def __init__(self):
# a dynamic world, moving objects or objects which react to other objects should be placed here
self.dynamic_world = BulletWorld()
CollisionGroup.set_collision_rule(self.dynamic_world)
self.dynamic_world.setGravity(Vec3(0, 0, -9.81)) # set gravity
# a static world which used to query position/overlap .etc. Don't implement doPhysics() in this world
self.static_world = BulletWorld()
def __init__(self, objpath, handpkg, gdb):
self.objtrimesh = trimesh.load_mesh(objpath)
self.objcom = self.objtrimesh.center_mass
self.objtrimeshconv = self.objtrimesh.convex_hull
# oc means object convex
self.ocfacets, self.ocfacetnormals = self.objtrimeshconv.facets_over(
.9999)
# for dbaccess
self.dbobjname = os.path.splitext(os.path.basename(objpath))[0]
# use two bulletworld, one for the ray, the other for the tabletop
self.bulletworldray = BulletWorld()
self.bulletworldhp = BulletWorld()
# plane to remove hand
self.planebullnode = cd.genCollisionPlane(offset=0)
self.bulletworldhp.attachRigidBody(self.planebullnode)
self.handpkg = handpkg
self.handname = handpkg.getHandName()
self.hand = handpkg.newHandNM(hndcolor=[0, 1, 0, .1])
# self.rtq85hnd = rtq85nm.Rtq85NM(hndcolor=[1, 0, 0, .1])
# for dbsave
# each tpsmat4 corresponds to a set of tpsgripcontacts/tpsgripnormals/tpsgripjawwidth list
self.tpsmat4s = None
self.tpsgripcontacts = None
self.tpsgripnormals = None
self.tpsgripjawwidth = None
# for ocFacetShow
self.counter = 0
self.gdb = gdb
self.loadFreeAirGrip()
def __init__(self, objpath,objpathWorkcell, handpkg, dbidstablepos,readser):
self.dbobjname = os.path.splitext(os.path.basename(objpath))[0]
self.objtrimesh=None
self.dbidstablepos = dbidstablepos
[objrotmat, objposmat]=self.loadDropStablePos()
self.loadObjModel(objpath,objrotmat,objposmat)
self.objcom = self.objtrimesh.center_mass
self.objtrimeshconv=self.objtrimesh.convex_hull
# oc means object convex
self.ocfacets, self.ocfacetnormals = self.objtrimeshconv.facets_over(.9999)
# for dbaccess
# use two bulletworld, one for the ray, the other for the tabletop
self.bulletworldray = BulletWorld()
self.bulletworldhp = BulletWorld()
# plane to remove hand
self.planebullnode = cd.genCollisionPlane(offset=-55)
self.bulletworldhp.attachRigidBody(self.planebullnode)
#workcell to remove hand
self.workcellmesh = trimesh.load_mesh(objpathWorkcell)
self.objgeom = pandageom.packpandageom(self.workcellmesh.vertices, self.workcellmesh.face_normals,
self.workcellmesh.faces)
self.objmeshbullnode = cd.genCollisionMeshGeom(self.objgeom)
self.bulletworldhp.attachRigidBody(self.objmeshbullnode)
node = GeomNode('obj')
node.addGeom(self.objgeom)
self.worcell = NodePath('obj')
self.worcell.attachNewNode(node)
self.worcell.reparentTo(base.render)
self.handpkg = handpkg
self.handname = handpkg.getHandName()
self.hand = handpkg.newHandNM(hndcolor=[0,1,0,.1])
# self.rtq85hnd = rtq85nm.Rtq85NM(hndcolor=[1, 0, 0, .1])
# for dbsave
# each tpsmat4 corresponds to a set of tpsgripcontacts/tpsgripnormals/tpsgripjawwidth list
self.tpsmat4s = None
self.tpsgripcontacts = None
