def __setupGravity(self): base.particlesEnabled = True base.enableParticles() gravityFN = ForceNode('world-forces') gravityFNP = render.attachNewNode(gravityFN) gravityForce = LinearVectorForce(0, 0, -6) #gravity acceleration ft/s^2 gravityFN.addForce(gravityForce) base.physicsMgr.addLinearForce(gravityForce)
def __init__(self, parent=None): ''' Create a new Vehicle node. Physics should be initialized before any instances of Vehicle are created. arguments: parent -- A PandaNode for the vehicle to attach to. Default is None, in which case the Vehicle should be added to the scene graph via NodePath.attachNewNode(). ''' ActorNode.__init__(self, 'VehiclePhysics') base.physicsMgr.attachPhysicalNode(self) self.getPhysicsObject().setMass(MASS) if parent: self.myPath = parent.attachNewNode(self) else: self.myPath = NodePath(self) # Load vehicle model and place in the transparent bin. vehicleModel = loader.loadModel(MODEL_PATH) hull = vehicleModel.find('**/Hull') hull.setBin('transparent', 30) pwnsEnclosure = vehicleModel.find('**/Pwns_Enclosure') pwnsEnclosure.setBin('transparent', 30) self.myPath.setPos(0, 0, -0.0) selectable = self.myPath.attachNewNode(SelectableNode('vehicle sel')) vehicleModel.reparentTo(selectable) # ==== Initialize Physics ==== # thrusterForceNode = ForceNode('ThrusterForce') self.myPath.attachNewNode(thrusterForceNode) self.linearForce = LinearVectorForce(0, 0, 0) self.linearForce.setMassDependent(1) self.angularForce = AngularVectorForce(0, 0, 0) thrusterForceNode.addForce(self.linearForce) thrusterForceNode.addForce(self.angularForce) self.getPhysical(0).addLinearForce(self.linearForce) self.getPhysical(0).addAngularForce(self.angularForce) self.previousXY = (self.myPath.getX(), self.myPath.getY()) self.tm = ThrusterManager() # Add self.updatePhysics to the task manager and run this task as # frequently as possible. self.updatePhysicsTask = taskMgr.add(self.updatePhysics, 'UpdatePhysics') # ==== Initialize Cameras ==== # lens = PerspectiveLens() lens.setNearFar(0.05, 100.0) #Use either FocalLength or Fov. Fov ~40 is about what actual forward cameras are #lens.setFocalLength(0.8) lens.setFov(70, 70) camera = Camera("Forward_left", lens).getPath() camera.reparentTo(vehicleModel.find('**/Forward_Camera')) camera.setX(camera.getX() - 0.1) # Forward cameras 20cm apart camera.setY( camera.getY() + 0.05) # Move in front of torpedo tubes to avoid abstruction camera.setHpr(0, 0, 0) camera = Camera("Forward_right", lens).getPath() camera.reparentTo(vehicleModel.find('**/Forward_Camera')) camera.setX(camera.getX() + 0.1) # Forward cameras 20cm apart camera.setY( camera.getY() + 0.05) # Move in front of torpedo tubes to avoid abstruction camera.setHpr(0, 0, 0) lens = PerspectiveLens() lens.setNearFar(0.05, 100.0) lens.setFocalLength(0.8) camera = Camera("Downward", lens).getPath() camera.reparentTo(vehicleModel.find('**/Downward_Camera')) camera.setHpr(0, -90, 0) #Layout link (to access hydrophone information) self.layout = None #Hydrophone variables self.start_time = time() self.last_hydro_update = time()