
def __init__(self, objinit, cdtype="triangle", mass=.3, restitution=0, allowdeactivation=False, allowccd=True,
friction=.2, dynamic=True, name="rbd"):
"""
:param objinit: could be itself (copy), or an instance of collision model
:param type: triangle or convex
:param mass:
:param restitution: bounce parameter
:param friction:
:param dynamic: only applicable to triangle type, if an object does not move with force, it is not dynamic
:param name:
author: weiwei
date: 20190626, 20201119
"""
super().__init__(name)
if isinstance(objinit, gm.GeometricModel):
if objinit._objtrm is None:
raise ValueError("Only applicable to models with a trimesh!")
self.com = objinit.objtrm.center_mass
self.setMass(mass)
self.setRestitution(restitution)
self.setFriction(friction)
self.setLinearDamping(.3)
self.setAngularDamping(.3)
if allowdeactivation:
self.setDeactivationEnabled(True)
self.setLinearSleepThreshold(0.001)
self.setAngularSleepThreshold(0.001)
else:
self.setDeactivationEnabled(False)
if allowccd: # continuous collision detection
self.setCcdMotionThreshold(1e-6)
self.setCcdSweptSphereRadius(0.0005)
gnd = objinit.objpdnp.getChild(0).find("+GeomNode")
geom = copy.deepcopy(gnd.node().getGeom(0))
vdata = geom.modifyVertexData()
vertrewritter = GeomVertexRewriter(vdata, 'vertex')
while not vertrewritter.isAtEnd(): # shift local coordinate to geom to correctly update dynamic changes
v = vertrewritter.getData3f()
vertrewritter.setData3f(v[0] - self.com[0], v[1] - self.com[1], v[2] - self.com[2])
geomtf = gnd.getTransform()
if cdtype is "triangle":
geombmesh = BulletTriangleMesh()
geombmesh.addGeom(geom)
bulletshape = BulletTriangleMeshShape(geombmesh, dynamic=dynamic)
bulletshape.setMargin(1e-6)
self.addShape(bulletshape, geomtf)
elif cdtype is "convex":
bulletshape = BulletConvexHullShape() # TODO: compute a convex hull?
bulletshape.addGeom(geom, geomtf)
bulletshape.setMargin(1e-6)
self.addShape(bulletshape, geomtf)
else:
raise NotImplementedError
pdmat4 = geomtf.getMat()
pdv3 = pdmat4.xformPoint(Vec3(self.com[0], self.com[1], self.com[2]))
homomat = dh.pdmat4_to_npmat4(pdmat4)
pos = dh.pdv3_to_npv3(pdv3)
homomat[:3, 3] = pos # update center to com
self.setTransform(TransformState.makeMat(dh.npmat4_to_pdmat4(homomat)))
elif isinstance(objinit, BDBody):
self.com = objinit.com.copy()
self.setMass(objinit.getMass())
self.setRestitution(objinit.restitution)
self.setFriction(objinit.friction)
self.setLinearDamping(.3)
self.setAngularDamping(.3)
if allowdeactivation:
self.setDeactivationEnabled(True)
self.setLinearSleepThreshold(0.001)
self.setAngularSleepThreshold(0.001)
else:
self.setDeactivationEnabled(False)
if allowccd:
self.setCcdMotionThreshold(1e-6)
self.setCcdSweptSphereRadius(0.0005)
self.setTransform(TransformState.makeMat(dh.npmat4_to_pdmat4(objinit.gethomomat())))
self.addShape(objinit.getShape(0), objinit.getShapeTransform(0))
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
#self.debugNP.showTightBounds()
#self.debugNP.showBounds()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Stair
origin = Point3(0, 0, 0)
size = Vec3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Stair%i' % i))
np.node().addShape(shape)
np.setPos(pos)
np.setCollideMask(BitMask32.allOn())
npV = loader.loadModel('models/box.egg')
npV.reparentTo(np)
npV.setScale(size)
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
center = Point3(0, 0, 0)
radius = Vec3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.makeEllipsoid(info, center, radius, 128)
node.setName('Ellipsoid')
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setDynamicFrictionCoefficient(1)
node.getCfg().setDampingCoefficient(0.001)
node.getCfg().setPressureCoefficient(1500)
node.setTotalMass(30, True)
node.setPose(True, False)
np = self.worldNP.attachNewNode(node)
np.setPos(15, 0, 12)
#np.setH(90.0)
#np.showBounds()
#np.showTightBounds()
self.world.attachSoftBody(np.node())
geom = BulletHelper.makeGeomFromFaces(node)
node.linkGeom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
