def __init__(self, canRender=0):
self.canRender = canRender
self.world = OdeWorld()
self.space = OdeSimpleSpace()
self.contactgroup = OdeJointGroup()
self.bodyList = []
self.geomList = []
self.massList = []
self.rayList = []
self.showContacts = 0
self.jointMarkers = []
self.jointMarkerCount = 64
self.meshDataList = []
self.geomDataList = []
self.commonObjectInfoDict = {}
self.maxColCount = 0
if self.canRender:
self.odePandaRelationList = self.bodyList
self.root = render.attachNewNode('physics root node')
else:
self.root = NodePath('physics root node')
self.placerNode = self.root.attachNewNode('Placer')
self.subPlacerNode = self.placerNode.attachNewNode('Placer Sub Node')
self.commonObjectDict = {}
self.commonId = 0
self.worldAttach = self.root.attachNewNode('physics geom attach point')
self.timingCycleLength = 10.0
self.timingCycleOffset = 0.0
self.timingSimTime = 0.0
self.FPS = 60.0
self.DTAStep = 1.0 / self.FPS
self.DTA = 0
self.useQuickStep = False
self.deterministic = True
self.numStepsInSimulateTask = 0
def __init__(self):
ShowBase.__init__(self)
dlight = DirectionalLight('dlight')
dlight.setColor(VBase4(0.8, 0.8, 0.5, 1))
dlnp = self.render.attachNewNode(dlight)
dlnp.setHpr(0, -60, 0)
self.render.setLight(dlnp)
self.balls = [Ball(self) for x in range(NUMBALLS)]
# Setup our physics world and the body
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
if 0:
self.body = OdeBody(self.world)
M = OdeMass()
M.setSphere(7874, 1.0)
self.body.setMass(M)
self.body.setPosition(self.sphere.getPos(self.render))
self.body.setQuaternion(self.sphere.getQuat(self.render))
## Set the camera position
self.disableMouse()
self.angle = 0.0
self.camera.setPos(1000, 1000, 1000)
self.camera.lookAt(0, 0, 0)
#self.enableMouse()
# Create an accumulator to track the time since the sim
# has been running
self.deltaTimeAccumulator = 0.0
# This stepSize makes the simulation run at 60 frames per second
self.stepSize = 1.0 / 60.0
taskMgr.doMethodLater(1.0, self.simulationTask, "Physics Simulation")
def setup_ODE(self):
# Setup our physics world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 200, 0.7, 0.2, 0.9, 0.00001, 0.0,
0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.space.setCollisionEvent("on_collision")
def ode_cols(self):
world = OdeWorld()
world.setGravity(0, 0, -9)
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)
space.autoCollide()
#try ODE for collisions
t_trimesh = OdeTriMeshData(self.terrain.getRoot(), True)
t_geom = OdeTriMeshGeom(space, t_trimesh)
def __init__(self, world):
self.world = world
self.world.objs = []
self.world.spheres = []
self.world.joints = []
self.world.myWorld = OdeWorld()
zapolnenie(self.world, 15, 10, 15)
self.world.deltaTimeAccumulator = 0.0
self.world.stepSize = 1.0 / 90.0
self.accept('g-up', self.up)
self.accept('g', self.press)
self.g_pressed = False
self.world.taskMgr.doMethodLater(1.0, self.simulationTask,
'Physics Simulation')
def setupODE(self,*args,**kw):
if self.world is None :
if panda3d is None :
return
from panda3d.core import loadPrcFileData
loadPrcFileData("", "window-type none" )
# Make sure we don't need a graphics engine
#(Will also prevent X errors / Display errors when starting on linux without X server)
loadPrcFileData("", "audio-library-name null" ) # Prevent ALSA errors
# loadPrcFileData('', 'bullet-enable-contact-events true')
# loadPrcFileData('', 'bullet-max-objects 50')#10240
import direct.directbase.DirectStart
# bullet.bullet-max-objects = 1024 * 10#sum of all predicted n Ingredient ?
# self.worldNP = render.attachNewNode('World')
self.world = OdeWorld()
self.world.setGravity(Vec3(0, 0, 0))
self.static=[]
self.moving = None
self.rb_panda = []
return self.world
sphere_a = cm.gen_sphere(radius=radius) sphere_a.set_pos([0, .3, -.3]) sphere_a.set_rgba([1, .2, .3, 1]) sphere_a.attach_to(base) sphere_b = cm.gen_sphere(radius=radius) sphere_b.set_pos([0, 1.25, -.7]) sphere_b.set_rgba([.3, .2, 1, 1]) sphere_b.attach_to(base) gm.gen_linesegs([[np.zeros(3), sphere_a.get_pos()]], thickness=.05, rgba=[0, 1, 0, 1]).attach_to(base) gm.gen_linesegs([[sphere_a.get_pos(), sphere_b.get_pos()]], thickness=.05, rgba=[0, 0, 1, 1]).attach_to(base) # Setup our physics world and the body world = OdeWorld() world.setGravity(0, 0, -9.81) body_sphere_a = OdeBody(world) M = OdeMass() M.setSphere(7874, radius) body_sphere_a.setMass(M) body_sphere_a.setPosition(da.npv3_to_pdv3(sphere_a.get_pos())) body_sphere_b = OdeBody(world) M = OdeMass() M.setSphere(7874, radius) body_sphere_b.setMass(M) body_sphere_b.setPosition(da.npv3_to_pdv3(sphere_b.get_pos())) # Create the joints
