def __init__(self, node):
Physical.__init__(self)
self.node = node
self.thrust = 0.0
self.loadSpecs()
# precalculated values for combinations of variables
self.setCalculationConstants()
# dynamic variables
self.acceleration = Vec3(0.0, 0.0, 0.0)
self.angle_of_attack = 0.0
# state variables
self.rudder = 0.0
self.ailerons = 0.0
self.elevator = 0.0
self.ode_body = OdeBody(self.world)
# positions and orientation are set relative to render
self.ode_body.setPosition(self.node.getPos(render))
self.ode_body.setQuaternion(self.node.getQuat(render))
self.ode_mass = OdeMass()
self.ode_mass.setBox(self.mass, 1, 1, 1)
self.ode_body.setMass(self.ode_mass)
self.accumulator = 0.0
self.step_size = 0.02
taskMgr.add(self.simulationTask,
"plane physics",
sort=-1,
taskChain="world")
class Obstacle:
def __init__(self, x, y, z):
self.model = loader.loadModel("models/cube")
self.model.reparentTo(render)
self.model.setPos(x, y, z)
self.model.setHpr(0, 0, 0)
self.model.setColor(0.9, 0.9, 0.9, 1)
self.model.setTexture(loader.loadTexture("textures/texture.png"))
def enable_physics(self, physics):
self.body = OdeBody(physics.world)
self.initial_position = self.model.getPos(render)
self.initial_quaternion = self.model.getQuat(render)
self.reset()
mass = OdeMass()
mass.setBox(0.2, 1, 1, 1)
self.body.setMass(mass)
self.geom = OdeBoxGeom(physics.space, 1, 1, 1)
self.geom.setBody(self.body)
physics.bodymodels[self.body] = self.model
def reset(self):
self.body.setPosition(self.initial_position)
self.body.setQuaternion(self.initial_quaternion)
self.body.setLinearVel(0, 0, 0)
self.body.setAngularVel(0, 0, 0)
class Sphere(GameObject):
def __init__(self, world, parent, color, pos, dir, radius, density, posParent=None):
GameObject.__init__(self, world)
self.node = parent.attachNewNode("")
if posParent == None:
self.node.setPos(*pos)
else:
self.node.setPos(posParent, *pos)
self.node.setColor(*color)
self.node.setScale(radius)
self.node.lookAt(self.node, *dir)
self.parent = parent
self.color = color
self.scale = radius
self.model = loader.loadModel("models/smiley.egg")
self.model.reparentTo(self.node)
self.mass = OdeMass()
self.mass.setSphere(density, radius)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.body.setPosition(self.node.getPos())
self.body.setQuaternion(self.node.getQuat())
self.body.setData(self)
self.geom = OdeSphereGeom(world.space, radius)
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["sphere"])
def onCollision(self, otherBody, entry):
if otherBody.isEmpty(): # Collision on a wall
geom = entry.getContactGeom(0)
Ripple(self.parent, self.color, geom.getPos(), geom.getNormal() * -1, self.scale * 2.5)
def __init__(self, world):
GameObject.__init__(self, world)
# Set the speed parameters
self.vel = Vec3(0, 0, 0)
self.strafespeed = 20.0
self.forwardspeed = 32.0
self.backspeed = 24.0
self.jumpspeed = 20
self.wasJumping = False
# Set character dimensions
self.size = (4.0, 3.0, 10.0)
self.eyeHeight = 9.0
self.offset = Point3(0, 0, self.eyeHeight - (self.size[2]/2))
# Create character node
self.node = base.render.attachNewNode("character")
self.node.setPos(0, 0, self.eyeHeight)
self.node.lookAt(0, 1, self.eyeHeight)
# Create physics representation
self.mass = OdeMass()
self.mass.setBox(50, *self.size)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.updatePhysicsFromPos()
self.body.setData(self)
self.geom = OdeBoxGeom(world.space, Vec3(*self.size))
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["box"])
# Adjust collision bitmasks.
self.geom.setCategoryBits(GameObject.bitmaskCharacter)
self.geom.setCollideBits(GameObject.bitmaskAll & ~GameObject.bitmaskBullet)
# Setup event handling
self.keys = [0, 0, 0, 0, 0]
self.setupKeys()
base.taskMgr.add(self.moveTask, "character-move")
# Create footsteps sound
self.footstepsSound = base.loader.loadSfx("media/footsteps.wav")
self.footstepsSound.setLoop(1)
self.footsteps = SoundWrapper(self.footstepsSound)
# Create other sounds.
self.jumpSound = base.loader.loadSfx("media/jump_start.wav")
self.landSound = base.loader.loadSfx("media/jump_fall.wav")
def createBallBody(self, modelNode, world):
ballBody = OdeBody(world)
M = OdeMass()
M.setSphere(Ball.BALL_BODY_MASS_WEIGHT, Ball.BALL_BODY_MASS_RADIUS)
ballBody.setMass(M)
ballBody.setPosition(modelNode.getPos(render))
ballBody.setQuaternion(modelNode.getQuat(render))
return ballBody
def __init__(self, world, parent, color, pos, dir, size, density, unglueThreshold=None, shatterLimit=None, shatterThreshold=None):
GameObject.__init__(self, world)
if unglueThreshold == None: unglueThreshold = 20
if shatterLimit == None: shatterLimit = 0
if shatterThreshold == None: shatterThreshold = 30
self.size = size
self.density = density
self.dir = dir
self.parent = parent
self.color = color = makeVec4Color(color)
self.node = parent.attachNewNode("")
self.node.setPos(*pos)
self.node.setColorScale(color)
self.node.setScale(*size)
self.node.lookAt(self.node, *dir)
self.model = loader.loadModel("models/box.egg")
self.model.reparentTo(self.node)
self.model.setScale(2.0)
self.model.setPos(-1.0, -1.0, -1.0)
self.applyTexture()
self.mass = OdeMass()
self.mass.setBox(density, Vec3(*size) * 2)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.body.setPosition(self.node.getPos())
self.body.setQuaternion(self.node.getQuat())
self.body.setData(self)
self.geom = OdeBoxGeom(world.space, Vec3(*size) * 2.0)
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["box"])
# Adjust collision bitmasks.
self.geom.setCategoryBits(GameObject.bitmaskBox)
self.geom.setCollideBits(GameObject.bitmaskAll & ~GameObject.bitmaskTileGlued)
# Tile, cement and shatter variables.
self.tiles = []
self.cements = []
self.disableCount = 0
self.unglueThreshold = unglueThreshold
self.shatterLimit = shatterLimit
self.shatterThreshold = shatterThreshold
def __init__(self, game, color, value = 1, drain = 20):
self.game = game
self.VALUE = value
self.DRAIN = drain
#self.idnumber = id
self.visualNode = NodePath('Visual node')
self.visualNode.reparentTo(render)
model = loader.loadModel('Ball2.egg')
model.setScale(2.5)
model.reparentTo(self.visualNode)
plight = PointLight('plight')
plight.setPoint( Point3(0, 0, 3) )
plight.setColor( color )
plight.setAttenuation( Vec3(0.05, 0.01, 0.01) )
self.plightNodePath = model.attachNewNode(plight)
model.setLight(self.plightNodePath)
self.body = OdeBody(game.physicsWorld)
self.mass = OdeMass()
self.mass.setBox(10,1,1,1)
self.body.setMass(self.mass)
self.body.setGravityMode(True)
#self.body.setGravityMode(False)
#self.juttu = OdeUtil()
self.collGeom = OdeSphereGeom( self.game.physicsSpace, 3.5)
self.collGeom.setBody(self.body)
self.collGeom.setCategoryBits( BitMask32(0xffffffff) )
self.collGeom.setCollideBits( BitMask32(0xffffffff) )
def __init__(self, world, parent, color, pos, dir, radius, density, posParent=None):
GameObject.__init__(self, world)
self.node = parent.attachNewNode("")
if posParent == None:
self.node.setPos(*pos)
else:
self.node.setPos(posParent, *pos)
self.node.setColor(*color)
self.node.setScale(radius)
self.node.lookAt(self.node, *dir)
self.parent = parent
self.color = color
self.scale = radius
self.model = loader.loadModel("models/smiley.egg")
self.model.reparentTo(self.node)
self.mass = OdeMass()
self.mass.setSphere(density, radius)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.body.setPosition(self.node.getPos())
self.body.setQuaternion(self.node.getQuat())
self.body.setData(self)
self.geom = OdeSphereGeom(world.space, radius)
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["sphere"])
def __init__(self, game, color):
self.game = game
self.visualNode = NodePath('Visual node')
self.visualNode.reparentTo(render)
model = loader.loadModel('testipalikka.egg')
model.reparentTo(self.visualNode)
plight = PointLight('plight')
plight.setPoint( Point3(0.6, 0, 5) )
plight.setColor( color )
plight.setAttenuation( Vec3(0.5, 0.01, 0.01) )
plightNodePath = model.attachNewNode(plight)
model.setLight(plightNodePath)
self.body = OdeBody(game.physicsWorld)
self.mass = OdeMass()
self.mass.setBox(10,1,1,1)
self.body.setMass(self.mass)
self.body.setGravityMode(False)
#self.juttu = OdeUtil()
self.collGeom = OdeSphereGeom( self.game.physicsSpace, 2)
self.collGeom.setBody(self.body)
self.collGeom.setCategoryBits( BitMask32(0xffffffff) )
self.collGeom.setCollideBits( BitMask32(0xffffffff) )
def __init__(self, game, color):
#self.POWER = 100
self.game = game
self.thrust = False
self.thrustLeft = False
self.thrustRight = False
self.thrustBack = False
self.rotation = 0
self.body = OdeBody(game.physicsWorld)
self.mass = OdeMass()
self.mass.setBox(10,1,1,1)
self.body.setMass(self.mass)
#odespheregeom(... , size of hitbox sphere)
self.collGeom = OdeSphereGeom( self.game.physicsSpace, 5)
self.collGeom.setBody(self.body)
self.collGeom.setCategoryBits( BitMask32(0xffffffff) )
self.collGeom.setCollideBits( BitMask32(0xffffffff) )
self.visualNode = NodePath('Visual node')
self.visualNode.reparentTo(render)
model = loader.loadModel('lautanen2.egg')
model.reparentTo(self.visualNode)
plight = PointLight('plight')
plight.setPoint( Point3(0.6, 0, 5) )
plight.setColor( color )
plight.setAttenuation( Vec3(0.5, 0.01, 0.01) )
plightNodePath = model.attachNewNode(plight)
model.setLight(plightNodePath)
def __init__(self, node):
Physical.__init__(self)
self.node = node
self.thrust = 0.0
self.loadSpecs()
# precalculated values for combinations of variables
self.setCalculationConstants()
# dynamic variables
self.acceleration = Vec3(0.0, 0.0, 0.0)
self.angle_of_attack = 0.0
# state variables
self.rudder = 0.0
self.ailerons = 0.0
self.elevator = 0.0
self.ode_body = OdeBody(self.world)
# positions and orientation are set relative to render
self.ode_body.setPosition(self.node.getPos(render))
self.ode_body.setQuaternion(self.node.getQuat(render))
self.ode_mass = OdeMass()
self.ode_mass.setBox(self.mass, 1, 1, 1)
self.ode_body.setMass(self.ode_mass)
self.accumulator = 0.0
self.step_size = 0.02
taskMgr.add(self.simulationTask, "plane physics", sort=-1, taskChain="world")
def __init__(self, world, parent, color, pos, dir, radius, density, posParent=None):
GameObject.__init__(self, world)
self.color = makeVec4Color(color)
self.scale = radius
self.collisionCount = 0
diameter = 2 * radius
length = 1.815 * diameter
self.node = parent.attachNewNode("")
if posParent == None:
self.node.setPos(*pos)
else:
self.node.setPos(posParent, *pos)
self.node.setColorScale(self.color)
self.node.setTransparency(TransparencyAttrib.MAlpha)
self.node.setScale(radius)
self.node.lookAt(self.node, *dir)
self.node.setHpr(self.node.getHpr() + Vec3(0, 270, 0))
self.model = loader.loadModel("models/bullet.egg")
self.model.reparentTo(self.node)
self.model.setPos(-0.1, -0.1, 0.15)
self.model.setScale(0.4)
self.mass = OdeMass()
self.mass.setCylinder(density, 3, radius, length)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.body.setPosition(self.node.getPos())
self.body.setQuaternion(self.node.getQuat())
self.body.setData(self)
self.body.setGravityMode(False)
self.geom = OdeCylinderGeom(world.space, radius, length)
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["bullet"])
# Adjust collision bitmasks.
self.geom.setCategoryBits(GameObject.bitmaskBullet)
self.geom.setCollideBits(GameObject.bitmaskAll & ~GameObject.bitmaskCharacter)
