class Game(ShowBase): def __init__(self): ShowBase.__init__(self) base.set_background_color(0.1, 0.1, 0.8, 1) base.set_frame_rate_meter(True) base.cam.set_pos(0, -40, 10) base.cam.look_at(0, 0, 0) # Light alight = AmbientLight('ambientLight') alight.set_color(LVector4(0.5, 0.5, 0.5, 1)) alightNP = render.attach_new_node(alight) dlight = DirectionalLight('directionalLight') dlight.set_direction(LVector3(5, 0, -2)) dlight.set_color(LVector4(0.7, 0.7, 0.7, 1)) dlightNP = render.attach_new_node(dlight) render.clear_light() render.set_light(alightNP) render.set_light(dlightNP) # Input self.accept('escape', self.do_exit) self.accept('r', self.do_reset) self.accept('f1', base.toggle_wireframe) self.accept('f2', base.toggle_texture) self.accept('f3', self.toggle_debug) self.accept('f5', self.do_screenshot) # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() # _____HANDLER_____ def do_exit(self): self.cleanup() sys.exit(1) def do_reset(self): self.cleanup() self.setup() def toggle_debug(self): if self.debugNP.is_hidden(): self.debugNP.show() else: self.debugNP.hide() def do_screenshot(self): base.screenshot('Bullet') # ____TASK___ def update(self, task): dt = globalClock.get_dt() #dt *= 0.01 self.world.do_physics(dt, 10, 0.008) return task.cont def cleanup(self): self.world = None self.worldNP.remove_node() 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, -2) 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 def make_SB(pos, hpr): #use this to construct a torus geom. #import torus #geom = torus.make_geom() geom = (loader.load_model('models/torus.egg').find_all_matches( '**/+GeomNode').get_path(0).node().modify_geom(0)) geomNode = GeomNode('') geomNode.add_geom(geom) node = BulletSoftBodyNode.make_tri_mesh(info, geom) node.link_geom(geomNode.modify_geom(0)) node.generate_bending_constraints(2) node.get_cfg().set_positions_solver_iterations(2) node.get_cfg().set_collision_flag( BulletSoftBodyConfig.CF_vertex_face_soft_soft, True) node.randomize_constraints() node.set_total_mass(50, True) softNP = self.worldNP.attach_new_node(node) softNP.set_pos(pos) softNP.set_hpr(hpr) self.world.attach(node) geomNP = softNP.attach_new_node(geomNode) make_SB(LPoint3(-3, 0, 4), (0, 0, 0)) make_SB(LPoint3(0, 0, 4), (0, 90, 90)) make_SB(LPoint3(3, 0, 4), (0, 0, 0))
class Game(ShowBase): def __init__(self): ShowBase.__init__(self) base.set_background_color(0.1, 0.1, 0.8, 1) base.set_frame_rate_meter(True) base.cam.set_pos(0, -80, 40) base.cam.look_at(0, 0, 10) # Light alight = AmbientLight('ambientLight') alight.set_color(LVector4(0.5, 0.5, 0.5, 1)) alightNP = render.attach_new_node(alight) dlight = DirectionalLight('directionalLight') dlight.set_direction(LVector3(0, 0, -1)) dlight.set_color(LVector4(0.7, 0.7, 0.7, 1)) dlightNP = render.attach_new_node(dlight) render.clear_light() render.set_light(alightNP) render.set_light(dlightNP) # Input self.accept('escape', self.do_exit) self.accept('r', self.do_reset) self.accept('f1', base.toggle_wireframe) self.accept('f2', base.toggle_texture) self.accept('f3', self.toggle_debug) self.accept('f5', self.do_screenshot) # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() # _____HANDLER_____ def do_exit(self): self.cleanup() sys.exit(1) def do_reset(self): self.cleanup() self.setup() def toggle_debug(self): if self.debugNP.is_hidden(): self.debugNP.show() else: self.debugNP.hide() def do_screenshot(self): base.screenshot('Bullet') # ____TASK___ def update(self, task): dt = globalClock.get_dt() self.world.do_physics(dt, 10, 0.008) return task.cont def cleanup(self): self.world = None self.worldNP.remove_node() @staticmethod def LVector3_rand(): x = 2 * random.random() - 1 y = 2 * random.random() - 1 z = 2 * random.random() - 1 return LVector3(x, y, z) 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, -2) 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 for i in range(50): p00 = LPoint3(-2, -2, 0) p10 = LPoint3(2, -2, 0) p01 = LPoint3(-2, 2, 0) p11 = LPoint3(2, 2, 0) node = BulletSoftBodyNode.make_patch(info, p00, p10, p01, p11, 6, 6, 0, True) node.generate_bending_constraints(2) node.get_cfg().set_lift_coefficient(0.004) node.get_cfg().set_dynamic_friction_coefficient(0.0003) node.get_cfg().set_aero_model( BulletSoftBodyConfig.AM_vertex_two_sided) node.set_total_mass(0.1) node.add_force(LVector3(0, 2, 0), 0) np = self.worldNP.attach_new_node(node) np.set_pos(self.LVector3_rand() * 10 + LVector3(0, 0, 20)) np.set_hpr(self.LVector3_rand() * 16) self.world.attach(node) fmt = GeomVertexFormat.get_v3n3t2() geom = BulletHelper.make_geom_from_faces(node, fmt, True) node.link_geom(geom) nodeV = GeomNode('') nodeV.add_geom(geom) npV = np.attach_new_node(nodeV) tex = loader.load_texture('models/panda.jpg') npV.set_texture(tex) BulletHelper.make_texcoords_for_patch(geom, 6, 6)
