class HtmlView(DirectObject):
notify = DirectNotifyGlobal.directNotify.newCategory('HtmlView')
useHalfTexture = config.GetBool('news-half-texture', 0)
def __init__(self, parent = aspect2d):
global GlobalWebcore
self.parent = parent
self.mx = 0
self.my = 0
self.htmlFile = 'index.html'
self.transparency = False
if GlobalWebcore:
pass
else:
GlobalWebcore = AwWebCore(AwWebCore.LOGVERBOSE, True, AwWebCore.PFBGRA)
GlobalWebcore.setBaseDirectory('.')
for errResponse in xrange(400, 600):
GlobalWebcore.setCustomResponsePage(errResponse, 'error.html')
self.webView = GlobalWebcore.createWebView(WEB_WIDTH, WEB_HEIGHT, self.transparency, False, 70)
frameName = ''
inGameNewsUrl = self.getInGameNewsUrl()
self.imgBuffer = array.array('B')
for i in xrange(WEB_WIDTH * WEB_HEIGHT):
self.imgBuffer.append(0)
self.imgBuffer.append(0)
self.imgBuffer.append(0)
self.imgBuffer.append(255)
if self.useHalfTexture:
self.leftBuffer = array.array('B')
for i in xrange(WEB_HALF_WIDTH * WEB_HEIGHT):
self.leftBuffer.append(0)
self.leftBuffer.append(0)
self.leftBuffer.append(0)
self.leftBuffer.append(255)
self.rightBuffer = array.array('B')
for i in xrange(WEB_HALF_WIDTH * WEB_HEIGHT):
self.rightBuffer.append(0)
self.rightBuffer.append(0)
self.rightBuffer.append(0)
self.rightBuffer.append(255)
self.setupTexture()
if self.useHalfTexture:
self.setupHalfTextures()
self.accept('mouse1', self.mouseDown, [AwWebView.LEFTMOUSEBTN])
self.accept('mouse3', self.mouseDown, [AwWebView.RIGHTMOUSEBTN])
self.accept('mouse1-up', self.mouseUp, [AwWebView.LEFTMOUSEBTN])
self.accept('mouse3-up', self.mouseUp, [AwWebView.RIGHTMOUSEBTN])
def getInGameNewsUrl(self):
result = config.GetString('fallback-news-url', 'http://cdn.toontown.disney.go.com/toontown/en/gamenews/')
override = config.GetString('in-game-news-url', '')
if override:
self.notify.info('got an override url, using %s for in a game news' % override)
result = override
else:
try:
launcherUrl = base.launcher.getValue('GAME_IN_GAME_NEWS_URL', '')
if launcherUrl:
result = launcherUrl
self.notify.info('got GAME_IN_GAME_NEWS_URL from launcher using %s' % result)
else:
self.notify.info('blank GAME_IN_GAME_NEWS_URL from launcher, using %s' % result)
except:
self.notify.warning('got exception getting GAME_IN_GAME_NEWS_URL from launcher, using %s' % result)
return result
def setupTexture(self):
cm = CardMaker('quadMaker')
cm.setColor(1.0, 1.0, 1.0, 1.0)
aspect = base.camLens.getAspectRatio()
htmlWidth = 2.0 * aspect * WEB_WIDTH_PIXELS / float(WIN_WIDTH)
htmlHeight = 2.0 * float(WEB_HEIGHT_PIXELS) / float(WIN_HEIGHT)
cm.setFrame(-htmlWidth / 2.0, htmlWidth / 2.0, -htmlHeight / 2.0, htmlHeight / 2.0)
bottomRightX = WEB_WIDTH_PIXELS / float(WEB_WIDTH + 1)
bottomRightY = WEB_HEIGHT_PIXELS / float(WEB_HEIGHT + 1)
cm.setUvRange(Point2(0, 1 - bottomRightY), Point2(bottomRightX, 1))
card = cm.generate()
self.quad = NodePath(card)
self.quad.reparentTo(self.parent)
self.guiTex = Texture('guiTex')
self.guiTex.setupTexture(Texture.TT2dTexture, WEB_WIDTH, WEB_HEIGHT, 1, Texture.TUnsignedByte, Texture.FRgba)
self.guiTex.setMinfilter(Texture.FTLinear)
self.guiTex.setKeepRamImage(True)
self.guiTex.makeRamImage()
self.guiTex.setWrapU(Texture.WMRepeat)
self.guiTex.setWrapV(Texture.WMRepeat)
ts = TextureStage('webTS')
self.quad.setTexture(ts, self.guiTex)
self.quad.setTexScale(ts, 1.0, -1.0)
self.quad.setTransparency(0)
self.quad.setTwoSided(True)
self.quad.setColor(1.0, 1.0, 1.0, 1.0)
self.calcMouseLimits()
def setupHalfTextures(self):
self.setupLeftTexture()
self.setupRightTexture()
self.fullPnmImage = PNMImage(WEB_WIDTH, WEB_HEIGHT, 4)
self.leftPnmImage = PNMImage(WEB_HALF_WIDTH, WEB_HEIGHT, 4)
self.rightPnmImage = PNMImage(WEB_HALF_WIDTH, WEB_HEIGHT, 4)
def setupLeftTexture(self):
cm = CardMaker('quadMaker')
cm.setColor(1.0, 1.0, 1.0, 1.0)
aspect = base.camLens.getAspectRatio()
htmlWidth = 2.0 * aspect * WEB_WIDTH / float(WIN_WIDTH)
htmlHeight = 2.0 * float(WEB_HEIGHT) / float(WIN_HEIGHT)
cm.setFrame(-htmlWidth / 2.0, 0, -htmlHeight / 2.0, htmlHeight / 2.0)
card = cm.generate()
self.leftQuad = NodePath(card)
self.leftQuad.reparentTo(self.parent)
self.leftGuiTex = Texture('guiTex')
self.leftGuiTex.setupTexture(Texture.TT2dTexture, WEB_HALF_WIDTH, WEB_HEIGHT, 1, Texture.TUnsignedByte, Texture.FRgba)
self.leftGuiTex.setKeepRamImage(True)
self.leftGuiTex.makeRamImage()
self.leftGuiTex.setWrapU(Texture.WMClamp)
self.leftGuiTex.setWrapV(Texture.WMClamp)
ts = TextureStage('leftWebTS')
self.leftQuad.setTexture(ts, self.leftGuiTex)
self.leftQuad.setTexScale(ts, 1.0, -1.0)
self.leftQuad.setTransparency(0)
self.leftQuad.setTwoSided(True)
self.leftQuad.setColor(1.0, 1.0, 1.0, 1.0)
def setupRightTexture(self):
cm = CardMaker('quadMaker')
cm.setColor(1.0, 1.0, 1.0, 1.0)
aspect = base.camLens.getAspectRatio()
htmlWidth = 2.0 * aspect * WEB_WIDTH / float(WIN_WIDTH)
htmlHeight = 2.0 * float(WEB_HEIGHT) / float(WIN_HEIGHT)
cm.setFrame(0, htmlWidth / 2.0, -htmlHeight / 2.0, htmlHeight / 2.0)
card = cm.generate()
self.rightQuad = NodePath(card)
self.rightQuad.reparentTo(self.parent)
self.rightGuiTex = Texture('guiTex')
self.rightGuiTex.setupTexture(Texture.TT2dTexture, WEB_HALF_WIDTH, WEB_HEIGHT, 1, Texture.TUnsignedByte, Texture.FRgba)
self.rightGuiTex.setKeepRamImage(True)
self.rightGuiTex.makeRamImage()
self.rightGuiTex.setWrapU(Texture.WMClamp)
self.rightGuiTex.setWrapV(Texture.WMClamp)
ts = TextureStage('rightWebTS')
self.rightQuad.setTexture(ts, self.rightGuiTex)
self.rightQuad.setTexScale(ts, 1.0, -1.0)
self.rightQuad.setTransparency(0)
self.rightQuad.setTwoSided(True)
self.rightQuad.setColor(1.0, 1.0, 1.0, 1.0)
def calcMouseLimits(self):
ll = Point3()
ur = Point3()
self.quad.calcTightBounds(ll, ur)
self.notify.debug('ll=%s ur=%s' % (ll, ur))
offset = self.quad.getPos(aspect2d)
self.notify.debug('offset = %s ' % offset)
ll.setZ(ll.getZ() + offset.getZ())
ur.setZ(ur.getZ() + offset.getZ())
self.notify.debug('new LL=%s, UR=%s' % (ll, ur))
relPointll = self.quad.getRelativePoint(aspect2d, ll)
self.notify.debug('relPoint = %s' % relPointll)
self.mouseLL = (aspect2d.getScale()[0] * ll[0], aspect2d.getScale()[2] * ll[2])
self.mouseUR = (aspect2d.getScale()[0] * ur[0], aspect2d.getScale()[2] * ur[2])
self.notify.debug('original mouseLL=%s, mouseUR=%s' % (self.mouseLL, self.mouseUR))
def writeTex(self, filename = 'guiText.png'):
self.notify.debug('writing texture')
self.guiTex.generateRamMipmapImages()
self.guiTex.write(filename)
def toggleRotation(self):
if self.interval.isPlaying():
self.interval.finish()
else:
self.interval.loop()
def mouseDown(self, button):
messenger.send('wakeup')
self.webView.injectMouseDown(button)
def mouseUp(self, button):
self.webView.injectMouseUp(button)
def reload(self):
pass
def zoomIn(self):
self.webView.zoomIn()
def zoomOut(self):
self.webView.zoomOut()
def toggleTransparency(self):
self.transparency = not self.transparency
self.webView.setTransparent(self.transparency)
def update(self, task):
if base.mouseWatcherNode.hasMouse():
x, y = self._translateRelativeCoordinates(base.mouseWatcherNode.getMouseX(), base.mouseWatcherNode.getMouseY())
if self.mx - x != 0 or self.my - y != 0:
self.webView.injectMouseMove(x, y)
self.mx, self.my = x, y
if self.webView.isDirty():
self.webView.render(self.imgBuffer.buffer_info()[0], WEB_WIDTH * 4, 4)
Texture.setTexturesPower2(2)
textureBuffer = self.guiTex.modifyRamImage()
textureBuffer.setData(self.imgBuffer.tostring())
if self.useHalfTexture:
self.guiTex.store(self.fullPnmImage)
self.leftPnmImage.copySubImage(self.fullPnmImage, 0, 0, 0, 0, WEB_HALF_WIDTH, WEB_HEIGHT)
self.rightPnmImage.copySubImage(self.fullPnmImage, 0, 0, WEB_HALF_WIDTH, 0, WEB_HALF_WIDTH, WEB_HEIGHT)
self.leftGuiTex.load(self.leftPnmImage)
self.rightGuiTex.load(self.rightPnmImage)
self.quad.hide()
Texture.setTexturesPower2(1)
GlobalWebcore.update()
return Task.cont
def _translateRelativeCoordinates(self, x, y):
sx = int((x - self.mouseLL[0]) / (self.mouseUR[0] - self.mouseLL[0]) * WEB_WIDTH_PIXELS)
sy = WEB_HEIGHT_PIXELS - int((y - self.mouseLL[1]) / (self.mouseUR[1] - self.mouseLL[1]) * WEB_HEIGHT_PIXELS)
return (sx, sy)
def unload(self):
self.ignoreAll()
self.webView.destroy()
self.webView = None
return
def onCallback(self, name, args):
if name == 'requestFPS':
pass
def onBeginNavigation(self, url, frameName):
pass
def onBeginLoading(self, url, frameName, statusCode, mimeType):
pass
def onFinishLoading(self):
self.notify.debug('finished loading')
def onReceiveTitle(self, title, frameName):
pass
def onChangeTooltip(self, tooltip):
pass
def onChangeCursor(self, cursor):
pass
def onChangeKeyboardFocus(self, isFocused):
pass
def onChangeTargetURL(self, url):
pass
class HtmlView(DirectObject):
notify = DirectNotifyGlobal.directNotify.newCategory('HtmlView')
useHalfTexture = base.config.GetBool('news-half-texture', 0)
def __init__(self, parent=aspect2d):
global GlobalWebcore
self.parent = parent
self.mx = 0
self.my = 0
self.htmlFile = 'index.html'
self.transparency = False
if GlobalWebcore:
pass
else:
GlobalWebcore = AwWebCore(AwWebCore.LOGVERBOSE, True,
AwWebCore.PFBGRA)
GlobalWebcore.setBaseDirectory('.')