# Keep the bullet hidden for a split second so it doesn't appear too close to the camera.
self.node.hide()
taskMgr.doMethodLater(0.1, self.showTask, 'show-bullet')
def createTire(self, tireIndex):
if tireIndex < 0 or tireIndex >= len(self.tireMasks):
self.notify.error('invalid tireIndex %s' % tireIndex)
self.notify.debug('create tireindex %s' % tireIndex)
zOffset = 0
body = OdeBody(self.world)
mass = OdeMass()
mass.setSphere(self.tireDensity, IceGameGlobals.TireRadius)
body.setMass(mass)
body.setPosition(IceGameGlobals.StartingPositions[tireIndex][0],
IceGameGlobals.StartingPositions[tireIndex][1],
IceGameGlobals.StartingPositions[tireIndex][2])
body.setAutoDisableDefaults()
geom = OdeSphereGeom(self.space, IceGameGlobals.TireRadius)
self.space.setSurfaceType(geom, self.tireSurfaceType)
self.space.setCollideId(geom, self.tireCollideIds[tireIndex])
self.massList.append(mass)
self.geomList.append(geom)
geom.setCollideBits(self.allTiresMask | self.wallMask | self.floorMask
| self.obstacleMask)
geom.setCategoryBits(self.tireMasks[tireIndex])
geom.setBody(body)
if self.notify.getDebug():
self.notify.debug('tire geom id')
geom.write()
self.notify.debug(' -')
if self.canRender:
testTire = render.attachNewNode('tire holder %d' % tireIndex)
smileyModel = NodePath()
if not smileyModel.isEmpty():
smileyModel.setScale(IceGameGlobals.TireRadius)
smileyModel.reparentTo(testTire)
smileyModel.setAlphaScale(0.5)
smileyModel.setTransparency(1)
testTire.setPos(IceGameGlobals.StartingPositions[tireIndex])
tireModel = loader.loadModel(
'phase_4/models/minigames/ice_game_tire')
tireHeight = 1
tireModel.setZ(-(IceGameGlobals.TireRadius) + 0.01)
tireModel.reparentTo(testTire)
self.odePandaRelationList.append((testTire, body))
else:
testTire = None
self.bodyList.append((None, body))
return (testTire, body, geom)
def __init__(self,
world,
parent,
color,
pos,
dir,
radius,
density,
posParent=None):
GameObject.__init__(self, world)
self.node = parent.attachNewNode("")
if posParent == None:
self.node.setPos(*pos)
else:
self.node.setPos(posParent, *pos)
self.node.setColor(*color)
self.node.setScale(radius)
self.node.lookAt(self.node, *dir)
self.parent = parent
self.color = color
self.scale = radius
self.model = loader.loadModel("models/smiley.egg")
self.model.reparentTo(self.node)
self.mass = OdeMass()
self.mass.setSphere(density, radius)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.body.setPosition(self.node.getPos())
self.body.setQuaternion(self.node.getQuat())
self.body.setData(self)
self.geom = OdeSphereGeom(world.space, radius)
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["sphere"])
def __init__(self, world):
GameObject.__init__(self, world)
# Set the speed parameters
self.vel = Vec3(0, 0, 0)
self.strafespeed = 20.0
self.forwardspeed = 32.0
self.backspeed = 24.0
self.jumpspeed = 20
self.wasJumping = False
# Set character dimensions
self.size = (4.0, 3.0, 10.0)
self.eyeHeight = 9.0
self.offset = Point3(0, 0, self.eyeHeight - (self.size[2] / 2))
# Create character node
self.node = base.render.attachNewNode("character")
self.node.setPos(0, 0, self.eyeHeight)
self.node.lookAt(0, 1, self.eyeHeight)
# Create physics representation
self.mass = OdeMass()
self.mass.setBox(50, *self.size)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.updatePhysicsFromPos()
self.body.setData(self)
self.geom = OdeBoxGeom(world.space, Vec3(*self.size))
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["box"])
# Adjust collision bitmasks.
self.geom.setCategoryBits(GameObject.bitmaskCharacter)
self.geom.setCollideBits(GameObject.bitmaskAll & ~GameObject.bitmaskBullet)
# Setup event handling
self.keys = [0, 0, 0, 0, 0]
self.setupKeys()
base.taskMgr.add(self.moveTask, "character-move")
# Create footsteps sound
self.footstepsSound = base.loader.loadSfx("media/footsteps.wav")
self.footstepsSound.setLoop(1)
self.footsteps = SoundWrapper(self.footstepsSound)
# Create other sounds.
self.jumpSound = base.loader.loadSfx("media/jump_start.wav")
self.landSound = base.loader.loadSfx("media/jump_fall.wav")
def enable_physics(self, physics):
self.body = OdeBody(physics.world)
self.initial_position = self.model.getPos(render)
self.initial_quaternion = self.model.getQuat(render)
self.reset()
mass = OdeMass()
mass.setBox(0.2, 1, 1, 1)
self.body.setMass(mass)
self.geom = OdeBoxGeom(physics.space, 1, 1, 1)
self.geom.setBody(self.body)
physics.bodymodels[self.body] = self.model
class Sphere(GameObject):
def __init__(self,
world,
parent,
color,
pos,
dir,
radius,
density,
posParent=None):
GameObject.__init__(self, world)
self.node = parent.attachNewNode("")
if posParent == None:
self.node.setPos(*pos)
else:
self.node.setPos(posParent, *pos)
self.node.setColor(*color)
self.node.setScale(radius)
self.node.lookAt(self.node, *dir)
self.parent = parent
self.color = color
self.scale = radius
self.model = loader.loadModel("models/smiley.egg")
self.model.reparentTo(self.node)
self.mass = OdeMass()
self.mass.setSphere(density, radius)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.body.setPosition(self.node.getPos())
self.body.setQuaternion(self.node.getQuat())
self.body.setData(self)
self.geom = OdeSphereGeom(world.space, radius)
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["sphere"])
def onCollision(self, otherBody, entry):
if otherBody.isEmpty(): # Collision on a wall
geom = entry.getContactGeom(0)
Ripple(self.parent, self.color, geom.getPos(),
geom.getNormal() * -1, self.scale * 2.5)
def enable_physics(self, physics):
self.body = OdeBody(physics.world)
self.initial_position = self.model.getPos(render)
self.initial_quaternion = self.model.getQuat(render)
self.initial_spin_velocity = 50
self.reset()
mass = OdeMass()
mass.setCylinder(10, 2, 1.2, 0.2)
self.body.setMass(mass)
modelTrimesh = OdeTriMeshData(loader.loadModel("models/gyro-low"), True)
self.geom = OdeTriMeshGeom(physics.space, modelTrimesh)
self.geom.setBody(self.body)
physics.bodymodels[self.body] = self.model
physics.actions.append(self._player_controls)
self.exponent = 1000 * physics.step_size
def createTire(self, tireIndex):
if tireIndex < 0 or tireIndex >= len(self.tireMasks):
self.notify.error("invalid tireIndex %s" % tireIndex)
self.notify.debug("create tireindex %s" % tireIndex)
zOffset = 0
body = OdeBody(self.world)
mass = OdeMass()
mass.setSphere(self.tireDensity, IceGameGlobals.TireRadius)
body.setMass(mass)
body.setPosition(
IceGameGlobals.StartingPositions[tireIndex][0],
IceGameGlobals.StartingPositions[tireIndex][1],
IceGameGlobals.StartingPositions[tireIndex][2],
)
body.setAutoDisableDefaults()
geom = OdeSphereGeom(self.space, IceGameGlobals.TireRadius)
self.space.setSurfaceType(geom, self.tireSurfaceType)
self.space.setCollideId(geom, self.tireCollideIds[tireIndex])
self.massList.append(mass)
self.geomList.append(geom)
geom.setCollideBits(self.allTiresMask | self.wallMask | self.floorMask | self.obstacleMask)
geom.setCategoryBits(self.tireMasks[tireIndex])
geom.setBody(body)
if self.notify.getDebug():
self.notify.debug("tire geom id")
geom.write()
self.notify.debug(" -")
if self.canRender:
testTire = render.attachNewNode("tire holder %d" % tireIndex)
smileyModel = NodePath()
if not smileyModel.isEmpty():
smileyModel.setScale(IceGameGlobals.TireRadius)
smileyModel.reparentTo(testTire)
smileyModel.setAlphaScale(0.5)
smileyModel.setTransparency(1)
testTire.setPos(IceGameGlobals.StartingPositions[tireIndex])
tireModel = loader.loadModel("phase_4/models/minigames/ice_game_tire")
tireHeight = 1
tireModel.setZ(-IceGameGlobals.TireRadius + 0.01)
tireModel.reparentTo(testTire)
self.odePandaRelationList.append((testTire, body))
else:
testTire = None
self.bodyList.append((None, body))
return (testTire, body, geom)
def __init__(self, game, color):
self.POWER = 200
self.game = game
self.SHIP_TYPE = "RAKETTI"
self.Ball_offset = 10.0
# self.hasBall = False
self.thrust = False
self.thrustLeft = False
self.thrustRight = False
self.thrustBack = False
self.rotation = 0
self.body = OdeBody(game.physicsWorld)
self.mass = OdeMass()
self.mass.setBox(10,1,1,1)
self.body.setMass(self.mass)
#self.body.setGravityMode(False)
#odespheregeom(... , size of hitbox sphere)
self.collGeom = OdeSphereGeom( self.game.physicsSpace, 3)
self.collGeom.setBody(self.body)
self.collGeom.setCategoryBits( BitMask32(0xffffffff) )
self.collGeom.setCollideBits( BitMask32(0xffffffff) )
self.visualNode = NodePath('Visual node')
self.visualNode.reparentTo(render)
model = loader.loadModel('spaceship.egg')
model.setH(180)
model.setY(15)
model.reparentTo(self.visualNode)
self.visualNode.setScale(0.4)
plight = PointLight('plight')
plight.setPoint( Point3(0.6, 0, 5) )
plight.setColor( color )
plight.setAttenuation( Vec3(0.5, 0.01, 0.01) )
plightNodePath = model.attachNewNode(plight)
model.setLight(plightNodePath)
class Pallo(Collectible):
# COLLECTIBLE_TYPE = 'PointBall'
# VALUE = 1
# DRAIN = 20
def __init__(self, game, color, value = 1, drain = 20):
self.game = game
self.VALUE = value
self.DRAIN = drain
#self.idnumber = id
self.visualNode = NodePath('Visual node')
self.visualNode.reparentTo(render)
model = loader.loadModel('Ball2.egg')
model.setScale(2.5)
model.reparentTo(self.visualNode)
plight = PointLight('plight')
plight.setPoint( Point3(0, 0, 3) )
plight.setColor( color )
plight.setAttenuation( Vec3(0.05, 0.01, 0.01) )
self.plightNodePath = model.attachNewNode(plight)
model.setLight(self.plightNodePath)
self.body = OdeBody(game.physicsWorld)
self.mass = OdeMass()
self.mass.setBox(10,1,1,1)
self.body.setMass(self.mass)
self.body.setGravityMode(True)
#self.body.setGravityMode(False)
#self.juttu = OdeUtil()
self.collGeom = OdeSphereGeom( self.game.physicsSpace, 3.5)
self.collGeom.setBody(self.body)
self.collGeom.setCategoryBits( BitMask32(0xffffffff) )
self.collGeom.setCollideBits( BitMask32(0xffffffff) )
def getValue(self):
return self.VALUE
def hitShips(self, shipList):
for ship in shipList:
if OdeUtil.areConnected(ship.body, self.body) and not ship.hasBall():
self.PowerUpEffect(ship)
def PowerUpEffect(self, ship):
# ship.mass.add(self.mass)
ship.addPower(-(self.DRAIN))
ship.gotBall(self)
self.hideObject()
ship.visualNode.setLight(self.plightNodePath)
#print player
print ship.SHIP_TYPE + " lost " + str(self.DRAIN) + " power!!"
def Restore(self, ship):
# ship.mass.add(self.mass)
ship.addPower(self.DRAIN)
self.showObject()
ship.visualNode.clearLight(self.plightNodePath)
#self.setPos( Vec3(random.randrange(30), random.randrange(40), 0))
#ship.dropBall()
#print player
print ship.getShipType() + " regained 20 power!!"