self.tpsgripnormals = None
self.tpsgripjawwidth = None
# for ocFacetShow
self.counter = 0
self.gdb = gdb
#get dropfreegrip
self.loadDropfreeGrip()
def setup(self):
self.worldNP = render.attach_new_node('World')
# World
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.debugNP.show()
self.debugNP.node().show_wireframe(True)
self.debugNP.node().show_constraints(True)
self.debugNP.node().show_bounding_boxes(False)
self.debugNP.node().show_normals(False)
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Box A
shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5))
bodyA = BulletRigidBodyNode('Box A')
bodyNP = self.worldNP.attach_new_node(bodyA)
bodyNP.node().add_shape(shape)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos(-3, 0, 4)
visNP = loader.load_model('models/box.egg')
visNP.clear_model_nodes()
visNP.reparent_to(bodyNP)
self.world.attach(bodyA)
# Box B
shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5))
bodyB = BulletRigidBodyNode('Box B')
bodyNP = self.worldNP.attach_new_node(bodyB)
bodyNP.node().add_shape(shape)
bodyNP.node().set_mass(1.0)
bodyNP.node().set_deactivation_enabled(False)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos(0, 0, 0)
visNP = loader.load_model('models/box.egg')
visNP.clear_model_nodes()
visNP.reparent_to(bodyNP)
self.world.attach(bodyB)
# Slider
frameA = TransformState.make_pos_hpr(LPoint3(2, 0, 0),
LVector3(0, 0, 45))
frameB = TransformState.make_pos_hpr(LPoint3(0, -3, 0),
LVector3(0, 0, 0))
slider = BulletSliderConstraint(bodyA, bodyB, frameA, frameB, True)
slider.set_debug_draw_size(2.0)
slider.set_lower_linear_limit(0)
slider.set_upper_linear_limit(6)
slider.set_lower_angular_limit(-60)
slider.set_upper_angular_limit(60)
self.world.attach(slider)
def test_sphere_into_heightfield():
root = NodePath("root")
world = BulletWorld()
# Create PNMImage to construct Heightfield with
img = PNMImage(10, 10, 1)
img.fill_val(255)
# Make our nodes
heightfield = make_node("Heightfield", BulletHeightfieldShape, img, 1, ZUp)
sphere = make_node("Sphere", BulletSphereShape, 1)
# Attach to world
np1 = root.attach_new_node(sphere)
np1.set_pos(0, 0, 1)
world.attach(sphere)
np2 = root.attach_new_node(heightfield)
np2.set_pos(0, 0, 0)
world.attach(heightfield)
assert world.get_num_rigid_bodies() == 2
test = world.contact_test_pair(sphere, heightfield)
assert test.get_num_contacts() > 0
assert test.get_contact(0).get_node0() == sphere
assert test.get_contact(0).get_node1() == heightfield
# Increment sphere's Z coordinate, no longer colliding
np1.set_pos(0, 0, 2)
test = world.contact_test_pair(sphere, heightfield)
assert test.get_num_contacts() == 0
def __init__(self,
camera,
debug=False,
audio3d=None,
client=None,
server=None):
self.objects = {}
self.incarnators = []
self.collidables = set()
self.updatables = set()
self.updatables_to_add = set()
self.garbage = set()
self.render = NodePath('world')
self.camera = camera
self.audio3d = audio3d
self.ambient = self._make_ambient()
self.celestials = CompositeObject()
self.sky = self.attach(Sky())