for errResponse in xrange(400, 600):
GlobalWebcore.setCustomResponsePage(errResponse, 'error.html')
self.webView = GlobalWebcore.createWebView(WEB_WIDTH, WEB_HEIGHT,
self.transparency, False,
70)
frameName = ''
inGameNewsUrl = self.getInGameNewsUrl()
self.imgBuffer = array.array('B')
for i in xrange(WEB_WIDTH * WEB_HEIGHT):
self.imgBuffer.append(0)
self.imgBuffer.append(0)
self.imgBuffer.append(0)
self.imgBuffer.append(255)
if self.useHalfTexture:
self.leftBuffer = array.array('B')
for i in xrange(WEB_HALF_WIDTH * WEB_HEIGHT):
self.leftBuffer.append(0)
self.leftBuffer.append(0)
self.leftBuffer.append(0)
self.leftBuffer.append(255)
self.rightBuffer = array.array('B')
for i in xrange(WEB_HALF_WIDTH * WEB_HEIGHT):
self.rightBuffer.append(0)
self.rightBuffer.append(0)
self.rightBuffer.append(0)
self.rightBuffer.append(255)
self.setupTexture()
if self.useHalfTexture:
self.setupHalfTextures()
self.accept('mouse1', self.mouseDown, [AwWebView.LEFTMOUSEBTN])
self.accept('mouse3', self.mouseDown, [AwWebView.RIGHTMOUSEBTN])
self.accept('mouse1-up', self.mouseUp, [AwWebView.LEFTMOUSEBTN])
self.accept('mouse3-up', self.mouseUp, [AwWebView.RIGHTMOUSEBTN])
def getInGameNewsUrl(self):
result = base.config.GetString(
'fallback-news-url',
'http://cdn.toontown.disney.go.com/toontown/en/gamenews/')
override = base.config.GetString('in-game-news-url', '')
if override:
self.notify.info(
'got an override url, using %s for in a game news' % override)
result = override
else:
try:
launcherUrl = base.launcher.getValue('GAME_IN_GAME_NEWS_URL',
'')
if launcherUrl:
result = launcherUrl
self.notify.info(
'got GAME_IN_GAME_NEWS_URL from launcher using %s' %
result)
else:
self.notify.info(
'blank GAME_IN_GAME_NEWS_URL from launcher, using %s' %
result)
except:
self.notify.warning(
'got exception getting GAME_IN_GAME_NEWS_URL from launcher, using %s'
% result)
return result
def setupTexture(self):
cm = CardMaker('quadMaker')
cm.setColor(1.0, 1.0, 1.0, 1.0)
aspect = base.camLens.getAspectRatio()
htmlWidth = 2.0 * aspect * WEB_WIDTH_PIXELS / float(WIN_WIDTH)
htmlHeight = 2.0 * float(WEB_HEIGHT_PIXELS) / float(WIN_HEIGHT)
cm.setFrame(-htmlWidth / 2.0, htmlWidth / 2.0, -htmlHeight / 2.0,
htmlHeight / 2.0)
bottomRightX = WEB_WIDTH_PIXELS / float(WEB_WIDTH + 1)
bottomRightY = WEB_HEIGHT_PIXELS / float(WEB_HEIGHT + 1)
cm.setUvRange(Point2(0, 1 - bottomRightY), Point2(bottomRightX, 1))
card = cm.generate()
self.quad = NodePath(card)
self.quad.reparentTo(self.parent)
self.guiTex = Texture('guiTex')
self.guiTex.setupTexture(Texture.TT2dTexture, WEB_WIDTH, WEB_HEIGHT, 1,
Texture.TUnsignedByte, Texture.FRgba)
self.guiTex.setMinfilter(Texture.FTLinear)
self.guiTex.setKeepRamImage(True)
self.guiTex.makeRamImage()
self.guiTex.setWrapU(Texture.WMRepeat)
self.guiTex.setWrapV(Texture.WMRepeat)
ts = TextureStage('webTS')
self.quad.setTexture(ts, self.guiTex)
self.quad.setTexScale(ts, 1.0, -1.0)
self.quad.setTransparency(0)
self.quad.setTwoSided(True)
self.quad.setColor(1.0, 1.0, 1.0, 1.0)
self.calcMouseLimits()
def setupHalfTextures(self):
self.setupLeftTexture()
self.setupRightTexture()
self.fullPnmImage = PNMImage(WEB_WIDTH, WEB_HEIGHT, 4)
self.leftPnmImage = PNMImage(WEB_HALF_WIDTH, WEB_HEIGHT, 4)
self.rightPnmImage = PNMImage(WEB_HALF_WIDTH, WEB_HEIGHT, 4)
def setupLeftTexture(self):
cm = CardMaker('quadMaker')
cm.setColor(1.0, 1.0, 1.0, 1.0)
aspect = base.camLens.getAspectRatio()
htmlWidth = 2.0 * aspect * WEB_WIDTH / float(WIN_WIDTH)
htmlHeight = 2.0 * float(WEB_HEIGHT) / float(WIN_HEIGHT)
cm.setFrame(-htmlWidth / 2.0, 0, -htmlHeight / 2.0, htmlHeight / 2.0)
card = cm.generate()
self.leftQuad = NodePath(card)
self.leftQuad.reparentTo(self.parent)
self.leftGuiTex = Texture('guiTex')
self.leftGuiTex.setupTexture(Texture.TT2dTexture, WEB_HALF_WIDTH,
WEB_HEIGHT, 1, Texture.TUnsignedByte,
Texture.FRgba)
self.leftGuiTex.setKeepRamImage(True)
self.leftGuiTex.makeRamImage()
self.leftGuiTex.setWrapU(Texture.WMClamp)
self.leftGuiTex.setWrapV(Texture.WMClamp)
ts = TextureStage('leftWebTS')
self.leftQuad.setTexture(ts, self.leftGuiTex)
self.leftQuad.setTexScale(ts, 1.0, -1.0)
self.leftQuad.setTransparency(0)
self.leftQuad.setTwoSided(True)
self.leftQuad.setColor(1.0, 1.0, 1.0, 1.0)
def setupRightTexture(self):
cm = CardMaker('quadMaker')
cm.setColor(1.0, 1.0, 1.0, 1.0)
aspect = base.camLens.getAspectRatio()
htmlWidth = 2.0 * aspect * WEB_WIDTH / float(WIN_WIDTH)
htmlHeight = 2.0 * float(WEB_HEIGHT) / float(WIN_HEIGHT)
cm.setFrame(0, htmlWidth / 2.0, -htmlHeight / 2.0, htmlHeight / 2.0)
card = cm.generate()
self.rightQuad = NodePath(card)
self.rightQuad.reparentTo(self.parent)
self.rightGuiTex = Texture('guiTex')
self.rightGuiTex.setupTexture(Texture.TT2dTexture, WEB_HALF_WIDTH,
WEB_HEIGHT, 1, Texture.TUnsignedByte,
Texture.FRgba)
self.rightGuiTex.setKeepRamImage(True)
self.rightGuiTex.makeRamImage()
self.rightGuiTex.setWrapU(Texture.WMClamp)
self.rightGuiTex.setWrapV(Texture.WMClamp)
ts = TextureStage('rightWebTS')
self.rightQuad.setTexture(ts, self.rightGuiTex)
self.rightQuad.setTexScale(ts, 1.0, -1.0)
self.rightQuad.setTransparency(0)
self.rightQuad.setTwoSided(True)
self.rightQuad.setColor(1.0, 1.0, 1.0, 1.0)
def calcMouseLimits(self):
ll = Point3()
ur = Point3()
self.quad.calcTightBounds(ll, ur)
self.notify.debug('ll=%s ur=%s' % (ll, ur))
offset = self.quad.getPos(aspect2d)
self.notify.debug('offset = %s ' % offset)
ll.setZ(ll.getZ() + offset.getZ())
ur.setZ(ur.getZ() + offset.getZ())
self.notify.debug('new LL=%s, UR=%s' % (ll, ur))
relPointll = self.quad.getRelativePoint(aspect2d, ll)
self.notify.debug('relPoint = %s' % relPointll)
self.mouseLL = (aspect2d.getScale()[0] * ll[0],
aspect2d.getScale()[2] * ll[2])
self.mouseUR = (aspect2d.getScale()[0] * ur[0],
aspect2d.getScale()[2] * ur[2])
self.notify.debug('original mouseLL=%s, mouseUR=%s' %
(self.mouseLL, self.mouseUR))
def writeTex(self, filename='guiText.png'):
self.notify.debug('writing texture')
self.guiTex.generateRamMipmapImages()
self.guiTex.write(filename)
def toggleRotation(self):
if self.interval.isPlaying():
self.interval.finish()
else:
self.interval.loop()
def mouseDown(self, button):
messenger.send('wakeup')
self.webView.injectMouseDown(button)
def mouseUp(self, button):
self.webView.injectMouseUp(button)
def reload(self):
pass
def zoomIn(self):
self.webView.zoomIn()
def zoomOut(self):
self.webView.zoomOut()
def toggleTransparency(self):
self.transparency = not self.transparency
self.webView.setTransparent(self.transparency)
def update(self, task):
if base.mouseWatcherNode.hasMouse():
x, y = self._translateRelativeCoordinates(
base.mouseWatcherNode.getMouseX(),
base.mouseWatcherNode.getMouseY())
if self.mx - x != 0 or self.my - y != 0:
self.webView.injectMouseMove(x, y)
self.mx, self.my = x, y
if self.webView.isDirty():
self.webView.render(self.imgBuffer.buffer_info()[0],
WEB_WIDTH * 4, 4)
Texture.setTexturesPower2(2)
textureBuffer = self.guiTex.modifyRamImage()
textureBuffer.setData(self.imgBuffer.tostring())
if self.useHalfTexture:
self.guiTex.store(self.fullPnmImage)
self.leftPnmImage.copySubImage(self.fullPnmImage, 0, 0, 0,
0, WEB_HALF_WIDTH,
WEB_HEIGHT)
self.rightPnmImage.copySubImage(self.fullPnmImage, 0, 0,
WEB_HALF_WIDTH, 0,
WEB_HALF_WIDTH, WEB_HEIGHT)
self.leftGuiTex.load(self.leftPnmImage)
self.rightGuiTex.load(self.rightPnmImage)
self.quad.hide()
Texture.setTexturesPower2(1)
GlobalWebcore.update()
return Task.cont
def _translateRelativeCoordinates(self, x, y):
sx = int((x - self.mouseLL[0]) / (self.mouseUR[0] - self.mouseLL[0]) *
WEB_WIDTH_PIXELS)
sy = WEB_HEIGHT_PIXELS - int(
(y - self.mouseLL[1]) /
(self.mouseUR[1] - self.mouseLL[1]) * WEB_HEIGHT_PIXELS)
return (sx, sy)
def unload(self):
self.ignoreAll()
self.webView.destroy()
self.webView = None
return
def onCallback(self, name, args):
if name == 'requestFPS':
pass
def onBeginNavigation(self, url, frameName):
pass
def onBeginLoading(self, url, frameName, statusCode, mimeType):
pass
def onFinishLoading(self):
self.notify.debug('finished loading')
def onReceiveTitle(self, title, frameName):
pass
def onChangeTooltip(self, tooltip):
pass
def onChangeCursor(self, cursor):
pass
def onChangeKeyboardFocus(self, isFocused):
pass
def onChangeTargetURL(self, url):
pass
class Character:
"""A character with an animated avatar that moves left, right or forward
according to the controls turned on or off in self.controlMap.
Public fields:
self.controlMap -- The character's movement controls
self.actor -- The character's Actor (3D animated model)
Public functions:
__init__ -- Initialise the character
move -- Move and animate the character for one frame. This is a task
function that is called every frame by Panda3D.
setControl -- Set one of the character's controls on or off.
"""
def __init__(self, agent_simulator, model, actions, startPos, scale):
"""Initialize the character.
Arguments:
model -- The path to the character's model file (string)
run : The path to the model's run animation (string)
walk : The path to the model's walk animation (string)
startPos : Where in the world the character will begin (pos)
scale : The amount by which the size of the model will be scaled
(float)
"""
self.agent_simulator = agent_simulator
self.controlMap = {"turn_left":0, "turn_right":0, "move_forward":0, "move_backward":0,\
"look_up":0, "look_down":0, "look_left":0, "look_right":0}
self.actor = Actor(model,actions)
self.actor.reparentTo(render)
self.actor.setScale(scale)
self.actor.setPos(startPos)
self.actor.setHpr(0,0,0)
# Expose agent's right hand joint to attach objects to
self.actor_right_hand = self.actor.exposeJoint(None, 'modelRoot', 'RightHand')
self.actor_left_hand = self.actor.exposeJoint(None, 'modelRoot', 'LeftHand')
self.right_hand_holding_object = False
self.left_hand_holding_object = False
# speech bubble
self.last_spoke = 0
self.speech_bubble=DirectLabel(parent=self.actor, text="", text_wordwrap=10, pad=(3,3), relief=None, text_scale=(.5,.5), pos = (0,0,6), frameColor=(.6,.2,.1,.5), textMayChange=1, text_frame=(0,0,0,1), text_bg=(1,1,1,1))
self.speech_bubble.component('text0').textNode.setCardDecal(1)
self.speech_bubble.setBillboardAxis()
# visual processing
self.actor_eye = self.actor.exposeJoint(None, 'modelRoot', 'LeftEyeLid')
# put a camera on ralph
self.fov = NodePath(Camera('RaphViz'))
self.fov.reparentTo(self.actor_eye)
self.fov.setHpr(180,0,0)
#lens = OrthographicLens()
#lens.setFilmSize(20,15)
#self.fov.node().setLens(lens)
lens = self.fov.node().getLens()
lens.setFov(60) # degree field of view (expanded from 40)
lens.setNear(0.2)
#self.fov.node().showFrustum() # displays a box around his head
self.actor_neck = self.actor.controlJoint(None, 'modelRoot', 'Neck')
# Define subpart of agent for when he's standing around
self.actor.makeSubpart("arms", ["LeftShoulder", "RightShoulder"])