class Character(GameObject):
def __init__(self, world):
GameObject.__init__(self, world)
# Set the speed parameters
self.vel = Vec3(0, 0, 0)
self.strafespeed = 20.0
self.forwardspeed = 32.0
self.backspeed = 24.0
self.jumpspeed = 20
self.wasJumping = False
# Set character dimensions
self.size = (4.0, 3.0, 10.0)
self.eyeHeight = 9.0
self.offset = Point3(0, 0, self.eyeHeight - (self.size[2]/2))
# Create character node
self.node = base.render.attachNewNode("character")
self.node.setPos(0, 0, self.eyeHeight)
self.node.lookAt(0, 1, self.eyeHeight)
# Create physics representation
self.mass = OdeMass()
self.mass.setBox(50, *self.size)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.updatePhysicsFromPos()
self.body.setData(self)
self.geom = OdeBoxGeom(world.space, Vec3(*self.size))
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["box"])
# Adjust collision bitmasks.
self.geom.setCategoryBits(GameObject.bitmaskCharacter)
self.geom.setCollideBits(GameObject.bitmaskAll & ~GameObject.bitmaskBullet)
# Setup event handling
self.keys = [0, 0, 0, 0, 0]
self.setupKeys()
base.taskMgr.add(self.moveTask, "character-move")
# Create footsteps sound
self.footstepsSound = base.loader.loadSfx("media/footsteps.wav")
self.footstepsSound.setLoop(1)
self.footsteps = SoundWrapper(self.footstepsSound)
# Create other sounds.
self.jumpSound = base.loader.loadSfx("media/jump_start.wav")
self.landSound = base.loader.loadSfx("media/jump_fall.wav")
def updatePosFromPhysics(self):
self.node.setPos(render, self.body.getPosition() + self.offset)
self.body.setAngularVel(0, 0, 0)
def updatePhysicsFromPos(self):
self.body.setPosition(self.node.getPos() - self.offset)
self.body.setQuaternion(self.node.getQuat())
def getDir(self):
return base.render.getRelativeVector(self.node, (0, 1, 0))
def moveTo(self, pos):
self.node.setPos(pos)
self.updatePhysicsFromPos()
def recoil(self, mag):
vel = self.body.getLinearVel()
diff = self.getDir() * mag
# Limit recoil
if sign(vel[0]) != sign(diff[0]) and abs(vel[0]) > 15: diff[0] = 0
if sign(vel[1]) != sign(diff[1]) and abs(vel[1]) > 15: diff[1] = 0
diff[2] = 0
self.body.setLinearVel(vel - diff)
def jump(self):
vel = self.body.getLinearVel()
self.body.setLinearVel(vel[0], vel[1], vel[2] + self.jumpspeed)
self.jumpSound.play()
def isJumping(self):
return abs(self.body.getLinearVel()[2]) > 0.05
def setKey(self, button, value):
self.keys[button] = value
def setupKeys(self):
base.accept("w", self.setKey, [0, 1]) #forward
base.accept("s", self.setKey, [1, 1]) #back
base.accept("a", self.setKey, [2, 1]) #strafe left
base.accept("d", self.setKey, [3, 1]) #strafe right
base.accept("space", self.setKey, [4, 1]) #jump
base.accept("w-up", self.setKey, [0, 0])
base.accept("s-up", self.setKey, [1, 0])
base.accept("a-up", self.setKey, [2, 0])
base.accept("d-up", self.setKey, [3, 0])
base.accept("space-up", self.setKey, [4, 0])
def moveTask(self, task):
# Initialize variables
elapsed = globalClock.getDt()
x = 0.0
y = 0.0
jumping = self.isJumping()
# Calculate movement vector.
if self.keys[0] != 0:
y = self.forwardspeed
if self.keys[1] != 0:
y = -self.backspeed
if self.keys[2] != 0:
x = -self.strafespeed
if self.keys[3] != 0:
x = self.strafespeed
self.vel = Vec3(x, y, 0)
self.vel *= elapsed
# Move the character along the ground.
hpr = self.node.getHpr()
self.node.setP(0)
self.node.setR(0)
self.node.setPos(self.node, self.vel)
self.updatePhysicsFromPos()
self.node.setHpr(hpr)
# Play landing sound (if applicable).
if self.wasJumping and not jumping:
pass #Landing detection not working.
#self.landSound.play()
# Jump (if applicable).
if self.keys[4] and not jumping:
self.jump()
self.wasJumping = jumping
# Play footsteps if walking.
if not jumping and (self.keys[0] != 0 or self.keys[1] != 0 or self.keys[2] != 0 or self.keys[3] != 0):
self.footsteps.resume()
else:
self.footsteps.pause()
return task.cont
class Vehicle(object):
'''
'''
def __init__(self, ode_world, ode_space, name="standard"):
'''
'''
self._notify = DirectNotify().newCategory("Vehicle")
self._notify.info("New Vehicle-Object created: %s" % (self))
self._ode_world = ode_world
self._ode_space = ode_space
self._model = None
self._physics_model = None
self._physics_mass = None
self._collision_model = None
self._speed = 0.0 # the actual speed of the vehicle (forward direction)
self._direction = Vec3(0, 0, 0) # the direction the car is heading
self._boost_direction = Vec3(0, 0, 0)
self._boost_strength = 10.0 # the boost propertys of the vehicle
self._control_strength = 1.5 # impact on the steering behaviour
self._grip_strength = 0.5 # impact on the steering behaviour
self._track_grip = 0.8 # impact on the steering behaviour
self._energy = 100.0
self._armor = 100.0
self._max_energy = 100.0
self._max_armor = 100.0
self._weight = 10.0
self._description = "The best vehicle ever"
self._name = "The flying egg"
self._brake_strength = 10.0
self._hit_ground = True
self._model_loading = False
self._blowout = []
self._blowout_on = False
self._streetnormal = Vec3(0, 0, 1)
# set up the propertys of the vehicle that schould be loaded
# the methods get called because the data is immutable and
# wouldnt get updated when calling the objects directly
# the last entry is the function to convert the string
self._tags = [["name", self.setName, str],
["description", self.setDescription, str],
["control_strength", self.setControlStrength, float],
["grip_strength", self.setGripStrength, float],
["track_grip", self.setTrackGrip, float],
["max_energy", self.setMaxEnergy, float],
["max_armor", self.setMaxArmor, float],
["weight", self.setWeight, float],
["brake_strength", self.setBrakeStrength, float],
["boost_strength", self.setBoostStrength, float]]
# ---------------------------------------------------------
def setVehicle(self, model):
'''
Choose what vehicle the player has chosen. This method initializes all data of this vehicle
'''
self.cleanResources()
self._notify.debug("Set new vehicle: %s" % model)
# Load the attributes of the vehicle
attributes = model.find("**/Attributes")
if attributes.isEmpty():
self._notify.warning("No Attribute-Node found")
for tag in self._tags:
value = attributes.getNetTag(tag[0])
if value:
self._notify.debug("%s: %s" % (tag[0], value))
# translate the value if its a string
if type(tag[2](value)) == str:
tag[1](_(tag[2](value)))
else:
tag[1](tag[2](value))
else:
self._notify.warning("No value defined for tag: %s" % (tag[0]))
self._weight = 10 # for testing purposes
blowout = model.find("**/Blowout")
if not blowout.isEmpty():
self._notify.debug("Loading Blowout-Particles")
for node in blowout.getChildren():
particle = ParticleEffect()
self._blowout.append(particle)
particle.loadConfig('./data/particles/blowout_test.ptf')
try: # try to read out the particle scale
scale = float(node.getTag("scale"))
except Exception: # default is 0.5
scale = .5
renderer = particle.getParticlesList()[0].getRenderer()
renderer.setInitialXScale(scale)
renderer.setInitialYScale(scale)
particle.setLightOff()
particle.start(node)
particle.softStop()
else:
self._notify.warning("No Blowout-Node found")
if self._model is not None:
heading = self._model.getH()
self._model.removeNode()
else:
heading = 160
# display the attributes
text = model.getParent().find("AttributeNode")
if not text.isEmpty():
node = text.find("name")
if not node.isEmpty():
node = node.node()
node.setText(self._name)
node.update()
text.show()
node = text.find("description")
if not node.isEmpty():
node = node.node()
node.setText(self._name)
node.update()
text.show()
self._model = model
self._model.setPos(0, 0, 2)
self._model.setHpr(heading, 0, 0)
# #Test
# plightCenter = NodePath( 'plightCenter' )
# plightCenter.reparentTo( render )
# self.interval = plightCenter.hprInterval(12, Vec3(360, 0, 0))
# self.interval.loop()
#
# plight = PointLight('plight')
# plight.setColor(VBase4(0.8, 0.8, 0.8, 1))
# plight.setAttenuation(Vec3(1,0,0))
# plnp = plightCenter.attachNewNode(plight)
# plnp.setPos(5, 5, 10)
# render.setLight(plnp)
#
# alight = AmbientLight('alight')
# alight.setColor(VBase4(0,0,0, 1))
# alnp = render.attachNewNode(alight)
# render.setLight(alnp)
# GlowTextur
# self.glowSize=10
# self.filters = CommonFilters(base.win, self._model)
# self.filters.setBloom(blend=(0,self.glowSize,0,0) ,desat=1, intensity=1, size='medium')
# tex = loader.loadTexture( 'data/textures/glowmap.png' )
# ts = TextureStage('ts')
# ts.setMode(TextureStage.MGlow)
# self._model.setTexture(ts, tex)
# Initialize the physics-simulation for the vehicle
self._physics_model = OdeBody(self._ode_world)
self._physics_model.setPosition(self._model.getPos(render))
self._physics_model.setQuaternion(self._model.getQuat(render))
# Initialize the mass of the vehicle
physics_mass = OdeMass()
physics_mass.setBoxTotal(self._weight, 1, 1, 1)
self._physics_model.setMass(physics_mass)
# Initialize the collision-model of the vehicle
# for use with blender models
# try:
# col_model = loader.loadModel("data/models/vehicles/%s.collision" %(self._model.getName()))
# self.collision_model = OdeTriMeshGeom(self._ode_space, OdeTriMeshData(col_model, True))
# self._notify.info("Loading collision-file: %s" %("data/models/vehicles/%s.collision" %(self._model.getName())))
# for fast collisions
# except:
# self._notify.warning("Could not load collision-file. Using standard collision-box")
# self.collision_model = OdeTriMeshGeom(self._ode_space, OdeTriMeshData(model, False))
# self._collision_model = OdeBoxGeom(self._ode_space, 3,3,2)
self._collision_model = OdeBoxGeom(self._ode_space, 3, 3, 2)
self._collision_model.setBody(self._physics_model)
self._collision_model.setCollideBits(7)
self._collision_model.setCategoryBits(2)
# Add collision-rays for the floating effect
self._ray = CollisionRay(Vec3(5, 0, 0),
Vec3(0, 0, -1),
self._ode_space,
parent=self._collision_model,
collide_bits=0,
length=20.0)
# This one is used for the floating effect but also for slipstream
self._frontray = CollisionRay(Vec3(0, 0, 0),
Vec3(1, 0, 0),
self._ode_space,
parent=self._collision_model,
collide_bits=0,
length=15.0)
# Overwrite variables for testing purposes
self._grip_strength = 0.9
self._track_grip = 0.2
self._boost_strength = 1400
self._control_strength = 2.5
# Loading finished
self._model_loading = False
def toggleGlow(self):
self.glowSize += .1
print((self.glowSize))
if (self.glowSize == 4):
self.glowSize = 0
self.filters.setBloom(blend=(0, self.glowSize, 0, 0),
desat=-2,
intensity=3,
size='medium')
def boggleGlow(self):
self.glowSize -= .1
print((self.glowSize))
if (self.glowSize == 4):
self.glowSize = 0
self.filters.setBloom(blend=(0, self.glowSize, 0, 0),
desat=-2,
intensity=3.0,
size='medium')
# ---------------------------------------------------------
def setPos(self, x, y, z):
'''
'''
self._model.setPos(x, y, z)
def getPos(self):
'''
'''
return self._model.getPos()
position = property(fget=getPos, fset=setPos)
# ---------------------------------------------------------
def startBlowout(self):
'''
'''
if not self._blowout_on:
self._blowout_on = True
for particle in self._blowout:
particle.softStart()
def stopBlowout(self):
'''
'''
if self._blowout_on:
self._blowout_on = False
for particle in self._blowout:
particle.softStop()
# ---------------------------------------------------------
def setModel(self, model):
'''
'''
self._model = model
def getModel(self):
'''
'''
return self._model
model = property(fget=getModel, fset=setModel)
# ---------------------------------------------------------
def setCollisionModel(self, model):
'''
'''
self._collision_model = model
def getCollisionModel(self):
'''
'''
return self._collision_model
collision_model = property(fget=getCollisionModel, fset=setCollisionModel)
# ---------------------------------------------------------
def setPhysicsModel(self, model):
'''
'''
self._physics_model = model
def getPhysicsModel(self):
'''
'''
return self._physics_model
physics_model = property(fget=getPhysicsModel, fset=setPhysicsModel)
# ---------------------------------------------------------
def setBoost(self, strength=1):
'''
Boosts the vehicle by indicated strength
'''
self.startBlowout()
if self._hit_ground:
direction = self._streetnormal.cross(
self._collision_model.getQuaternion().xform(Vec3(1, 0, 0)))
self._physics_model.addForce(
direction *
((self._boost_strength *
self.physics_model.getMass().getMagnitude() * strength)))
self._hit_ground = False
self._collision_model.setCollideBits(7)
else:
direction = self._streetnormal.cross(
self._collision_model.getQuaternion().xform(Vec3(1, 0, 0)))
self._physics_model.addForce(
direction * self._boost_strength * 0.5 *
self.physics_model.getMass().getMagnitude() * strength)
# ---------------------------------------------------------
def setDirection(self, dir):
'''
Steers the vehicle into the target-direction
'''
rel_direction = self._collision_model.getQuaternion().xform(
Vec3(dir[1], 0, dir[0]))