# Set up the physics world. TODO: let maps set gravity.
self.gravity = DEFAULT_GRAVITY
self.physics = BulletWorld()
self.physics.set_gravity(self.gravity)
self.debug = debug
self.client = client
self.server = server
if debug:
debug_node = BulletDebugNode('Debug')
debug_node.show_wireframe(True)
debug_node.show_constraints(True)
debug_node.show_bounding_boxes(False)
debug_node.show_normals(False)
np = self.render.attach_new_node(debug_node)
np.show()
self.physics.set_debug_node(debug_node)
def SetupBulletTerrain(self):
self.worldNP = self.render.attachNewNode('World')
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
img = PNMImage(Filename(self.PngDEM))
if self.MeterScale < 1.1:
shape = BulletHeightfieldShape(img, self.HeightRange, ZUp)
else:
shape = BulletHeightfieldShape(img, self.HeightRange, ZUp)
shape.setUseDiamondSubdivision(True)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Heightfield'))
np.node().addShape(shape)
offset = self.MeterScale * self.PixelNr / 2.0
np.setPos(+offset, +offset,
+(self.HeightRange / 2.0) + self.OffsetHeight)
np.setSx(self.MeterScale)
np.setSy(self.MeterScale)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
# collision
visNP = loader.loadModel('../models/coryf2.egg')
visNP.clearModelNodes()
visNP.reparentTo(render)
pos = (7., 60.0, 3.8)
visNP.setPos(pos[0], pos[1], pos[2])
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
bodyNP.setPos(pos[0], pos[1], pos[2])
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
bodyNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(bodyNP.node())
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
shape = BulletPlaneShape(Vec3(0, 0, 1), -1)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.bit(0))
self.world.attachRigidBody(np.node())
# Boxes
self.boxes = [None,]*6
for i in range(6):
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box-1'))
np.node().setMass(1.0)
np.node().addShape(shape)
self.world.attachRigidBody(np.node())
self.boxes[i] = np
visualNP = loader.loadModel('models/box.egg')
visualNP.reparentTo(np)
self.boxes[0].setPos(-3, -3, 0)
self.boxes[1].setPos( 0, -3, 0)
self.boxes[2].setPos( 3, -3, 0)
self.boxes[3].setPos(-3, 3, 0)
self.boxes[4].setPos( 0, 3, 0)
self.boxes[5].setPos( 3, 3, 0)
self.boxes[0].setCollideMask(BitMask32.bit(1))
self.boxes[1].setCollideMask(BitMask32.bit(2))
self.boxes[2].setCollideMask(BitMask32.bit(3))
self.boxes[3].setCollideMask(BitMask32.bit(1))
self.boxes[4].setCollideMask(BitMask32.bit(2))
self.boxes[5].setCollideMask(BitMask32.bit(3))
self.boxNP = self.boxes[0]
self.world.setGroupCollisionFlag(0, 1, True)
self.world.setGroupCollisionFlag(0, 2, True)
self.world.setGroupCollisionFlag(0, 3, True)
self.world.setGroupCollisionFlag(1, 1, False)
self.world.setGroupCollisionFlag(1, 2, True)
def generate(self):
DistributedObjectAI.generate(self)
self.air.battleZones[self.zoneId] = self
self.bspLoader = BSPLoader()
self.bspLoader.setAi(True)
self.bspLoader.setMaterialsFile("phase_14/etc/materials.txt")
#self.bspLoader.setTextureContentsFile("phase_14/etc/texturecontents.txt")
self.bspLoader.setServerEntityDispatcher(self)
AvatarWatcher.zoneId = self.zoneId
# Link up networked entities
from src.coginvasion.szboss import (DistributedTriggerAI, DistributedFuncDoorAI,
DistributedButtonAI, DistributedFuncRotatingAI, LogicCounter,
HintsAI, InfoTimer, InfoBgmAI)
from src.coginvasion.szboss.InfoPlayerStart import InfoPlayerStart
self.bspLoader.linkServerEntityToClass("trigger_once", DistributedTriggerAI.DistributedTriggerOnceAI)
self.bspLoader.linkServerEntityToClass("trigger_multiple", DistributedTriggerAI.DistributedTriggerMultipleAI)
self.bspLoader.linkServerEntityToClass("func_door", DistributedFuncDoorAI.DistributedFuncDoorAI)
self.bspLoader.linkServerEntityToClass("func_button", DistributedButtonAI.DistributedButtonAI)
self.bspLoader.linkServerEntityToClass("func_rotating", DistributedFuncRotatingAI.DistributedFuncRotatingAI)
self.bspLoader.linkServerEntityToClass("logic_counter", LogicCounter.LogicCounter)
self.bspLoader.linkServerEntityToClass("info_hint_cover", HintsAI.InfoHintCover)
self.bspLoader.linkServerEntityToClass("info_timer", InfoTimer.InfoTimer)
self.bspLoader.linkServerEntityToClass("info_player_start", InfoPlayerStart)
self.bspLoader.linkServerEntityToClass("info_bgm", InfoBgmAI.InfoBgmAI)
self.physicsWorld = BulletWorld()
self.physicsWorld.setGravity(Vec3(0, 0, -32.1740))
self.bspLoader.setPhysicsWorld(self.physicsWorld)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Plane
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())