taskMgr.add(self.move,"moveTask") # Note: deriving classes DO NOT need
# to add their own move tasks to the
# task manager. If they override
# self.move, then their own self.move
# function will get called by the
# task manager (they must then
# explicitly call Character.move in
# that function if they want it).
self.prevtime = 0
self.isMoving = False
self.current_frame_count = 0.0
# We will detect the height of the terrain by creating a collision
# ray and casting it downward toward the terrain. One ray will
# start above ralph's head, and the other will start above the camera.
# A ray may hit the terrain, or it may hit a rock or a tree. If it
# hits the terrain, we can detect the height. If it hits anything
# else, we rule that the move is illegal.
self.initialize_collision_handling()
def initialize_collision_handling(self):
self.collision_handling_mutex = Lock()
self.cTrav = CollisionTraverser()
self.groundRay = CollisionRay()
self.groundRay.setOrigin(0,0,1000)
self.groundRay.setDirection(0,0,-1)
self.groundCol = CollisionNode('ralphRay')
self.groundCol.setIntoCollideMask(BitMask32.bit(0))
self.groundCol.setFromCollideMask(BitMask32.bit(0))
self.groundCol.addSolid(self.groundRay)
self.groundColNp = self.actor.attachNewNode(self.groundCol)
self.groundHandler = CollisionHandlerQueue()
self.cTrav.addCollider(self.groundColNp, self.groundHandler)
# Uncomment this line to see the collision rays
# self.groundColNp.show()
#Uncomment this line to show a visual representation of the
#collisions occuring
# self.cTrav.showCollisions(render)
def destroy_collision_handling(self):
self.collision_handling_mutex.acquire()
def handle_collisions(self):
self.collision_handling_mutex.acquire()
self.groundCol.setIntoCollideMask(BitMask32.bit(0))
self.groundCol.setFromCollideMask(BitMask32.bit(1))
# Now check for collisions.
self.cTrav.traverse(render)
# Adjust the character's Z coordinate. If the character's ray hit terrain,
# update his Z. If it hit anything else, or didn't hit anything, put
# him back where he was last frame.
entries = []
for i in range(self.groundHandler.getNumEntries()):
entry = self.groundHandler.getEntry(i)
entries.append(entry)
entries.sort(lambda x,y: cmp(y.getSurfacePoint(render).getZ(),
x.getSurfacePoint(render).getZ()))
if (len(entries)>0) and (entries[0].getIntoNode().getName() == "terrain"):
self.actor.setZ(entries[0].getSurfacePoint(render).getZ())
else:
self.actor.setPos(self.startpos)
self.groundCol.setIntoCollideMask(BitMask32.bit(0))
self.groundCol.setFromCollideMask(BitMask32.bit(0))
self.collision_handling_mutex.release()
def position(self):
return self.actor.getPos()
def forward_normal_vector(self):
backward = self.actor.getNetTransform().getMat().getRow3(1)
backward.setZ(0)
backward.normalize()
return -backward
def step_simulation_time(self, seconds):
# save the character's initial position so that we can restore it,
# in case he falls off the map or runs into something.
self.startpos = self.actor.getPos()
def bound(i, mn = -1, mx = 1): return min(max(i, mn), mx) # enforces bounds on a numeric value
# move the character if any of the move controls are activated.
if (self.controlMap["turn_left"]!=0):
self.actor.setH(self.actor.getH() + seconds*30)
if (self.controlMap["turn_right"]!=0):
self.actor.setH(self.actor.getH() - seconds*30)
if (self.controlMap["move_forward"]!=0):
self.actor.setPos(self.actor.getPos() + self.forward_normal_vector() * (seconds*0.5))
if (self.controlMap["move_backward"]!=0):
self.actor.setPos(self.actor.getPos() - self.forward_normal_vector() * (seconds*0.5))
if (self.controlMap["look_left"]!=0):
self.actor_neck.setP(bound(self.actor_neck.getP(),-60,60)+1*(seconds*50))
if (self.controlMap["look_right"]!=0):
self.actor_neck.setP(bound(self.actor_neck.getP(),-60,60)-1*(seconds*50))
if (self.controlMap["look_up"]!=0):
self.actor_neck.setH(bound(self.actor_neck.getH(),-60,80)+1*(seconds*50))
if (self.controlMap["look_down"]!=0):
self.actor_neck.setH(bound(self.actor_neck.getH(),-60,80)-1*(seconds*50))
# allow dialogue window to gradually decay (changing transparancy) and then disappear
self.last_spoke += seconds
self.speech_bubble['text_bg']=(1,1,1,1/(2*self.last_spoke+0.01))
self.speech_bubble['frameColor']=(.6,.2,.1,.5/(2*self.last_spoke+0.01))
if self.last_spoke > 2:
self.speech_bubble['text'] = ""
# If the character is moving, loop the run animation.
# If he is standing still, stop the animation.
if (self.controlMap["move_forward"]!=0) or (self.controlMap["move_backward"]!=0):
if self.isMoving is False:
self.isMoving = True
else:
if self.isMoving:
self.current_frame_count = 5.0
self.isMoving = False
total_frame_num = self.actor.getNumFrames('walk')
if self.isMoving:
self.current_frame_count = self.current_frame_count + (seconds*10.0)
while (self.current_frame_count >= total_frame_num + 1):
self.current_frame_count -= total_frame_num
while (self.current_frame_count < 0):
self.current_frame_count += total_frame_num
self.actor.pose('walk', self.current_frame_count)
self.handle_collisions()
def move(self, task):
"""Move and animate the character for one frame.
This is a task function that is called every frame by Panda3D.
The character is moved according to which of it's movement controls
are set, and the function keeps the character's feet on the ground
and stops the character from moving if a collision is detected.
This function also handles playing the characters movement
animations.
Arguments:
task -- A direct.task.Task object passed to this function by Panda3D.
Return:
Task.cont -- To tell Panda3D to call this task function again next
frame.
"""
elapsed = task.time - self.prevtime
# Store the task time and continue.
self.prevtime = task.time
return Task.cont
def setControl(self, control, value):
"""Set the state of one of the character's movement controls.
Arguments
See self.controlMap in __init__.
control -- The control to be set, must be a string matching one of
the strings in self.controlMap.
value -- The value to set the control to.
"""
# FIXME: this function is duplicated in Camera and Character, and
# keyboard control settings are spread throughout the code. Maybe
# add a Controllable class?
self.controlMap[control] = value
# these are simple commands that can be exported over xml-rpc (or attached to the keyboard)
def get_objects(self):
""" Looks up all of the model nodes that are 'isInView' of the camera
and returns them in the in_view dictionary (as long as they are also
in the self.world_objects -- otherwise this includes points defined
within the environment/terrain).
TODO: 1) include more geometric information about the object (size, mass, etc)
"""
def map3dToAspect2d(node, point):
"""Maps the indicated 3-d point (a Point3), which is relative to
the indicated NodePath, to the corresponding point in the aspect2d
scene graph. Returns the corresponding Point3 in aspect2d.
Returns None if the point is not onscreen. """
# Convert the point to the 3-d space of the camera
p3 = self.fov.getRelativePoint(node, point)
# Convert it through the lens to render2d coordinates
p2 = Point2()
if not self.fov.node().getLens().project(p3, p2):
return None
r2d = Point3(p2[0], 0, p2[1])
# And then convert it to aspect2d coordinates
a2d = aspect2d.getRelativePoint(render2d, r2d)
return a2d
objs = render.findAllMatches("**/+ModelNode")
in_view = {}
for o in objs:
o.hideBounds() # in case previously turned on
o_pos = o.getPos(self.fov)
if self.fov.node().isInView(o_pos):
if self.agent_simulator.world_objects.has_key(o.getName()):
b_min, b_max = o.getTightBounds()
a_min = map3dToAspect2d(render, b_min)
a_max = map3dToAspect2d(render, b_max)
if a_min == None or a_max == None:
continue
x_diff = math.fabs(a_max[0]-a_min[0])
y_diff = math.fabs(a_max[2]-a_min[2])
area = 100*x_diff*y_diff # percentage of screen
object_dict = {'x_pos': (a_min[2]+a_max[2])/2.0,\
'y_pos': (a_min[0]+a_max[0])/2.0,\
'distance':o.getDistance(self.fov), \
'area':area,\
'orientation': o.getH(self.fov)}
in_view[o.getName()]=object_dict
print o.getName(), object_dict
return in_view
def control__turn_left__start(self):
self.setControl("turn_left", 1)
self.setControl("turn_right", 0)
def control__turn_left__stop(self):
self.setControl("turn_left", 0)
def control__turn_right__start(self):
self.setControl("turn_left", 0)
self.setControl("turn_right", 1)
def control__turn_right__stop(self):
self.setControl("turn_right", 0)
def control__move_forward__start(self):
self.setControl("move_forward", 1)
self.setControl("move_backward", 0)
def control__move_forward__stop(self):
self.setControl("move_forward", 0)
def control__move_backward__start(self):
self.setControl("move_forward", 0)
self.setControl("move_backward", 1)
def control__move_backward__stop(self):
self.setControl("move_backward", 0)
def control__look_left__start(self):
self.setControl("look_left", 1)
self.setControl("look_right", 0)
def control__look_left__stop(self):
self.setControl("look_left", 0)
def control__look_right__start(self):
self.setControl("look_right", 1)
self.setControl("look_left", 0)
def control__look_right__stop(self):
self.setControl("look_right", 0)
def control__look_up__start(self):
self.setControl("look_up", 1)
self.setControl("look_down", 0)
def control__look_up__stop(self):
self.setControl("look_up", 0)
def control__look_down__start(self):
self.setControl("look_down", 1)
self.setControl("look_up", 0)
def control__look_down__stop(self):
self.setControl("look_down", 0)
def can_grasp(self, object_name):
objects = self.get_objects()
if objects.has_key(object_name):
object_view = objects[object_name]
distance = object_view['distance']
if (distance < 5.0):
return True
return False
def control__say(self, message):
self.speech_bubble['text'] = message
self.last_spoke = 0
def control__pick_up_with_right_hand(self, pick_up_object):
print "attempting to pick up " + pick_up_object + " with right hand.\n"
if self.right_hand_holding_object:
return 'right hand is already holding ' + self.right_hand_holding_object.getName() + '.'
if self.can_grasp(pick_up_object):
world_object = self.agent_simulator.world_objects[pick_up_object]
object_parent = world_object.getParent()
if (object_parent == self.agent_simulator.env):
world_object.wrtReparentTo(self.actor_right_hand)
world_object.setPos(0, 0, 0)
world_object.setHpr(0, 0, 0)
self.right_hand_holding_object = world_object
return 'success'
else:
return 'object (' + pick_up_object + ') is already held by something or someone.'
else:
return 'object (' + pick_up_object + ') is not graspable (i.e. in view and close enough).'
def put_object_in_empty_left_hand(self, object_name):
if (self.left_hand_holding_object is not False):
return False
world_object = self.agent_simulator.world_objects[object_name]
world_object.wrtReparentTo(self.actor_left_hand)
world_object.setPos(0, 0, 0)
world_object.setHpr(0, 0, 0)
self.left_hand_holding_object = world_object
return True
def control__pick_up_with_left_hand(self, pick_up_object):
print "attempting to pick up " + pick_up_object + " with left hand.\n"
if self.left_hand_holding_object:
return 'left hand is already holding ' + self.left_hand_holding_object.getName() + '.'
if self.can_grasp(pick_up_object):
world_object = self.agent_simulator.world_objects[pick_up_object]
object_parent = world_object.getParent()
if (object_parent == self.agent_simulator.env):
self.put_object_in_empty_left_hand(pick_up_object)
return 'success'
else:
return 'object (' + pick_up_object + ') is already held by something or someone.'
else:
return 'object (' + pick_up_object + ') is not graspable (i.e. in view and close enough).'
def control__drop_from_right_hand(self):
print "attempting to drop object from right hand.\n"
if self.right_hand_holding_object is False:
return 'right hand is not holding an object.'
world_object = self.right_hand_holding_object
self.right_hand_holding_object = False
world_object.wrtReparentTo(self.agent_simulator.env)
world_object.setHpr(0, 0, 0)
world_object.setPos(self.position() + self.forward_normal_vector() * 0.5)
world_object.setZ(world_object.getZ() + 1.0)
return 'success'
def control__drop_from_left_hand(self):
print "attempting to drop object from left hand.\n"
if self.left_hand_holding_object is False:
return 'left hand is not holding an object.'
world_object = self.left_hand_holding_object
self.left_hand_holding_object = False
world_object.wrtReparentTo(self.agent_simulator.env)
world_object.setHpr(0, 0, 0)
world_object.setPos(self.position() + self.forward_normal_vector() * 0.5)
world_object.setZ(world_object.getZ() + 1.0)
return 'success'
def is_holding(self, object_name):
return ((self.left_hand_holding_object and (self.left_hand_holding_object.getName() == object_name)) or
(self.right_hand_holding_object and (self.right_hand_holding_object.getName() == object_name)))
def empty_hand(self):
if (self.left_hand_holding_object is False):
return self.actor_left_hand
elif (self.right_hand_holding_object is False):
return self.actor_right_hand
return False
def has_empty_hand(self):
return (self.empty_hand() is not False)
def control__use_object_with_object(self, use_object, with_object):
if ((use_object == 'knife') and (with_object == 'loaf_of_bread')):
if self.is_holding('knife'):
if self.can_grasp('loaf_of_bread'):
if self.has_empty_hand():
empty_hand = self.empty_hand()
new_object_name = self.agent_simulator.create_object__slice_of_bread([float(x) for x in empty_hand.getPos()])
if (empty_hand == self.actor_left_hand):
self.put_object_in_empty_left_hand(new_object_name)
elif (empty_hand == self.actor_right_hand):
self.put_object_in_empty_right_hand(new_object_name)
else:
return "simulator error: empty hand is not left or right. (are there others?)"
return 'success'
else:
return 'failure: one hand must be empty to hold loaf_of_bread in place while using knife.'
else:
return 'failure: loaf of bread is not graspable (in view and close enough)'
else:
return 'failure: must be holding knife object to use it.'
return 'failure: don\'t know how to use ' + use_object + ' with ' + with_object + '.'
class HtmlView(DirectObject):
notify = DirectNotifyGlobal.directNotify.newCategory("HtmlView")
useHalfTexture = base.config.GetBool("news-half-texture", 0)
def __init__(self, parent=aspect2d):
"""Properly initialize ourself."""