# rel_position = self._collision_model.getQuaternion().xform(Vec3(5,0,0))
# force = Vec3(rel_direction[0]*self.direction[0]*self._control_strength*self.speed,rel_direction[1]*self.direction[1]*self._control_strength*self.speed,rel_direction[2]*self.direction[2]*self._control_strength*self.speed)
self._physics_model.addTorque(
-rel_direction * self._control_strength *
self.physics_model.getMass().getMagnitude())
def getDirection(self):
return self._direction
direction = property(fget=getDirection, fset=setDirection)
# ---------------------------------------------------------
def getBoostDirection(self):
return self._boost_direction
boost_direction = property(fget=getBoostDirection)
# ---------------------------------------------------------
def getSpeed(self):
return self._speed
speed = property(fget=getSpeed)
# ---------------------------------------------------------
def setEnergy(self, energy):
'''
Boosts the vehicle by indicated strength
'''
self._energy = energy
def getEnergy(self):
return self._energy
energy = property(fget=getEnergy, fset=setEnergy)
# ---------------------------------------------------------
def setModelLoading(self, bool):
'''
'''
self._model_loading = bool
def getModelLoading(self):
return self._model_loading
model_loading = property(fget=getModelLoading, fset=setModelLoading)
# ---------------------------------------------------------
def doStep(self):
'''
Needs to get executed every Ode-Step
'''
# refresh variables
linear_velocity = self._physics_model.getLinearVel()
direction = self._streetnormal.cross(
self._collision_model.getQuaternion().xform(Vec3(1, 0, 0)))
self._boost_direction[0], self._boost_direction[
1], self._boost_direction[2] = self.physics_model.getLinearVel(
)[0], self.physics_model.getLinearVel(
)[1], self.physics_model.getLinearVel()[2]
# This needs to be done, so we dont create a new object but only change the existing one. else the camera wont update
self._direction[0], self._direction[1], self._direction[2] = direction[
0], direction[1], direction[2]
xy_direction = self.collision_model.getQuaternion().xform(Vec3(
1, 1, 0))
self._speed = Vec3(linear_velocity[0] * xy_direction[0],
linear_velocity[1] * xy_direction[1],
linear_velocity[2] * xy_direction[2]).length()
# calculate air resistance
self._physics_model.addForce(
-linear_velocity * linear_velocity.length() /
10) # *((self._speed/2)*(self._speed/2)))#+linear_velocity)
# calculate delayed velocity changes
linear_velocity.normalize()
self._direction.normalize()
self._physics_model.addForce(
self._direction *
(self._speed * self._grip_strength *
self.physics_model.getMass().getMagnitude())) # +linear_velocity)
self._physics_model.addForce(
-linear_velocity *
(self._speed * self._grip_strength *
self.physics_model.getMass().getMagnitude())) # +linear_velocity)
# calculate the grip
self._physics_model.addTorque(
self._physics_model.getAngularVel() * -self._track_grip *
self.physics_model.getMass().getMagnitude())
# refresh the positions of the collisionrays
self._ray.doStep()
self._frontray.doStep()
self._physics_model.setGravityMode(1)
# ---------------------------------------------------------
def getRay(self):
return self._ray
ray = property(fget=getRay)
# ---------------------------------------------------------
def getFrontRay(self):
return self._frontray
frontray = property(fget=getFrontRay)
# -----------------------------------------------------------------
def getHitGround(self):
return self._hit_ground
def setHitGround(self, value):
if type(value) != bool:
raise TypeError("Type should be %s not %s" % (bool, type(value)))
self._hit_ground = value
hit_ground = property(fget=getHitGround, fset=setHitGround)
# -----------------------------------------------------------------
def getControlStrength(self):
return self._control_strength
def setControlStrength(self, value):
self._control_strength = value
control_strength = property(fget=getControlStrength,
fset=setControlStrength)
# -----------------------------------------------------------------
def getBoostStrength(self):
return self._boost_strength
def setBoostStrength(self, value):
self._boost_strength = value
boost_strength = property(fget=getBoostStrength, fset=setBoostStrength)
# -----------------------------------------------------------------
def getGripStrength(self):
return self._grip_strength
def setGripStrength(self, value):
self._grip_strength = value
grip_strength = property(fget=getGripStrength, fset=setGripStrength)
# -----------------------------------------------------------------
def getTrackGrip(self):
return self._track_grip
def setTrackGrip(self, value):
self._track_grip = value
track_grip = property(fget=getTrackGrip, fset=setTrackGrip)
# -----------------------------------------------------------------
def getMaxEnergy(self):
return self._max_energy
def setMaxEnergy(self, value):
self._max_energy = value
max_energy = property(fget=getMaxEnergy, fset=setMaxEnergy)
# -----------------------------------------------------------------
def getMaxArmor(self):
return self._max_armor
def setMaxArmor(self, value):
self._max_armor = value
max_armor = property(fget=getMaxArmor, fset=setMaxArmor)
# -----------------------------------------------------------------
def getWeight(self):
return self._weight
def setWeight(self, value):
self._weight = value
weight = property(fget=getWeight, fset=setWeight)
# -----------------------------------------------------------------
def getDescription(self):
return self._description
def setDescription(self, value):
self._description = value
description = property(fget=getDescription, fset=setDescription)
# -----------------------------------------------------------------
def getBrakeStrength(self):
return self._brake_strength
def setBrakeStrength(self, value):
self._brake_strength = value
brake_strength = property(fget=getBrakeStrength, fset=setBrakeStrength)
# -----------------------------------------------------------------
def getName(self):
return self._name
def setName(self, value):
self._name = value
name = property(fget=getName, fset=setName)
# -----------------------------------------------------------------
def getStreetNormal(self):
return self._streetnormal
def setStreetNormal(self, value):
self._streetnormal = value
streetnormal = property(fget=getStreetNormal, fset=setStreetNormal)
# -----------------------------------------------------------------
def cleanResources(self):
'''
Removes old nodes, gets called when a new vehcile loads
'''
for node in self._blowout:
node.removeNode()
self._blowout = []
if self._model is not None:
for node in self._model.getChildren():
node.removeNode()
self._model.removeNode()
self._model = None
# self._physics_model.destroy()
# self._collision_model.destroy()
# temporary fix because destroy() doesnt work
self._physics_model.disable()
self._collision_model.disable()
self._notify.info("Vehicle-Object cleaned: %s" % (self))
def __del__(self):
'''
Destroy unused nodes
'''
for node in self._blowout:
node.removeNode()
if self._model is not None:
for node in self._model.getChildren():
node.removeNode()
self._model.removeNode()
self._model = None
self._physics_model.destroy()
self._collision_model.destroy()
# temporary fix because destroy() doesnt work
self._physics_model.disable()
self._collision_model.disable()
self._notify.info("Vehicle-Object deleted: %s" % (self))
# Load the ball
ball = loader.loadModel("cilindroB")
ball.flattenLight() # Apply transform
ball.setTextureOff()
# Add a random amount of balls
balls = []
# This 'balls' list contains tuples of nodepaths with their ode geoms
for i in range(15):
# Setup the geometry
ballNP = ball.copyTo(render)
ballNP.setPos(randint(-7, 7), randint(-7, 7), 10 + random() * 5.0)
ballNP.setColor(random(), random(), random(), 1)
ballNP.setHpr(randint(-45, 45), randint(-45, 45), randint(-45, 45))
# Create the body and set the mass
ballBody = OdeBody(world)
M = OdeMass()
M.setSphere(50, 1)
ballBody.setMass(M)
ballBody.setPosition(ballNP.getPos(render))
ballBody.setQuaternion(ballNP.getQuat(render))
# Create a ballGeom
ballGeom = OdeSphereGeom(space, 1)
ballGeom.setCollideBits(BitMask32(0x00000001))
ballGeom.setCategoryBits(BitMask32(0x00000001))
ballGeom.setBody(ballBody)
# Create the sound
ballSound = loader.loadSfx("audio/sfx/GUI_rollover.wav")
balls.append((ballNP, ballGeom, ballSound))
# Add a plane to collide with
class Character(GameObject):
def __init__(self, world):
GameObject.__init__(self, world)
# Set the speed parameters
self.vel = Vec3(0, 0, 0)
self.strafespeed = 20.0
self.forwardspeed = 32.0
self.backspeed = 24.0
self.jumpspeed = 20
self.wasJumping = False
# Set character dimensions
self.size = (4.0, 3.0, 10.0)
self.eyeHeight = 9.0
self.offset = Point3(0, 0, self.eyeHeight - (self.size[2] / 2))
# Create character node
self.node = base.render.attachNewNode("character")
self.node.setPos(0, 0, self.eyeHeight)
self.node.lookAt(0, 1, self.eyeHeight)
# Create physics representation
self.mass = OdeMass()
self.mass.setBox(50, *self.size)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.updatePhysicsFromPos()
self.body.setData(self)
self.geom = OdeBoxGeom(world.space, Vec3(*self.size))
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["box"])
# Adjust collision bitmasks.
self.geom.setCategoryBits(GameObject.bitmaskCharacter)
self.geom.setCollideBits(GameObject.bitmaskAll & ~GameObject.bitmaskBullet)
# Setup event handling
self.keys = [0, 0, 0, 0, 0]
self.setupKeys()
base.taskMgr.add(self.moveTask, "character-move")
# Create footsteps sound
self.footstepsSound = base.loader.loadSfx("media/footsteps.wav")
self.footstepsSound.setLoop(1)
self.footsteps = SoundWrapper(self.footstepsSound)
# Create other sounds.
self.jumpSound = base.loader.loadSfx("media/jump_start.wav")
self.landSound = base.loader.loadSfx("media/jump_fall.wav")
def updatePosFromPhysics(self):
self.node.setPos(render, self.body.getPosition() + self.offset)
self.body.setAngularVel(0, 0, 0)
def updatePhysicsFromPos(self):
self.body.setPosition(self.node.getPos() - self.offset)
self.body.setQuaternion(self.node.getQuat())
def getDir(self):
return base.render.getRelativeVector(self.node, (0, 1, 0))
def moveTo(self, pos):
self.node.setPos(pos)
self.updatePhysicsFromPos()
def recoil(self, mag):
vel = self.body.getLinearVel()
diff = self.getDir() * mag
# Limit recoil
if sign(vel[0]) != sign(diff[0]) and abs(vel[0]) > 15:
diff[0] = 0
if sign(vel[1]) != sign(diff[1]) and abs(vel[1]) > 15:
diff[1] = 0
diff[2] = 0
self.body.setLinearVel(vel - diff)
def jump(self):
vel = self.body.getLinearVel()
self.body.setLinearVel(vel[0], vel[1], vel[2] + self.jumpspeed)
self.jumpSound.play()
def isJumping(self):
return abs(self.body.getLinearVel()[2]) > 0.05
def setKey(self, button, value):
self.keys[button] = value
def setupKeys(self):
base.accept("w", self.setKey, [0, 1]) # forward
base.accept("s", self.setKey, [1, 1]) # back
base.accept("a", self.setKey, [2, 1]) # strafe left
base.accept("d", self.setKey, [3, 1]) # strafe right
base.accept("space", self.setKey, [4, 1]) # jump
base.accept("w-up", self.setKey, [0, 0])
base.accept("s-up", self.setKey, [1, 0])
base.accept("a-up", self.setKey, [2, 0])
base.accept("d-up", self.setKey, [3, 0])
base.accept("space-up", self.setKey, [4, 0])
def moveTask(self, task):
# Initialize variables
elapsed = globalClock.getDt()
x = 0.0
y = 0.0
jumping = self.isJumping()
# Calculate movement vector.
if self.keys[0] != 0:
y = self.forwardspeed
if self.keys[1] != 0:
y = -self.backspeed
if self.keys[2] != 0:
x = -self.strafespeed
if self.keys[3] != 0:
x = self.strafespeed
self.vel = Vec3(x, y, 0)
self.vel *= elapsed
# Move the character along the ground.
hpr = self.node.getHpr()
self.node.setP(0)
self.node.setR(0)
self.node.setPos(self.node, self.vel)
self.updatePhysicsFromPos()
self.node.setHpr(hpr)
# Play landing sound (if applicable).
if self.wasJumping and not jumping:
pass # Landing detection not working.
# self.landSound.play()
# Jump (if applicable).
if self.keys[4] and not jumping:
self.jump()
self.wasJumping = jumping
# Play footsteps if walking.
if not jumping and (self.keys[0] != 0 or self.keys[1] != 0 or self.keys[2] != 0 or self.keys[3] != 0):
self.footsteps.resume()
else:
self.footsteps.pause()
return task.cont
class AeroplanePhysics(Physical):
def __init__(self, node):
Physical.__init__(self)
self.node = node
self.thrust = 0.0
self.loadSpecs()
# precalculated values for combinations of variables
self.setCalculationConstants()
# dynamic variables
self.acceleration = Vec3(0.0, 0.0, 0.0)
self.angle_of_attack = 0.0
# state variables
self.rudder = 0.0
self.ailerons = 0.0
self.elevator = 0.0
self.ode_body = OdeBody(self.world)
# positions and orientation are set relative to render
self.ode_body.setPosition(self.node.getPos(render))
self.ode_body.setQuaternion(self.node.getQuat(render))
self.ode_mass = OdeMass()
self.ode_mass.setBox(self.mass, 1, 1, 1)
self.ode_body.setMass(self.ode_mass)
self.accumulator = 0.0
self.step_size = 0.02
taskMgr.add(self.simulationTask,
"plane physics",
sort=-1,
taskChain="world")
def loadSpecs(self):
"""Loads specifications for a plane. Force if already loaded."""