# initial vehicles
self.vehicles = []
#self.vehicles.append(basicVehicle(self,[13,2,0.5],18)) # [10,0.1,0.5] is vehicle start position
self.vehicles.append(
basicVehicle(self, [10, 0.1, 0.5],
18)) # [10,0.1,0.5] is vehicle start position
sensor = basicSensor(self) # initial sensor
sensor.setVehicle(self.vehicles[0])
self.vehicles[0].setSensor(sensor)
self.vehicles[0].sensor.align()
agent = basicAgent(50, 10.8, 15) # initial agent
agent.setVehicle(self.vehicles[0])
self.vehicles[0].setAgent(agent)
def __init__(self):
ShowBase.__init__(self)
# Bullet Physics Setup
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
ground_np = self.render.attachNewNode(node)
ground_np.setPos(0, 0, -60)
# noinspection PyArgumentList
self.world.attach(node)
# Mouse and Camera Setup
self.disable_mouse()
self.camera.set_pos(20, -150, 5)
self.follow_np = self.render.attach_new_node('Follow')
# Instructions
self.add_instruction('(p) to generate a Plane', 0.06)
self.add_instruction('(b) to generate a Cuboid/Box', 0.12)
self.add_instruction('(s) to generate a Spheroid', 0.18)
self.add_instruction('(c) to generate a Cylinder', 0.24)
self.add_instruction('(f1) to toggle wireframe', 0.30)
self.add_instruction('(esc) to exit', 0.36)
# Input
self.accept('escape', sys.exit, [0])
self.accept('p', self.generate_plane)
self.accept('b', self.generate_cuboid)
self.accept('s', self.generate_spheroid)
self.accept('c', self.generate_cylinder)
self.accept('f1', self.toggle_wireframe)
self.task_mgr.add(self.update, 'update')
def __init__(self, scene, suncgDatasetRoot=None, debug=False, objectMode='box',
agentRadius=0.1, agentHeight=1.6, agentMass=60.0, agentMode='capsule'):
super(Panda3dBulletPhysics, self).__init__()
self.__dict__.update(scene=scene, suncgDatasetRoot=suncgDatasetRoot, debug=debug, objectMode=objectMode,
agentRadius=agentRadius, agentHeight=agentHeight, agentMass=agentMass, agentMode=agentMode)
if suncgDatasetRoot is not None:
self.modelCatMapping = ModelCategoryMapping(os.path.join(
suncgDatasetRoot, "metadata", "ModelCategoryMapping.csv"))
else:
self.modelCatMapping = None
self.bulletWorld = BulletWorld()
self.bulletWorld.setGravity(Vec3(0, 0, -9.81))
if debug:
debugNode = BulletDebugNode('physic-debug')
debugNode.showWireframe(True)
debugNode.showConstraints(False)
debugNode.showBoundingBoxes(True)
debugNode.showNormals(False)
self.debugNodePath = self.scene.scene.attachNewNode(debugNode)
self.debugNodePath.show()
self.bulletWorld.setDebugNode(debugNode)
else:
self.debugNodePath = None
self._initLayoutModels()
self._initAgents()
self._initObjects()
self.scene.worlds['physics'] = self
def __init__(self, root_nodepath, world):
self.world = BulletWorld()
self.world.setGravity((0, 0, -9.81))
self._timestep = 1 / world.tick_rate
# # Seems that this does not function
# on_contact_added = PythonCallbackObject(self._on_contact_added)
# self.world.set_contact_added_callback(on_contact_added)
# on_filter = PythonCallbackObject(self._filter_collision)
# self.world.set_filter_callback(on_filter)
self.listener = DirectObject()
self.listener.accept('bullet-contact-added', self._on_contact_added)
self.listener.accept('bullet-contact-destroyed', self._on_contact_removed)
self.tracked_contacts = defaultdict(int)
self.existing_collisions = set()
# Debugging info
debug_node = BulletDebugNode('Debug')
debug_node.showWireframe(True)
debug_node.showConstraints(True)
debug_node.showBoundingBoxes(False)
debug_node.showNormals(False)
# Add to world
self.debug_nodepath = root_nodepath.attachNewNode(debug_node)
self.world.set_debug_node(debug_node)
self.debug_nodepath.show()
def __init__(self):
ShowBase.__init__(self)
loadPrcFileData('', 'bullet-enable-contact-events true')
world = BulletWorld()
self.world = world
world.setGravity(Vec3(0, 0, -9.81))
base.cam.setPos(0,-50,1)
# Cameras
base.camNode.setActive(0)
self.cam1 = base.makeCamera(base.win, displayRegion=(0,.5,0.5,1))
self.cam2 = base.makeCamera(base.win, displayRegion=(.5,1,0.5,1))
self.cam1.setPos(-10,-50,1)
self.cam2.setPos(10,-50,1)
# base.camList[0].setPos(0,-100, 1)
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(0, 0, 0)
self.world.attachRigidBody(node)
scene = loader.loadModel('Ground2/Ground2')
scene.reparentTo(render)
self.newGame()
taskMgr.add(self.update, 'update')
def __init__(self,
camera,
debug=False,
audio3d=None,
client=None,
server=None):
self.objects = {}
self.incarnators = []
self.collidables = set()
self.updatables = set()
self.updatables_to_add = set()
self.garbage = set()
self.scene = NodePath('world')