#AwWebViewListener.AwWebViewListener.__init__(self)
self.parent = parent
self.mx = 0
self.my = 0
self.htmlFile = "index.html"
self.transparency = False # this is important looks weird if it's true
global GlobalWebcore
if GlobalWebcore:
# we get a C++ crash if we construct webcore a second time
pass
else:
GlobalWebcore = AwWebCore(AwWebCore.LOGVERBOSE, True,
AwWebCore.PFBGRA)
GlobalWebcore.setBaseDirectory('.')
for errResponse in xrange(400, 600):
GlobalWebcore.setCustomResponsePage(errResponse, "error.html")
self.webView = GlobalWebcore.createWebView(WEB_WIDTH, WEB_HEIGHT,
self.transparency, False,
70)
#self.webView.setListener(self)
#self.webView.setCallback("requestFPS");
frameName = ''
inGameNewsUrl = self.getInGameNewsUrl()
#self.webView.loadURL2(inGameNewsUrl)
self.imgBuffer = array.array('B')
for i in xrange(WEB_WIDTH * WEB_HEIGHT):
self.imgBuffer.append(0)
self.imgBuffer.append(0)
self.imgBuffer.append(0)
self.imgBuffer.append(255)
if self.useHalfTexture:
self.leftBuffer = array.array('B')
for i in xrange(WEB_HALF_WIDTH * WEB_HEIGHT):
self.leftBuffer.append(0)
self.leftBuffer.append(0)
self.leftBuffer.append(0)
self.leftBuffer.append(255)
self.rightBuffer = array.array('B')
for i in xrange(WEB_HALF_WIDTH * WEB_HEIGHT):
self.rightBuffer.append(0)
self.rightBuffer.append(0)
self.rightBuffer.append(0)
self.rightBuffer.append(255)
self.setupTexture()
if self.useHalfTexture:
self.setupHalfTextures()
#self.interval = LerpHprInterval(self.quad, 2, Vec3(360, 0, 0), Vec3(0, 0, 0))
#self.accept("escape", sys.exit, [0])
#self.accept("w", self.writeTex)
self.accept("mouse1", self.mouseDown, [AwWebView.LEFTMOUSEBTN])
self.accept("mouse3", self.mouseDown, [AwWebView.RIGHTMOUSEBTN])
self.accept("mouse1-up", self.mouseUp, [AwWebView.LEFTMOUSEBTN])
self.accept("mouse3-up", self.mouseUp, [AwWebView.RIGHTMOUSEBTN])
#self.accept("f1", self.toggleRotation)
#self.accept("f2", self.toggleTransparency)
#self.accept("f3", self.reload)
#self.accept("f4", self.zoomIn)
#self.accept("f5", self.zoomOut)
#taskMgr.doMethodLater(1.0, self.update, 'HtmlViewUpdateTask')
# we get a problem if a mid-frame hearbeat fires of this task in conjunction with igLoop
#taskMgr.add(self.update, 'HtmlViewUpdateTask', priority = 51)
#taskMgr.add(self.update, 'HtmlViewUpdateTask')
#base.newsFrame = self
def getInGameNewsUrl(self):
"""Get the appropriate URL to use if we are in test, qa, or live."""
# First if all else fails, we hard code the live news url
result = base.config.GetString(
"fallback-news-url",
"http://cdn.toontown.disney.go.com/toontown/en/gamenews/")
# next check if we have an override, say they want to url to point to a file in their harddisk
override = base.config.GetString("in-game-news-url", "")
if override:
self.notify.info(
"got an override url, using %s for in a game news" % override)
result = override
else:
try:
launcherUrl = base.launcher.getValue("GAME_IN_GAME_NEWS_URL",
"")
if launcherUrl:
result = launcherUrl
self.notify.info(
"got GAME_IN_GAME_NEWS_URL from launcher using %s" %
result)
else:
self.notify.info(
"blank GAME_IN_GAME_NEWS_URL from launcher, using %s" %
result)
except:
self.notify.warning(
"got exception getting GAME_IN_GAME_NEWS_URL from launcher, using %s"
% result)
return result
def setupTexture(self):
cm = CardMaker('quadMaker')
cm.setColor(1.0, 1.0, 1.0, 1.0)
aspect = base.camLens.getAspectRatio()
htmlWidth = 2.0 * aspect * WEB_WIDTH_PIXELS / float(WIN_WIDTH)
htmlHeight = 2.0 * float(WEB_HEIGHT_PIXELS) / float(WIN_HEIGHT)
# the html area will be center aligned and vertically top aligned
#cm.setFrame(-htmlWidth/2.0, htmlWidth/2.0, 1.0 - htmlHeight, 1.0)
cm.setFrame(-htmlWidth / 2.0, htmlWidth / 2.0, -htmlHeight / 2.0,
htmlHeight / 2.0)
bottomRightX = (WEB_WIDTH_PIXELS) / float(WEB_WIDTH + 1)
bottomRightY = WEB_HEIGHT_PIXELS / float(WEB_HEIGHT + 1)
#cm.setUvRange(Point2(0,0), Point2(bottomRightX, bottomRightY))
cm.setUvRange(Point2(0, 1 - bottomRightY), Point2(bottomRightX, 1))
card = cm.generate()
self.quad = NodePath(card)
self.quad.reparentTo(self.parent)
self.guiTex = Texture("guiTex")
self.guiTex.setupTexture(Texture.TT2dTexture, WEB_WIDTH, WEB_HEIGHT, 1,
Texture.TUnsignedByte, Texture.FRgba)
self.guiTex.setMinfilter(Texture.FTLinear)
self.guiTex.setKeepRamImage(True)
self.guiTex.makeRamImage()
self.guiTex.setWrapU(Texture.WMRepeat)
self.guiTex.setWrapV(Texture.WMRepeat)
ts = TextureStage('webTS')
self.quad.setTexture(ts, self.guiTex)
self.quad.setTexScale(ts, 1.0, -1.0)
self.quad.setTransparency(0)
self.quad.setTwoSided(True)
self.quad.setColor(1.0, 1.0, 1.0, 1.0)
#self.quad.setZ(0.1) # shtickerbook is moved up by 0.1
self.calcMouseLimits()
def setupHalfTextures(self):
self.setupLeftTexture()
self.setupRightTexture()
self.fullPnmImage = PNMImage(WEB_WIDTH, WEB_HEIGHT, 4)
self.leftPnmImage = PNMImage(WEB_HALF_WIDTH, WEB_HEIGHT, 4)
self.rightPnmImage = PNMImage(WEB_HALF_WIDTH, WEB_HEIGHT, 4)
def setupLeftTexture(self):
cm = CardMaker('quadMaker')
cm.setColor(1.0, 1.0, 1.0, 1.0)
aspect = base.camLens.getAspectRatio()
htmlWidth = 2.0 * aspect * WEB_WIDTH / float(WIN_WIDTH)
htmlHeight = 2.0 * float(WEB_HEIGHT) / float(WIN_HEIGHT)
# the html area will be center aligned and vertically top aligned
#cm.setFrame(-htmlWidth/2.0, htmlWidth/2.0, 1.0 - htmlHeight, 1.0)
cm.setFrame(-htmlWidth / 2.0, 0, -htmlHeight / 2.0, htmlHeight / 2.0)
card = cm.generate()
self.leftQuad = NodePath(card)
self.leftQuad.reparentTo(self.parent)
self.leftGuiTex = Texture("guiTex")
self.leftGuiTex.setupTexture(Texture.TT2dTexture, WEB_HALF_WIDTH,
WEB_HEIGHT, 1, Texture.TUnsignedByte,
Texture.FRgba)
self.leftGuiTex.setKeepRamImage(True)
self.leftGuiTex.makeRamImage()
self.leftGuiTex.setWrapU(Texture.WMClamp)
self.leftGuiTex.setWrapV(Texture.WMClamp)
ts = TextureStage('leftWebTS')
self.leftQuad.setTexture(ts, self.leftGuiTex)
self.leftQuad.setTexScale(ts, 1.0, -1.0)
self.leftQuad.setTransparency(0)
self.leftQuad.setTwoSided(True)
self.leftQuad.setColor(1.0, 1.0, 1.0, 1.0)
#self.quad.setZ(0.1) # shtickerbook is moved up by 0.1
def setupRightTexture(self):
cm = CardMaker('quadMaker')
cm.setColor(1.0, 1.0, 1.0, 1.0)
aspect = base.camLens.getAspectRatio()
htmlWidth = 2.0 * aspect * WEB_WIDTH / float(WIN_WIDTH)
htmlHeight = 2.0 * float(WEB_HEIGHT) / float(WIN_HEIGHT)
# the html area will be center aligned and vertically top aligned
#cm.setFrame(-htmlWidth/2.0, htmlWidth/2.0, 1.0 - htmlHeight, 1.0)
cm.setFrame(0, htmlWidth / 2.0, -htmlHeight / 2.0, htmlHeight / 2.0)
card = cm.generate()
self.rightQuad = NodePath(card)
self.rightQuad.reparentTo(self.parent)
self.rightGuiTex = Texture("guiTex")
self.rightGuiTex.setupTexture(Texture.TT2dTexture, WEB_HALF_WIDTH,
WEB_HEIGHT, 1, Texture.TUnsignedByte,
Texture.FRgba)
self.rightGuiTex.setKeepRamImage(True)
self.rightGuiTex.makeRamImage()
self.rightGuiTex.setWrapU(Texture.WMClamp)
self.rightGuiTex.setWrapV(Texture.WMClamp)
ts = TextureStage('rightWebTS')
self.rightQuad.setTexture(ts, self.rightGuiTex)
self.rightQuad.setTexScale(ts, 1.0, -1.0)
self.rightQuad.setTransparency(0)
self.rightQuad.setTwoSided(True)
self.rightQuad.setColor(1.0, 1.0, 1.0, 1.0)
#self.quad.setZ(0.1) # shtickerbook is moved up by 0.1
def calcMouseLimits(self):
ll = Point3()
ur = Point3()
self.quad.calcTightBounds(ll, ur)
self.notify.debug("ll=%s ur=%s" % (ll, ur))
# we need to get our relative position to aspect2d, since shtiker books is shifted
offset = self.quad.getPos(aspect2d)
self.notify.debug("offset = %s " % offset)
ll.setZ(ll.getZ() + offset.getZ())
ur.setZ(ur.getZ() + offset.getZ())
self.notify.debug("new LL=%s, UR=%s" % (ll, ur))
relPointll = self.quad.getRelativePoint(aspect2d, ll)
self.notify.debug("relPoint = %s" % relPointll)
self.mouseLL = (aspect2d.getScale()[0] * ll[0],
aspect2d.getScale()[2] * ll[2])
self.mouseUR = (aspect2d.getScale()[0] * ur[0],
aspect2d.getScale()[2] * ur[2])
self.notify.debug("original mouseLL=%s, mouseUR=%s" %
(self.mouseLL, self.mouseUR))
def writeTex(self, filename="guiText.png"):
self.notify.debug("writing texture")
self.guiTex.generateRamMipmapImages()
self.guiTex.write(filename)
def toggleRotation(self):
if self.interval.isPlaying():
self.interval.finish()
else:
self.interval.loop()
def mouseDown(self, button):
messenger.send('wakeup')
self.webView.injectMouseDown(button)
def mouseUp(self, button):
self.webView.injectMouseUp(button)
def reload(self):
pass
#self.webView.loadFile(self.htmlFile, '')
def zoomIn(self):
self.webView.zoomIn()
def zoomOut(self):
self.webView.zoomOut()
def toggleTransparency(self):
self.transparency = not self.transparency
self.webView.setTransparent(self.transparency)
def update(self, task):
global GlobalWebcore
if base.mouseWatcherNode.hasMouse():
x, y = self._translateRelativeCoordinates(
base.mouseWatcherNode.getMouseX(),
base.mouseWatcherNode.getMouseY())
#self.notify.debug('got mouse move %d %d' % (x,y))
#self.webView.injectMouseMove(x, y)
if (self.mx - x) != 0 or (self.my - y) != 0:
self.webView.injectMouseMove(x, y)
#self.notify.debug('injecting mouse move %d %d' % (x,y))
self.mx, self.my = x, y
if self.webView.isDirty():
#self.notify.debug("webview is dirty")
self.webView.render(self.imgBuffer.buffer_info()[0],
WEB_WIDTH * 4, 4)
#Texture.setTexturesPower2(AutoTextureScale.ATSUp)
Texture.setTexturesPower2(2)
#self.notify.debug("about to modify ram image")
textureBuffer = self.guiTex.modifyRamImage()
#import pdb; pdb.set_trace()
#self.notify.debug("about to call textureBuffer.setData")
textureBuffer.setData(self.imgBuffer.tostring())
#self.notify.debug("done calling setData")
if self.useHalfTexture:
# TODO check with DRose, this feels inefficient
self.guiTex.store(self.fullPnmImage)
self.leftPnmImage.copySubImage(self.fullPnmImage, 0, 0, 0,
0, WEB_HALF_WIDTH,
WEB_HEIGHT)
self.rightPnmImage.copySubImage(self.fullPnmImage, 0, 0,
WEB_HALF_WIDTH, 0,
WEB_HALF_WIDTH, WEB_HEIGHT)
self.leftGuiTex.load(self.leftPnmImage)
self.rightGuiTex.load(self.rightPnmImage)
self.quad.hide()
#Texture.setTexturesPower2(AutoTextureScale.ATSDown)
Texture.setTexturesPower2(1)
GlobalWebcore.update()
return Task.cont
def _translateRelativeCoordinates(self, x, y):
sx = int((x - self.mouseLL[0]) / (self.mouseUR[0] - self.mouseLL[0]) *
WEB_WIDTH_PIXELS)
sy = WEB_HEIGHT_PIXELS - int(
(y - self.mouseLL[1]) /
(self.mouseUR[1] - self.mouseLL[1]) * WEB_HEIGHT_PIXELS)
return sx, sy
def unload(self):
"""Clean up everything, especially the awesomium bits."""
self.ignoreAll()
self.webView.destroy()
self.webView = None
#global GlobalWebcore
#GlobalWebcore = None
pass
# --------------------[ WebViewListener implementation ]--------------------------
def onCallback(self, name, args):
assert self.notify.debugStateCall(self)
if name == "requestFPS":
#self.webView.setProperty( "fps", JSValue("%.1f" % (1.0 / globalClock.getDt())) )
#self.webView.executeJavascript("updateFPS()", "")
pass
def onBeginNavigation(self, url, frameName):
assert self.notify.debugStateCall(self)
pass
def onBeginLoading(self, url, frameName, statusCode, mimeType):
assert self.notify.debugStateCall(self)
pass
def onFinishLoading(self):
assert self.notify.debugStateCall(self)
self.notify.debug("finished loading")
pass
def onReceiveTitle(self, title, frameName):
assert self.notify.debugStateCall(self)
pass
def onChangeTooltip(self, tooltip):
assert self.notify.debugStateCall(self)
pass
def onChangeCursor(self, cursor):
assert self.notify.debugStateCall(self)
pass
def onChangeKeyboardFocus(self, isFocused):
assert self.notify.debugStateCall(self)
pass
def onChangeTargetURL(self, url):
assert self.notify.debugStateCall(self)
pass
class IsisAgent(kinematicCharacterController, DirectObject):
@classmethod
def setPhysics(cls, physics):
""" This method is set in src.loader when the generators are loaded
into the namespace. This frees the environment definitions (in
scenario files) from having to pass around the physics parameter
that is required for all IsisObjects """
cls.physics = physics
def __init__(self, name, queueSize=100):
# load the model and the different animations for the model into an Actor object.
self.actor = Actor(
"media/models/boxman", {"walk": "media/models/boxman-walk", "idle": "media/models/boxman-idle"}
)
self.actor.setScale(1.0)
self.actor.setH(0)
# self.actor.setLODAnimation(10,5,2) # slows animation framerate when actor is far from camera, if you can figure out reasonable params
self.actor.setColorScale(random.random(), random.random(), random.random(), 1.0)
self.actorNodePath = NodePath("agent-%s" % name)
self.activeModel = self.actorNodePath
self.actorNodePath.reparentTo(render)
self.actor.reparentTo(self.actorNodePath)
self.name = name
self.isMoving = False
# initialize ODE controller
kinematicCharacterController.__init__(self, IsisAgent.physics, self.actorNodePath)
self.setGeomPos(self.actorNodePath.getPos(render))
"""
Additional Direct Object that I use for convenience.