# TODO (gjmm): these are specifications and should be moved to a file
self.mass = 1000
self.max_thrust = 5000.0
self.wing_area = 48.0 # m^2
self.wing_span = 24.0 # m
self.drag_coef_x = 0.9
self.drag_coef_y = 0.1
self.drag_coef_z = 0.9
self.drag_area_x = 30.0
self.drag_area_y = 2.75
self.drag_area_z = 50.0
self.aspect_ratio = self.wing_span * self.wing_span / self.wing_area
# What the hell is this?! I still don't get it... :-(
# Does this need to be individual per plane?
# -Nemesis13
self.liftvsaoa = ListInterpolator(
[[radians(-10.0), -0.4], [radians(-8.0), -0.45],
[radians(15.0), 1.75], [radians(18.0), 1.05]], 0.0, 0.0)
self.dragvsaoa = ListInterpolator(
[[radians(-10.0), -0.010], [radians(0.0), 0.006],
[radians(4.0), 0.005], [radians(8.0), 0.0065],
[radians(12.0), 0.012], [radians(14.0), 0.020],
[radians(16.0), 0.028]], 0.03, 0.1)
self.yaw_damping = -100
self.pitch_damping = -100
self.roll_damping = -100
self.terminal_yaw = 3
self.terminal_pitch = 3
self.terminal_roll = 3
self.rudder_coefficient = 1.0
self.elevator_coefficient = 4.5
self.ailerons_coefficient = 5.5
self.pitch_force_coefficient = 4.0
self.heading_force_coefficient = 1.0
self.pitch_torque_coefficient = 0.1
self.heading_torque_coefficient = 12.0
def move(self, movement):
"""Plane movement management."""
if movement == "roll-left":
self.ailerons = -1.0
elif movement == "roll-right":
self.ailerons = 1.0
elif movement == "pitch-up":
self.elevator = 1.0
elif movement == "pitch-down":
self.elevator = -1.0
elif movement == "heading-left":
self.rudder = 1.0
elif movement == "heading-right":
self.rudder = -1.0
def chThrust(self, value):
delta_time = global_clock.getDt()
if value == "add" and self.thrust < 1.0:
self.thrust += 0.01
elif value == "subtract" and self.thrust > 0.0:
self.thrust -= 0.01
def setThrust(self, value):
if value <= 0:
self.thrust = 0
elif value >= 1:
self.thrust = 1
else:
self.thrust = value
def getThrust(self):
return self.thrust
def setCalculationConstants(self):
"""pre-calculate some calculation constants from the
flight parameters"""
# density of air: rho = 1.2041 kg m-3
half_rho = 0.602
self.lift_factor = half_rho * self.wing_area
# could modify lift_induced_drag by a factor of 1.05 to 1.15
self.lift_induced_drag_factor = (-1.0) * self.lift_factor / \
(pi*self.aspect_ratio)
self.drag_factor_x = (-1.0) * half_rho * self.drag_area_x * \
self.drag_coef_x
self.drag_factor_y = (-1.0) * half_rho * self.drag_area_y * \
self.drag_coef_y
self.drag_factor_z = (-1.0) * half_rho * self.drag_area_z * \
self.drag_coef_z
self.gravity = Vec3(0.0, 0.0, -9.81)
self.gravityM = self.gravity * self.mass
def _wingAngleOfAttack(self, v_norm, up):
""" calculate the angle between the wing and the relative motion of the air """
#projected_v = v_norm - right * v_norm.dot(right)
#aoa = atan2(projected_v.dot(-up), projected_v.dot(forward))
#return aoa
# strangely enough, the above gets the same result as the below
# for these vectors it must be calculating the angle in the plane where
# right is the normal vector
return v_norm.angleRad(up) - pi / 2.0
def _lift(self, v_norm, v_squared, right, aoa):
"""return the lift force vector generated by the wings"""
# lift direction is always perpendicular to the airflow
lift_vector = right.cross(v_norm)
return lift_vector * v_squared * self.lift_factor * self.liftvsaoa[aoa]
def _drag(self, v, v_squared, right, up, forward, aoa):
"""return the drag force"""
# get the induced drag coefficient
# Cdi = (Cl*Cl)/(pi*AR*e)
lift_coef = self.liftvsaoa[aoa]
ind_drag_coef = lift_coef * lift_coef / (pi * self.aspect_ratio * 1.10)
# and calculate the drag induced by the creation of lift
induced_drag = -v * sqrt(v_squared) * self.lift_factor * ind_drag_coef
#induced_drag = Vec3(0.0,0.0,0.0)
profile_drag = self._simpleProfileDrag(v, right, up, forward)
return induced_drag + profile_drag
def _simpleProfileDrag(self, v, right, up, forward):
"""return the force vector due to the shape of the aircraft"""
speed_x = right.dot(v)
speed_y = forward.dot(v)
speed_z = up.dot(v)
drag_x = right * speed_x * abs(speed_x) * self.drag_factor_x
drag_y = forward * speed_y * abs(speed_y) * self.drag_factor_y
drag_z = up * speed_z * abs(speed_z) * self.drag_factor_z
return drag_x + drag_y + drag_z
def _thrust(self, thrust_vector):
"""return the force vector produced by the aircraft engines"""
return thrust_vector * self.thrust * self.max_thrust
def _force(self, p, v, right, up, forward):
"""calculate the forces due to the velocity and orientation of the aircraft"""
v_squared = v.lengthSquared()
v_norm = v + v.zero()
v_norm.normalize()
aoa = self._wingAngleOfAttack(v_norm, up)
lift = self._lift(v_norm, v_squared, right, aoa)
drag = self._drag(v, v_squared, right, up, forward, aoa)
thrust = self._thrust(forward)
self.angle_of_attack = aoa
force = lift + drag + self.gravityM + thrust
# if the plane is on the ground, the ground reacts to the downward force
# TODO (gjmm): need to modify in order to consider reaction to objects
# at different altitudes.
if p.getZ() == 0.0:
if force[2] < 0.0:
force.setZ(0.0)
return force
def angleOfAttack(self):
return self.angle_of_attack
def gForceTotal(self):
acc = self.acceleration - self.gravity
return acc.length() / 9.81
def gForce(self):
up = self.node.getQuat().getUp()
acc = self.acceleration - self.gravity
gf = acc.dot(up) / 9.81
return gf
def lateralG(self):
right = self.node.getQuat().getRight()
acc = self.acceleration - self.gravity
gf = acc.dot(right) / 9.81
return gf
def axialG(self):
forward = self.node.getQuat().getForward()
acc = self.acceleration - self.gravity
gf = acc.dot(forward) / 9.81
return gf
def velocity(self):
""" return the current velocity """
#return self.physics_object.getVelocity()
return Vec3(self.ode_body.getLinearVel())
def setVelocity(self, v):
self.ode_body.setLinearVel(v)
def angVelVector(self):
""" return the current angular velocity as a vector """
return self.ode_body.getAngularVel()
def angVelBodyHpr(self):
""" return the heading, pitch and roll values about the body axis """
angv = self.angVelVector()
quat = self.quat()
h = angv.dot(quat.getUp())
p = angv.dot(quat.getRight())
r = angv.dot(quat.getForward())
return h, p, r
def setAngularVelocity(self, v):
self.ode_body.setAngularVel(v)
def speed(self):
""" returns the current velocity """
return self.velocity().length()
def position(self):
""" return the current position """
return self.ode_body.getPosition()
def setPosition(self, p):
self.ode_body.setPosition(p)
def altitude(self):
""" returns the current altitude """
return self.position().getZ()
def quat(self):
""" return the current quaternion representation of the attitude """
return Quat(self.ode_body.getQuaternion())
def _controlRotForce(self, control, axis, coeff, speed, rspeed,
max_rspeed):
""" generic control rotation force
control - positive or negative amount of elevator/rudder/ailerons
axis - vector about which the torque is applied
coeff - the conversion of the amount of the control to a rotational force
speed - the speed of the plane
rspeed - the current rotational speed about the axis
max_rspeed - a cut-off for the rotational speed
"""
if control * rspeed < max_rspeed:
return axis * control * coeff * speed
else:
return Vec3(0.0, 0.0, 0.0)
def _rotDamping(self, vector, rotv, damping_factor):
""" generic damping """
damp = damping_factor * rotv
# rather than trusting that we have the sign right at any point
# decide sign of the returned value based on the speed
if rotv < 0.0:
return vector * abs(damp)
else:
return vector * -abs(damp)
def _forwardAndVelocityVectorForces(self, up, right, norm_v, speed):
""" calculates torque and force resulting from deviation of the
velocity vector from the forward vector """
# could do with a better name for this method
# get the projection of the normalised velocity onto the up and
# right vectors to find relative pitch and heading angles
p_angle = acos(up.dot(norm_v)) - pi / 2
h_angle = acos(right.dot(norm_v)) - pi / 2
torque_p = p_angle * self.pitch_torque_coefficient * speed
torque_h = h_angle * self.heading_torque_coefficient * speed
force_p = p_angle * self.pitch_force_coefficient * speed
force_h = h_angle * self.heading_force_coefficient * speed
return Vec3(-torque_p, 0.0, torque_h), Vec3(-force_p, 0.0, force_h)
def simulationTask(self, task):
"""Update position and velocity based on aerodynamic forces."""
delta_time = global_clock.getDt()
self.accumulator += delta_time
updated = False
#print self.accumulator, delta_time
while self.accumulator > self.step_size:
self.accumulator -= self.step_size
updated = True
position = self.position()
velocity = self.velocity()
speed = velocity.length()
norm_v = velocity + Vec3(0.0, 0.0, 0.0)
norm_v.normalize()
yawv, pitchv, rollv = self.angVelBodyHpr()
quat = self.quat()
forward = quat.getForward()
up = quat.getUp()
right = quat.getRight()
linear_force = self._force(position, velocity, right, up, forward)
self.ode_body.addForce(linear_force)
# Control forces:
elevator_af = self._controlRotForce(self.elevator,
Vec3(1.0, 0.0, 0.0),
self.elevator_coefficient,
speed, pitchv,
self.terminal_pitch)
ailerons_af = self._controlRotForce(self.ailerons,
Vec3(0.0, 1.0, 0.0),
self.ailerons_coefficient,
speed, rollv,
self.terminal_roll)
rudder_af = self._controlRotForce(self.rudder, Vec3(0.0, 0.0, 1.0),
self.rudder_coefficient, speed,
yawv, self.terminal_yaw)
# Damping forces
pitch_damping_avf = self._rotDamping(Vec3(1.0, 0.0, 0.0), pitchv,
self.pitch_damping)
roll_damping_avf = self._rotDamping(Vec3(0.0, 1.0, 0.0), rollv,
self.roll_damping)
yaw_damping_avf = self._rotDamping(Vec3(0.0, 0.0, 1.0), yawv,
self.yaw_damping)
self.ode_body.addRelTorque(elevator_af + ailerons_af + rudder_af +
roll_damping_avf + pitch_damping_avf +
yaw_damping_avf)
# Forces to rotate the forward vector towards the velocity vector
# and vice versa
fvv_torque, fvv_force = self._forwardAndVelocityVectorForces(
up, right, norm_v, speed)
self.ode_body.addRelTorque(fvv_torque)
self.ode_body.addForce(fvv_force)
if position.getZ() < 0:
position.setZ(0)
velocity.setZ(0)
self.setPosition(position)
self.setVelocity(velocity)
self.rudder = 0.0
self.elevator = 0.0
self.ailerons = 0.0
self.world.quickStep(self.step_size)
if updated:
self.node.setPosQuat(render, self.position(), quat)
return task.cont
def destroy():
"""Call this while deactivating physics on a plane."""