# Set up the physics world. TODO: let maps set gravity.
self.gravity = DEFAULT_GRAVITY
self.physics = BulletWorld()
self.physics.set_gravity(self.gravity)
self.debug = debug
if debug:
debug_node = BulletDebugNode('Debug')
debug_node.show_wireframe(True)
debug_node.show_constraints(True)
debug_node.show_bounding_boxes(False)
debug_node.show_normals(False)
np = self.scene.attach_new_node(debug_node)
np.show()
self.physics.set_debug_node(debug_node)
def setup(self):
# World
self.worldNP = render.attachNewNode("World")
self.GUI = self.worldNP.attachNewNode("GUI")
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.setDefaults()
self.addGUI()
self.createCurve()
self.world = BulletWorld()
# self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setGravity(Vec3(0, 0, 0))
self.world.setDebugNode(self.debugNP.node())
# Plane (static)
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
nodePath = self.worldNP.attachNewNode(BulletRigidBodyNode("Ground"))
nodePath.node().addShape(shape)
nodePath.setPos(0, 0, 0)
nodePath.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(nodePath.node())
self.loadModel()
def bulletRayHit(pfrom, pto, geom):
"""
NOTE: this function is quite slow
find the nearest collision point between vec(pto-pfrom) and the mesh of nodepath
:param pfrom: starting point of the ray, Point3
:param pto: ending point of the ray, Point3
:param geom: meshmodel, a panda3d datatype
:return: None or Point3
author: weiwei
date: 20161201
"""
bulletworld = BulletWorld()
facetmesh = BulletTriangleMesh()
facetmesh.addGeom(geom)
facetmeshnode = BulletRigidBodyNode('facet')
bullettmshape = BulletTriangleMeshShape(facetmesh, dynamic=True)
bullettmshape.setMargin(1e-6)
facetmeshnode.addShape(bullettmshape)
bulletworld.attach(facetmeshnode)
result = bulletworld.rayTestClosest(pfrom, pto)
if result.hasHit():
return result.getHitPos()
else:
return None
def __init__(self):
base.accept('f1', self.toggleDebug)
self.debugNode = BulletDebugNode('Debug')
self.debugNode.showWireframe(True)
self.debugNode.showConstraints(True)
self.debugNode.showBoundingBoxes(False)
self.debugNode.showNormals(False)
self.debugNP = base.render.attachNewNode(self.debugNode)
# self.debugNP.show()
# World
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Terrain
visNP = base.loader.loadModel('models/terrain.egg')
mesh = BulletTriangleMesh()
for x in visNP.findAllMatches('**/+GeomNode'):
geom = x.node().getGeom(0)
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=True)
body = BulletRigidBodyNode('Bowl')
bodyNP = base.render.attachNewNode(body)
bodyNP.node().addShape(shape)
bodyNP.setPos(0, 0, 1)
bodyNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(bodyNP.node())
visNP.reparentTo(bodyNP)
shapex = BulletBoxShape(5)
bodyx = BulletRigidBodyNode('Egg')
bodyNPx = base.render.attachNewNode(bodyx)
bodyNPx.setPos(0, 0, 3)
bodyNPx.node().setMass(100.0)
bodyNPx.node().addShape(shapex)
self.world.attachRigidBody(bodyNPx.node())
# visNP.reparentTo(bodyNPx)
# Player
self.players = []
self.myId = -1
self.speed = Vec3(0, 0, 0)
self.walk_speed = 2.5
# Camera
base.disableMouse()
props = WindowProperties()
props.setCursorHidden(True)
base.win.requestProperties(props)
# SkySphere
Sky()
self.initCam()
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
#img = PNMImage(Filename('models/elevation2.png'))
#shape = BulletHeightfieldShape(img, 1.0, ZUp)
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
