def getPhysBody(self):
bsph = BulletSphereShape(0.6)
bcy = BulletCylinderShape(0.25, 0.35, ZUp)
body = BulletRigidBodyNode('tntBody')
body.addShape(
bsph,
TransformState.makePosHpr((0.05, 0, 0.43),
(86.597, 24.5539, 98.1435)))
body.addShape(
bcy,
TransformState.makePosHpr((0.05, 0.655, 0.35),
(86.597, 24.5539, 98.1435)))
body.setKinematic(True)
body.setCcdMotionThreshold(1e-7)
body.setCcdSweptSphereRadius(0.6)
return body
def _initPhysics(self, world):
rad = 1
shape = BulletSphereShape(rad)
self._rb_node = BulletRigidBodyNode('Box')
self._rb_node.setMass(80.0)
self._rb_node.setFriction(1.8)
self._rb_node.addShape(shape)
self._rb_node.setAngularFactor(Vec3(0,0,0))
self._rb_node.setDeactivationEnabled(False, True)
self.playerNode = render.attachNewNode(self._rb_node)
self.playerNode.setPos(0, 0, 4)
self.playerNode.setHpr(0,0,0)
world.attachRigidBody(self._rb_node)
self.camNode = self.playerNode.attachNewNode("cam node")
base.camera.reparentTo(self.camNode)
self.camNode.setPos(self.camNode, 0, 0, 1.75-rad)
def npc_testAttackLOS(self, startPos, endPos):
# Makes sure the NPC has a line-of-sight to endPos for this attack
# If not, tries to find a new position either directly to the left
# or right of startPos that has a line-of-sight to endPos.
losChecks = 5
losStep = 1.0
stepRight = self.avatar.getQuat().getRight() * losStep
stepRight[2] = 0
testLeft = Vec3(startPos)
testRight = Vec3(startPos)
sphere = BulletSphereShape(1.0)
# Test center
result = self.avatar.battleZone.physicsWorld.sweepTestClosest(
sphere, TransformState.makePos(startPos),
TransformState.makePos(endPos), CIGlobals.WorldGroup)
if not result.hasHit():
# We have a line-of-sight from start to end
return [True, Vec3()]
for i in range(losChecks):
testLeft -= stepRight
testRight += stepRight
# Test to the left
result = self.avatar.battleZone.physicsWorld.sweepTestClosest(
sphere, TransformState.makePos(testLeft),
TransformState.makePos(endPos), CIGlobals.WorldGroup)
if not result.hasHit():
# We now have a line-of-sight, move to the new position
vecMove = testLeft - startPos
return [False, vecMove]
# Test to the right
result = self.avatar.battleZone.physicsWorld.sweepTestClosest(
sphere, TransformState.makePos(testRight),
TransformState.makePos(endPos), CIGlobals.WorldGroup)
if not result.hasHit():
# We now have a line-of-sight, move to the new position
vecMove = testRight - startPos
return [False, vecMove]
# Couldn't get a line-of-sight, randomly choose left or right and try again
return [False, random.choice([testLeft, testRight]) - startPos]
def __addElements(self):
# Walk Capsule
self.__walkCapsule = BulletCapsuleShape(self.__walkCapsuleR,
self.__walkCapsuleH)
self.__walkCapsuleNP = self.movementParent.attachNewNode(
BulletRigidBodyNode('Capsule'))
self.__walkCapsuleNP.node().addShape(self.__walkCapsule)
self.__walkCapsuleNP.node().setKinematic(True)
self.__walkCapsuleNP.node().setCcdMotionThreshold(1e-7)
self.__walkCapsuleNP.node().setCcdSweptSphereRadius(
self.__walkCapsuleR)
self.__walkCapsuleNP.setCollideMask(BitMask32.allOn())
self.__world.attachRigidBody(self.__walkCapsuleNP.node())
# Crouch Capsule
self.__crouchCapsule = BulletCapsuleShape(self.__crouchCapsuleR,
self.__crouchCapsuleH)
self.__crouchCapsuleNP = self.movementParent.attachNewNode(
BulletRigidBodyNode('crouchCapsule'))
self.__crouchCapsuleNP.node().addShape(self.__crouchCapsule)
self.__crouchCapsuleNP.node().setKinematic(True)
self.__crouchCapsuleNP.node().setCcdMotionThreshold(1e-7)
self.__crouchCapsuleNP.node().setCcdSweptSphereRadius(
self.__crouchCapsuleR)
self.__crouchCapsuleNP.setCollideMask(BitMask32.allOn())