"""
self.specialDirectObject = DirectObject()
"""
How high above the center of the capsule you want the camera to be
when walking and when crouching. It's related to the values in KCC.
"""
self.walkCamH = 0.7
self.crouchCamH = 0.2
self.camH = self.walkCamH
"""
This tells the Player Controller what we're aiming at.
"""
self.aimed = None
self.isSitting = False
self.isDisabled = False
"""
The special direct object is used for trigger messages and the like.
"""
# self.specialDirectObject.accept("ladder_trigger_enter", self.setFly, [True])
# self.specialDirectObject.accept("ladder_trigger_exit", self.setFly, [False])
self.actor.makeSubpart("arms", ["LeftShoulder", "RightShoulder"])
# Expose agent's right hand joint to attach objects to
self.player_right_hand = self.actor.exposeJoint(None, "modelRoot", "Hand.R")
self.player_left_hand = self.actor.exposeJoint(None, "modelRoot", "Hand.L")
self.right_hand_holding_object = None
self.left_hand_holding_object = None
# don't change the color of things you pick up
self.player_right_hand.setColorScaleOff()
self.player_left_hand.setColorScaleOff()
self.player_head = self.actor.exposeJoint(None, "modelRoot", "Head")
self.neck = self.actor.controlJoint(None, "modelRoot", "Head")
self.controlMap = {
"turn_left": 0,
"turn_right": 0,
"move_forward": 0,
"move_backward": 0,
"move_right": 0,
"move_left": 0,
"look_up": 0,
"look_down": 0,
"look_left": 0,
"look_right": 0,
"jump": 0,
}
# see update method for uses, indices are [turn left, turn right, move_forward, move_back, move_right, move_left, look_up, look_down, look_right, look_left]
# turns are in degrees per second, moves are in units per second
self.speeds = [270, 270, 5, 5, 5, 5, 60, 60, 60, 60]
self.originalPos = self.actor.getPos()
bubble = loader.loadTexture("media/textures/thought_bubble.png")
# bubble.setTransparency(TransparencyAttrib.MAlpha)
self.speech_bubble = DirectLabel(
parent=self.actor,
text="",
text_wordwrap=10,
pad=(3, 3),
relief=None,
text_scale=(0.3, 0.3),
pos=(0, 0, 3.6),
frameColor=(0.6, 0.2, 0.1, 0.5),
textMayChange=1,
text_frame=(0, 0, 0, 1),
text_bg=(1, 1, 1, 1),
)
# self.myImage=
self.speech_bubble.setTransparency(TransparencyAttrib.MAlpha)
# stop the speech bubble from being colored like the agent
self.speech_bubble.setColorScaleOff()
self.speech_bubble.component("text0").textNode.setCardDecal(1)
self.speech_bubble.setBillboardAxis()
# hide the speech bubble from IsisAgent's own camera
self.speech_bubble.hide(BitMask32.bit(1))
self.thought_bubble = DirectLabel(
parent=self.actor,
text="",
text_wordwrap=9,
text_frame=(1, 0, -2, 1),
text_pos=(0, 0.5),
text_bg=(1, 1, 1, 0),
relief=None,
frameSize=(0, 1.5, -2, 3),
text_scale=(0.18, 0.18),
pos=(0, 0.2, 3.6),
textMayChange=1,
image=bubble,
image_pos=(0, 0.1, 0),
sortOrder=5,
)
self.thought_bubble.setTransparency(TransparencyAttrib.MAlpha)
# stop the speech bubble from being colored like the agent
self.thought_bubble.setColorScaleOff()
self.thought_bubble.component("text0").textNode.setFrameColor(1, 1, 1, 0)
self.thought_bubble.component("text0").textNode.setFrameAsMargin(0.1, 0.1, 0.1, 0.1)
self.thought_bubble.component("text0").textNode.setCardDecal(1)
self.thought_bubble.setBillboardAxis()
# hide the thought bubble from IsisAgent's own camera
self.thought_bubble.hide(BitMask32.bit(1))
# disable by default
self.thought_bubble.hide()
self.thought_filter = {} # only show thoughts whose values are in here
self.last_spoke = 0 # timers to keep track of last thought/speech and
self.last_thought = 0 # hide visualizations
# put a camera on ralph
self.fov = NodePath(Camera("RaphViz"))
self.fov.node().setCameraMask(BitMask32.bit(1))
# position the camera to be infront of Boxman's face.
self.fov.reparentTo(self.player_head)
# x,y,z are not in standard orientation when parented to player-Head
self.fov.setPos(0, 0.2, 0)
# if P=0, canrea is looking directly up. 90 is back of head. -90 is on face.
self.fov.setHpr(0, -90, 0)
lens = self.fov.node().getLens()
lens.setFov(60) # degree field of view (expanded from 40)
lens.setNear(0.2)
# self.fov.node().showFrustum() # displays a box around his head
# self.fov.place()
self.prevtime = 0
self.current_frame_count = 0
self.isSitting = False
self.isDisabled = False
self.msg = None
self.actorNodePath.setPythonTag("agent", self)
# Initialize the action queue, with a maximum length of queueSize
self.queue = []
self.queueSize = queueSize
self.lastSense = 0
def setLayout(self, layout):
""" Dummy method called by spatial methods for use with objects.
Doesn't make sense for an agent that can move around."""
pass
def setPos(self, pos):
""" Wrapper to set the position of the ODE geometry, which in turn
sets the visual model's geometry the next time the update() method
is called. """
self.setGeomPos(pos)
def setPosition(self, pos):
self.setPos(pos)
def reparentTo(self, parent):
self.actorNodePath.reparentTo(parent)
def setControl(self, control, value):
"""Set the state of one of the character's movement controls. """
self.controlMap[control] = value
def get_objects_in_field_of_vision(self, exclude=["isisobject"]):
""" This works in an x-ray style. Fast. Works best if you listen to
http://en.wikipedia.org/wiki/Rock_Art_and_the_X-Ray_Style while
you use it.
needs to exclude isisobjects since they cannot be serialized
"""
objects = {}
for obj in base.render.findAllMatches("**/IsisObject*"):
if not obj.hasPythonTag("isisobj"):
continue
o = obj.getPythonTag("isisobj")
bounds = o.activeModel.getBounds()
bounds.xform(o.activeModel.getMat(self.fov))
if self.fov.node().isInView(o.activeModel.getPos(self.fov)):
pos = o.activeModel.getPos(render)
pos = (pos[0], pos[1], pos[2] + o.getHeight() / 2)
p1 = self.fov.getRelativePoint(render, pos)
p2 = Point2()
self.fov.node().getLens().project(p1, p2)
p3 = aspect2d.getRelativePoint(render2d, Point3(p2[0], 0, p2[1]))
object_dict = {}
if "x_pos" not in exclude:
object_dict["x_pos"] = p3[0]
if "y_pos" not in exclude:
object_dict["y_pos"] = p3[2]
if "distance" not in exclude:
object_dict["distance"] = o.activeModel.getDistance(self.fov)
if "orientation" not in exclude:
object_dict["orientation"] = o.activeModel.getH(self.fov)
if "actions" not in exclude:
object_dict["actions"] = o.list_actions()
if "isisobject" not in exclude:
object_dict["isisobject"] = o
# add item to dinctionary
objects[o] = object_dict
return objects
def get_agents_in_field_of_vision(self):
""" This works in an x-ray vision style as well"""
agents = {}
for agent in base.render.findAllMatches("**/agent-*"):
if not agent.hasPythonTag("agent"):
continue
a = agent.getPythonTag("agent")
bounds = a.actorNodePath.getBounds()
bounds.xform(a.actorNodePath.getMat(self.fov))
pos = a.actorNodePath.getPos(self.fov)
if self.fov.node().isInView(pos):
p1 = self.fov.getRelativePoint(render, pos)
p2 = Point2()
self.fov.node().getLens().project(p1, p2)
p3 = aspect2d.getRelativePoint(render2d, Point3(p2[0], 0, p2[1]))
agentDict = {
"x_pos": p3[0],
"y_pos": p3[2],
"distance": a.actorNodePath.getDistance(self.fov),
"orientation": a.actorNodePath.getH(self.fov),
}
agents[a] = agentDict
return agents
def in_view(self, isisobj):
""" Returns true iff a particular isisobject is in view """
return len(
filter(lambda x: x["isisobject"] == isisobj, self.get_objects_in_field_of_vision(exclude=[]).values())
)
def get_objects_in_view(self):
""" Gets objects through ray tracing. Slow"""
return self.picker.get_objects_in_view()
def control__turn_left__start(self, speed=None):
self.setControl("turn_left", 1)
self.setControl("turn_right", 0)
if speed:
self.speeds[0] = speed
return "success"
def control__turn_left__stop(self):
self.setControl("turn_left", 0)
return "success"
def control__turn_right__start(self, speed=None):
self.setControl("turn_left", 0)
self.setControl("turn_right", 1)
if speed:
self.speeds[1] = speed
return "success"
def control__turn_right__stop(self):
self.setControl("turn_right", 0)
return "success"
def control__move_forward__start(self, speed=None):
self.setControl("move_forward", 1)
self.setControl("move_backward", 0)
if speed:
self.speeds[2] = speed
return "success"
def control__move_forward__stop(self):
self.setControl("move_forward", 0)
return "success"
def control__move_backward__start(self, speed=None):
self.setControl("move_forward", 0)
self.setControl("move_backward", 1)
if speed:
self.speeds[3] = speed
return "success"
def control__move_backward__stop(self):
self.setControl("move_backward", 0)
return "success"
def control__move_left__start(self, speed=None):
self.setControl("move_left", 1)
self.setControl("move_right", 0)
if speed:
self.speeds[4] = speed
return "success"
def control__move_left__stop(self):
self.setControl("move_left", 0)
return "success"
def control__move_right__start(self, speed=None):
self.setControl("move_right", 1)
self.setControl("move_left", 0)
if speed:
self.speeds[5] = speed
return "success"
def control__move_right__stop(self):
self.setControl("move_right", 0)
return "success"
def control__look_left__start(self, speed=None):
self.setControl("look_left", 1)
self.setControl("look_right", 0)
if speed:
self.speeds[9] = speed
return "success"
def control__look_left__stop(self):
self.setControl("look_left", 0)
return "success"
def control__look_right__start(self, speed=None):
self.setControl("look_right", 1)
self.setControl("look_left", 0)
if speed:
self.speeds[8] = speed
return "success"
def control__look_right__stop(self):
self.setControl("look_right", 0)
return "success"
def control__look_up__start(self, speed=None):
self.setControl("look_up", 1)
self.setControl("look_down", 0)
if speed:
self.speeds[6] = speed
return "success"
def control__look_up__stop(self):
self.setControl("look_up", 0)
return "success"
def control__look_down__start(self, speed=None):
self.setControl("look_down", 1)
self.setControl("look_up", 0)
if speed:
self.speeds[7] = speed
return "success"
def control__look_down__stop(self):
self.setControl("look_down", 0)
return "success"
def control__jump(self):
self.setControl("jump", 1)
return "success"
def control__view_objects(self):
""" calls a raytrace to to all objects in view """
objects = self.get_objects_in_field_of_vision()
self.control__say("If I were wearing x-ray glasses, I could see %i items" % len(objects))
print "Objects in view:", objects
return objects
def control__sense(self):
""" perceives the world, returns percepts dict """
percepts = dict()
# eyes: visual matricies
# percepts['vision'] = self.sense__get_vision()
# objects in purview (cheating object recognition)
percepts["objects"] = self.sense__get_objects()
# global position in environment - our robots can have GPS :)
percepts["position"] = self.sense__get_position()
# language: get last utterances that were typed
percepts["language"] = self.sense__get_utterances()
# agents: returns a map of agents to a list of actions that have been sensed
percepts["agents"] = self.sense__get_agents()
print percepts
return percepts
def control__think(self, message, layer=0):
""" Changes the contents of an agent's thought bubble"""
# only say things that are checked in the controller
if self.thought_filter.has_key(layer):
self.thought_bubble.show()
self.thought_bubble["text"] = message
# self.thought_bubble.component('text0').textNode.setShadow(0.05, 0.05)
# self.thought_bubble.component('text0').textNode.setShadowColor(self.thought_filter[layer])
self.last_thought = 0
return "success"
def control__say(self, message="Hello!"):
self.speech_bubble["text"] = message
self.last_spoke = 0
return "success"
"""
Methods explicitly for IsisScenario files
"""
def put_in_front_of(self, isisobj):
# find open direction
pos = isisobj.getGeomPos()
direction = render.getRelativeVector(isisobj, Vec3(0, 1.0, 0))
closestEntry, closestObject = IsisAgent.physics.doRaycastNew("aimRay", 5, [pos, direction], [isisobj.geom])
print "CLOSEST", closestEntry, closestObject
if closestObject == None:
self.setPosition(pos + Vec3(0, 2, 0))
else:
print "CANNOT PLACE IN FRONT OF %s BECAUSE %s IS THERE" % (isisobj, closestObject)
direction = render.getRelativeVector(isisobj, Vec3(0, -1.0, 0))
closestEntry, closestObject = IsisAgent.physics.doRaycastNew("aimRay", 5, [pos, direction], [isisobj.geom])
if closestEntry == None:
self.setPosition(pos + Vec3(0, -2, 0))
else:
print "CANNOT PLACE BEHIND %s BECAUSE %s IS THERE" % (isisobj, closestObject)
direction = render.getRelativeVector(isisobj, Vec3(1, 0, 0))
closestEntry, closestObject = IsisAgent.physics.doRaycastNew(
"aimRay", 5, [pos, direction], [isisobj.geom]
)
if closestEntry == None:
self.setPosition(pos + Vec3(2, 0, 0))
else:
print "CANNOT PLACE TO LEFT OF %s BECAUSE %s IS THERE" % (isisobj, closestObject)
# there's only one option left, do it anyway
self.setPosition(pos + Vec3(-2, 0, 0))
# rotate agent to look at it
self.actorNodePath.setPos(self.getGeomPos())
self.actorNodePath.lookAt(pos)
self.setH(self.actorNodePath.getH())
def put_in_right_hand(self, target):
return self.pick_object_up_with(target, self.right_hand_holding_object, self.player_right_hand)
def put_in_left_hand(self, target):
return self.pick_object_up_with(target, self.left_hand_holding_object, self.player_left_hand)
def __get_object_in_center_of_view(self):
direction = render.getRelativeVector(self.fov, Vec3(0, 1.0, 0))
pos = self.fov.getPos(render)
exclude = [] # [base.render.find("**/kitchenNode*").getPythonTag("isisobj").geom]
closestEntry, closestObject = IsisAgent.physics.doRaycastNew("aimRay", 5, [pos, direction], exclude)
return closestObject
def pick_object_up_with(self, target, hand_slot, hand_joint):
""" Attaches an IsisObject, target, to the hand joint. Does not check anything first,
other than the fact that the hand joint is not currently holding something else."""
