def makeSB(pos, hpr): model = loader.loadModel('moleculemesh/smoothed/clathrinfixsmth%02d.obj' % np.random.randint(1,21)) geom = model.findAllMatches('**/+GeomNode').getPath(0).node().modifyGeom(0) geomNode = GeomNode('') geomNode.addGeom(geom) node = BulletSoftBodyNode.makeTriMesh(info, geom) node.linkGeom(geomNode.modifyGeom(0)) node.generateBendingConstraints(2) node.getCfg().setPositionsSolverIterations(6) node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFVertexFaceSoftSoft, True) node.randomizeConstraints() node.setTotalMass(50, True) node.getMaterial(0).setLinearStiffness(0.2) #node.getCfg().setDynamicFrictionCoefficient(1) #node.getCfg().setDampingCoefficient(0.001) node.getCfg().setPressureCoefficient(1500) softNP = self.worldNP.attachNewNode(node) softNP.setPos(pos) softNP.setHpr(hpr) self.world.attachSoftBody(node) geomNP = softNP.attachNewNode(geomNode) #softNP.node().appendAnchor(1, self.ground.node()) softNP.node().appendAnchor(1217, self.ground.node()) softNP.node().appendAnchor(1157, self.ground.node()) softNP.node().appendAnchor(2052, self.ground.node()) #softNP.node().appendAnchor(1800, self.ground.node()) softNP.reparentTo(self.mybase)
def makeSB(pos, hpr): import torus geom = torus.makeGeom() #geom = loader.loadModel('models/torus.egg') \ # .findAllMatches('**/+GeomNode').getPath(0).node() \ # .modifyGeom(0) geomNode = GeomNode('') geomNode.addGeom(geom) node = BulletSoftBodyNode.makeTriMesh(info, geom) node.linkGeom(geomNode.modifyGeom(0)) node.generateBendingConstraints(2) node.getCfg().setPositionsSolverIterations(2) node.getCfg().setCollisionFlag( BulletSoftBodyConfig.CFVertexFaceSoftSoft, True) node.randomizeConstraints() node.setTotalMass(50, True) softNP = self.worldNP.attachNewNode(node) softNP.setPos(pos) softNP.setHpr(hpr) self.world.attachSoftBody(node) geomNP = softNP.attachNewNode(geomNode)
def makeSB(pos, hpr): import torus geom = torus.makeGeom() #geom = loader.loadModel('models/torus.egg') \ # .findAllMatches('**/+GeomNode').getPath(0).node() \ # .modifyGeom(0) geomNode = GeomNode('') geomNode.addGeom(geom) node = BulletSoftBodyNode.makeTriMesh(info, geom) node.linkGeom(geomNode.modifyGeom(0)) node.generateBendingConstraints(2) node.getCfg().setPositionsSolverIterations(2) node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFVertexFaceSoftSoft, True) node.randomizeConstraints() node.setTotalMass(50, True) softNP = self.worldNP.attachNewNode(node) softNP.setPos(pos) softNP.setHpr(hpr) self.world.attachSoftBody(node) geomNP = softNP.attachNewNode(geomNode)
def addTriMeshSB(self,vertices, faces,normals = None,ghost=False,**kw): #step 1) create GeomVertexData and add vertex information # Soft body world information info = self.world.getWorldInfo() info.setAirDensity(0.0) info.setWaterDensity(0) info.setWaterOffset(0) info.setWaterNormal(Vec3(0, 0, 0)) format=GeomVertexFormat.getV3n3() #getV3()#http://www.panda3d.org/manual/index.php/Pre-defined_vertex_formats # vdata = GeomVertexData('name', format, Geom.UHStatic) vdata=GeomVertexData("Mesh", format, Geom.UHStatic) vertexWriter=GeomVertexWriter(vdata, "vertex") [vertexWriter.addData3f(v[0],v[1],v[2]) for v in vertices] if normals is not None : normalWriter = GeomVertexWriter(vdata, 'normal') [normalWriter.addData3f(n[0],n[1],n[2]) for n in normals] else : print "we need normals to bind geom to SoftBody" return None #step 2) make primitives and assign vertices to them tris=GeomTriangles(Geom.UHStatic) [self.setGeomFaces(tris,face) for face in faces] #step 3) make a Geom object to hold the primitives geom=Geom(vdata) geom.addPrimitive(tris) vdata = geom.getVertexData() # print (vdata,vdata.hasColumn(InternalName.getVertex())) geomNode = GeomNode('') geomNode.addGeom(geom) #step 4) create the bullet softbody and node bodyNode = BulletSoftBodyNode.makeTriMesh(info, geom) # bodyNode.linkGeom(geomNode.modifyGeom(0)) bodyNode.setName('Tri') bodyNode.linkGeom(geom) bodyNode.generateBendingConstraints(1)#??? #bodyNode.getMaterial(0).setLinearStiffness(0.8) bodyNode.getCfg().setPositionsSolverIterations(4) # bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFVertexFaceSoftSoft, True) bodyNode.getCfg().setDynamicFrictionCoefficient(1) bodyNode.getCfg().setDampingCoefficient(0.001) bodyNode.getCfg().setPressureCoefficient(15000*10.0) bodyNode.getCfg().setPoseMatchingCoefficient(0.2) bodyNode.setPose(True, True) # bodyNode.randomizeConstraints() bodyNode.setTotalMass(50000*10, True) bodyNP = self.worldNP.attachNewNode(bodyNode) # fmt = GeomVertexFormat.getV3n3t2() # geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt,True) # bodyNode.linkGeom(geomNode.modifyGeom(0)) # geomNode = GeomNode('') # geomNode.addGeom(geom) # world.attachSoftBody(bodyNode) # inodenp.setPos(0, 0, 0.1) # self.setRB(bodyNP,**kw)#set po # inodenp.setCollideMask(BitMask32.allOn()) self.world.attachSoftBody(bodyNode) geomNP = bodyNP.attachNewNode(geomNode) return bodyNP,geomNP