# Set default
self.capsule = self.__walkCapsule
self.capsuleNP = self.__walkCapsuleNP
# Make the event sphere a tiny bit bigger than the capsule
# so our capsule doesn't block the event sphere from entering triggers.
eventSphere = BulletSphereShape(self.__walkCapsuleR * 1.5)
self.eventSphereNP = self.movementParent.attachNewNode(
BulletGhostNode('eventSphere'))
self.eventSphereNP.node().addShape(
eventSphere,
TransformState.makePos(Point3(0, 0, self.__walkCapsuleR * 1.5)))
self.eventSphereNP.node().setKinematic(True)
self.eventSphereNP.setCollideMask(CIGlobals.EventGroup)
self.__world.attach(self.eventSphereNP.node())
# Init
self.__updateCapsule()
def setupEndPoint(self):
blocks_tex8 = loader.loadTexture("models/blocks_tex8.jpg")
self.endpoint= loader.loadModel("models/Sphere_HighPoly/Sphere_HighPoly")
self.endpoint.reparentTo(render)
self.endpoint.setScale(.8)
self.endpoint.setPos(0,-200,2)
self.endpoint.setTexture(blocks_tex8, 1)
radius = 2.65
self.shapeEnd = BulletSphereShape(radius)
self.nodeEnd = BulletGhostNode('EndPoint')
self.nodeEnd.addShape(self.shapeEnd)
self.npEnd = render.attachNewNode(self.nodeEnd)
self.npEnd.setPos(0, -200, 2)
self.npEnd.setCollideMask(BitMask32.allOn())
self.world.attachGhost(self.nodeEnd)
def add_ball(task):
bullet_body = BulletRigidBodyNode()
bullet_body.set_linear_sleep_threshold(0)
bullet_body.set_angular_sleep_threshold(0)
bullet_body.set_mass(1.0)
bullet_body.add_shape(BulletSphereShape(ball_size))
func = random.choice([
add_smiley,
add_panda,
add_mr_man_static,
add_mr_man_dynamic,
])
func(world, bullet_body)
return task.again
def do_explosion(self, node, radius, force):
center = node.get_pos(self.scene)
expl_body = BulletGhostNode("expl")
expl_shape = BulletSphereShape(radius)
expl_body.add_shape(expl_shape)
expl_bodyNP = self.scene.attach_new_node(expl_body)
expl_bodyNP.set_pos(center)
self.physics.attach_ghost(expl_body)
result = self.physics.contact_test(expl_body)
for contact in result.getContacts():
n0_name = contact.getNode0().get_name()
n1_name = contact.getNode1().get_name()
obj = None
try:
obj = self.objects[n1_name]
except:
break
if n0_name == "expl" and n1_name not in EXPLOSIONS_DONT_PUSH and not n1_name.startswith(
'Walker'):
# repeat contact test with just this pair of objects
# otherwise all manifold point values will be the same
# for all objects in original result
real_c = self.physics.contact_test_pair(expl_body, obj.solid)
mpoint = real_c.getContacts()[0].getManifoldPoint()
distance = mpoint.getDistance()
if distance < 0:
if hasattr(obj, 'decompose'):
obj.decompose()
else:
expl_vec = Vec3(mpoint.getPositionWorldOnA() -
mpoint.getPositionWorldOnB())
expl_vec.normalize()
magnitude = force * 1.0 / math.sqrt(
abs(radius - abs(distance)))
obj.solid.set_active(True)
obj.solid.apply_impulse(expl_vec * magnitude,
mpoint.getLocalPointB())
if hasattr(obj, 'damage'):
obj.damage(magnitude / 5)
self.physics.remove_ghost(expl_body)
expl_bodyNP.detach_node()
del (expl_body, expl_bodyNP)
def __init__(self,
parent_node_np: NodePath,
num_lasers: int = 16,
distance: float = 50,
enable_show=False):
# properties
assert num_lasers > 0
show = enable_show and (AssetLoader.loader is not None)
self.dim = num_lasers
self.num_lasers = num_lasers
self.perceive_distance = distance
self.height = self.DEFAULT_HEIGHT
self.radian_unit = 2 * np.pi / num_lasers
self.start_phase_offset = 0
self.node_path = parent_node_np.attachNewNode("Could_points")
self._lidar_range = np.arange(
0, self.num_lasers) * self.radian_unit + self.start_phase_offset
# detection result
self.cloud_points = np.ones((self.num_lasers, ), dtype=float)
self.detected_objects = []
# override these properties to decide which elements to detect and show
self.node_path.hide(CamMask.RgbCam | CamMask.Shadow | CamMask.Shadow
| CamMask.DepthCam)
self.mask = BitMask32.bit(CollisionGroup.BrokenLaneLine)
self.cloud_points_vis = [] if show else None
logging.debug("Load Vehicle Module: {}".format(
self.__class__.__name__))