class Game(ShowBase): def __init__(self): ShowBase.__init__(self) base.set_background_color(0.1, 0.1, 0.8, 1) base.set_frame_rate_meter(True) base.cam.set_pos(0, -40, 10) base.cam.look_at(0, 0, 0) # Light alight = AmbientLight('ambientLight') alight.set_color(LVector4(0.5, 0.5, 0.5, 1)) alightNP = render.attach_new_node(alight) dlight = DirectionalLight('directionalLight') dlight.set_direction(LVector3(5, 0, -2)) dlight.set_color(LVector4(0.7, 0.7, 0.7, 1)) dlightNP = render.attach_new_node(dlight) render.clear_light() render.set_light(alightNP) render.set_light(dlightNP) # Input self.accept('escape', self.do_exit) self.accept('r', self.do_reset) self.accept('f1', base.toggle_wireframe) self.accept('f2', base.toggle_texture) self.accept('f3', self.toggle_debug) self.accept('f5', self.do_screenshot) # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() # _____HANDLER_____ def do_exit(self): self.cleanup() sys.exit(1) def do_reset(self): self.cleanup() self.setup() def toggle_debug(self): if self.debugNP.is_hidden(): self.debugNP.show() else: self.debugNP.hide() def do_screenshot(self): base.screenshot('Bullet') # ____TASK___ def update(self, task): dt = globalClock.get_dt() self.world.do_physics(dt, 10, 0.008) return task.cont def cleanup(self): self.world = None self.worldNP.remove_node() 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)
class Game(ShowBase): def __init__(self): ShowBase.__init__(self) base.set_background_color(0.1, 0.1, 0.8, 1) base.set_frame_rate_meter(True) base.cam.set_pos(0, -60, 20) base.cam.look_at(0, 0, 0) # Light alight = AmbientLight('ambientLight') alight.set_color(LVector4(0.5, 0.5, 0.5, 1)) alightNP = render.attach_new_node(alight) dlight = DirectionalLight('directionalLight') dlight.set_direction(LVector3(1, 1, -1)) dlight.set_color(LVector4(0.7, 0.7, 0.7, 1)) dlightNP = render.attach_new_node(dlight) render.clear_light() render.set_light(alightNP) render.set_light(dlightNP) # Input self.accept('escape', self.do_exit) self.accept('r', self.do_reset) self.accept('f1', base.toggle_wireframe) self.accept('f2', base.toggle_texture) self.accept('f3', self.toggle_debug) self.accept('f5', self.do_screenshot) # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() # _____HANDLER_____ def do_exit(self): self.cleanup() sys.exit(1) def do_reset(self): self.cleanup() self.setup() def toggle_debug(self): if self.debugNP.is_hidden(): self.debugNP.show() else: self.debugNP.hide() def do_screenshot(self): base.screenshot('Bullet') # ____TASK___ def update(self, task): dt = globalClock.get_dt() self.world.do_physics(dt, 10, 0.008) return task.cont def cleanup(self): self.world = None self.worldNP.remove_node() 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.show_tight_bounds() #self.debugNP.show_bounds() 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, -2) np.set_collide_mask(BitMask32.all_on()) self.world.attach(np.node()) # Stair origin = LPoint3(0, 0, 0) size = LVector3(2, 10, 1) shape = BulletBoxShape(size * 0.5) for i in range(10): pos = origin + size * i pos.setY(0) np = self.worldNP.attach_new_node( BulletRigidBodyNode('Stair{}'.format(i))) np.node().add_shape(shape) np.set_pos(pos) np.set_collide_mask(BitMask32.all_on()) npV = loader.load_model('models/box.egg') npV.reparent_to(np) npV.set_scale(size) 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 center = LPoint3(0, 0, 0) radius = LVector3(1, 1, 1) * 1.5 node = BulletSoftBodyNode.make_ellipsoid(info, center, radius, 128) node.set_name('Ellipsoid') node.get_material(0).set_linear_stiffness(0.1) node.get_cfg().set_dynamic_friction_coefficient(1) node.get_cfg().set_damping_coefficient(0.001) node.get_cfg().set_pressure_coefficient(1500) node.set_total_mass(30, True) node.set_pose(True, False) np = self.worldNP.attach_new_node(node) np.set_pos(15, 0, 12) #np.setH(90.0) #np.show_bounds() #np.show_tight_bounds() self.world.attach(np.node()) geom = BulletHelper.make_geom_from_faces(node) node.link_geom(geom) nodeV = GeomNode('EllipsoidVisual') nodeV.add_geom(geom) npV = np.attach_new_node(nodeV)