if hand_slot != None:
print "already holding " + hand_slot.getName() + "."
return None
else:
if target.layout:
target.layout.remove(target)
target.layout = None
# store original position
target.originalHpr = target.getHpr(render)
target.disable() # turn off physics
if target.body:
target.body.setGravityMode(0)
target.reparentTo(hand_joint)
target.setPosition(hand_joint.getPos(render))
target.setTag("heldBy", self.name)
if hand_joint == self.player_right_hand:
self.right_hand_holding_object = target
elif hand_joint == self.player_left_hand:
self.left_hand_holding_object = target
hand_slot = target
return target
def control__pick_up_with_right_hand(self, target=None):
if not target:
target = self.__get_object_in_center_of_view()
if not target:
print "no target in reach"
return "error: no target in reach"
else:
target = render.find("**/*" + target + "*").getPythonTag("isisobj")
print "attempting to pick up " + target.name + " with right hand.\n"
if self.can_grasp(target): # object within distance
return self.pick_object_up_with(target, self.right_hand_holding_object, self.player_right_hand)
else:
print "object (" + target.name + ") is not graspable (i.e. in view and close enough)."
return "error: object not graspable"
def control__pick_up_with_left_hand(self, target=None):
if not target:
target = self.__get_object_in_center_of_view()
if not target:
print "no target in reach"
return
else:
target = render.find("**/*" + target + "*").getPythonTag("isisobj")
print "attempting to pick up " + target.name + " with left hand.\n"
if self.can_grasp(target): # object within distance
return self.pick_object_up_with(target, self.left_hand_holding_object, self.player_left_hand)
else:
print "object (" + target.name + ") is not graspable (i.e. in view and close enough)."
return "error: object not graspable"
def control__drop_from_right_hand(self):
print "attempting to drop object from right hand.\n"
if self.right_hand_holding_object is None:
print "right hand is not holding an object."
return False
if self.right_hand_holding_object.getNetTag("heldBy") == self.name:
self.right_hand_holding_object.reparentTo(render)
direction = render.getRelativeVector(self.fov, Vec3(0, 1.0, 0))
pos = self.player_right_hand.getPos(render)
heldPos = self.right_hand_holding_object.geom.getPosition()
self.right_hand_holding_object.setPosition(pos)
self.right_hand_holding_object.synchPosQuatToNode()
self.right_hand_holding_object.setTag("heldBy", "")
self.right_hand_holding_object.setRotation(self.right_hand_holding_object.originalHpr)
self.right_hand_holding_object.enable()
if self.right_hand_holding_object.body:
quat = self.getQuat()
# throw object
force = 5
self.right_hand_holding_object.body.setGravityMode(1)
self.right_hand_holding_object.getBody().setForce(quat.xform(Vec3(0, force, 0)))
self.right_hand_holding_object = None
return "success"
else:
return "Error: not being held by agent %s" % (self.name)
def control__drop_from_left_hand(self):
print "attempting to drop object from left hand.\n"
if self.left_hand_holding_object is None:
return "left hand is not holding an object."
if self.left_hand_holding_object.getNetTag("heldBy") == self.name:
self.left_hand_holding_object.reparentTo(render)
direction = render.getRelativeVector(self.fov, Vec3(0, 1.0, 0))
pos = self.player_left_hand.getPos(render)
heldPos = self.left_hand_holding_object.geom.getPosition()
self.left_hand_holding_object.setPosition(pos)
self.left_hand_holding_object.synchPosQuatToNode()
self.left_hand_holding_object.setTag("heldBy", "")
self.left_hand_holding_object.setRotation(self.left_hand_holding_object.originalHpr)
self.left_hand_holding_object.enable()
if self.left_hand_holding_object.body:
quat = self.getQuat()
# throw object
force = 5
self.left_hand_holding_object.body.setGravityMode(1)
self.left_hand_holding_object.getBody().setForce(quat.xform(Vec3(0, force, 0)))
self.left_hand_holding_object = None
return "success"
else:
return "Error: not being held by agent %s" % (self.name)
def control__use_right_hand(self, target=None, action=None):
# TODO, rename this to use object with
if not action:
if self.msg:
action = self.msg
else:
action = "divide"
if not target:
target = self.__get_object_in_center_of_view()
if not target:
print "no target in reach"
return
else:
target = render.find("**/*" + target + "*").getPythonTag("isisobj")
print "Trying to use object", target
if self.can_grasp(target):
if target.call(self, action, self.right_hand_holding_object) or (
self.right_hand_holding_object and self.right_hand_holding_object.call(self, action, target)
):
return "success"
return str(action) + " not associated with either target or object"
return "target not within reach"
def control__use_left_hand(self, target=None, action=None):
if not action:
if self.msg:
action = self.msg
else:
action = "divide"
if not target:
target = self.__get_object_in_center_of_view()
if not target:
print "no target in reach"
return
else:
target = render.find("**/*" + target + "*").getPythonTag("isisobj")
if self.can_grasp(target):
if target.call(self, action, self.left_hand_holding_object) or (
self.left_hand_holding_object and self.left_hand_holding_object.call(self, action, target)
):
return "success"
return str(action) + " not associated with either target or object"
return "target not within reach"
def can_grasp(self, isisobject):
distance = isisobject.activeModel.getDistance(self.fov)
print "distance = ", distance
return distance < 5.0
def is_holding(self, object_name):
return (
self.left_hand_holding_object
and (self.left_hand_holding_object.getPythonTag("isisobj").name == object_name)
) or (
self.right_hand_holding_object
and (self.right_hand_holding_object.getPythonTag("isisobj").name == object_name)
)
def empty_hand(self):
if self.left_hand_holding_object is None:
return self.player_left_hand
elif self.right_hand_holding_object is None:
return self.player_right_hand
return False
def has_empty_hand(self):
return self.empty_hand() is not False
def control__use_aimed(self):
"""
Try to use the object that we aim at, by calling its callback method.
"""
target = self.__get_object_in_center_of_view()
if target.selectionCallback:
target.selectionCallback(self, dir)
return "success"
def sense__get_position(self):
x, y, z = self.actorNodePath.getPos()
h, p, r = self.actorNodePath.getHpr()
# FIXME
# neck is not positioned in Blockman nh,np,nr = self.agents[agent_id].actor_neck.getHpr()
left_hand_obj = ""
right_hand_obj = ""
if self.left_hand_holding_object:
left_hand_obj = self.left_hand_holding_object.getName()
if self.right_hand_holding_object:
right_hand_obj = self.right_hand_holding_object.getName()
return {
"body_x": x,
"body_y": y,
"body_z": z,
"body_h": h,
"body_p": p,
"body_r": r,
"in_left_hand": left_hand_obj,
"in_right_hand": right_hand_obj,
}
def sense__get_vision(self):
self.fov.node().saveScreenshot("temp.jpg")
image = Image.open("temp.jpg")
os.remove("temp.jpg")
return image
def sense__get_objects(self):
return dict([x.getName(), y] for (x, y) in self.get_objects_in_field_of_vision().items())
def sense__get_agents(self):
curSense = time()
agents = {}
for k, v in self.get_agents_in_field_of_vision().items():
v["actions"] = k.get_other_agents_actions(self.lastSense, curSense)
agents[k.name] = v
self.lastSense = curSense
return agents
def sense__get_utterances(self):
""" Clear out the buffer of things that the teacher has typed,
FIXME: this doesn't work right now """
return []
utterances = self.teacher_utterances
self.teacher_utterances = []
return utterances
def debug__print_objects(self):
text = "Objects in FOV: " + ", ".join(self.sense__get_objects().keys())
print text
def add_action_to_history(self, action, args, result=0):
self.queue.append((time(), action, args, result))
if len(self.queue) > self.queueSize:
self.queue.pop(0)
def get_other_agents_actions(self, start=0, end=None):
if not end:
end = time()
actions = []
for act in self.queue:
if act[0] >= start:
if act[0] < end:
actions.append(act)
else:
break
return actions
def update(self, stepSize=0.1):
self.speed = [0.0, 0.0]
self.actorNodePath.setPos(self.geom.getPosition() + Vec3(0, 0, -0.70))
self.actorNodePath.setQuat(self.getQuat())
# the values in self.speeds are used as coefficientes for turns and movements
if self.controlMap["turn_left"] != 0:
self.addToH(stepSize * self.speeds[0])
if self.controlMap["turn_right"] != 0:
self.addToH(-stepSize * self.speeds[1])
if self.verticalState == "ground":
# these actions require contact with the ground
if self.controlMap["move_forward"] != 0:
self.speed[1] = self.speeds[2]
if self.controlMap["move_backward"] != 0:
self.speed[1] = -self.speeds[3]
if self.controlMap["move_left"] != 0:
self.speed[0] = -self.speeds[4]
if self.controlMap["move_right"] != 0:
self.speed[0] = self.speeds[5]
if self.controlMap["jump"] != 0:
kinematicCharacterController.jump(self)
# one jump at a time!
self.controlMap["jump"] = 0
if self.controlMap["look_left"] != 0:
self.neck.setR(bound(self.neck.getR(), -60, 60) + stepSize * 80)
if self.controlMap["look_right"] != 0:
self.neck.setR(bound(self.neck.getR(), -60, 60) - stepSize * 80)
if self.controlMap["look_up"] != 0:
self.neck.setP(bound(self.neck.getP(), -60, 80) + stepSize * 80)
if self.controlMap["look_down"] != 0:
self.neck.setP(bound(self.neck.getP(), -60, 80) - stepSize * 80)
kinematicCharacterController.update(self, stepSize)
"""
Update the held object position to be in the hands
"""
if self.right_hand_holding_object != None:
self.right_hand_holding_object.setPosition(self.player_right_hand.getPos(render))
if self.left_hand_holding_object != None:
self.left_hand_holding_object.setPosition(self.player_left_hand.getPos(render))
# Update the dialog box and thought windows
# This allows dialogue window to gradually decay (changing transparancy) and then disappear
self.last_spoke += stepSize / 2
self.last_thought += stepSize / 2
self.speech_bubble["text_bg"] = (1, 1, 1, 1 / (self.last_spoke + 0.01))
self.speech_bubble["frameColor"] = (0.6, 0.2, 0.1, 0.5 / (self.last_spoke + 0.01))
if self.last_spoke > 2:
self.speech_bubble["text"] = ""
if self.last_thought > 1:
self.thought_bubble.hide()
# If the character is moving, loop the run animation.
# If he is standing still, stop the animation.
if (
(self.controlMap["move_forward"] != 0)
or (self.controlMap["move_backward"] != 0)
or (self.controlMap["move_left"] != 0)
or (self.controlMap["move_right"] != 0)
):
if self.isMoving is False:
self.isMoving = True
else:
if self.isMoving:
self.current_frame_count = 5.0
self.isMoving = False
total_frame_num = self.actor.getNumFrames("walk")
if self.isMoving:
self.current_frame_count = self.current_frame_count + (stepSize * 250.0)
if self.current_frame_count > total_frame_num:
self.current_frame_count = self.current_frame_count % total_frame_num
self.actor.pose("walk", self.current_frame_count)
elif self.current_frame_count != 0:
self.current_frame_count = 0
self.actor.pose("idle", 0)
return Task.cont
def destroy(self):
self.disable()
self.specialDirectObject.ignoreAll()
self.actorNodePath.removeNode()
del self.specialDirectObject
kinematicCharacterController.destroy(self)
def disable(self):
self.isDisabled = True
self.geom.disable()
self.footRay.disable()
def enable(self):
self.footRay.enable()
self.geom.enable()
self.isDisabled = False
"""
Set camera to correct height above the center of the capsule
when crouching and when standing up.
"""
def crouch(self):
kinematicCharacterController.crouch(self)
self.camH = self.crouchCamH
def crouchStop(self):
"""
Only change the camera's placement when the KCC allows standing up.
See the KCC to find out why it might not allow it.
