def generateToonMoveTrack(self, toon):
node = NodePath("tempNode")
displacement = Vec3(toon.getPos(render) - self.getPos(render))
displacement.setZ(0)
displacement.normalize()
movieDistance = self.movieNode.getDistance(self.rotateNode)
displacement *= movieDistance
node.reparentTo(render)
node.setPos(displacement + self.getPos(render))
node.lookAt(self)
heading = PythonUtil.fitDestAngle2Src(toon.getH(render), node.getH(render))
hpr = toon.getHpr(render)
hpr.setX(heading)
finalX = node.getX(render)
finalY = node.getY(render)
finalZ = node.getZ(render)
node.removeNode()
toonTrack = Sequence(
Parallel(
ActorInterval(toon, "walk", loop=True, duration=1),
Parallel(
LerpPosInterval(toon, 1.0, Point3(finalX, finalY, toon.getZ(render)), fluid=True, bakeInStart=False)
),
LerpHprInterval(toon, 1.0, hpr=hpr),
),
Func(toon.loop, "neutral"),
)
return toonTrack
def generateToonMoveTrack(self, toon):
node = NodePath('tempNode')
displacement = Vec3(toon.getPos(render) - self.getPos(render))
displacement.setZ(0)
displacement.normalize()
movieDistance = self.movieNode.getDistance(self.rotateNode)
displacement *= movieDistance
node.reparentTo(render)
node.setPos(displacement + self.getPos(render))
node.lookAt(self)
heading = PythonUtil.fitDestAngle2Src(toon.getH(render),
node.getH(render))
hpr = toon.getHpr(render)
hpr.setX(heading)
finalX = node.getX(render)
finalY = node.getY(render)
finalZ = node.getZ(render)
node.removeNode()
toonTrack = Sequence(
Parallel(
ActorInterval(toon, 'walk', loop=True, duration=1),
Parallel(
LerpPosInterval(toon,
1.0,
Point3(finalX, finalY, toon.getZ(render)),
fluid=True,
bakeInStart=False)),
LerpHprInterval(toon, 1.0, hpr=hpr)),
Func(toon.loop, 'neutral'))
return toonTrack
def makeNew(self, pos, nor, parent=None):
"""Makes a new bullet hole."""
if parent == None:
parent = self.container
else:
# Add a subnode to the parent, if it's not already there
child = parent.find('bullet-holes')
if child.isEmpty():
parent = parent.attachNewNode('bullet-holes')
else:
parent = child
newhole = NodePath(self.card.generate())
newhole.reparentTo(parent)
newhole.lookAt(render, Point3(newhole.getPos(render) - nor))
newhole.setR(newhole, random() * 360.0)
newhole.setPos(render, pos)
# Offset it a little to avoid z-fighting
# Increase this value if you still see it.
newhole.setY(newhole, -.001 - random() * 0.01)
del newhole
# We don't want one batch per bullet hole, so flatten it.
# This could be made smarter to preserve culling, but
# I have yet to see a performance loss.
# The clearTexture() is a necessary hack.
parent.clearTexture()
parent.flattenStrong()
parent.setTexture(self.texture)
parent.setTransparency(TransparencyAttrib.MDual)
parent.setShaderOff(1)
parent.hide(BitMask32.bit(
2)) # Invisible to volumetric lighting camera (speedup)
parent.hide(BitMask32.bit(3)) # Invisible to shadow cameras (speedup)
def makeNew(self, pos, nor, parent = None):
"""Makes a new bullet hole."""
if parent == None:
parent = self.container
else:
# Add a subnode to the parent, if it's not already there
child = parent.find('bullet-holes')
if child.isEmpty():
parent = parent.attachNewNode('bullet-holes')
else:
parent = child
newhole = NodePath(self.card.generate())
newhole.reparentTo(parent)
newhole.lookAt(render, Point3(newhole.getPos(render) - nor))
newhole.setR(newhole, random() * 360.0)
newhole.setPos(render, pos)
# Offset it a little to avoid z-fighting
# Increase this value if you still see it.
newhole.setY(newhole, -.001 - random() * 0.01)