# TODO: clean up stuff
pass
class Bullet(GameObject):
lifetime = 120.0
def __init__(self, world, parent, color, pos, dir, radius, density, posParent=None):
GameObject.__init__(self, world)
self.color = makeVec4Color(color)
self.scale = radius
self.collisionCount = 0
diameter = 2 * radius
length = 1.815 * diameter
self.node = parent.attachNewNode("")
if posParent == None:
self.node.setPos(*pos)
else:
self.node.setPos(posParent, *pos)
self.node.setColorScale(self.color)
self.node.setTransparency(TransparencyAttrib.MAlpha)
self.node.setScale(radius)
self.node.lookAt(self.node, *dir)
self.node.setHpr(self.node.getHpr() + Vec3(0, 270, 0))
self.model = loader.loadModel("models/bullet.egg")
self.model.reparentTo(self.node)
self.model.setPos(-0.1, -0.1, 0.15)
self.model.setScale(0.4)
self.mass = OdeMass()
self.mass.setCylinder(density, 3, radius, length)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.body.setPosition(self.node.getPos())
self.body.setQuaternion(self.node.getQuat())
self.body.setData(self)
self.body.setGravityMode(False)
self.geom = OdeCylinderGeom(world.space, radius, length)
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["bullet"])
# Adjust collision bitmasks.
self.geom.setCategoryBits(GameObject.bitmaskBullet)
self.geom.setCollideBits(GameObject.bitmaskAll & ~GameObject.bitmaskCharacter)
# Keep the bullet hidden for a split second so it doesn't appear too close to the camera.
self.node.hide()
taskMgr.doMethodLater(0.1, self.showTask, 'show-bullet')
def onCollision(self, otherBody, entry):
self.body.setGravityMode(True)
# Dissipate energy based on collision impact.
factor = 1.0 - (min(entry.getContactGeom(0).getDepth(), 0.8) * 0.7)
factor = min(factor, 0.98)
base.taskMgr.doMethodLater(0.05, self.dissipateTask, "bullet-dissipate", extraArgs=[factor])
# Reduce the lifespan.
self.collisionCount += 1
if self.collisionCount == 25:
self.life = Bullet.lifetime
taskMgr.add(self.fadeTask, "bullet-fade")
def dissipateTask(self, factor):
self.dissipate(factor)
def fadeTask(self, task):
if self.life > 0:
self.life -= 1
self.node.setAlphaScale(4.0 * self.life / Bullet.lifetime)
return task.cont
else:
self.destroy()
return task.done
def showTask(self, task):
if self.node != None:
self.node.show()
class Ship_1(Ship):
POWER = 100
SHIP_TYPE = "UFO"
def __init__(self, game, color):
#self.POWER = 100
self.game = game
self.thrust = False
self.thrustLeft = False
self.thrustRight = False
self.thrustBack = False
self.rotation = 0
self.body = OdeBody(game.physicsWorld)
self.mass = OdeMass()
self.mass.setBox(10,1,1,1)
self.body.setMass(self.mass)
#odespheregeom(... , size of hitbox sphere)
self.collGeom = OdeSphereGeom( self.game.physicsSpace, 5)
self.collGeom.setBody(self.body)
self.collGeom.setCategoryBits( BitMask32(0xffffffff) )
self.collGeom.setCollideBits( BitMask32(0xffffffff) )
self.visualNode = NodePath('Visual node')
self.visualNode.reparentTo(render)
model = loader.loadModel('lautanen2.egg')
model.reparentTo(self.visualNode)
plight = PointLight('plight')
plight.setPoint( Point3(0.6, 0, 5) )
plight.setColor( color )
plight.setAttenuation( Vec3(0.5, 0.01, 0.01) )
plightNodePath = model.attachNewNode(plight)
model.setLight(plightNodePath)
# setMoreKeys in ship class = BAD IDEA
#def setMoreKeys(self):
# base.accept('arrow_down', self.thrustBackOn)
# base.accept('arrow_down-up', self.thrustBackOff)
def applyForces(self):
if self.thrust:
heading = self.getHeading()
self.body.addForce(
-math.sin( math.radians(heading) ) * self.POWER,
math.cos( math.radians(heading) ) * self.POWER,
0
)
if self.thrustLeft:
heading = self.getHeading()
self.body.addForce(
-math.sin( math.radians(heading) + math.pi/2 ) * self.POWER,
math.cos( math.radians(heading) + math.pi/2 ) * self.POWER,
0
)
if self.thrustRight:
heading = self.getHeading()
self.body.addForce(
-math.sin( math.radians(heading) - math.pi/2 ) * self.POWER,
math.cos( math.radians(heading) - math.pi/2 ) * self.POWER,
0
)
if self.thrustBack:
heading = self.getHeading()
self.body.addForce(
-math.sin( math.radians(heading) + math.pi ) * self.POWER,
math.cos( math.radians(heading) + math.pi ) * self.POWER,
0
)
class Ship_2(Ship):
ROTATING_SPEED = 1
MAX_ROTATE_SPEED = 3.0
SHIP_TYPE = "RAKETTI"
def __init__(self, game, color):
self.POWER = 100
self.game = game
self.thrust = False
self.thrustLeft = False
self.thrustRight = False
self.thrustBack = False
self.rotation = 0
self.body = OdeBody(game.physicsWorld)
self.mass = OdeMass()
self.mass.setBox(10,1,1,1)
self.body.setMass(self.mass)
#odespheregeom(... , size of hitbox sphere)
self.collGeom = OdeSphereGeom( self.game.physicsSpace, 2)
self.collGeom.setBody(self.body)
self.collGeom.setCategoryBits( BitMask32(0xffffffff) )
self.collGeom.setCollideBits( BitMask32(0xffffffff) )
self.visualNode = NodePath('Visual node')
self.visualNode.reparentTo(render)
model = loader.loadModel('testipalikka.egg')
model.reparentTo(self.visualNode)
plight = PointLight('plight')
plight.setPoint( Point3(0.6, 0, 5) )
plight.setColor( color )
plight.setAttenuation( Vec3(0.5, 0.01, 0.01) )
plightNodePath = model.attachNewNode(plight)
model.setLight(plightNodePath)
def rotating(self):
if self.thrustLeft:
self.setRotation(self.ROTATING_SPEED)
if self.thrustRight:
self.setRotation(-(self.ROTATING_SPEED))
if not self.thrustRight and not self.thrustLeft:
self.setRotation(0)
def applyForces(self):
if self.thrust:
heading = self.getHeading()
#addForce (x, y, z)
self.body.addForce(
-math.sin( math.radians(heading) ) * self.POWER,
math.cos( math.radians(heading) ) * self.POWER,
0
)
# uncomment for backwards thrust (eli siis pakki)
# if self.thrustBack:
# heading = self.getHeading()
# self.body.addForce(
# math.sin( math.radians(heading) ) * self.POWER,
# -math.cos( math.radians(heading) ) * self.POWER,
# 0
# )
self.rotating()
def setVehicle(self, model):
'''
Choose what vehicle the player has chosen. This method initializes all data of this vehicle
'''
self.cleanResources()
self._notify.debug("Set new vehicle: %s" % model)
# Load the attributes of the vehicle
attributes = model.find("**/Attributes")
if attributes.isEmpty():
self._notify.warning("No Attribute-Node found")
for tag in self._tags:
value = attributes.getNetTag(tag[0])
if value:
self._notify.debug("%s: %s" % (tag[0], value))
# translate the value if its a string
if type(tag[2](value)) == str:
tag[1](_(tag[2](value)))
else:
tag[1](tag[2](value))
else:
self._notify.warning("No value defined for tag: %s" % (tag[0]))
self._weight = 10 # for testing purposes
blowout = model.find("**/Blowout")
if not blowout.isEmpty():
self._notify.debug("Loading Blowout-Particles")
for node in blowout.getChildren():
particle = ParticleEffect()
self._blowout.append(particle)
particle.loadConfig('./data/particles/blowout_test.ptf')
try: # try to read out the particle scale
scale = float(node.getTag("scale"))
except Exception: # default is 0.5
scale = .5
renderer = particle.getParticlesList()[0].getRenderer()
renderer.setInitialXScale(scale)
renderer.setInitialYScale(scale)
particle.setLightOff()
particle.start(node)
particle.softStop()
else:
self._notify.warning("No Blowout-Node found")
if self._model is not None:
heading = self._model.getH()
self._model.removeNode()
else:
heading = 160
# display the attributes
text = model.getParent().find("AttributeNode")
if not text.isEmpty():
node = text.find("name")
if not node.isEmpty():
node = node.node()
node.setText(self._name)
node.update()
text.show()
node = text.find("description")
if not node.isEmpty():
node = node.node()
node.setText(self._name)
node.update()
text.show()
self._model = model
self._model.setPos(0, 0, 2)
self._model.setHpr(heading, 0, 0)
# #Test
# plightCenter = NodePath( 'plightCenter' )
# plightCenter.reparentTo( render )
# self.interval = plightCenter.hprInterval(12, Vec3(360, 0, 0))
# self.interval.loop()
#
# plight = PointLight('plight')
# plight.setColor(VBase4(0.8, 0.8, 0.8, 1))
# plight.setAttenuation(Vec3(1,0,0))
# plnp = plightCenter.attachNewNode(plight)
# plnp.setPos(5, 5, 10)
# render.setLight(plnp)
#
# alight = AmbientLight('alight')
# alight.setColor(VBase4(0,0,0, 1))
# alnp = render.attachNewNode(alight)
# render.setLight(alnp)
# GlowTextur
# self.glowSize=10
# self.filters = CommonFilters(base.win, self._model)
# self.filters.setBloom(blend=(0,self.glowSize,0,0) ,desat=1, intensity=1, size='medium')
# tex = loader.loadTexture( 'data/textures/glowmap.png' )
# ts = TextureStage('ts')
# ts.setMode(TextureStage.MGlow)
# self._model.setTexture(ts, tex)
# Initialize the physics-simulation for the vehicle
self._physics_model = OdeBody(self._ode_world)
self._physics_model.setPosition(self._model.getPos(render))
self._physics_model.setQuaternion(self._model.getQuat(render))
# Initialize the mass of the vehicle
physics_mass = OdeMass()
physics_mass.setBoxTotal(self._weight, 1, 1, 1)
self._physics_model.setMass(physics_mass)
# Initialize the collision-model of the vehicle
# for use with blender models
# try:
# col_model = loader.loadModel("data/models/vehicles/%s.collision" %(self._model.getName()))
# self.collision_model = OdeTriMeshGeom(self._ode_space, OdeTriMeshData(col_model, True))
# self._notify.info("Loading collision-file: %s" %("data/models/vehicles/%s.collision" %(self._model.getName())))
# for fast collisions
# except:
# self._notify.warning("Could not load collision-file. Using standard collision-box")
# self.collision_model = OdeTriMeshGeom(self._ode_space, OdeTriMeshData(model, False))
# self._collision_model = OdeBoxGeom(self._ode_space, 3,3,2)
self._collision_model = OdeBoxGeom(self._ode_space, 3, 3, 2)
self._collision_model.setBody(self._physics_model)
self._collision_model.setCollideBits(7)
self._collision_model.setCategoryBits(2)
# Add collision-rays for the floating effect
self._ray = CollisionRay(Vec3(5, 0, 0),
Vec3(0, 0, -1),
self._ode_space,
parent=self._collision_model,
collide_bits=0,
length=20.0)
# This one is used for the floating effect but also for slipstream
self._frontray = CollisionRay(Vec3(0, 0, 0),
Vec3(1, 0, 0),
self._ode_space,
parent=self._collision_model,
collide_bits=0,
length=15.0)
# Overwrite variables for testing purposes
self._grip_strength = 0.9
self._track_grip = 0.2
self._boost_strength = 1400
self._control_strength = 2.5
# Loading finished
self._model_loading = False
class Box(GameObject):
disableGracePeriod = 20
def __init__(self, world, parent, color, pos, dir, size, density, unglueThreshold=None, shatterLimit=None, shatterThreshold=None):
GameObject.__init__(self, world)
if unglueThreshold == None: unglueThreshold = 20
if shatterLimit == None: shatterLimit = 0
if shatterThreshold == None: shatterThreshold = 30
self.size = size
self.density = density
self.dir = dir
self.parent = parent
self.color = color = makeVec4Color(color)
self.node = parent.attachNewNode("")
self.node.setPos(*pos)
self.node.setColorScale(color)
self.node.setScale(*size)
self.node.lookAt(self.node, *dir)
self.model = loader.loadModel("models/box.egg")
self.model.reparentTo(self.node)
self.model.setScale(2.0)
self.model.setPos(-1.0, -1.0, -1.0)
self.applyTexture()
self.mass = OdeMass()
self.mass.setBox(density, Vec3(*size) * 2)
self.body = OdeBody(world.world)
self.body.setMass(self.mass)
self.body.setPosition(self.node.getPos())
self.body.setQuaternion(self.node.getQuat())
self.body.setData(self)
self.geom = OdeBoxGeom(world.space, Vec3(*size) * 2.0)
self.geom.setBody(self.body)
world.space.setSurfaceType(self.geom, world.surfaces["box"])
# Adjust collision bitmasks.
self.geom.setCategoryBits(GameObject.bitmaskBox)
self.geom.setCollideBits(GameObject.bitmaskAll & ~GameObject.bitmaskTileGlued)