"""
if kinematicCharacterController.crouchStop(self):
self.camH = self.walkCamH
class IsisAgent(kinematicCharacterController, DirectObject):
@classmethod
def setPhysics(cls, physics):
""" This method is set in src.loader when the generators are loaded
into the namespace. This frees the environment definitions (in
scenario files) from having to pass around the physics parameter
that is required for all IsisObjects """
cls.physics = physics
def __init__(self, name, queueSize=100):
# load the model and the different animations for the model into an Actor object.
self.actor = Actor("media/models/boxman", {
"walk": "media/models/boxman-walk",
"idle": "media/models/boxman-idle"
})
self.actor.setScale(1.0)
self.actor.setH(0)
#self.actor.setLODAnimation(10,5,2) # slows animation framerate when actor is far from camera, if you can figure out reasonable params
self.actor.setColorScale(random.random(), random.random(),
random.random(), 1.0)
self.actorNodePath = NodePath('agent-%s' % name)
self.activeModel = self.actorNodePath
self.actorNodePath.reparentTo(render)
self.actor.reparentTo(self.actorNodePath)
self.name = name
self.isMoving = False
# initialize ODE controller
kinematicCharacterController.__init__(self, IsisAgent.physics,
self.actorNodePath)
self.setGeomPos(self.actorNodePath.getPos(render))
"""
Additional Direct Object that I use for convenience.
"""
self.specialDirectObject = DirectObject()
"""
How high above the center of the capsule you want the camera to be
when walking and when crouching. It's related to the values in KCC.
"""
self.walkCamH = 0.7
self.crouchCamH = 0.2
self.camH = self.walkCamH
"""
This tells the Player Controller what we're aiming at.
"""
self.aimed = None
self.isSitting = False
self.isDisabled = False
"""
The special direct object is used for trigger messages and the like.
"""
#self.specialDirectObject.accept("ladder_trigger_enter", self.setFly, [True])
#self.specialDirectObject.accept("ladder_trigger_exit", self.setFly, [False])
self.actor.makeSubpart("arms", ["LeftShoulder", "RightShoulder"])
# Expose agent's right hand joint to attach objects to
self.player_right_hand = self.actor.exposeJoint(
None, 'modelRoot', 'Hand.R')
self.player_left_hand = self.actor.exposeJoint(None, 'modelRoot',
'Hand.L')
self.right_hand_holding_object = None
self.left_hand_holding_object = None
# don't change the color of things you pick up
self.player_right_hand.setColorScaleOff()
self.player_left_hand.setColorScaleOff()
self.player_head = self.actor.exposeJoint(None, 'modelRoot', 'Head')
self.neck = self.actor.controlJoint(None, 'modelRoot', 'Head')
self.controlMap = {
"turn_left": 0,
"turn_right": 0,
"move_forward": 0,
"move_backward": 0,
"move_right": 0,
"move_left": 0,
"look_up": 0,
"look_down": 0,
"look_left": 0,
"look_right": 0,
"jump": 0
}
# see update method for uses, indices are [turn left, turn right, move_forward, move_back, move_right, move_left, look_up, look_down, look_right, look_left]
# turns are in degrees per second, moves are in units per second
self.speeds = [270, 270, 5, 5, 5, 5, 60, 60, 60, 60]
self.originalPos = self.actor.getPos()
bubble = loader.loadTexture("media/textures/thought_bubble.png")
#bubble.setTransparency(TransparencyAttrib.MAlpha)
self.speech_bubble = DirectLabel(parent=self.actor,
text="",
text_wordwrap=10,
pad=(3, 3),
relief=None,
text_scale=(.3, .3),
pos=(0, 0, 3.6),
frameColor=(.6, .2, .1, .5),
textMayChange=1,
text_frame=(0, 0, 0, 1),
text_bg=(1, 1, 1, 1))
#self.myImage=
self.speech_bubble.setTransparency(TransparencyAttrib.MAlpha)
# stop the speech bubble from being colored like the agent
self.speech_bubble.setColorScaleOff()
self.speech_bubble.component('text0').textNode.setCardDecal(1)
self.speech_bubble.setBillboardAxis()
# hide the speech bubble from IsisAgent's own camera
self.speech_bubble.hide(BitMask32.bit(1))
self.thought_bubble = DirectLabel(parent=self.actor,
text="",
text_wordwrap=9,
text_frame=(1, 0, -2, 1),
text_pos=(0, .5),
text_bg=(1, 1, 1, 0),
relief=None,
frameSize=(0, 1.5, -2, 3),
text_scale=(.18, .18),
pos=(0, 0.2, 3.6),
textMayChange=1,
image=bubble,
image_pos=(0, 0.1, 0),
sortOrder=5)
self.thought_bubble.setTransparency(TransparencyAttrib.MAlpha)
# stop the speech bubble from being colored like the agent
self.thought_bubble.setColorScaleOff()
self.thought_bubble.component('text0').textNode.setFrameColor(
1, 1, 1, 0)
self.thought_bubble.component('text0').textNode.setFrameAsMargin(
0.1, 0.1, 0.1, 0.1)
self.thought_bubble.component('text0').textNode.setCardDecal(1)
self.thought_bubble.setBillboardAxis()
# hide the thought bubble from IsisAgent's own camera
self.thought_bubble.hide(BitMask32.bit(1))
# disable by default
self.thought_bubble.hide()
self.thought_filter = {} # only show thoughts whose values are in here
self.last_spoke = 0 # timers to keep track of last thought/speech and
self.last_thought = 0 # hide visualizations
# put a camera on ralph
self.fov = NodePath(Camera('RaphViz'))
self.fov.node().setCameraMask(BitMask32.bit(1))
# position the camera to be infront of Boxman's face.
self.fov.reparentTo(self.player_head)
# x,y,z are not in standard orientation when parented to player-Head
self.fov.setPos(0, 0.2, 0)
# if P=0, canrea is looking directly up. 90 is back of head. -90 is on face.
self.fov.setHpr(0, -90, 0)
lens = self.fov.node().getLens()
lens.setFov(60) # degree field of view (expanded from 40)
lens.setNear(0.2)
#self.fov.node().showFrustum() # displays a box around his head
#self.fov.place()
self.prevtime = 0
self.current_frame_count = 0
self.isSitting = False
self.isDisabled = False
self.msg = None
self.actorNodePath.setPythonTag("agent", self)
# Initialize the action queue, with a maximum length of queueSize
self.queue = []
self.queueSize = queueSize
self.lastSense = 0
def setLayout(self, layout):
""" Dummy method called by spatial methods for use with objects.
Doesn't make sense for an agent that can move around."""
pass
def setPos(self, pos):
""" Wrapper to set the position of the ODE geometry, which in turn
sets the visual model's geometry the next time the update() method
is called. """
self.setGeomPos(pos)
def setPosition(self, pos):
self.setPos(pos)
def reparentTo(self, parent):
self.actorNodePath.reparentTo(parent)
def setControl(self, control, value):
"""Set the state of one of the character's movement controls. """
self.controlMap[control] = value
def get_objects_in_field_of_vision(self, exclude=['isisobject']):
""" This works in an x-ray style. Fast. Works best if you listen to
http://en.wikipedia.org/wiki/Rock_Art_and_the_X-Ray_Style while
you use it.
needs to exclude isisobjects since they cannot be serialized
"""
objects = {}
for obj in base.render.findAllMatches("**/IsisObject*"):
if not obj.hasPythonTag("isisobj"):
continue
o = obj.getPythonTag("isisobj")
bounds = o.activeModel.getBounds()
bounds.xform(o.activeModel.getMat(self.fov))
if self.fov.node().isInView(o.activeModel.getPos(self.fov)):
pos = o.activeModel.getPos(render)
pos = (pos[0], pos[1], pos[2] + o.getHeight() / 2)
p1 = self.fov.getRelativePoint(render, pos)
p2 = Point2()
self.fov.node().getLens().project(p1, p2)
p3 = aspect2d.getRelativePoint(render2d,
Point3(p2[0], 0, p2[1]))
object_dict = {}
if 'x_pos' not in exclude: object_dict['x_pos'] = p3[0]
if 'y_pos' not in exclude: object_dict['y_pos'] = p3[2]
if 'distance' not in exclude:
object_dict['distance'] = o.activeModel.getDistance(
self.fov)
if 'orientation' not in exclude:
object_dict['orientation'] = o.activeModel.getH(self.fov)
if 'actions' not in exclude:
object_dict['actions'] = o.list_actions()
if 'isisobject' not in exclude: object_dict['isisobject'] = o
# add item to dinctionary
objects[o] = object_dict
return objects
def get_agents_in_field_of_vision(self):
""" This works in an x-ray vision style as well"""
agents = {}
for agent in base.render.findAllMatches("**/agent-*"):
if not agent.hasPythonTag("agent"):
continue
a = agent.getPythonTag("agent")
bounds = a.actorNodePath.getBounds()
bounds.xform(a.actorNodePath.getMat(self.fov))
pos = a.actorNodePath.getPos(self.fov)
if self.fov.node().isInView(pos):
p1 = self.fov.getRelativePoint(render, pos)
p2 = Point2()
self.fov.node().getLens().project(p1, p2)
p3 = aspect2d.getRelativePoint(render2d,
Point3(p2[0], 0, p2[1]))
agentDict = {'x_pos': p3[0],\
'y_pos': p3[2],\
'distance':a.actorNodePath.getDistance(self.fov),\
'orientation': a.actorNodePath.getH(self.fov)}
agents[a] = agentDict
return agents
def in_view(self, isisobj):
""" Returns true iff a particular isisobject is in view """
return len(
filter(lambda x: x['isisobject'] == isisobj,
self.get_objects_in_field_of_vision(exclude=[]).values()))
def get_objects_in_view(self):
""" Gets objects through ray tracing. Slow"""
return self.picker.get_objects_in_view()
def control__turn_left__start(self, speed=None):
self.setControl("turn_left", 1)
self.setControl("turn_right", 0)
if speed:
self.speeds[0] = speed
return "success"
def control__turn_left__stop(self):
self.setControl("turn_left", 0)
return "success"
def control__turn_right__start(self, speed=None):
self.setControl("turn_left", 0)
self.setControl("turn_right", 1)
if speed:
self.speeds[1] = speed
return "success"
def control__turn_right__stop(self):
self.setControl("turn_right", 0)
return "success"
def control__move_forward__start(self, speed=None):
self.setControl("move_forward", 1)
self.setControl("move_backward", 0)
if speed:
self.speeds[2] = speed
return "success"
def control__move_forward__stop(self):
self.setControl("move_forward", 0)
return "success"
def control__move_backward__start(self, speed=None):
self.setControl("move_forward", 0)
self.setControl("move_backward", 1)
if speed:
self.speeds[3] = speed
return "success"
def control__move_backward__stop(self):
self.setControl("move_backward", 0)
return "success"
def control__move_left__start(self, speed=None):
self.setControl("move_left", 1)
self.setControl("move_right", 0)
if speed:
self.speeds[4] = speed
return "success"
def control__move_left__stop(self):
self.setControl("move_left", 0)
return "success"
def control__move_right__start(self, speed=None):
self.setControl("move_right", 1)
self.setControl("move_left", 0)
if speed:
self.speeds[5] = speed
return "success"
def control__move_right__stop(self):
self.setControl("move_right", 0)
return "success"
def control__look_left__start(self, speed=None):
self.setControl("look_left", 1)
self.setControl("look_right", 0)
if speed:
self.speeds[9] = speed
return "success"
def control__look_left__stop(self):
self.setControl("look_left", 0)
return "success"
def control__look_right__start(self, speed=None):
self.setControl("look_right", 1)
self.setControl("look_left", 0)
if speed:
self.speeds[8] = speed
return "success"
def control__look_right__stop(self):
self.setControl("look_right", 0)
return "success"
def control__look_up__start(self, speed=None):
self.setControl("look_up", 1)
self.setControl("look_down", 0)
if speed:
self.speeds[6] = speed
return "success"
def control__look_up__stop(self):
self.setControl("look_up", 0)
return "success"
def control__look_down__start(self, speed=None):
self.setControl("look_down", 1)
self.setControl("look_up", 0)
if speed:
self.speeds[7] = speed
return "success"
def control__look_down__stop(self):
self.setControl("look_down", 0)
return "success"
def control__jump(self):
self.setControl("jump", 1)
return "success"
def control__view_objects(self):
""" calls a raytrace to to all objects in view """
objects = self.get_objects_in_field_of_vision()
self.control__say(
"If I were wearing x-ray glasses, I could see %i items" %
len(objects))
print "Objects in view:", objects
return objects
def control__sense(self):
""" perceives the world, returns percepts dict """
percepts = dict()
# eyes: visual matricies
#percepts['vision'] = self.sense__get_vision()
# objects in purview (cheating object recognition)
percepts['objects'] = self.sense__get_objects()
# global position in environment - our robots can have GPS :)
percepts['position'] = self.sense__get_position()
# language: get last utterances that were typed
percepts['language'] = self.sense__get_utterances()
# agents: returns a map of agents to a list of actions that have been sensed
percepts['agents'] = self.sense__get_agents()
print percepts
return percepts
def control__think(self, message, layer=0):
""" Changes the contents of an agent's thought bubble"""
# only say things that are checked in the controller
if self.thought_filter.has_key(layer):
self.thought_bubble.show()
self.thought_bubble['text'] = message
#self.thought_bubble.component('text0').textNode.setShadow(0.05, 0.05)
#self.thought_bubble.component('text0').textNode.setShadowColor(self.thought_filter[layer])
self.last_thought = 0
return "success"
def control__say(self, message="Hello!"):
self.speech_bubble['text'] = message
self.last_spoke = 0
return "success"
"""
Methods explicitly for IsisScenario files
"""
def put_in_front_of(self, isisobj):
# find open direction
pos = isisobj.getGeomPos()
direction = render.getRelativeVector(isisobj, Vec3(0, 1.0, 0))
closestEntry, closestObject = IsisAgent.physics.doRaycastNew(
'aimRay', 5, [pos, direction], [isisobj.geom])
print "CLOSEST", closestEntry, closestObject
if closestObject == None:
self.setPosition(pos + Vec3(0, 2, 0))
else:
print "CANNOT PLACE IN FRONT OF %s BECAUSE %s IS THERE" % (
isisobj, closestObject)
direction = render.getRelativeVector(isisobj, Vec3(0, -1.0, 0))
closestEntry, closestObject = IsisAgent.physics.doRaycastNew(
'aimRay', 5, [pos, direction], [isisobj.geom])
if closestEntry == None:
self.setPosition(pos + Vec3(0, -2, 0))
else:
print "CANNOT PLACE BEHIND %s BECAUSE %s IS THERE" % (
isisobj, closestObject)
direction = render.getRelativeVector(isisobj, Vec3(1, 0, 0))
closestEntry, closestObject = IsisAgent.physics.doRaycastNew(
'aimRay', 5, [pos, direction], [isisobj.geom])
if closestEntry == None:
self.setPosition(pos + Vec3(2, 0, 0))
else:
print "CANNOT PLACE TO LEFT OF %s BECAUSE %s IS THERE" % (
isisobj, closestObject)
# there's only one option left, do it anyway
self.setPosition(pos + Vec3(-2, 0, 0))
# rotate agent to look at it
self.actorNodePath.setPos(self.getGeomPos())
self.actorNodePath.lookAt(pos)
self.setH(self.actorNodePath.getH())
def put_in_right_hand(self, target):
return self.pick_object_up_with(target, self.right_hand_holding_object,
self.player_right_hand)
def put_in_left_hand(self, target):
return self.pick_object_up_with(target, self.left_hand_holding_object,
self.player_left_hand)
def __get_object_in_center_of_view(self):
direction = render.getRelativeVector(self.fov, Vec3(0, 1.0, 0))
pos = self.fov.getPos(render)
exclude = [
] #[base.render.find("**/kitchenNode*").getPythonTag("isisobj").geom]
closestEntry, closestObject = IsisAgent.physics.doRaycastNew(
'aimRay', 5, [pos, direction], exclude)
return closestObject
def pick_object_up_with(self, target, hand_slot, hand_joint):
""" Attaches an IsisObject, target, to the hand joint. Does not check anything first,
other than the fact that the hand joint is not currently holding something else."""
