def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.debugNP.node().showWireframe(True)
self.debugNP.node().showConstraints(True)
self.debugNP.node().showBoundingBoxes(False)
self.debugNP.node().showNormals(False)
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Box A
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
bodyA = BulletRigidBodyNode('Box A')
bodyNP = self.worldNP.attachNewNode(bodyA)
bodyNP.node().addShape(shape)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(-2, 0, 4)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.reparentTo(bodyNP)
self.world.attachRigidBody(bodyA)
# Box B
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
bodyB = BulletRigidBodyNode('Box B')
bodyNP = self.worldNP.attachNewNode(bodyB)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(0, 0, 0)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.reparentTo(bodyNP)
self.world.attachRigidBody(bodyB)
# Cone
frameA = TransformState.makePosHpr(Point3(0, 0, -2), Vec3(0, 0, 90))
frameB = TransformState.makePosHpr(Point3(-5, 0, 0), Vec3(0, 0, 0))
cone = BulletConeTwistConstraint(bodyA, bodyB, frameA, frameB)
cone.setDebugDrawSize(2.0)
cone.setLimit(30, 45, 170, softness=1.0, bias=0.3, relaxation=8.0)
self.world.attachConstraint(cone)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.debugNP.node().showWireframe(True)
self.debugNP.node().showConstraints(True)
self.debugNP.node().showBoundingBoxes(False)
self.debugNP.node().showNormals(False)
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Box A
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
bodyA = BulletRigidBodyNode('Box A')
bodyNP = self.worldNP.attachNewNode(bodyA)
bodyNP.node().addShape(shape)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(-2, 0, 4)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.reparentTo(bodyNP)
self.world.attachRigidBody(bodyA)
# Box B
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
bodyB = BulletRigidBodyNode('Box B')
bodyNP = self.worldNP.attachNewNode(bodyB)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(0, 0, 0)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.reparentTo(bodyNP)
self.world.attachRigidBody(bodyB)
# Cone
frameA = TransformState.makePosHpr(Point3(0, 0, -2), Vec3(0, 0, 90))
frameB = TransformState.makePosHpr(Point3(-5, 0, 0), Vec3(0, 0, 0))
cone = BulletConeTwistConstraint(bodyA, bodyB, frameA, frameB)
cone.setDebugDrawSize(2.0)
cone.setLimit(30, 45, 170, softness=1.0, bias=0.3, relaxation=8.0)
self.world.attachConstraint(cone)
def insert(self, world, render, i, pos):
# Important numbers
head_radius = 0.5
head_elevation = 1.5
torso_x = 0.3
torso_y = 0.5
torso_z = 0.75
arm_radius = 0.15
shoulder_space = 0.05
shoulder_elevation = head_elevation - head_radius - 0.1 - arm_radius
torso_elevation = head_elevation - head_radius - torso_z
x, y = pos
# measurements below are in degrees
neck_yaw_limit = 90
neck_pitch_limit = 45
shoulder_twist_limit = 90 # limit for twisting arm along the bicep axis
shoulder_in_limit = 175 # maximum declination from T-pose towards torso
shoulder_out_limit = 90 # maximum elevation from T-pose away from torso
shoulder_forward_limit = 175 # maximum angle from down by side to pointing forward
shoulder_backward_limit = 90 # maximum angle from down by side to pointing backward
# Create a head
head_node = BulletRigidBodyNode('Head')
head_node.addShape(BulletSphereShape(head_radius))
head_node.setMass(1.0)
head_pointer = render.attachNewNode(head_node)
head_pointer.setPos(x, y, head_elevation)
world.attachRigidBody(head_node)
# Create a torso
torso_node = BulletRigidBodyNode('Torso')
torso_node.addShape(BulletBoxShape(Vec3(torso_x, torso_y, torso_z)))
torso_node.setMass(0.0) # remain in place
torso_pointer = render.attachNewNode(torso_node)
torso_pointer.setPos(x, y, torso_elevation)
world.attachRigidBody(torso_node)
# Attach the head to the torso
head_frame = TransformState.makePosHpr(Point3(0, 0, -head_radius),
Vec3(0, 0, -90))
torso_frame = TransformState.makePosHpr(Point3(0, 0, torso_z),
Vec3(0, 0, -90))
neck = BulletConeTwistConstraint(head_node, torso_node, head_frame,
torso_frame)
neck.setDebugDrawSize(0.5)