def addQuad(self, p1, p2, p3, p4):
mesh = BulletTriangleMesh()
mesh.addTriangle(p1, p2, p3)
mesh.addTriangle(p1, p3, p4)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
self.node.addShape(shape)
def build_world(self, task):
x = self.app.ref_node.getX()
y = self.app.ref_node.getY()
# TODO: Make it so we iterate over only a list of known grid coords to save computation
# convert the players x and y coords so that we only consider chunks nearby
# rel_x = int(x / self.cell_size)
# rel_y = int(y / self.cell_size)
#
# self.nearby_cells = [
# [n_x, n_y]
# for n_x in range(rel_x - self.view_distance_chunks, rel_x + self.view_distance_chunks)
# for n_y in range(rel_y - self.view_distance_chunks, rel_y + self.view_distance_chunks)
# if n_x >= 0
# if n_y >= 0
# ]
#
# if (rel_x, rel_y) not in self.seen_cells:
# self.seen_cells.add((rel_x, rel_y))
#
# for cell in self.nearby_cells:
#
# if cell not in list(self.cells.keys()):
# self.cells[tuple(cell)] = {'visible': False,
# 'node_path': None,
# 'chunk_data': None,
# 'bullet_mesh': None}
#
# for k in self.cells.keys():
# if k in self.nearby_cells:
# self.cells[k]['visible'] = True
# else:
# self.cells[k]['visible'] = False
for k, v in self.cells.items():
# k = tuple(cell_ind)
# v = self.cells[k]
min_px, min_py = k
min_px, min_py = min_px * self.cell_size, min_py * self.cell_size
max_px, max_py = min_px + self.cell_size, min_py + self.cell_size
middle_x, middle_y = min_px + ((max_px - min_px) / 2), min_py + (
(max_py - min_py) / 2)
if self.pythag((x, y), (middle_x, middle_y)) < self.view_distance:
if v['visible']:
# if we can already see it, do not do anything
pass
elif v['chunk_data'] is None:
# if we've never seen this chunk before, then generate it for the first time
chunk = Chunk(name=k,
x_range=(min_px, max_px),
y_range=(min_py, max_py),
octaves=self.map_octaves,
map_variation=self.map_height_variation,
total_world_size=self.world_size,
loader=self.app.loader)
# attach all nodes for all different materials
for material_id in v['node_path'].keys():
v['node_path'][
material_id] = self.app.render.attachNewNode(
chunk.material_nodes[material_id])
v['node_path'][3].setTransparency(
True) # make water transparent
# v['node_path'] = self.app.render.attachNewNode(chunk.chunk_node)
v['chunk_data'] = chunk
v['bullet_mesh'] = self.app.render.attachNewNode(
BulletRigidBodyNode('bullet-' + str(k)))
v['bullet_mesh'].node().addShape(
BulletTriangleMeshShape(chunk.bullet_mesh,
dynamic=False))
self.app.bullet_world.attach(v['bullet_mesh'].node())
# v['node_path'].setTexture(self.test_texture)
self.texture_materials(k)
else:
# if we already have chunk data, then re-attach the nodes to render
for material_id in v['node_path'].keys():
if v['node_path'][material_id] is not None:
v['node_path'][material_id].reparentTo(
self.app.render)
self.texture_materials(k)
v['bullet_mesh'].reparentTo(self.app.render)
self.app.bullet_world.attach(v['bullet_mesh'].node())
v['visible'] = True
else:
# if the cell if currently visible, rm from render graph
if v['visible']:
if v['node_path'] is not None:
for material_id in block_id_mapping.keys():
v['node_path'][material_id].detachNode()
v['bullet_mesh'].detachNode()
self.app.bullet_world.remove(v['bullet_mesh'].node())
# set the flag to false so that we do not try to generate the mesh
v['visible'] = False
return task.cont
def setup(self):
# Debug (useful to turn on for physics)
self.debugNP = self.render.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.hide()
# Physics World
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Main Character
self.player = Player()
self.player.createPlayer(render, self.world)
# Enemies
self.createEnemies()
# Music
self.backgroundMusic = loader.loadSfx(
'../sounds/elfman-piano-solo.ogg')
self.backgroundMusic.setLoop(True)
self.backgroundMusic.stop()
self.backgroundMusic.setVolume(
0.9) # lower this when I add sound effects
# Sound Effects
self.collect = base.loader.loadSfx("../sounds/collect-sound.wav")