del newhole
# We don't want one batch per bullet hole, so flatten it.
# This could be made smarter to preserve culling, but
# I have yet to see a performance loss.
# The clearTexture() is a necessary hack.
parent.clearTexture()
parent.flattenStrong()
parent.setTexture(self.texture)
parent.setTransparency(TransparencyAttrib.MDual)
parent.setShaderOff(1)
parent.hide(BitMask32.bit(2)) # Invisible to volumetric lighting camera (speedup)
parent.hide(BitMask32.bit(3)) # Invisible to shadow cameras (speedup)
class CogdoMazeHud():
__module__ = __name__
def __init__(self):
self._update = None
self._initQuestArrow()
return
def _initQuestArrow(self):
matchingGameGui = loader.loadModel(
'phase_3.5/models/gui/matching_game_gui')
arrow = matchingGameGui.find('**/minnieArrow')
arrow.setScale(Globals.QuestArrowScale)
arrow.setColor(*Globals.QuestArrowColor)
arrow.setHpr(90, -90, 0)
self._questArrow = NodePath('Arrow')
arrow.reparentTo(self._questArrow)
self._questArrow.reparentTo(render)
self.hideQuestArrow()
matchingGameGui.removeNode()
def destroy(self):
self.__stopUpdateTask()
self._questArrow.removeNode()
self._questArrow = None
return
def showQuestArrow(self, parent, nodeToPoint, offset=Point3(0, 0, 0)):
self._questArrowNodeToPoint = nodeToPoint
self._questArrowParent = parent
self._questArrowOffset = offset
self._questArrow.unstash()
self._questArrowVisible = True
self.__startUpdateTask()
def hideQuestArrow(self):
self._questArrow.stash()
self.__stopUpdateTask()
self._questArrowVisible = False
self._questArrowNodeToPoint = None
return
def __startUpdateTask(self):
self.__stopUpdateTask()
self._update = taskMgr.add(self._updateTask, 'CogdoMazeHud_Update', 45)
def __stopUpdateTask(self):
if self._update is not None:
taskMgr.remove(self._update)
return
def _updateTask(self, task):
if self._questArrowVisible:
self._questArrow.setPos(self._questArrowParent,
self._questArrowOffset)
self._questArrow.lookAt(self._questArrowNodeToPoint)
return Task.cont
class CogdoMazeHud():
__module__ = __name__
def __init__(self):
self._update = None
self._initQuestArrow()
return
def _initQuestArrow(self):
matchingGameGui = loader.loadModel('phase_3.5/models/gui/matching_game_gui')
arrow = matchingGameGui.find('**/minnieArrow')
arrow.setScale(Globals.QuestArrowScale)
arrow.setColor(*Globals.QuestArrowColor)
arrow.setHpr(90, -90, 0)
self._questArrow = NodePath('Arrow')
arrow.reparentTo(self._questArrow)
self._questArrow.reparentTo(render)
self.hideQuestArrow()
matchingGameGui.removeNode()
def destroy(self):
self.__stopUpdateTask()
self._questArrow.removeNode()
self._questArrow = None
return
def showQuestArrow(self, parent, nodeToPoint, offset = Point3(0, 0, 0)):
self._questArrowNodeToPoint = nodeToPoint
self._questArrowParent = parent
self._questArrowOffset = offset
self._questArrow.unstash()
self._questArrowVisible = True
self.__startUpdateTask()
def hideQuestArrow(self):
self._questArrow.stash()
self.__stopUpdateTask()
self._questArrowVisible = False
self._questArrowNodeToPoint = None
return
def __startUpdateTask(self):
self.__stopUpdateTask()
self._update = taskMgr.add(self._updateTask, 'CogdoMazeHud_Update', 45)
def __stopUpdateTask(self):
if self._update is not None:
taskMgr.remove(self._update)
return
def _updateTask(self, task):
if self._questArrowVisible:
self._questArrow.setPos(self._questArrowParent, self._questArrowOffset)
self._questArrow.lookAt(self._questArrowNodeToPoint)
return Task.cont
class DirLight:
"""Creates a simple directional light"""
def __init__(self, manager, xml):
self.light = PDirectionalLight("dlight")
self.lightNode = NodePath(self.light)
self.lightNode.setCompass()
if hasattr(self.lightNode.node(), "setCameraMask"):
self.lightNode.node().setCameraMask(BitMask32.bit(3))
self.reload(manager, xml)
def reload(self, manager, xml):
color = xml.find("color")
if color != None:
self.light.setColor(VBase4(float(color.get("r")), float(color.get("g")), float(color.get("b")), 1.0))
pos = xml.find("pos")
if pos != None:
self.lightNode.setPos(float(pos.get("x")), float(pos.get("y")), float(pos.get("z")))
else:
self.lightNode.setPos(0, 0, 0)
lookAt = xml.find("lookAt")
if lookAt != None:
self.lightNode.lookAt(float(lookAt.get("x")), float(lookAt.get("y")), float(lookAt.get("z")))
lens = xml.find("lens")
if lens != None and hasattr(self.lightNode.node(), "getLens"):
if bool(int(lens.get("auto"))):
self.lightNode.reparentTo(base.camera)
else:
self.lightNode.reparentTo(render)
lobj = self.lightNode.node().getLens()
lobj.setNearFar(float(lens.get("near", 1.0)), float(lens.get("far", 100000.0)))
lobj.setFilmSize(float(lens.get("width", 1.0)), float(lens.get("height", 1.0)))
lobj.setFilmOffset(float(lens.get("x", 0.0)), float(lens.get("y", 0.0)))
if hasattr(self.lightNode.node(), "setShadowCaster"):
shadows = xml.find("shadows")
if shadows != None:
self.lightNode.node().setShadowCaster(
True, int(shadows.get("width", 512)), int(shadows.get("height", 512)), int(shadows.get("sort", -10))
)
# self.lightNode.node().setPushBias(float(shadows.get('bias', 0.5)))
else:
self.lightNode.node().setShadowCaster(False)
def start(self):
render.setLight(self.lightNode)
def stop(self):
render.clearLight(self.lightNode)
def _runToonThroughSlot(self, toon, slot, goInside=True):
helperNode = NodePath('helper')
helperNode.reparentTo(toon.getParent())
helperNode.lookAt(self)
lookAtH = helperNode.getH(self._model)
toonH = toon.getH(self._model)
hDiff = abs(lookAtH - toonH)
distanceFromElev = toon.getDistance(self._model)
moveSpeed = 9.7780000000000005
anim = 'run'
if toon.animFSM.getCurrentState() == 'Sad':
moveSpeed *= 0.5
anim = 'sad-walk'
runInsideDistance = 20
track = Sequence(Func(toon.stopSmooth),
Func(toon.loop, anim, 1.0),
Parallel(
toon.hprInterval(hDiff / 360.0,
Point3(lookAtH, 0, 0),
other=self._model,
blendType='easeIn'),
toon.posInterval(distanceFromElev / moveSpeed,
Point3(
self._elevatorPoints[slot],
0, 0),
other=self._model,
blendType='easeIn')),
name=toon.uniqueName('runThroughExit'),
autoPause=1)
if goInside:
track.append(
Parallel(
toon.hprInterval(lookAtH / 360.0,
Point3(0, 0, 0),
other=self._model,
blendType='easeOut'),
toon.posInterval(runInsideDistance / moveSpeed,
Point3(self._elevatorPoints[slot],
runInsideDistance, 0),
other=self._model,
blendType='easeOut')))
track.append(Func(self._clearToonTrack, toon))
track.append(Func(toon.setAnimState, 'Happy', 1.0))
self._storeToonTrack(toon, track)
track.start()
class VehicleCamera(DirectObject):
'''
classdocs
'''
def __init__(self, vehicleNode, distance):
'''
Constructor
'''
self.enabled = False
self.vehicleNode = vehicleNode
self.centerNode = NodePath("centerNode")
self.camNode = NodePath("cameraNode")
self.centerNode.reparentTo(vehicleNode)
self.camNode.reparentTo(vehicleNode)
#compass = CompassEffect.make(render)
#self.centerNode.setEffect(compass)
self.camNode.setPos(self.centerNode, distance)
self.camNode.lookAt(self.centerNode)
def isEnabled(self):
return self.enabled
def toggleEnabled(self):
if self.isEnabled():
self.disable()
else:
self.enable()
def enable(self):
self.enabled = True
base.camera.reparentTo( self.camNode )
print "WAGA"
self.task = taskMgr.add(self.rotateTask, 'updateGuiposTask')
def disable(self):
self.enabled = False
base.camera.reparentTo( render )
def rotateTask(self, task):
self.camNode.lookAt(self.centerNode)
#self.myInterval = self.centerNode.setHpr()hprInterval(1.0,self.vehicleNode.getHpr())
return task.again
def _runToonThroughSlot(self, toon, slot, goInside=True):
helperNode = NodePath("helper")
helperNode.reparentTo(toon.getParent())
helperNode.lookAt(self)
lookAtH = helperNode.getH(self._model)
toonH = toon.getH(self._model)
hDiff = abs(lookAtH - toonH)