shape = BulletBoxShape(Vec3(1.0, 3.0, 0.3))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
np.node().setMass(10.0)
np.node().addShape(shape)
np.setPos(3, 0, 4)
np.setH(20.0)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Character
self.crouching = False
h = 1.75
w = 0.4
shape = BulletCapsuleShape(w, h - 2 * w, ZUp)
self.character = BulletCharacterControllerNode(shape, 0.4, 'Player')
# self.character.setMass(1.0)
self.characterNP = self.worldNP.attachNewNode(self.character)
self.characterNP.setPos(-2, 0, 14)
self.characterNP.setH(45)
self.characterNP.setCollideMask(BitMask32.allOn())
self.world.attachCharacter(self.character)
self.actorNP = Actor('models/ralph/ralph.egg', {
'run' : 'models/ralph/ralph-run.egg',
'walk' : 'models/ralph/ralph-walk.egg',
'jump' : 'models/ralph/ralph-jump.egg'})
self.actorNP.reparentTo(self.characterNP)
self.actorNP.setScale(0.3048) # 1ft = 0.3048m
self.actorNP.setH(180)
self.actorNP.setPos(0, 0, -1)
def __init__(self, objpath, nxtrobot, handpkg, gdb):
self.graphtpp0 = GraphTpp(objpath, nxtrobot, handpkg, gdb, 'rgt')
self.armname = armname
self.gdb = gdb
self.robot = nxtrobot
self.hand = handpkg.newHandNM(hndcolor=[1, 0, 0, .1])
# plane to remove hand
self.bulletworld = BulletWorld()
self.planebullnode = cd.genCollisionPlane()
self.bulletworld.attachRigidBody(self.planebullnode)
# add tabletop plane model to bulletworld
this_dir, this_filename = os.path.split(__file__)
ttpath = Filename.fromOsSpecific(
os.path.join(
os.path.split(this_dir)[0] + os.sep, "grip", "supports",
"tabletop.egg"))
self.ttnodepath = NodePath("tabletop")
ttl = loader.loadModel(ttpath)
ttl.instanceTo(self.ttnodepath)
# self.endnodeids is a dictionary where
# self.endnodeids['rgt'] equals self.startnodeids
# self.endnodeids['lft'] equals self.endnodeids # in right->left order
self.endnodeids = {}
# load retraction distances
self.rethandx, self.retworldz, self.retworlda, self.worldz = self.gdb.loadIKRet(
)
# worlda is default for the general grasps on table top
# for assembly at start and goal, worlda is computed by assembly planner
self.worlda = Vec3(0, 0, 1)
self.gnodesplotpos = {}
self.freegripid = []
self.freegripcontacts = []
self.freegripnormals = []
self.freegriprotmats = []
self.freegripjawwidth = []
# for start and goal grasps poses:
radiusgrip = 1
self.__xyzglobalgrippos_startgoal = {}
for k, globalgripid in enumerate(self.graphtpp.globalgripids):
xypos = [
radiusgrip *
math.cos(2 * math.pi / len(self.graphtpp.globalgripids) * k),
radiusgrip *
math.sin(2 * math.pi / len(self.graphtpp.globalgripids) * k)
]
self.__xyzglobalgrippos_startgoal[globalgripid] = [
xypos[0], xypos[1], 0
]
self.__loadFreeAirGrip()
def getZone(zonex, zoney):
if zonex not in worlds:
worlds[zonex] = {}
if zoney not in worlds[zonex]:
worlds[zonex][zoney] = (BulletWorld(), NodePath('Zone ' + str(zonex) + str(zoney)))
worlds[zonex][zoney][0].setGravity((0, 0, 0))
log.debug("Zone added: " + str(zonex) + ", " + str(zoney))
return worlds[zonex][zoney]
def create_physics(self):
"""Create the physical world, and start a task to simulate physics"""
self.world = BulletWorld()
self.world.set_gravity((0, 0, -9.81))
self.physics_on = False
self.taskMgr.add(self.step_physics, "physics")
def task_1_Bullet_Hello_World():
strOf_FuncName = "task_1_Bullet_Hello_World"
'''###################
step : 1
opening, vars
###################'''
print()
print ("[%s:%d] starting : %s (time=%s)" % (
os.path.basename(os.path.basename(libs.thisfile()))
, libs.linenum()