self.collect.setVolume(1)
self.damage = base.loader.loadSfx("../sounds/damage.wav")
self.damage.setVolume(0.5)
self.winner = base.loader.loadSfx("../sounds/win-yay.wav")
self.winner.setVolume(1)
self.dead = base.loader.loadSfx("../sounds/severe-damage.wav")
self.dead.setVolume(1)
# Level 1 Skybox
self.skybox = loader.loadModel('../models/skybox_galaxy.egg')
self.skybox.setScale(1000) # make big enough to cover whole terrain
self.skybox.setBin('background', 1)
self.skybox.setDepthWrite(0)
self.skybox.setLightOff()
self.skybox.reparentTo(render)
# Lighting
dLight = DirectionalLight("dLight")
dLight.setColor(Vec4(0.8, 0.8, 0.5, 1))
dLight.setDirection(Vec3(-5, -5, -5))
dlnp = render.attachNewNode(dLight)
dlnp.setHpr(0, 60, 0)
render.setLight(dlnp)
aLight = AmbientLight("aLight")
aLight.setColor(Vec4(0.5, 0.5, 0.5, 1))
alnp = render.attachNewNode(aLight)
render.setLight(alnp)
# Fog
colour = (0.2, 0.2, 0.3)
genfog = Fog("general fog")
genfog.setColor(*colour)
genfog.setExpDensity(0.003)
render.setFog(genfog)
base.setBackgroundColor(*colour)
# Create wall (x, y, z, h)
self.createWall(-30.2215, -6.2, -2, 45)
self.createWall(-203, 555.8, -2, 70)
#-----Level 1 Platforms-----
# Platform to collect B
self.createPlatform(72, 70.2927, -1)
# Platforms to collect R
self.createPlatform(211, 210, -1)
self.createPlatform(225, 223, 2.7)
# Platforms to collect E and A
self.createPlatform(330, 462, -0.4)
self.createPlatform(340, 471, 2.1)
self.createPlatform(350, 480, 4)
self.createPlatform(335, 483, 5)
# Platforms to collect K
self.createPlatform(184, 712, -1)
self.createPlatform(208, 730, -1)
self.createPlatform(207, 711, -1)
self.createPlatform(186, 731, -1)
#-----Level 2 Platforms-----
# Moving platforms
if self.movingPlatforms > 0:
del self.movingPlatforms[:]
self.createMovingPlatforms()
# Create complex mesh for Track using BulletTriangleMeshShape
mesh = BulletTriangleMesh()
self.track = loader.loadModel("../models/mountain_valley_track.egg")
self.track.flattenStrong()
for geomNP in self.track.findAllMatches('**/+GeomNode'):
geomNode = geomNP.node()
ts = geomNP.getTransform(self.track)
for geom in geomNode.getGeoms():
mesh.addGeom(geom, ts)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
node = BulletRigidBodyNode('Track')
node.setMass(0)
node.addShape(shape)
tracknn = render.attachNewNode(node)
self.world.attachRigidBody(tracknn.node())
tracknn.setPos(27, -5, -2)
self.track.reparentTo(tracknn)
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())
# Ground
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
body = BulletRigidBodyNode('Ground')
bodyNP = self.worldNP.attachNewNode(body)
bodyNP.node().addShape(shape)
bodyNP.setPos(0, 0, 0)
bodyNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(bodyNP.node())
# Bowl
visNP = loader.loadModel('models/bowl.egg')
geom = visNP.findAllMatches('**/+GeomNode').getPath(0).node().getGeom(
0)
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=True)
body = BulletRigidBodyNode('Bowl')
bodyNP = self.worldNP.attachNewNode(body)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(10.0)
bodyNP.setPos(0, 0, 0)
bodyNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(bodyNP.node())
visNP.reparentTo(bodyNP)
self.bowlNP = bodyNP
self.bowlNP.setScale(2)
# Eggs
self.eggNPs = []
for i in range(5):
x = random.gauss(0, 0.1)
y = random.gauss(0, 0.1)
z = random.gauss(0, 0.1) + 1
h = random.random() * 360
p = random.random() * 360
r = random.random() * 360
visNP = loader.loadModel('models/egg.egg')
geom = visNP.findAllMatches('**/+GeomNode').getPath(
0).node().getGeom(0)
shape = BulletConvexHullShape()
shape.addGeom(geom)
body = BulletRigidBodyNode('Egg-%i' % i)
bodyNP = self.worldNP.attachNewNode(body)
bodyNP.node().setMass(1.0)
bodyNP.node().addShape(shape)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPosHpr(x, y, z, h, p, r)
#bodyNP.setScale(1.5)
self.world.attachRigidBody(bodyNP.node())
visNP.reparentTo(bodyNP)
self.eggNPs.append(bodyNP)