if hand_slot != None:
print 'already holding ' + hand_slot.getName() + '.'
return None
else:
if target.layout:
target.layout.remove(target)
target.layout = None
# store original position
target.originalHpr = target.getHpr(render)
target.disable() #turn off physics
if target.body: target.body.setGravityMode(0)
target.reparentTo(hand_joint)
target.setPosition(hand_joint.getPos(render))
target.setTag('heldBy', self.name)
if hand_joint == self.player_right_hand:
self.right_hand_holding_object = target
elif hand_joint == self.player_left_hand:
self.left_hand_holding_object = target
hand_slot = target
return target
def control__pick_up_with_right_hand(self, target=None):
if not target:
target = self.__get_object_in_center_of_view()
if not target:
print "no target in reach"
return "error: no target in reach"
else:
target = render.find("**/*" + target + "*").getPythonTag("isisobj")
print "attempting to pick up " + target.name + " with right hand.\n"
if self.can_grasp(target): # object within distance
return self.pick_object_up_with(target,
self.right_hand_holding_object,
self.player_right_hand)
else:
print 'object (' + target.name + ') is not graspable (i.e. in view and close enough).'
return 'error: object not graspable'
def control__pick_up_with_left_hand(self, target=None):
if not target:
target = self.__get_object_in_center_of_view()
if not target:
print "no target in reach"
return
else:
target = render.find("**/*" + target + "*").getPythonTag("isisobj")
print "attempting to pick up " + target.name + " with left hand.\n"
if self.can_grasp(target): # object within distance
return self.pick_object_up_with(target,
self.left_hand_holding_object,
self.player_left_hand)
else:
print 'object (' + target.name + ') is not graspable (i.e. in view and close enough).'
return 'error: object not graspable'
def control__drop_from_right_hand(self):
print "attempting to drop object from right hand.\n"
if self.right_hand_holding_object is None:
print 'right hand is not holding an object.'
return False
if self.right_hand_holding_object.getNetTag('heldBy') == self.name:
self.right_hand_holding_object.reparentTo(render)
direction = render.getRelativeVector(self.fov, Vec3(0, 1.0, 0))
pos = self.player_right_hand.getPos(render)
heldPos = self.right_hand_holding_object.geom.getPosition()
self.right_hand_holding_object.setPosition(pos)
self.right_hand_holding_object.synchPosQuatToNode()
self.right_hand_holding_object.setTag('heldBy', '')
self.right_hand_holding_object.setRotation(
self.right_hand_holding_object.originalHpr)
self.right_hand_holding_object.enable()
if self.right_hand_holding_object.body:
quat = self.getQuat()
# throw object
force = 5
self.right_hand_holding_object.body.setGravityMode(1)
self.right_hand_holding_object.getBody().setForce(
quat.xform(Vec3(0, force, 0)))
self.right_hand_holding_object = None
return 'success'
else:
return "Error: not being held by agent %s" % (self.name)
def control__drop_from_left_hand(self):
print "attempting to drop object from left hand.\n"
if self.left_hand_holding_object is None:
return 'left hand is not holding an object.'
if self.left_hand_holding_object.getNetTag('heldBy') == self.name:
self.left_hand_holding_object.reparentTo(render)
direction = render.getRelativeVector(self.fov, Vec3(0, 1.0, 0))
pos = self.player_left_hand.getPos(render)
heldPos = self.left_hand_holding_object.geom.getPosition()
self.left_hand_holding_object.setPosition(pos)
self.left_hand_holding_object.synchPosQuatToNode()
self.left_hand_holding_object.setTag('heldBy', '')
self.left_hand_holding_object.setRotation(
self.left_hand_holding_object.originalHpr)
self.left_hand_holding_object.enable()
if self.left_hand_holding_object.body:
quat = self.getQuat()
# throw object
force = 5
self.left_hand_holding_object.body.setGravityMode(1)
self.left_hand_holding_object.getBody().setForce(
quat.xform(Vec3(0, force, 0)))
self.left_hand_holding_object = None
return 'success'
else:
return "Error: not being held by agent %s" % (self.name)
def control__use_right_hand(self, target=None, action=None):
# TODO, rename this to use object with
if not action:
if self.msg:
action = self.msg
else:
action = "divide"
if not target:
target = self.__get_object_in_center_of_view()
if not target:
print "no target in reach"
return
else:
target = render.find("**/*" + target + "*").getPythonTag('isisobj')
print "Trying to use object", target
if self.can_grasp(target):
if (target.call(self, action, self.right_hand_holding_object) or
(self.right_hand_holding_object and
self.right_hand_holding_object.call(self, action, target))):
return "success"
return str(action) + " not associated with either target or object"
return "target not within reach"
def control__use_left_hand(self, target=None, action=None):
if not action:
if self.msg:
action = self.msg
else:
action = "divide"
if not target:
target = self.__get_object_in_center_of_view()
if not target:
print "no target in reach"
return
else:
target = render.find("**/*" + target + "*").getPythonTag('isisobj')
if self.can_grasp(target):
if (target.call(self, action, self.left_hand_holding_object) or
(self.left_hand_holding_object and
self.left_hand_holding_object.call(self, action, target))):
return "success"
return str(action) + " not associated with either target or object"
return "target not within reach"
def can_grasp(self, isisobject):
distance = isisobject.activeModel.getDistance(self.fov)
print "distance = ", distance
return distance < 5.0
def is_holding(self, object_name):
return ((self.left_hand_holding_object and (self.left_hand_holding_object.getPythonTag('isisobj').name == object_name)) \
or (self.right_hand_holding_object and (self.right_hand_holding_object.getPythonTag('isisobj').name == object_name)))
def empty_hand(self):
if (self.left_hand_holding_object is None):
return self.player_left_hand
elif (self.right_hand_holding_object is None):
return self.player_right_hand
return False
def has_empty_hand(self):
return (self.empty_hand() is not False)
def control__use_aimed(self):
"""
Try to use the object that we aim at, by calling its callback method.
"""
target = self.__get_object_in_center_of_view()
if target.selectionCallback:
target.selectionCallback(self, dir)
return "success"
def sense__get_position(self):
x, y, z = self.actorNodePath.getPos()
h, p, r = self.actorNodePath.getHpr()
#FIXME
# neck is not positioned in Blockman nh,np,nr = self.agents[agent_id].actor_neck.getHpr()
left_hand_obj = ""
right_hand_obj = ""
if self.left_hand_holding_object:
left_hand_obj = self.left_hand_holding_object.getName()
if self.right_hand_holding_object:
right_hand_obj = self.right_hand_holding_object.getName()
return {'body_x': x, 'body_y': y, 'body_z': z,'body_h':h,\
'body_p': p, 'body_r': r, 'in_left_hand': left_hand_obj, 'in_right_hand':right_hand_obj}
def sense__get_vision(self):
self.fov.node().saveScreenshot("temp.jpg")
image = Image.open("temp.jpg")
os.remove("temp.jpg")
return image
def sense__get_objects(self):
return dict([x.getName(), y]
for (x,
y) in self.get_objects_in_field_of_vision().items())
def sense__get_agents(self):
curSense = time()
agents = {}
for k, v in self.get_agents_in_field_of_vision().items():
v['actions'] = k.get_other_agents_actions(self.lastSense, curSense)
agents[k.name] = v
self.lastSense = curSense
return agents
def sense__get_utterances(self):
""" Clear out the buffer of things that the teacher has typed,
FIXME: this doesn't work right now """
return []
utterances = self.teacher_utterances
self.teacher_utterances = []
return utterances
def debug__print_objects(self):
text = "Objects in FOV: " + ", ".join(self.sense__get_objects().keys())
print text
def add_action_to_history(self, action, args, result=0):
self.queue.append((time(), action, args, result))
if len(self.queue) > self.queueSize:
self.queue.pop(0)
def get_other_agents_actions(self, start=0, end=None):
if not end:
end = time()
actions = []
for act in self.queue:
if act[0] >= start:
if act[0] < end:
actions.append(act)
else:
break
return actions
def update(self, stepSize=0.1):
self.speed = [0.0, 0.0]
self.actorNodePath.setPos(self.geom.getPosition() + Vec3(0, 0, -0.70))
self.actorNodePath.setQuat(self.getQuat())
# the values in self.speeds are used as coefficientes for turns and movements
if (self.controlMap["turn_left"] != 0):
self.addToH(stepSize * self.speeds[0])
if (self.controlMap["turn_right"] != 0):
self.addToH(-stepSize * self.speeds[1])
if self.verticalState == 'ground':
# these actions require contact with the ground
if (self.controlMap["move_forward"] != 0):
self.speed[1] = self.speeds[2]
if (self.controlMap["move_backward"] != 0):
self.speed[1] = -self.speeds[3]
if (self.controlMap["move_left"] != 0):
self.speed[0] = -self.speeds[4]
if (self.controlMap["move_right"] != 0):
self.speed[0] = self.speeds[5]
if (self.controlMap["jump"] != 0):
kinematicCharacterController.jump(self)
# one jump at a time!
self.controlMap["jump"] = 0
if (self.controlMap["look_left"] != 0):
self.neck.setR(bound(self.neck.getR(), -60, 60) + stepSize * 80)
if (self.controlMap["look_right"] != 0):
self.neck.setR(bound(self.neck.getR(), -60, 60) - stepSize * 80)
if (self.controlMap["look_up"] != 0):
self.neck.setP(bound(self.neck.getP(), -60, 80) + stepSize * 80)
if (self.controlMap["look_down"] != 0):
self.neck.setP(bound(self.neck.getP(), -60, 80) - stepSize * 80)
kinematicCharacterController.update(self, stepSize)
"""
Update the held object position to be in the hands
"""
if self.right_hand_holding_object != None:
self.right_hand_holding_object.setPosition(
self.player_right_hand.getPos(render))
if self.left_hand_holding_object != None:
self.left_hand_holding_object.setPosition(
self.player_left_hand.getPos(render))
#Update the dialog box and thought windows
#This allows dialogue window to gradually decay (changing transparancy) and then disappear
self.last_spoke += stepSize / 2
self.last_thought += stepSize / 2
self.speech_bubble['text_bg'] = (1, 1, 1, 1 / (self.last_spoke + 0.01))
self.speech_bubble['frameColor'] = (.6, .2, .1,
.5 / (self.last_spoke + 0.01))
if self.last_spoke > 2:
self.speech_bubble['text'] = ""
if self.last_thought > 1:
self.thought_bubble.hide()
# If the character is moving, loop the run animation.
# If he is standing still, stop the animation.
if (self.controlMap["move_forward"] !=
0) or (self.controlMap["move_backward"] !=
0) or (self.controlMap["move_left"] !=
0) or (self.controlMap["move_right"] != 0):
if self.isMoving is False:
self.isMoving = True
else:
if self.isMoving:
self.current_frame_count = 5.0
self.isMoving = False
total_frame_num = self.actor.getNumFrames('walk')
if self.isMoving:
self.current_frame_count = self.current_frame_count + (stepSize *
250.0)
if self.current_frame_count > total_frame_num:
self.current_frame_count = self.current_frame_count % total_frame_num
self.actor.pose('walk', self.current_frame_count)
elif self.current_frame_count != 0:
self.current_frame_count = 0
self.actor.pose('idle', 0)
return Task.cont
def destroy(self):
self.disable()
self.specialDirectObject.ignoreAll()
self.actorNodePath.removeNode()
del self.specialDirectObject
kinematicCharacterController.destroy(self)
def disable(self):
self.isDisabled = True
self.geom.disable()
self.footRay.disable()
def enable(self):
self.footRay.enable()
self.geom.enable()
self.isDisabled = False
"""
Set camera to correct height above the center of the capsule
when crouching and when standing up.
"""
def crouch(self):
kinematicCharacterController.crouch(self)
self.camH = self.crouchCamH
def crouchStop(self):
"""
Only change the camera's placement when the KCC allows standing up.
See the KCC to find out why it might not allow it.
"""
if kinematicCharacterController.crouchStop(self):
self.camH = self.walkCamH