if show:
for laser_debug in range(self.num_lasers):
ball = AssetLoader.loader.loadModel(
AssetLoader.file_path("models", "box.bam"))
ball.setScale(0.001)
ball.setColor(0., 0.5, 0.5, 1)
shape = BulletSphereShape(0.1)
ghost = BulletGhostNode('Lidar Point')
ghost.setIntoCollideMask(BitMask32.allOff())
ghost.addShape(shape)
laser_np = self.node_path.attachNewNode(ghost)
self.cloud_points_vis.append(laser_np)
ball.getChildren().reparentTo(laser_np)
def makeNodePath(self):
self.nodePath = NodePath('treasure')
if self.billboard: self.nodePath.setBillboardPointEye()
self.nodePath.setScale(0.9 * self.scale)
self.treasure = self.nodePath.attachNewNode('treasure')
if self.shadow:
if not self.dropShadow:
self.dropShadow = loader.loadModel(
'phase_3/models/props/drop_shadow.bam')
self.dropShadow.setColor(0, 0, 0, 0.5)
self.dropShadow.setPos(0, 0, 0.025)
self.dropShadow.setScale(0.4 * self.scale)
self.dropShadow.flattenLight()
self.dropShadow.reparentTo(self.nodePath)
sphere = BulletSphereShape(self.sphereRadius)
ghost = BulletGhostNode(self.uniqueName('treasureSphere'))
ghost.addShape(sphere)
ghost.setIntoCollideMask(CIGlobals.EventGroup)
self.collNodePath = self.nodePath.attachNewNode(ghost)
self.collNodePath.stash()
def announceGenerate(self):
DistributedEntity.announceGenerate(self)
self.addSound("pickup", "sound/items/jellybean_pickup.ogg")
import random
color = random.choice(self.Colors)
self.getModelNP().setColorScale(color, 1)
from direct.interval.IntervalGlobal import LerpHprInterval
self.rot = LerpHprInterval(self.getModelNP(), 1.0, (360, 0, 0), (0, 0, 0))
self.rot.loop()
from src.coginvasion.globals import CIGlobals
from panda3d.bullet import BulletSphereShape, BulletGhostNode
sph = BulletSphereShape(0.5)
body = BulletGhostNode(self.uniqueName('jellybean-trigger'))
body.addShape(sph)
body.setIntoCollideMask(CIGlobals.EventGroup)
self.setupPhysics(body, True)
self.acceptOnce('enter' + self.uniqueName('jellybean-trigger'), self.__enterJellybeanTrigger)
def do_shoot(self):
# Get from/to points from mouse click
pMouse = base.mouseWatcherNode.get_mouse()
pFrom = LPoint3()
pTo = LPoint3()
base.camLens.extrude(pMouse, pFrom, pTo)
pFrom = render.get_relative_point(base.cam, pFrom)
pTo = render.get_relative_point(base.cam, pTo)
# Calculate initial velocity
v = pTo - pFrom
v.normalize()
v *= 100.0
# Create bullet
shape = BulletSphereShape(0.3)
body = BulletRigidBodyNode('Bullet')
bodyNP = self.worldNP.attach_new_node(body)
bodyNP.node().add_shape(shape)
bodyNP.node().set_mass(1.0)
bodyNP.node().set_linear_velocity(v)
bodyNP.node().set_ccd_motion_threshold(1e-7)
bodyNP.node().set_ccd_swept_sphere_radius(0.50)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos(pFrom)
visNP = loader.load_model('models/ball.egg')
visNP.set_scale(0.8)
visNP.reparent_to(bodyNP)
self.world.attach(bodyNP.node())
# Remove the bullet again after 2 seconds
taskMgr.do_method_later(2,
self.do_remove,
'doRemove',
extraArgs=[bodyNP],
appendTask=True)
def doShoot(self):
# Get from/to points from mouse click
pMouse = base.mouseWatcherNode.getMouse()
pFrom = Point3()
pTo = Point3()
base.camLens.extrude(pMouse, pFrom, pTo)
pFrom = render.getRelativePoint(base.cam, pFrom)
pTo = render.getRelativePoint(base.cam, pTo)
# Calculate initial velocity
v = pTo - pFrom
v.normalize()
v *= 100.0
# Create bullet
shape = BulletSphereShape(0.3)
body = BulletRigidBodyNode('Bullet')
bodyNP = self.worldNP.attachNewNode(body)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setLinearVelocity(v)
bodyNP.node().setCcdMotionThreshold(1e-7)
bodyNP.node().setCcdSweptSphereRadius(0.50)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(pFrom)
visNP = loader.loadModel('models/ball.egg')
visNP.setScale(0.8)
visNP.reparentTo(bodyNP)
self.world.attachRigidBody(bodyNP.node())
# Remove the bullet again after 2 seconds
taskMgr.doMethodLater(2,
self.doRemove,
'doRemove',
extraArgs=[bodyNP],
appendTask=True)
def createBall(self):
self.actor.play("launch")
# Sphere
self.shape = BulletSphereShape(0.15)