# Tile, cement and shatter variables.
self.tiles = []
self.cements = []
self.disableCount = 0
self.unglueThreshold = unglueThreshold
self.shatterLimit = shatterLimit
self.shatterThreshold = shatterThreshold
def applyTexture(self):
self.texture = loader.loadTexture("media/brick_wall.tga")
self.texture.setWrapU(Texture.WMRepeat)
self.texture.setWrapV(Texture.WMRepeat)
self.model.setTexture(self.texture, 1)
self.model.setTexScale(TextureStage.getDefault(), max(self.size[0], self.size[1]), self.size[2])
def addTile(self, tile):
if tile not in self.tiles:
self.tiles.append(tile)
def removeTile(self, tile):
if tile in self.tiles:
self.tiles.remove(tile)
def addCement(self, cement):
if cement not in self.cements:
self.cements.append(cement)
def removeCement(self, cement):
if cement in self.cements:
self.cements.remove(cement)
def destroy(self):
for tile in self.tiles:
tile.unglue()
for cement in self.cements:
cement.destroy()
GameObject.destroy(self)
def makeTiles(self, xNeg=False, xPos=False, yNeg=False, yPos=False, zNeg=False, zPos=False, thickness=0.1, unglueThreshold=None, shatterLimit=None, shatterThreshold=None):
if xNeg: Tile(self, self.color, (-1,0,0), thickness, self.density, unglueThreshold, shatterLimit, shatterThreshold)
if xPos: Tile(self, self.color, ( 1,0,0), thickness, self.density, unglueThreshold, shatterLimit, shatterThreshold)
if yNeg: Tile(self, self.color, (0,-1,0), thickness, self.density, unglueThreshold, shatterLimit, shatterThreshold)
if yPos: Tile(self, self.color, (0, 1,0), thickness, self.density, unglueThreshold, shatterLimit, shatterThreshold)
if zNeg: Tile(self, self.color, (0,0,-1), thickness, self.density, unglueThreshold, shatterLimit, shatterThreshold)
if zPos: Tile(self, self.color, (0,0, 1), thickness, self.density, unglueThreshold, shatterLimit, shatterThreshold)
def onCollision(self, otherBody, entry):
if otherBody.isEmpty():
return
self.disableCount = 0
speed = otherBody.getData().body.getLinearVel()
#if otherBody.getData().__class__ == Bullet: print speed.length(), self.shatterThreshold, self.shatterLimit #######
if self.active and speed.length() >= self.shatterThreshold and self.shatterLimit > 0:
adj = otherBody.getData().body.getMass().getMagnitude() / self.body.getMass().getMagnitude()
speedMag = speed.length() * adj
speedBase = ((speed * adj) + (self.body.getLinearVel() * 2) / 3)
self.shatter(speedMag, speedBase)
def shatter(self, speedMag, speedBase):
#print 'box shatter' #########
self.destroy()
taskMgr.add(self.spawnTask, "box-spawn", extraArgs=[speedMag, speedBase])
# Graphic (camera shake) and sound effects
self.world.game.cameraHandler.shake((0,0,2), 0.1)
sound = base.loader.loadSfx("media/shatter.wav")
sound.setVolume(1.5)
sound.play()
def spawnTask(self, speedMag, speedBase):
pos = self.node.getPos()
size = Vec3(self.size) / 2
w = 1
for i in [-w, w]:
for j in [-w, w]:
for k in [-w, w]:
box = Box(self.world, self.parent, self.color,
(pos[0] + (i * size[0]), pos[1] + (j * size[1]), pos[2] + (k * size[2])),
self.dir, size, self.density, self.unglueThreshold, self.shatterLimit - 1, self.shatterThreshold * 1)
speed = (speedBase * (1.5 + random())) + (Vec3(i,j,k) * speedMag * (1 + random()))
speed = speed / 2.0
box.body.setLinearVel(speed)
box.body.setAngularVel(speedMag * random(), speedMag * random(), speedMag * random())
taskMgr.add(box.disableOnStopTask, "box-disableOnStop")
def disableOnStopTask(self, task):
if self.body.getLinearVel().length() > 0.1 or self.body.getAngularVel().length() > 0.1:
self.disableCount = 0
return task.cont
elif self.disableCount < Box.disableGracePeriod:
self.disableCount += 1
return task.cont
else:
self.visibleAfterDestroy = True
if DEBUG: self.node.setColorScale(1.0, 2.0, 1.0, 0.5)
self.destroy()
return task.done
class Player:
def __init__(self, level):
self._init_model()
self._init_controls()
self.level = level
def _init_model(self):
self.model = loader.loadModel("models/gyro")
self.model.reparentTo(render)
self.model.setPos(0, 0, 2)
self.model.setHpr(0, 0, 0)
self.model.setColor(0.1, 0.7, 0.7, 1)
self.model.setTexture(loader.loadTexture('textures/texture.png'))
def _init_controls(self):
self.controls = Controls()
def enable_physics(self, physics):
self.body = OdeBody(physics.world)
self.initial_position = self.model.getPos(render)
self.initial_quaternion = self.model.getQuat(render)
self.initial_spin_velocity = 50
self.reset()
mass = OdeMass()
mass.setCylinder(10, 2, 1.2, 0.2)
self.body.setMass(mass)
modelTrimesh = OdeTriMeshData(loader.loadModel("models/gyro-low"), True)
self.geom = OdeTriMeshGeom(physics.space, modelTrimesh)
self.geom.setBody(self.body)
physics.bodymodels[self.body] = self.model
physics.actions.append(self._player_controls)
self.exponent = 1000 * physics.step_size
def _player_controls(self):
avel = self.body.getAngularVel()
on_plate = False
accelerate = False
for level_object in self.level.objects:
collide = OdeUtil.collide(level_object.geom, self.geom)
if collide:
on_plate = True
if avel.z < self.initial_spin_velocity and \
isinstance(level_object, Accelerator):
accelerate = level_object.player_interact(self)
break
if accelerate:
avel.z += self.exponent / 200.0
self.factor = 0
self.calculate_factor(avel.z)
if self.factor > 0.99:
return
f = self.factor**self.exponent
if on_plate:
if self.controls.jump:
vel = self.body.getLinearVel()
self.body.setLinearVel(vel.x, vel.y, vel.z + 5)
force = 350
else:
force = 25
self.controls.jump = False
self.body.addForce(Mat3.rotateMat(self.controls.view_rotation).xform(
(self.controls.y*force,
-0.8*self.controls.x*force,
0)))
hpr = self.model.getHpr()
self.model.setHpr(hpr.x, f*hpr.y, f*hpr.z)
self.body.setQuaternion(self.model.getQuat(render))
self.body.setAngularVel(f*avel.x,
f*avel.y,
avel.z)
def calculate_factor(self, spin_velocity):
self.factor = max(self.factor, (1/(abs(spin_velocity/500.0)+1)))
self.health = max(0, round((0.99-self.factor)*1000,1))
def reset(self):
self.body.setPosition(self.initial_position)
self.body.setQuaternion(self.initial_quaternion)
self.body.setLinearVel(0, 0, 0)
self.body.setAngularVel(0, 0, self.initial_spin_velocity)
self.factor = 0
self.calculate_factor(self.initial_spin_velocity)
def __init__(self, name, model_to_load=None, specs_to_load=None,
soundfile=None,world=None):
"""arguments:
name -- aircraft name
model_to_load -- model to load on init. same as name if none given.
0 = don't load a model
specs_to_load -- specifications to load on init. same as name if none
given. 0 = don't load specs
soundfile -- engine sound file (not yet implemented)
world -- the physics world to connect to
examples: # load a plane called "corsair1" with model and specs "corsair"
pirate1 = Aeroplane("corsair1", "corsair")
# load an empty craft instance (you'll have to load model
# and specs later in turn to see or fly it)
foo = Aeroplane("myname", 0, 0)
# for the node itself, use:
foo = Aeroplane("bar")
airplane = foo.node
# if you need access to the model itself, use:
foo = Aeroplane("bar")
model = foo.node.getChild(0)
info: invisible planes are for tracking only. you should assign them
at least models when they get into visible-range.
The idea behind the 'node' is pretty simple: working with
a virtual container prevents accidential replacement and
seperates things.
"""
if Aeroplane.aircrafts is None:
assert render
Aeroplane.aircrafts = render.attachNewNode("aircrafts")
self.id = Aeroplane._plane_count
Aeroplane._plane_count += 1
self.node = Aeroplane.aircrafts.attachNewNode(
"aeroplane {0} {1}".format(self.id, name))
self.name = name
self.model = None
self.hud = None # later replaced
self.thrust = 0.0
#try:
# self.model = self.loadPlaneModel(model_to_load)
# self.model.reparentTo(Aeroplane.aircrafts)
#except (ResourceHandleError, ResourceLoadError, IOError), e:
# handleError(e)
if not model_to_load:
model_to_load = name
self.model, self.animcontrols = self.loadPlaneModel(model_to_load)
self.model.reparentTo(self.node)
if specs_to_load == 0:
pass
elif specs_to_load:
self.loadSpecs(specs_to_load)
else:
self.loadSpecs(name)
"""
if soundfile == 0:
pass
elif soundfile:
self.assignSound(soundfile)
else:
self.assignSound(name)
"""
# precalculated values for combinations of variables
self.setCalculationConstants()
# dynamic variables
self.acceleration = Vec3(0.0,0.0,0.0)
self.angle_of_attack = 0.0
# state variables
self.rudder = 0.0
self.ailerons = 0.0
self.elevator = 0.0
# more parameters
self.yaw_damping = -100
self.pitch_damping = -100
self.roll_damping = -100
self.terminal_yaw = 3
self.terminal_pitch = 3
self.terminal_roll = 3
self.rudder_coefficient = 1.0
self.elevator_coefficient = 4.5
self.ailerons_coefficient = 5.5
self.pitch_force_coefficient = 4.0
self.heading_force_coefficient = 1.0
self.pitch_torque_coefficient = 0.1
self.heading_torque_coefficient = 12.0
# finally, complete initialisation of the physics for this plane
if world is not None:
# we are going to interact with the world :)
body = OdeBody(world)
# positions and orientation are set relative to render
body.setPosition(self.node.getPos(render))
body.setQuaternion(self.node.getQuat(render))
mass = OdeMass()
mass.setBox(self.mass, 1, 1, 1)
body.setMass(mass)
self.p_world = world
self.p_body = body
self.p_mass = mass
self.accumulator = 0.0
self.step_size = 0.02
taskMgr.add(self.simulationTask, "plane physics", sort=-1)
self.old_quat = self.quat()
else:
self.p_world = None
self.p_body = None
self.p_mass = None
taskMgr.add(self._animations, "plane animations", sort=1)
taskMgr.add(self._propellers, "propellers animations", sort=2)
def createTire(self, tireIndex):
"""Create one physics tire. Returns a (nodePath, OdeBody, OdeGeom) tuple"""
if (tireIndex < 0) or (tireIndex >= len(self.tireMasks)):
self.notify.error('invalid tireIndex %s' % tireIndex)
self.notify.debug("create tireindex %s" % (tireIndex))
zOffset = 0
# for now the tires are spheres
body = OdeBody(self.world)
mass = OdeMass()
mass.setSphere(self.tireDensity, IceGameGlobals.TireRadius)
body.setMass(mass)
body.setPosition(IceGameGlobals.StartingPositions[tireIndex][0],
IceGameGlobals.StartingPositions[tireIndex][1],
IceGameGlobals.StartingPositions[tireIndex][2])
#body.setAutoDisableFlag(1)
#body.setAutoDisableLinearThreshold(1.01 * MetersToFeet)
# skipping AutoDisableAngularThreshold as that is radians per second
#body.setAutoDisableAngularThreshold(0.1)
body.setAutoDisableDefaults()
geom = OdeSphereGeom(self.space, IceGameGlobals.TireRadius)
self.space.setSurfaceType(geom, self.tireSurfaceType)
self.space.setCollideId(geom, self.tireCollideIds[tireIndex])
self.massList.append(mass)
self.geomList.append(geom)
# a tire collides against other tires, the wall and the floor
geom.setCollideBits(self.allTiresMask | self.wallMask | self.floorMask
| self.obstacleMask)
geom.setCategoryBits(self.tireMasks[tireIndex])
geom.setBody(body)
if self.notify.getDebug():
self.notify.debug('tire geom id')
geom.write()
self.notify.debug(' -')
if self.canRender:
testTire = render.attachNewNode("tire holder %d" % tireIndex)
smileyModel = NodePath(
) # loader.loadModel('models/misc/smiley') # smiley!
if not smileyModel.isEmpty():
smileyModel.setScale(IceGameGlobals.TireRadius)
smileyModel.reparentTo(testTire)
smileyModel.setAlphaScale(0.5)
smileyModel.setTransparency(1)
testTire.setPos(IceGameGlobals.StartingPositions[tireIndex])
#debugAxis = loader.loadModel('models/misc/xyzAxis')
if 0: #not debugAxis.isEmpty():
debugAxis.reparentTo(testTire)
debugAxis.setScale(IceGameGlobals.TireRadius / 10.0)
debugAxis2 = loader.loadModel('models/misc/xyzAxis')
debugAxis2.reparentTo(testTire)
debugAxis2.setScale(-IceGameGlobals.TireRadius / 10.0)
# lets create a black tire
#tireModel = loader.loadModel('phase_3/models/misc/sphere')
tireModel = loader.loadModel(
"phase_4/models/minigames/ice_game_tire")
# assuming it has a radius of 1
tireHeight = 1
#tireModel.setScale(IceGameGlobals.TireRadius, IceGameGlobals.TireRadius, 1)
#tireModel.setZ( 0 - IceGameGlobals.TireRadius + (tireHeight /2.0))
#tireModel.setColor(0,0,0)
tireModel.setZ(-IceGameGlobals.TireRadius + 0.01)
tireModel.reparentTo(testTire)
#tireModel.setAlphaScale(0.5)
#tireModel.setTransparency(1)
self.odePandaRelationList.append((testTire, body))
else:
testTire = None
self.bodyList.append((None, body))
return testTire, body, geom
class AeroplanePhysics(Physical):
def __init__(self, node):
Physical.__init__(self)
self.node = node
self.thrust = 0.0
self.loadSpecs()
# precalculated values for combinations of variables
self.setCalculationConstants()
# dynamic variables
self.acceleration = Vec3(0.0,0.0,0.0)
self.angle_of_attack = 0.0
# state variables
self.rudder = 0.0
self.ailerons = 0.0
self.elevator = 0.0
self.ode_body = OdeBody(self.world)
# positions and orientation are set relative to render
self.ode_body.setPosition(self.node.getPos(render))
self.ode_body.setQuaternion(self.node.getQuat(render))
self.ode_mass = OdeMass()
self.ode_mass.setBox(self.mass, 1, 1, 1)
self.ode_body.setMass(self.ode_mass)
self.accumulator = 0.0
self.step_size = 0.02
taskMgr.add(self.simulationTask,
"plane physics",
sort=-1,
taskChain="world")
def loadSpecs(self):
"""Loads specifications for a plane. Force if already loaded."""