, strOf_FuncName
, libs.get_TimeLabel_Now()
)
)
'''###################
step : 2
###################'''
base.cam.setPos(0, -10, 0)
base.cam.lookAt(0, 0, 0)
# World
world = BulletWorld()
world.setGravity(Vec3(0, 0, -9.81))
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(0, 0, -2)
world.attachRigidBody(node)
# Box
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
node = BulletRigidBodyNode('Box')
node.setMass(1.0)
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(0, 0, 2)
world.attachRigidBody(node)
model = loader.loadModel('models/box.egg')
model.flattenLight()
model.reparentTo(np)
# Update
def update(task):
dt = globalClock.getDt()
world.doPhysics(dt)
return task.cont
taskMgr.add(update, 'update')
base.run()
'''###################
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, 1)
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(2, 0, 1)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.reparentTo(bodyNP)
self.world.attachRigidBody(bodyB)
# Hinge
pivotA = Point3(2, 0, 0)
pivotB = Point3(-4, 0, 0)
axisA = Vec3(0, 0, 1)
axisB = Vec3(0, 0, 1)
hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA,
axisB, True)
hinge.setDebugDrawSize(2.0)
hinge.setLimit(-90, 120, softness=0.9, bias=0.3, relaxation=1.0)
self.world.attachConstraint(hinge)
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(-3, 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)
# Slider
frameA = TransformState.makePosHpr(Point3(2, 0, 0), Vec3(0, 0, 45))
frameB = TransformState.makePosHpr(Point3(0, -3, 0), Vec3(0, 0, 0))
slider = BulletSliderConstraint(bodyA, bodyB, frameA, frameB, True)
slider.setDebugDrawSize(2.0)
slider.setLowerLinearLimit(0)
slider.setUpperLinearLimit(6)
slider.setLowerAngularLimit(-60)
slider.setUpperAngularLimit(60)
self.world.attachConstraint(slider)
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
shape = BulletPlaneShape(LVector3(0, 0, 1), 0)
#img = PNMImage(Filename('models/elevation.png'))
#shape = BulletHeightfieldShape(img, 1.0, ZUp)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground'))
np.node().add_shape(shape)
np.set_pos(0, 0, -1)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Box
shape = BulletBoxShape(LVector3(1.0, 3.0, 0.3))
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box'))
np.node().set_mass(10.0)
np.node().add_shape(shape)
np.set_pos(3, 0, 4)
np.setH(20.0)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Character
self.crouching = False
h = 1.75
w = 0.4
shape = BulletCapsuleShape(w, h - 2 * w, ZUp)
self.character = BulletCharacterControllerNode(shape, 0.4, 'Player')
self.characterNP = self.worldNP.attach_new_node(self.character)
self.characterNP.set_pos(-2, 0, 14)
self.characterNP.set_h(45)
self.characterNP.set_collide_mask(BitMask32.all_on())
self.world.attach(self.character)
self.actorNP = Actor(
'samples/roaming-ralph/models/ralph.egg.pz', {
'run': 'samples/roaming-ralph/models/ralph-run.egg.pz',
'walk': 'samples/roaming-ralph/models/ralph-walk.egg.pz'
})
self.actorNP.reparent_to(self.characterNP)
self.actorNP.set_scale(0.3048) # 1ft = 0.3048m
self.actorNP.setH(180)
self.actorNP.set_pos(0, 0, -1)
def setup(self):
self.worldNP = render.attach_new_node('World')
# World
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.debugNP.show()
self.debugNP.node().show_wireframe(True)
self.debugNP.node().show_constraints(True)
self.debugNP.node().show_bounding_boxes(False)
self.debugNP.node().show_normals(False)