neck.setLimit(neck_pitch_limit, neck_pitch_limit, neck_yaw_limit)
world.attachConstraint(neck)
# Create arms
shoulder_pos_l = Point3(
x, y - i * (torso_y + shoulder_space + arm_radius),
shoulder_elevation)
shoulder_pos_r = Point3(
x, y + i * (torso_y + shoulder_space + arm_radius),
shoulder_elevation)
limits = (shoulder_in_limit, shoulder_out_limit,
shoulder_forward_limit, shoulder_backward_limit,
shoulder_twist_limit)
arm_l = Arm(world, render, shoulder_pos_l, -i, LEFT, torso_pointer,
limits)
arm_r = Arm(world, render, shoulder_pos_r, i, RIGHT, torso_pointer,
limits)
self.head = head_pointer
self.torso = torso_pointer
self.arm_l, self.arm_r = arm_l, arm_r
def setupObstacleFour(self, pos, scale, turn):
#Start Here
# Box A
shape = BulletBoxShape(Vec3(0.01, 0.01, 0.01) * scale)
bodyA = BulletRigidBodyNode('Box A')
bodyNP = self.worldNP.attachNewNode(bodyA)
bodyNP.node().addShape(shape)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(pos.getX(), pos.getY(), pos.getZ() + 4) #(0, 0, 4)
visNP = loader.loadModel('media/models/box.egg')
visNP.setScale(Vec3(0.01, 0.01, 0.01)*2*scale)
visNP.clearModelNodes()
visNP.reparentTo(bodyNP)
self.world.attachRigidBody(bodyA)
# Box B
shape = BulletSphereShape(0.5*scale)
bodyB = BulletRigidBodyNode('Sphere B')
bodyNP = self.worldNP.attachNewNode(bodyB)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(10.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(pos.getX(), pos.getY(), pos.getZ() + 5) #(0, 0, 0.001)
visNP = loader.loadModel('media/models/ball.egg')
visNP.clearModelNodes()
visNP.setScale(1.25*scale)
visNP.reparentTo(bodyNP)
bodyNP.node().setLinearVelocity(100)
self.world.attachRigidBody(bodyB)
# Cone
frameA = TransformState.makePosHpr(Point3(0, 0, 0), Vec3(0, 0, 90))
frameB = TransformState.makePosHpr(Point3(2, 0, 0)*scale, Vec3(0, 0, 0))
cone = BulletConeTwistConstraint(bodyA, bodyB, frameA, frameB)
cone.setDebugDrawSize(2.0)
cone.setLimit(30, 90, 270, softness=1.0, bias=0.3, relaxation=10.0)
self.world.attachConstraint(cone)
# Box C
shape = BulletBoxShape(Vec3(0.1, 0.1, 1)*scale)
bodyC = BulletRigidBodyNode('Box C')
bodyNP = self.worldNP.attachNewNode(bodyC)
bodyNP.node().addShape(shape)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(pos.getX(), pos.getY(), pos.getZ() + 3)
self.world.attachRigidBody(bodyC)
visNP = loader.loadModel('media/models/box.egg')
visNP.setScale(Vec3(0.1, 0.1, 1)*2*scale)
visNP.clearModelNodes()
visNP.reparentTo(bodyNP)
class Simulation(DirectObject):
scale = 10
R = RE
throttle = 0.0
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(-8 * self.scale, -8 * self.scale, 4 * self.scale)
base.cam.lookAt(0, 0, 1 * self.scale)
# Light
alight = AmbientLight('ambientLight')
alight.setColor(Vec4(0.5, 0.5, 0.5, 1))
alightNP = render.attachNewNode(alight)
dlight = DirectionalLight('directionalLight')
dlight.setDirection(Vec3(1, 1, -1))
dlight.setColor(Vec4(0.7, 0.7, 0.7, 1))
dlightNP = render.attachNewNode(dlight)
render.clearLight()
render.setLight(alightNP)
render.setLight(dlightNP)
# Input
self.accept('escape', self.doExit)
self.accept('r', self.doReset)
self.accept('f1', self.toggleWireframe)
self.accept('f2', self.toggleTexture)
self.accept('f3', self.toggleDebug)
self.accept('f5', self.doScreenshot)
inputState.watchWithModifiers('forward', 'w')
inputState.watchWithModifiers('left', 'a')
inputState.watchWithModifiers('reverse', 's')
inputState.watchWithModifiers('right', 'd')
inputState.watchWithModifiers('turnLeft', 'q')
inputState.watchWithModifiers('turnRight', 'e')
# Task
taskMgr.add(self.update, 'updateWorld')
self.ostData = OnscreenText(text='ready',
pos=(-1.3, 0.9),
scale=0.07,
fg=Vec4(1, 1, 1, 1),
align=TextNode.ALeft)
# Physics
self.setup()
# _____HANDLER_____
def doExit(self):
self.cleanup()
sys.exit(1)
def doReset(self):
self.cleanup()
self.setup()
def toggleWireframe(self):
base.toggleWireframe()
def toggleTexture(self):
base.toggleTexture()
def toggleDebug(self):
if self.debugNP.isHidden():
self.debugNP.show()
else:
self.debugNP.hide()
def doScreenshot(self):
base.screenshot('Bullet')
# ____TASK___
def processInput(self, dt):
force = Vec3(0, 0, 0)
throttleChange = 0.0