self.node = BulletRigidBodyNode('Sphere')
self.node.setMass(1)
self.node.addShape(self.shape)
self.np = self.showbase.render.attachNewNode(self.node)
self.np.setPos(self.actor.getX(), self.actor.getY(),
self.actor.getZ() + 2.5)
# Smiley
self.model = self.showbase.loader.loadModel("./models/smiley")
self.model.setTexture(
self.showbase.loader.loadTexture(imagePath + 'metal1.jpg'), 1)
self.model.flattenLight()
self.model.setScale(0.15, 0.15, 0.15)
self.model.reparentTo(self.np)
# Set speed
h = self.actor.getH()
if (h == 0):
x = 0
y = 8
if (h == 90):
x = -7
y = 0
if (h == 180):
x = 0
y = -8
if (h == -90):
x = 8
y = 0
self.node.setLinearVelocity(Vec3(x, y,
6.2)) #self.actor.getX()/3, 11, 6.2)
self.showbase.world.attachRigidBody(self.node)
def __init__(self, parent_node_np: NodePath, laser_num: int = 240, distance: float = 50):
show = self.enable_show and (AssetLoader.loader is not None)
self.Lidar_point_cloud_obs_dim = laser_num
self.laser_num = laser_num
self.perceive_distance = distance
self.radian_unit = 2 * np.pi / laser_num
self.detection_results = []
self.node_path = parent_node_np.attachNewNode("cloudPoints")
self.node_path.hide(CamMask.RgbCam | CamMask.Shadow)
self.cloud_points = [] if show else None
logging.debug("Load Vehicle Module: {}".format(self.__class__.__name__))
if show:
for laser_debug in range(self.laser_num):
ball = AssetLoader.loader.loadModel(AssetLoader.file_path("models", "box.egg"))
ball.setScale(0.001)
ball.setColor(0., 0.5, 0.5, 1)
shape = BulletSphereShape(0.1)
ghost = BulletGhostNode('Lidar Point')
ghost.setIntoCollideMask(BitMask32.allOff())
ghost.addShape(shape)
laser_np = self.node_path.attachNewNode(ghost)
self.cloud_points.append(laser_np)
ball.getChildren().reparentTo(laser_np)
def load_scene(self):
# ground
sandbox = loader.loadModel('maps/practice/sandbox')
np = self.root_node.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(bullet_shape_from(sandbox))
np.setPos(0, 0, 0)
np.setCollideMask(BitMask32.allOn())
self.physics.world.attachRigidBody(np.node())
sandbox.reparentTo(np)
moon = DirectionalLight('moon')
moon.setColor(hex_to_rgb('ffffff'))
moon.setShadowCaster(True, 2048, 2048)
moon_np = self.root_node.attachNewNode(moon)
moon_np.setPos(-5, -5, 10)
moon_np.lookAt(0, 0, 0)
self.root_node.setLight(moon_np)
moon = DirectionalLight('sun')
moon.setColor(hex_to_rgb('666666'))
moon.setShadowCaster(True, 2048, 2048)
moon_np = self.root_node.attachNewNode(moon)
moon_np.setPos(5, 5, 10)
moon_np.lookAt(0, 0, 0)
self.root_node.setLight(moon_np)
# dynamic sphere
np = self.root_node.attachNewNode(BulletRigidBodyNode('Sphere'))
np.node().addShape(BulletSphereShape(1))
np.node().setMass(3.0)
np.setPos(5, 5, 2)
self.physics.world.attachRigidBody(np.node())
ball = loader.loadModel('geometry/ball')
ball.reparentTo(np)
self.char_marks.add('ball', ball, OnscreenText(text='sphere', scale=0.07), 1)
# dynamic box
np = self.root_node.attachNewNode(BulletRigidBodyNode('Box'))
np.node().addShape(BulletBoxShape(Vec3(0.5, 0.5, 0.5)))
np.node().setMass(1.0)
np.setPos(-1, -2, 2)
self.physics.world.attachRigidBody(np.node())
np.node().applyCentralImpulse((0, 2, 7))
box = loader.loadModel('geometry/box')
box.reparentTo(np)
self.char_marks.add('box', box, OnscreenText(text='cube', scale=0.06), 0.5)
# static
np = self.root_node.attachNewNode(BulletRigidBodyNode('Static'))
np.node().addShape(BulletBoxShape(Vec3(0.5, 0.5, 0.5)))
np.setPos(1, 2, 0.8)
self.physics.world.attachRigidBody(np.node())
box = loader.loadModel('geometry/box')
box.reparentTo(np)
def move_box(task):
angle_degrees = task.time * 12.0
if angle_degrees > 360:
angle_degrees -= 360
angle_radians = angle_degrees * (pi / 180)
np.setPos(5 * sin(angle_radians), -5 * cos(angle_radians), .5)
np.setHpr(angle_degrees, 4, 0)
return task.cont
base.taskMgr.add(move_box, 'move_box')
self.char_marks.add('static', box, OnscreenText(text='static', scale=0.08), 0.5)
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.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane (static)