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Box A
shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5))
bodyA = BulletRigidBodyNode('Box A')
bodyNP = self.worldNP.attach_new_node(bodyA)
bodyNP.node().add_shape(shape)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos(-2, 0, 1)
visNP = loader.load_model('models/box.egg')
visNP.clear_model_nodes()
visNP.reparent_to(bodyNP)
self.world.attach(bodyA)
# Box B
shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5))
bodyB = BulletRigidBodyNode('Box B')
bodyNP = self.worldNP.attach_new_node(bodyB)
bodyNP.node().add_shape(shape)
bodyNP.node().set_mass(1.0)
bodyNP.node().set_deactivation_enabled(False)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos(2, 0, 1)
visNP = loader.load_model('models/box.egg')
visNP.clear_model_nodes()
visNP.reparent_to(bodyNP)
self.world.attach(bodyB)
# Hinge
pivotA = LPoint3(2, 0, 0)
pivotB = LPoint3(-4, 0, 0)
axisA = LVector3(0, 0, 1)
axisB = LVector3(0, 0, 1)
hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA,
axisB, True)
hinge.set_debug_draw_size(2.0)
hinge.set_limit(-90, 120, softness=0.9, bias=0.3, relaxation=1.0)
self.world.attach(hinge)
def genAvailableFAGsSgl(base, basepath, baseMat4, objpath, objMat4, gdb, handpkg):
"""
find the collision freeairgrips of objpath without considering rotation
:param base: panda base
:param basepath: the path of base object
:param objpath: the path of obj object, the object to be assembled
:param baseMat4, objMat4: all in world coordinates, not relative
:param gdb: grasp db
:param handpkg: hand package
:return: [assgripcontacts, assgripnormals, assgriprotmat4s, assgripjawwidth, assgripidfreeair]
author: weiwei
date: 20170307
"""
bulletworld = BulletWorld()
robothand = handpkg.newHandNM(hndcolor=[1, 0, 0, .1])
basetrimesh = trimesh.load_mesh(basepath)
basenp = pg.packpandanp(basetrimesh.vertices, basetrimesh.face_normals, basetrimesh.faces)
basenp.setMat(baseMat4)
basebullnode = cd.genCollisionMeshNp(basenp, base.render)
bulletworld.attachRigidBody(basebullnode)
dbobjname = os.path.splitext(os.path.basename(objpath))[0]
objfag = F*g(gdb, dbobjname, handpkg)
assgripcontacts = []
assgripnormals = []
assgriprotmat4s = []
assgripjawwidth = []
assgripidfreeair = []
for i, rotmat in enumerate(objfag.freegriprotmats):
assgrotmat = rotmat*objMat4
robothand.setMat(assgrotmat)
# detect the collisions when hand is open!
robothand.setJawwidth(robothand.jawwidthopen)
hndbullnode = cd.genCollisionMeshMultiNp(robothand.handnp)
result0 = bulletworld.contactTest(hndbullnode)
robothand.setJawwidth(objfag.freegripjawwidth[i])
hndbullnode = cd.genCollisionMeshMultiNp(robothand.handnp)
result1 = bulletworld.contactTest(hndbullnode)
if (not result0.getNumContacts()) and (not result1.getNumContacts()):
cct0 = objMat4.xformPoint(objfag.freegripcontacts[i][0])
cct1 = objMat4.xformPoint(objfag.freegripcontacts[i][1])
cctn0 = objMat4.xformPoint(objfag.freegripnormals[i][0])
cctn1 = objMat4.xformPoint(objfag.freegripnormals[i][1])
assgripcontacts.append([cct0, cct1])
assgripnormals.append([cctn0, cctn1])
assgriprotmat4s.append(assgrotmat)
assgripjawwidth.append(objfag.freegripjawwidth[i])
assgripidfreeair.append(objfag.freegripids[i])
return [assgripcontacts, assgripnormals, assgriprotmat4s, assgripjawwidth, assgripidfreeair]
def __init__(self):
from panda3d.bullet import BulletWorld
self._world = BulletWorld()
self._world.set_gravity(0, 0, -9.807)
self.tick_rate = None
self.time = 0.0
self._rigid_bodies = {}