distanceFromElev = toon.getDistance(self._model)
moveSpeed = 9.778
anim = "run"
if toon.animFSM.getCurrentState() == "Sad":
moveSpeed *= 0.5
anim = "sad-walk"
runInsideDistance = 20
track = Sequence(
Func(toon.stopSmooth),
Func(toon.loop, anim, 1.0),
Parallel(
toon.hprInterval(hDiff / 360.0, Point3(lookAtH, 0, 0), other=self._model, blendType="easeIn"),
toon.posInterval(
distanceFromElev / moveSpeed,
Point3(self._elevatorPoints[slot], 0, 0),
other=self._model,
blendType="easeIn",
),
),
name=toon.uniqueName("runThroughExit"),
autoPause=1,
)
if goInside:
track.append(
Parallel(
toon.hprInterval(lookAtH / 360.0, Point3(0, 0, 0), other=self._model, blendType="easeOut"),
toon.posInterval(
runInsideDistance / moveSpeed,
Point3(self._elevatorPoints[slot], runInsideDistance, 0),
other=self._model,
blendType="easeOut",
),
)
)
track.append(Func(self._clearToonTrack, toon))
track.append(Func(toon.setAnimState, "Happy", 1.0))
self._storeToonTrack(toon, track)
track.start()
class CogdoFlyingCameraManager:
def __init__(self, cam, parent, player, level):
self._toon = player.toon
self._camera = cam
self._parent = parent
self._player = player
self._level = level
self._enabled = False
def enable(self):
if self._enabled:
return
self._toon.detachCamera()
self._prevToonY = 0.0
levelBounds = self._level.getBounds()
l = Globals.Camera.LevelBoundsFactor
self._bounds = ((levelBounds[0][0] * l[0], levelBounds[0][1] * l[0]),
(levelBounds[1][0] * l[1], levelBounds[1][1] * l[1]),
(levelBounds[2][0] * l[2], levelBounds[2][1] * l[2]))
self._lookAtZ = self._toon.getHeight(
) + Globals.Camera.LookAtToonHeightOffset
self._camParent = NodePath('CamParent')
self._camParent.reparentTo(self._parent)
self._camParent.setPos(self._toon, 0, 0, 0)
self._camParent.setHpr(180, Globals.Camera.Angle, 0)
self._camera.reparentTo(self._camParent)
self._camera.setPos(0, Globals.Camera.Distance, 0)
self._camera.lookAt(self._toon, 0, 0, self._lookAtZ)
self._cameraLookAtNP = NodePath('CameraLookAt')
self._cameraLookAtNP.reparentTo(self._camera.getParent())
self._cameraLookAtNP.setPosHpr(self._camera.getPos(),
self._camera.getHpr())
self._levelBounds = self._level.getBounds()
self._enabled = True
self._frozen = False
self._initCollisions()
def _initCollisions(self):
self._camCollRay = CollisionRay()
camCollNode = CollisionNode('CameraToonRay')
camCollNode.addSolid(self._camCollRay)
camCollNode.setFromCollideMask(OTPGlobals.WallBitmask
| OTPGlobals.CameraBitmask
| ToontownGlobals.FloorEventBitmask
| ToontownGlobals.CeilingBitmask)
camCollNode.setIntoCollideMask(0)
self._camCollNP = self._camera.attachNewNode(camCollNode)
self._camCollNP.show()
self._collOffset = Vec3(0, 0, 0.5)
self._collHandler = CollisionHandlerQueue()
self._collTrav = CollisionTraverser()
self._collTrav.addCollider(self._camCollNP, self._collHandler)
self._betweenCamAndToon = {}
self._transNP = NodePath('trans')
self._transNP.reparentTo(render)
self._transNP.setTransparency(True)
self._transNP.setAlphaScale(Globals.Camera.AlphaBetweenToon)
self._transNP.setBin('fixed', 10000)
def _destroyCollisions(self):
self._collTrav.removeCollider(self._camCollNP)
self._camCollNP.removeNode()
del self._camCollNP
del self._camCollRay
del self._collHandler
del self._collOffset
del self._betweenCamAndToon
self._transNP.removeNode()
del self._transNP
def freeze(self):
self._frozen = True
def unfreeze(self):
self._frozen = False
def disable(self):
if not self._enabled:
return
self._destroyCollisions()
self._camera.wrtReparentTo(render)
self._cameraLookAtNP.removeNode()
del self._cameraLookAtNP
self._camParent.removeNode()
del self._camParent
del self._prevToonY
del self._lookAtZ
del self._bounds
del self._frozen
self._enabled = False
def update(self, dt=0.0):
self._updateCam(dt)
self._updateCollisions()
def _updateCam(self, dt):
toonPos = self._toon.getPos()
camPos = self._camParent.getPos()