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Box (dynamic)
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(0, 0, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
self.boxNP = np # For applying force & torque
#np.node().notifyCollisions(True)
#self.accept('bullet-contact-added', self.doAdded)
#self.accept('bullet-contact-destroyed', self.doRemoved)
# Sphere (dynamic)
shape = BulletSphereShape(0.6)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Sphere'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(-4, 0, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Cone (dynamic)
shape = BulletConeShape(0.6, 1.2, ZUp)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Cone'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(4, 0, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Capsule (dynamic)
shape = BulletCapsuleShape(0.5, 1.0, ZUp)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Capsule'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(0, 4, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Cyliner (dynamic)
shape = BulletCylinderShape(0.7, 1.5, ZUp)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Cylinder'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(4, 4, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Convex (dynamic)
shape = BulletConvexHullShape()
shape.addPoint(Point3(1, 1, 2))
shape.addPoint(Point3(0, 0, 0))
shape.addPoint(Point3(2, 0, 0))
shape.addPoint(Point3(0, 2, 0))
shape.addPoint(Point3(2, 2, 0))
# Another way to create the convex hull shape:
#shape = BulletConvexHullShape()
#shape.addArray([
# Point3(1, 1, 2),
# Point3(0, 0, 0),
# Point3(2, 0, 0),
# Point3(0, 2, 0),
# Point3(2, 2, 0),
#])
# Yet another way to create the convex hull shape:
#geom = loader.loadModel('models/box.egg')\
# .findAllMatches('**/+GeomNode')\
# .getPath(0)\
# .node()\
# .getGeom(0)
#shape = BulletConvexHullShape()
#shape.addGeom(geom)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Convex'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(-4, 4, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Mesh (static)
p0 = Point3(-10, -10, 0)
p1 = Point3(-10, 10, 0)
p2 = Point3(10, -10, 0)
p3 = Point3(10, 10, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
# Another way to create the triangle mesh shape:
#geom = loader.loadModel('models/box.egg')\
# .findAllMatches('**/+GeomNode')\
# .getPath(0)\
# .node()\
# .getGeom(0)
#mesh = BulletTriangleMesh()
#mesh.addGeom(geom)
#shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, 0.1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# MutiSphere
points = [Point3(-1, 0, 0), Point3(0, 0, 0), Point3(1, 0, 0)]
radii = [.4, .8, .6]
shape = BulletMultiSphereShape(points, radii)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('MultiSphere'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(8, 0, 4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
def setupPhysics(self):
# setting up physics world and parent node path
self.physics_world_ = BulletWorld()
self.world_node_ = self.render.attachNewNode('world')
self.cam.reparentTo(self.world_node_)
self.physics_world_.setGravity(Vec3(0, 0, -9.81))
self.debug_node_ = self.world_node_.attachNewNode(BulletDebugNode('Debug'))
self.debug_node_.node().showWireframe(True)
self.debug_node_.node().showConstraints(True)
self.debug_node_.node().showBoundingBoxes(True)
self.debug_node_.node().showNormals(True)
self.physics_world_.setDebugNode(self.debug_node_.node())
self.debug_node_.hide()
# setting up collision groups
self.physics_world_.setGroupCollisionFlag(GAME_OBJECT_BITMASK.getLowestOnBit(),GAME_OBJECT_BITMASK.getLowestOnBit(),True)
self.physics_world_.setGroupCollisionFlag(SECTOR_ENTERED_BITMASK.getLowestOnBit(),SECTOR_ENTERED_BITMASK.getLowestOnBit(),True)
self.physics_world_.setGroupCollisionFlag(GAME_OBJECT_BITMASK.getLowestOnBit(),SECTOR_ENTERED_BITMASK.getLowestOnBit(),False)