# TODO (gjmm): these are specifications and should be moved to a file
self.mass = 1000
self.max_thrust = 5000.0
self.wing_area = 48.0 # m^2
self.wing_span = 24.0 # m
self.drag_coef_x = 0.9
self.drag_coef_y = 0.1
self.drag_coef_z = 0.9
self.drag_area_x = 30.0
self.drag_area_y = 2.75
self.drag_area_z = 50.0
self.aspect_ratio = self.wing_span * self.wing_span /self.wing_area
# What the hell is this?! I still don't get it... :-(
# Does this need to be individual per plane?
# -Nemesis13
self.liftvsaoa = ListInterpolator([[radians(-10.0),-0.4],
[radians(-8.0),-0.45],
[radians(15.0),1.75],
[radians(18.0),1.05]],
0.0,0.0)
self.dragvsaoa = ListInterpolator([[radians(-10.0),-0.010],
[radians(0.0),0.006],
[radians(4.0),0.005],
[radians(8.0),0.0065],
[radians(12.0),0.012],
[radians(14.0),0.020],
[radians(16.0),0.028]],
0.03,0.1)
self.yaw_damping = -100
self.pitch_damping = -100
self.roll_damping = -100
self.terminal_yaw = 3
self.terminal_pitch = 3
self.terminal_roll = 3
self.rudder_coefficient = 1.0
self.elevator_coefficient = 4.5
self.ailerons_coefficient = 5.5
self.pitch_force_coefficient = 4.0
self.heading_force_coefficient = 1.0
self.pitch_torque_coefficient = 0.1
self.heading_torque_coefficient = 12.0
def move(self, movement):
"""Plane movement management."""
if movement == "roll-left":
self.ailerons = -1.0
elif movement == "roll-right":
self.ailerons = 1.0
elif movement == "pitch-up":
self.elevator = 1.0
elif movement == "pitch-down":
self.elevator = -1.0
elif movement == "heading-left":
self.rudder = 1.0
elif movement == "heading-right":
self.rudder = -1.0
def chThrust(self, value):
delta_time = global_clock.getDt()
if value == "add" and self.thrust < 1.0:
self.thrust += 0.01
elif value == "subtract" and self.thrust > 0.0:
self.thrust -= 0.01
def setThrust(self, value):
if value <= 0:
self.thrust = 0
elif value >= 1:
self.thrust = 1
else:
self.thrust = value
def getThrust(self):
return self.thrust
def setCalculationConstants(self):
"""pre-calculate some calculation constants from the
flight parameters"""
# density of air: rho = 1.2041 kg m-3
half_rho = 0.602
self.lift_factor = half_rho * self.wing_area
# could modify lift_induced_drag by a factor of 1.05 to 1.15
self.lift_induced_drag_factor = (-1.0) * self.lift_factor / \
(pi*self.aspect_ratio)
self.drag_factor_x = (-1.0) * half_rho * self.drag_area_x * \
self.drag_coef_x
self.drag_factor_y = (-1.0) * half_rho * self.drag_area_y * \
self.drag_coef_y
self.drag_factor_z = (-1.0) * half_rho * self.drag_area_z * \
self.drag_coef_z
self.gravity = Vec3(0.0,0.0,-9.81)
self.gravityM = self.gravity * self.mass
def _wingAngleOfAttack(self,v_norm,up):
""" calculate the angle between the wing and the relative motion of the air """
#projected_v = v_norm - right * v_norm.dot(right)
#aoa = atan2(projected_v.dot(-up), projected_v.dot(forward))
#return aoa
# strangely enough, the above gets the same result as the below
# for these vectors it must be calculating the angle in the plane where
# right is the normal vector
return v_norm.angleRad(up) - pi/2.0
def _lift(self,v_norm,v_squared,right,aoa):
"""return the lift force vector generated by the wings"""
# lift direction is always perpendicular to the airflow
lift_vector = right.cross(v_norm)
return lift_vector * v_squared * self.lift_factor * self.liftvsaoa[aoa]
def _drag(self,v,v_squared,right,up,forward,aoa):
"""return the drag force"""
# get the induced drag coefficient
# Cdi = (Cl*Cl)/(pi*AR*e)
lift_coef = self.liftvsaoa[aoa]
ind_drag_coef = lift_coef * lift_coef / (pi * self.aspect_ratio * 1.10)
# and calculate the drag induced by the creation of lift
induced_drag = -v * sqrt(v_squared) * self.lift_factor * ind_drag_coef
#induced_drag = Vec3(0.0,0.0,0.0)
profile_drag = self._simpleProfileDrag(v,right,up,forward)
return induced_drag + profile_drag
def _simpleProfileDrag(self,v,right,up,forward):
"""return the force vector due to the shape of the aircraft"""
speed_x = right.dot(v)
speed_y = forward.dot(v)
speed_z = up.dot(v)
drag_x = right*speed_x*abs(speed_x)*self.drag_factor_x
drag_y = forward*speed_y*abs(speed_y)*self.drag_factor_y
drag_z = up*speed_z*abs(speed_z)*self.drag_factor_z
return drag_x + drag_y + drag_z
def _thrust(self,thrust_vector):
"""return the force vector produced by the aircraft engines"""
return thrust_vector * self.thrust * self.max_thrust
def _force(self,p,v,right,up,forward):
"""calculate the forces due to the velocity and orientation of the aircraft"""
v_squared = v.lengthSquared()
v_norm = v + v.zero()
v_norm.normalize()
aoa = self._wingAngleOfAttack(v_norm,up)
lift = self._lift(v_norm,v_squared,right,aoa)
drag = self._drag(v,v_squared,right,up,forward,aoa)
thrust = self._thrust(forward)
self.angle_of_attack = aoa
force = lift + drag + self.gravityM + thrust
# if the plane is on the ground, the ground reacts to the downward force
# TODO (gjmm): need to modify in order to consider reaction to objects
# at different altitudes.
if p.getZ() == 0.0:
if force[2] < 0.0:
force.setZ(0.0)
return force
def angleOfAttack(self):
return self.angle_of_attack
def gForceTotal(self):
acc = self.acceleration - self.gravity
return acc.length()/9.81
def gForce(self):
up = self.node.getQuat().getUp()
acc = self.acceleration - self.gravity
gf = acc.dot(up) / 9.81
return gf
def lateralG(self):
right = self.node.getQuat().getRight()
acc = self.acceleration - self.gravity
gf = acc.dot(right) / 9.81
return gf
def axialG(self):
forward = self.node.getQuat().getForward()
acc = self.acceleration - self.gravity
gf = acc.dot(forward) / 9.81
return gf
def velocity(self):
""" return the current velocity """
#return self.physics_object.getVelocity()
return Vec3(self.ode_body.getLinearVel())
def setVelocity(self,v):
self.ode_body.setLinearVel(v)
def angVelVector(self):
""" return the current angular velocity as a vector """
return self.ode_body.getAngularVel()
def angVelBodyHpr(self):
""" return the heading, pitch and roll values about the body axis """
angv = self.angVelVector()
quat = self.quat()
h = angv.dot(quat.getUp())
p = angv.dot(quat.getRight())
r = angv.dot(quat.getForward())
return h,p,r
def setAngularVelocity(self,v):
self.ode_body.setAngularVel(v)
def speed(self):
""" returns the current velocity """
return self.velocity().length()
def position(self):
""" return the current position """
return self.ode_body.getPosition()
def setPosition(self,p):
self.ode_body.setPosition(p)
def altitude(self):
""" returns the current altitude """
return self.position().getZ()
def quat(self):
""" return the current quaternion representation of the attitude """
return Quat(self.ode_body.getQuaternion())
def _controlRotForce(self,control,axis,coeff,speed,rspeed,max_rspeed):
""" generic control rotation force
control - positive or negative amount of elevator/rudder/ailerons
axis - vector about which the torque is applied
coeff - the conversion of the amount of the control to a rotational force
speed - the speed of the plane
rspeed - the current rotational speed about the axis
max_rspeed - a cut-off for the rotational speed
"""
if control * rspeed < max_rspeed:
return axis * control * coeff * speed
else:
return Vec3(0.0,0.0,0.0)
def _rotDamping(self,vector,rotv,damping_factor):
""" generic damping """
damp = damping_factor * rotv
# rather than trusting that we have the sign right at any point
# decide sign of the returned value based on the speed
if rotv < 0.0:
return vector * abs(damp)
else:
return vector * -abs(damp)
def _forwardAndVelocityVectorForces(self,up,right,norm_v,speed):
""" calculates torque and force resulting from deviation of the
velocity vector from the forward vector """
# could do with a better name for this method
# get the projection of the normalised velocity onto the up and
# right vectors to find relative pitch and heading angles
p_angle = acos(up.dot(norm_v)) - pi/2
h_angle = acos(right.dot(norm_v)) - pi/2
torque_p = p_angle*self.pitch_torque_coefficient*speed
torque_h = h_angle*self.heading_torque_coefficient*speed
force_p = p_angle*self.pitch_force_coefficient*speed
force_h = h_angle*self.heading_force_coefficient*speed
return Vec3(-torque_p, 0.0, torque_h), Vec3(-force_p, 0.0, force_h)
def simulationTask(self,task):
"""Update position and velocity based on aerodynamic forces."""
delta_time = global_clock.getDt()
self.accumulator += delta_time
updated = False
#print self.accumulator, delta_time
while self.accumulator > self.step_size:
self.accumulator -= self.step_size
updated = True
position = self.position()
velocity = self.velocity()
speed = velocity.length()
norm_v = velocity + Vec3(0.0,0.0,0.0)
norm_v.normalize()
yawv,pitchv,rollv = self.angVelBodyHpr()
quat = self.quat()
forward = quat.getForward()
up = quat.getUp()
right = quat.getRight()
linear_force = self._force(position,velocity,right,up,forward)
self.ode_body.addForce(linear_force)
# Control forces:
elevator_af = self._controlRotForce(self.elevator,Vec3(1.0,0.0,0.0),
self.elevator_coefficient,
speed,pitchv,self.terminal_pitch)
ailerons_af = self._controlRotForce(self.ailerons,Vec3(0.0,1.0,0.0),
self.ailerons_coefficient,
speed,rollv,self.terminal_roll)
rudder_af = self._controlRotForce(self.rudder,Vec3(0.0,0.0,1.0),
self.rudder_coefficient,
speed,yawv,self.terminal_yaw)
# Damping forces
pitch_damping_avf = self._rotDamping(Vec3(1.0,0.0,0.0),pitchv,self.pitch_damping)
roll_damping_avf = self._rotDamping(Vec3(0.0,1.0,0.0),rollv,self.roll_damping)
yaw_damping_avf = self._rotDamping(Vec3(0.0,0.0,1.0),yawv,self.yaw_damping)
self.ode_body.addRelTorque(elevator_af + ailerons_af + rudder_af +
roll_damping_avf + pitch_damping_avf + yaw_damping_avf)
# Forces to rotate the forward vector towards the velocity vector
# and vice versa
fvv_torque, fvv_force = self._forwardAndVelocityVectorForces(up,right,norm_v,speed)
self.ode_body.addRelTorque(fvv_torque)
self.ode_body.addForce(fvv_force)
if position.getZ() < 0:
position.setZ(0)
velocity.setZ(0)
self.setPosition(position)
self.setVelocity(velocity)
self.rudder = 0.0
self.elevator = 0.0
self.ailerons = 0.0
self.world.quickStep(self.step_size)
if updated:
self.node.setPosQuat(render, self.position(), quat)
return task.cont
def destroy():
"""Call this while deactivating physics on a plane."""
# TODO: clean up stuff
pass
def initPlanet(self, parent, tex, pos, radius, mass, lvel, avel):
planet = loader.loadModel(self.main.modeld + "planet")
planet.reparentTo(parent)
planet_tex = loader.loadTexture(tex)
planet.setTexture(planet_tex)
planet.setPos(pos)
planet.setScale(radius)
body = OdeBody(self.main.physicsWorld)
M = OdeMass()
M.setSphereTotal(mass, radius)
body.setMass(M)
body.setPosition(planet.getPos(parent))
body.setQuaternion(planet.getQuat(parent))
body.setLinearVel(lvel)
body.setAngularVel(avel)
geom = OdeSphereGeom(self.main.space, radius)
geom.setBody(body)
self.main.getPlist().append(planet)
self.main.getBlist().append(body)
self.main.getGlist().append(geom)