#torque = Vec3(0, 0, 0)
if inputState.isSet('forward'): force.setX(1)
if inputState.isSet('reverse'): force.setX(-1)
if inputState.isSet('left'): force.setY(-1)
if inputState.isSet('right'): force.setY(1)
if inputState.isSet('turnLeft'): throttleChange = -1.0
if inputState.isSet('turnRight'): throttleChange = 1.0
force *= -20.0 / 180.0 * math.pi
self.throttle += throttleChange / 100.0
self.throttle = min(max(self.throttle, 0), 1)
thrust = Vec3(0, 0, self.throttle * 50)
quatGimbal = self.rocketNozzle.getTransform(self.worldNP).getQuat()
self.rocketNozzle.node().applyForce(quatGimbal.xform(thrust),
LPoint3f(0, 0, 0))
#torque *= 10.0
#force = render.getRelativeVector(self.rocketNP, force)
#torque = render.getRelativeVector(self.rocketNP, torque)
self.rocketNozzle.node().setActive(True)
self.rocketNP.node().setActive(True)
#self.rocketNozzle.node().applyCentralForce(force)
#self.rocketNozzle.node().applyTorque(torque)
force = rot.from_euler('zyx', force).as_quat()
self.cone.setMotorTarget(
LQuaternionf(force[0], force[1], force[2], force[3]))
def update(self, task):
dt = globalClock.getDt()
self.processInput(dt)
#self.world.doPhysics(dt)
self.world.doPhysics(dt, 5, 1.0 / 180.0)
yawpitchroll = rot.from_quat(
self.rocketNozzle.getTransform(self.rocketNP).getQuat())
yawpitchroll = yawpitchroll.as_euler('zyx', degrees=True)
#self.ostData.destroy()
telemetry = []
telemetry.append(
'Nozzle Position:\n Yaw: {}\n Pitch: {}\n Roll: {}'.format(
int(yawpitchroll[0]), int(yawpitchroll[1]),
int(yawpitchroll[2])))
telemetry.append('\nThrottle: {}'.format(self.throttle))
self.ostData.setText('\n'.join(telemetry))
return task.cont
def cleanup(self):
self.world.removeRigidBody(self.groundNP.node())
self.world.removeRigidBody(self.rocketNP.node())
self.world = None
self.debugNP = None
self.groundNP = None
self.rocketNP = None
self.worldNP.removeNode()
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.debugNP.node().showWireframe(True)
self.debugNP.node().showConstraints(True)
self.debugNP.node().showBoundingBoxes(False)
self.debugNP.node().showNormals(True)
#self.debugNP.showTightBounds()
#self.debugNP.showBounds()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground (static)
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
self.groundNP = self.worldNP.attachNewNode(
BulletRigidBodyNode('Ground'))
self.groundNP.node().addShape(shape)
self.groundNP.setPos(0, 0, -2)
self.groundNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.groundNP.node())
#Rocket
shape = BulletCylinderShape(0.2 * self.scale, 2 * self.scale, ZUp)
self.rocketNP = self.worldNP.attachNewNode(
BulletRigidBodyNode('Cylinder'))
self.rocketNP.node().setMass(3.0)
self.rocketNP.node().addShape(shape)
self.rocketNP.setPos(0, 0, 2 * self.scale)
self.rocketNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(self.rocketNP.node())
for i in range(4):
leg = BulletCylinderShape(0.02 * self.scale, 1 * self.scale, XUp)
self.rocketNP.node().addShape(
leg,
TransformState.makePosHpr(
Vec3(0.6 * self.scale * math.cos(i * math.pi / 2),
0.6 * self.scale * math.sin(i * math.pi / 2),
-1.2 * self.scale), Vec3(i * 90, 0, 30)))
shape = BulletConeShape(0.15 * self.scale, 0.3 * self.scale, ZUp)
self.rocketNozzle = self.worldNP.attachNewNode(
BulletRigidBodyNode('Cone'))
self.rocketNozzle.node().setMass(1)
self.rocketNozzle.node().addShape(shape)
self.rocketNozzle.setPos(0, 0, 0.8 * self.scale)
self.rocketNozzle.setCollideMask(BitMask32.allOn())
self.rocketNozzle.node().setCollisionResponse(0)
self.world.attachRigidBody(self.rocketNozzle.node())
frameA = TransformState.makePosHpr(Point3(0, 0, -1 * self.scale),
Vec3(0, 0, 90))
frameB = TransformState.makePosHpr(Point3(0, 0, 0.2 * self.scale),
Vec3(0, 0, 90))
self.cone = BulletConeTwistConstraint(self.rocketNP.node(),
self.rocketNozzle.node(), frameA,
frameB)
self.cone.enableMotor(1)
#self.cone.setMaxMotorImpulse(2)
#self.cone.setDamping(1000)
self.cone.setDebugDrawSize(2.0)
self.cone.setLimit(20, 20, 0, softness=1.0, bias=1.0, relaxation=10.0)
self.world.attachConstraint(self.cone)
self.npThrustForce = LineNodePath(self.render,
'Thrust',
thickness=4,
colorVec=VBase4(1, 0.5, 0, 1))