# setting up ground
self.ground_ = self.world_node_.attachNewNode(BulletRigidBodyNode('Ground'))
self.ground_.node().addShape(BulletPlaneShape(Vec3(0, 0, 1), 0))
self.ground_.setPos(0,0,0)
self.ground_.setCollideMask(GAME_OBJECT_BITMASK)
self.physics_world_.attachRigidBody(self.ground_.node())
# creating level objects
self.setupLevelSectors()
# creating controlled objects
diameter = 0.4
sphere_visual = loader.loadModel('models/ball.egg')
bounds = sphere_visual.getTightBounds() # start of model scaling
extents = Vec3(bounds[1] - bounds[0])
scale_factor = diameter/max([extents.getX(),extents.getY(),extents.getZ()])
sphere_visual.clearModelNodes()
sphere_visual.setScale(scale_factor,scale_factor,scale_factor) # end of model scaling
sphere_visual.setTexture(loader.loadTexture('models/bowl.jpg'),1)
sphere = NodePath(BulletRigidBodyNode('Sphere'))
sphere.node().addShape(BulletSphereShape(0.5*diameter))
sphere.node().setMass(1.0)
#sphere.node().setLinearFactor((1,0,1))
#sphere.node().setAngularFactor((0,1,0))
sphere.setCollideMask(GAME_OBJECT_BITMASK)
sphere_visual.instanceTo(sphere)
self.physics_world_.attachRigidBody(sphere.node())
self.controlled_objects_.append(sphere)
sphere.reparentTo(self.world_node_)
sphere.setPos(self.level_sectors_[0],Vec3(0,0,diameter+10))
sphere.setHpr(self.level_sectors_[0],Vec3(0,0,0))
# creating bullet ghost for detecting entry into other sectors
player_ghost = sphere.attachNewNode(BulletGhostNode('player-ghost-node'))
ghost_box_shape = BulletSphereShape(PLAYER_GHOST_DIAMETER/2)
ghost_box_shape.setMargin(SECTOR_COLLISION_MARGIN)
ghost_sphere_shape = BulletSphereShape(PLAYER_GHOST_DIAMETER*0.5)
ghost_sphere_shape.setMargin(SECTOR_COLLISION_MARGIN)
player_ghost.node().addShape(ghost_box_shape)
player_ghost.setPos(sphere,Vec3(0,0,0))
player_ghost.node().setIntoCollideMask(SECTOR_ENTERED_BITMASK)
self.physics_world_.attach(player_ghost.node())
# creating mobile box
size = Vec3(0.2,0.2,0.4)
mbox_visual = loader.loadModel('models/box.egg')
bounds = mbox_visual.getTightBounds()
extents = Vec3(bounds[1] - bounds[0])
scale_factor = 1/max([extents.getX(),extents.getY(),extents.getZ()])
mbox_visual.setScale(size.getX()*scale_factor,size.getY()*scale_factor,size.getZ()*scale_factor)
mbox = NodePath(BulletRigidBodyNode('MobileBox'))
mbox.node().addShape(BulletBoxShape(size/2))
mbox.node().setMass(1.0)
#mbox.node().setLinearFactor((1,0,1))
#mbox.node().setAngularFactor((0,1,0))
mbox.setCollideMask(GAME_OBJECT_BITMASK)
mbox_visual.instanceTo(mbox)
self.physics_world_.attachRigidBody(mbox.node())
self.controlled_objects_.append(mbox)
mbox.reparentTo(self.level_sectors_[0])
mbox.setPos(Vec3(1,0,size.getZ()+1))
# switching to sector 1
self.switchToSector(self.level_sectors_[0])
# Debug visualization
debug_node = BulletDebugNode('Debug')
debug_node.showWireframe(True)
debug_node.showConstraints(True)
debug_node.showBoundingBoxes(False)
debug_node.showNormals(False)
debug_np = s.render.attach_new_node(debug_node)
bullet_world.set_debug_node(debug_node)
debug_np.show()
# The object in question
mass = BulletRigidBodyNode()
mass.set_mass(1)
mass.setLinearSleepThreshold(0)
mass.setAngularSleepThreshold(0)
shape = BulletSphereShape(1)
mass.add_shape(shape)
mass_node = s.render.attach_new_node(mass)
mass_node.set_hpr(1, 1, 1)
bullet_world.attach_rigid_body(mass)
model = s.loader.load_model('models/smiley')
model.reparent_to(mass_node)
model_axis = loader.load_model('models/zup-axis')
model_axis.reparent_to(model)
model_axis.set_pos(0, 0, 0)
model_axis.set_scale(0.2)
# The orientation to reach
target_node = s.loader.load_model('models/smiley')
target_node.reparent_to(s.render)
target_node.set_hpr(0, 0, 0)
def __addSphere(self, body, model, pos=(0,0,0), hpr=(0,0,0), scale=(1,1,1) ):
size = self.getSize(model)
shape = BulletSphereShape( max(size)/2 )
body.addShape(shape, TransformState.makePosHprScale(pos,hpr,scale) )
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 __init__(self,
manager,
position: Vec3,
uri="-1",
printDebugInfo=False):
