def setup(self): self.worldNP = render.attach_new_node('World') # World self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.set_gravity(LVector3(0, 0, -9.81)) self.world.set_debug_node(self.debugNP.node()) # Ground p0 = LPoint3(-20, -20, 0) p1 = LPoint3(-20, 20, 0) p2 = LPoint3(20, -20, 0) p3 = LPoint3(20, 20, 0) mesh = BulletTriangleMesh() mesh.add_triangle(p0, p1, p2) mesh.add_triangle(p1, p2, p3) shape = BulletTriangleMeshShape(mesh, dynamic=False) np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh')) np.node().add_shape(shape) np.set_pos(0, 0, -4) np.set_collide_mask(BitMask32.all_on()) self.world.attach(np.node()) # Soft body world information info = self.world.get_world_info() info.set_air_density(1.2) info.set_water_density(0) info.set_water_offset(0) info.set_water_normal(LVector3(0, 0, 0)) ## Softbody - From points/indices #import cube #points = [LPoint3(x,y,z) * 3 for x,y,z in cube.nodes] #indices = sum([list(x) for x in cube.elements], []) #node = BulletSoftBodyNode.make_tet_mesh(info, points, indices, True) #node.set_volume_mass(300); #node.get_shape(0).set_margin(0.01) #node.get_material(0).set_linear_stiffness(0.8) #node.get_cfg().set_positions_solver_iterations(1) #node.get_cfg().clear_all_collision_flags() #node.get_cfg().set_collision_flag( #BulletSoftBodyConfig.CF_cluster_soft_soft, True) #node.get_cfg().set_collision_flag( #BulletSoftBodyConfig.CF_cluster_rigid_soft, True) #node.generate_clusters(16) #softNP = self.worldNP.attach_new_node(node) #softNP.set_pos(0, 0, 8) #softNP.set_hpr(0, 0, 45) #self.world.attach(node) # Softbody - From tetgen data ele = open('models/cube/cube.1.ele', 'r').read() face = open('models/cube/cube.1.face', 'r').read() node = open('models/cube/cube.1.node', 'r').read() node = BulletSoftBodyNode.make_tet_mesh(info, ele, face, node) node.set_name('Tetra') node.set_volume_mass(300) node.get_shape(0).set_margin(0.01) node.get_material(0).set_linear_stiffness(0.1) node.get_cfg().set_positions_solver_iterations(1) node.get_cfg().clear_all_collision_flags() node.get_cfg().set_collision_flag( BulletSoftBodyConfig.CF_cluster_soft_soft, True) node.get_cfg().setCollisionFlag( BulletSoftBodyConfig.CF_cluster_rigid_soft, True) node.generate_clusters(6) softNP = self.worldNP.attach_new_node(node) softNP.set_pos(0, 0, 8) softNP.set_hpr(45, 0, 0) self.world.attach(node) # Option 1: visNP = loader.load_model('models/cube/cube.egg') visNP.reparent_to(softNP) geom = (visNP.findAllMatches('**/+GeomNode').getPath( 0).node().modifyGeom(0)) node.link_geom(geom)