self.base = manager.base
self.manager = manager
# The position of the real drone this virtual drone is connected to.
# If a connection is active, this value is updated each frame.
self.realDronePosition = Vec3(0, 0, 0)
self.canConnect = False # true if the virtual drone has a uri to connect to a real drone
self.isConnected = False # true if the connection to a real drone is currently active
self.uri = uri
if self.uri != "-1":
self.canConnect = True
self.id = int(uri[-1])
self.randVec = Vec3(random.uniform(-1, 1), random.uniform(-1, 1),
random.uniform(-1, 1))
# add the rigidbody to the drone, which has a mass and linear damping
self.rigidBody = BulletRigidBodyNode(
"RigidSphere") # derived from PandaNode
self.rigidBody.setMass(self.RIGIDBODYMASS) # body is now dynamic
self.rigidBody.addShape(BulletSphereShape(self.RIGIDBODYRADIUS))
self.rigidBody.setLinearSleepThreshold(0)
self.rigidBody.setFriction(0)
self.rigidBody.setLinearDamping(self.LINEARDAMPING)
self.rigidBodyNP = self.base.render.attachNewNode(self.rigidBody)
self.rigidBodyNP.setPos(position)
# self.rigidBodyNP.setCollideMask(BitMask32.bit(1))
self.base.world.attach(self.rigidBody)
# add a 3d model to the drone to be able to see it in the 3d scene
model = self.base.loader.loadModel(self.base.modelDir +
"/drones/drone1.egg")
model.setScale(0.2)
model.reparentTo(self.rigidBodyNP)
self.target = position # the long term target that the virtual drones tries to reach
self.setpoint = position # the immediate target (setpoint) that the real drone tries to reach, usually updated each frame
self.waitingPosition = Vec3(position[0], position[1], 0.7)
self.lastSentPosition = self.waitingPosition # the position that this drone last sent around
self.printDebugInfo = printDebugInfo
if self.printDebugInfo: # put a second drone model on top of drone that outputs debug stuff
model = self.base.loader.loadModel(self.base.modelDir +
"/drones/drone1.egg")
model.setScale(0.4)
model.setPos(0, 0, .2)
model.reparentTo(self.rigidBodyNP)
# initialize line renderers
self.targetLineNP = self.base.render.attachNewNode(LineSegs().create())
self.velocityLineNP = self.base.render.attachNewNode(
LineSegs().create())
self.forceLineNP = self.base.render.attachNewNode(LineSegs().create())
self.actualDroneLineNP = self.base.render.attachNewNode(
LineSegs().create())
self.setpointNP = self.base.render.attachNewNode(LineSegs().create())
def init_player(self):
# Stop the default mouse behaviour
base.disableMouse()
# Character has a capsule shape
shape = BulletCapsuleShape(0.2, 1, ZUp)
self.player = BulletRigidBodyNode('Player')
self.player.setMass(80.0)
self.player.addShape(shape)
self.playernp = render.attachNewNode(self.player)
self.playernp.setPos(0, 0, 1)
self.world.attachRigidBody(self.player)
self.player.setLinearSleepThreshold(0.0)
self.player.setAngularFactor(0.0)
self.player_speed = 3
self.player_is_grabbing = False
# self.head = BulletRigidBodyNode('Player Head')
# self.head.addShape(BulletSphereShape(0.2))
# self.head.setMass(10)
# self.head.setInertia(Vec3(1,1,1))
# self.head.setAngularFactor(1.0)
# self.head.setLinearFactor(0.0)
# self.headnp = self.playernp.attachNewNode(self.head)
# self.headnp.setPos(0,0,0)
# self.headnp.setCollideMask(BitMask32.allOff())
# self.world.attachRigidBody(self.head)
# Attach the camera to the player's head
base.camera.reparentTo(self.playernp)
# base.camera.setPos(0,0,.5)
base.camLens.setFov(80)
base.camLens.setNear(0.01)
# Make the torch and attach it to our character
torch = Spotlight('torch')
torch.setColor(VBase4(1, 1, 1, 1))
lens = PerspectiveLens()
lens.setFov(80)
lens.setNearFar(20, 100)
torch.setLens(lens)
self.torchnp = base.camera.attachNewNode(torch)
self.torchnp.setPos(0, 0, 0)
# Allow the world to be illuminated by our torch
render.setLight(self.torchnp)
self.cs = None
# Player's "hand" in the world
hand_model = loader.loadModel('../data/mod/hand.egg')
hand_model.setScale(1)
hand_model.setBillboardPointEye()
self.hand = BulletRigidBodyNode('Hand')
self.hand.addShape(BulletSphereShape(0.1))
self.hand.setLinearSleepThreshold(0.0)
self.hand.setLinearDamping(0.9999999)
self.hand.setAngularFactor(0.0)
self.hand.setMass(1.0)
self.world.attachRigidBody(self.hand)
self.handnp = render.attachNewNode(self.hand)
self.handnp.setCollideMask(BitMask32.allOff())
# hand_model.reparentTo(self.handnp)
# Create a text node to display object identification information and attach it to the player's "hand"
self.hand_text = TextNode('Hand Text')
self.hand_text.setText("Ch-ch-chek yoself befo yo rek yoself, bro.")
self.hand_text.setAlign(TextNode.ACenter)
self.hand_text.setTextColor(1, 1, 1, 1)
self.hand_text.setShadow(0.05, 0.05)
self.hand_text.setShadowColor(0, 0, 0, 1)
self.hand_text_np = render.attachNewNode(self.hand_text)
self.hand_text_np.setScale(0.03)
self.hand_text_np.setBillboardPointEye()
self.hand_text_np.hide()
# Disable the depth testing for the hand and the text - we always want these things on top, with no clipping
self.handnp.setDepthTest(False)
self.hand_text_np.setDepthTest(False)
# Add the player update task
taskMgr.add(self.update, 'update_player_task')
def spawnShip(self,
shipName,
shipClass,
spawnPoint=LPoint3d(0, 0, 0),
playerShip=False,
entityid=-1,
turrets=None):
if shipName == '' or shipClass == '':
return
if entityid == -1:
ship = sandbox.createEntity()
else:
ship = sandbox.addEntity(entityid)
if playerShip:
component = shipComponents.PlayerComponent()
ship.addComponent(component)
else:
component = shipComponents.AIPilotComponent()
ship.addComponent(component)
shape = BulletSphereShape(1)
velocity = Vec3(0, 0, 0)
truex = spawnPoint.getX()
truey = spawnPoint.getY()
component = physics.addNewBody(shipName, shape,
shipClasses[shipClass]['mass'], truex,
truey, velocity)
ship.addComponent(component)
component = shipComponents.ThrustComponent()
for engine in shipClasses[shipClass]['engines']:
component.forward += engine['thrust'] / CONVERT
component.heading = shipClasses[shipClass]['torque'] / CONVERT
ship.addComponent(component)
component = shipComponents.InfoComponent()
component.shipClass = shipClass
component.name = shipName
ship.addComponent(component)
component = graphicsComponents.RenderComponent()
#component.mesh = sandbox.base.loader.loadModel('ships/' + shipClasses[shipClass]['path'])
component.mesh = Actor('ships/' + shipClasses[shipClass]['path'])
component.mesh.reparentTo(sandbox.ships)
component.mesh.getPart('modelRoot').setPythonTag('entityID', ship.id)
component.mesh.setScale(1 / CONVERT)
if universals.runClient and not playerShip:
sandbox.send('makePickable', [component.mesh])
ship.addComponent(component)
# Load turret info here. Also check if gun is actually on ship!
def containsAny(string, check):
return 1 in [c in string for c in check]
turretsComponent = shipComponents.TurretsComponent()
if not turrets:
for weapon in shipClasses[shipClass]['weapons']:
turretEntity = sandbox.createEntity()
turret = shipComponents.TurretComponent()
if not containsAny(
shipClasses[shipClass]['weapons'][weapon]['decay'],
'abcdefghijklmnopqrstuvwyz'):
turret.decay = lambda x: eval(shipClasses[shipClass][
'weapons'][weapon]['decay'])
turret.name = weapon
turret.damage = shipClasses[shipClass]['weapons'][weapon][
'damage']
if 'traverser' in shipClasses[shipClass]['weapons'][weapon][
'joints']:
turret.traverser = shipClasses[shipClass]['weapons'][
weapon]['joints']['traverser']['axes']
if 'elevator' in shipClasses[shipClass]['weapons'][weapon][
'joints']:
turret.elevator = shipClasses[shipClass]['weapons'][
weapon]['joints']['elevator']['axes']
turret.parentID = ship.id
turretEntity.addComponent(turret)
turretsComponent.turretIDs.append(turretEntity.id)
if turrets:
for t in turrets:
turretEntity = sandbox.addEntity(t.turretid)
turret = shipComponents.TurretComponent()
weapon = t.turretName
if not containsAny(
shipClasses[shipClass]['weapons'][weapon]['decay'],
'abcdefghijklmnopqrstuvwyz'):
turret.decay = lambda x: eval(shipClasses[shipClass][
'weapons'][weapon]['decay'])
turret.name = weapon
turret.damage = shipClasses[shipClass]['weapons'][weapon][
'damage']
if 'traverser' in shipClasses[shipClass]['weapons'][weapon][
'joints']:
turret.traverser = shipClasses[shipClass]['weapons'][
weapon]['joints']['traverser']['axes']
if 'elevator' in shipClasses[shipClass]['weapons'][weapon][
'joints']:
turret.elevator = shipClasses[shipClass]['weapons'][
weapon]['joints']['elevator']['axes']
turret.parentID = ship.id
turretEntity.addComponent(turret)
turretsComponent.turretIDs.append(turretEntity.id)
ship.addComponent(turretsComponent)
#sandbox.send("shipGenerated", [ship, playerShip])
log.info("Ship spawned: " + shipName + " " + shipClass)
physics = BulletWorld()
physics.setGravity(Vec3(0, 0, 0))
def step_physics(task):
dt = globalClock.getDt()
physics.doPhysics(dt)
return task.cont
s.taskMgr.add(step_physics, 'physics simulation')
# A physical object in the simulation
node = BulletRigidBodyNode('Box')
node.setMass(1.0)
node.addShape(BulletSphereShape(1))
physics.attachRigidBody(node)
# Attaching the physical object in the scene graph and adding
# a visible model to it
np = s.render.attachNewNode(node)
np.setPos(0, 0, 0)
m = loader.loadModel("models/smiley")
m.reparentTo(np)
# Let's actually see what's happening
base.cam.setPos(0, -10, 0)
base.cam.lookAt(0, 0, 0)
# Give the object a nudge and run the program
def create_solid(self):
node = BulletGhostNode(self.name)
node_shape = BulletSphereShape(.05)
node.add_shape(node_shape)
node.set_kinematic(True)
return node