x = camPos[0]
z = camPos[2]
toonWorldX = self._toon.getX(render)
maxX = Globals.Camera.MaxSpinX
toonWorldX = clamp(toonWorldX, -1.0 * maxX, maxX)
spinAngle = Globals.Camera.MaxSpinAngle * toonWorldX * toonWorldX / (
maxX * maxX)
newH = 180.0 + spinAngle
self._camParent.setH(newH)
spinAngle = spinAngle * (pi / 180.0)
distBehindToon = Globals.Camera.SpinRadius * cos(spinAngle)
distToRightOfToon = Globals.Camera.SpinRadius * sin(spinAngle)
d = self._camParent.getX() - clamp(toonPos[0], *self._bounds[0])
if abs(d) > Globals.Camera.LeewayX:
if d > Globals.Camera.LeewayX:
x = toonPos[0] + Globals.Camera.LeewayX
else:
x = toonPos[0] - Globals.Camera.LeewayX
x = self._toon.getX(render) + distToRightOfToon
boundToonZ = min(toonPos[2], self._bounds[2][1])
d = z - boundToonZ
if d > Globals.Camera.MinLeewayZ:
if self._player.velocity[2] >= 0 and toonPos[
1] != self._prevToonY or self._player.velocity[2] > 0:
z = boundToonZ + d * INVERSE_E**(dt *
Globals.Camera.CatchUpRateZ)
elif d > Globals.Camera.MaxLeewayZ:
z = boundToonZ + Globals.Camera.MaxLeewayZ
elif d < -Globals.Camera.MinLeewayZ:
z = boundToonZ - Globals.Camera.MinLeewayZ
if self._frozen:
y = camPos[1]
else:
y = self._toon.getY(render) - distBehindToon
self._camParent.setPos(x, smooth(camPos[1], y), smooth(camPos[2], z))
if toonPos[2] < self._bounds[2][1]:
h = self._cameraLookAtNP.getH()
if d >= Globals.Camera.MinLeewayZ:
self._cameraLookAtNP.lookAt(self._toon, 0, 0, self._lookAtZ)
elif d <= -Globals.Camera.MinLeewayZ:
self._cameraLookAtNP.lookAt(self._camParent, 0, 0,
self._lookAtZ)
self._cameraLookAtNP.setHpr(h, self._cameraLookAtNP.getP(), 0)
self._camera.setHpr(
smooth(self._camera.getHpr(), self._cameraLookAtNP.getHpr()))
self._prevToonY = toonPos[1]
def _updateCollisions(self):
pos = self._toon.getPos(self._camera) + self._collOffset
self._camCollRay.setOrigin(pos)
direction = -Vec3(pos)
direction.normalize()
self._camCollRay.setDirection(direction)
self._collTrav.traverse(render)
nodesInBetween = {}
if self._collHandler.getNumEntries() > 0:
self._collHandler.sortEntries()
for entry in self._collHandler.getEntries():
name = entry.getIntoNode().getName()
if name.find('col_') >= 0:
np = entry.getIntoNodePath().getParent()
if not np in nodesInBetween:
nodesInBetween[np] = np.getParent()
for np in nodesInBetween.keys():
if np in self._betweenCamAndToon:
del self._betweenCamAndToon[np]
else:
np.setTransparency(True)
np.wrtReparentTo(self._transNP)
if np.getName().find('lightFixture') >= 0:
if not np.find('**/*floor_mesh').isEmpty():
np.find('**/*floor_mesh').hide()
elif np.getName().find('platform') >= 0:
if not np.find('**/*Floor').isEmpty():
np.find('**/*Floor').hide()
for np, parent in self._betweenCamAndToon.items():
np.wrtReparentTo(parent)
np.setTransparency(False)
if np.getName().find('lightFixture') >= 0:
if not np.find('**/*floor_mesh').isEmpty():
np.find('**/*floor_mesh').show()
elif np.getName().find('platform') >= 0:
if not np.find('**/*Floor').isEmpty():
np.find('**/*Floor').show()
self._betweenCamAndToon = nodesInBetween
class CogdoFlyingCameraManager:
def __init__(self, cam, parent, player, level):
self._toon = player.toon
self._camera = cam
self._parent = parent
self._player = player
self._level = level
self._enabled = False
def enable(self):
if self._enabled:
return
self._toon.detachCamera()
self._prevToonY = 0.0
levelBounds = self._level.getBounds()
l = Globals.Camera.LevelBoundsFactor
self._bounds = (
(levelBounds[0][0] * l[0], levelBounds[0][1] * l[0]),
(levelBounds[1][0] * l[1], levelBounds[1][1] * l[1]),
(levelBounds[2][0] * l[2], levelBounds[2][1] * l[2]),
)
self._lookAtZ = self._toon.getHeight() + Globals.Camera.LookAtToonHeightOffset
self._camParent = NodePath("CamParent")
self._camParent.reparentTo(self._parent)
self._camParent.setPos(self._toon, 0, 0, 0)
self._camParent.setHpr(180, Globals.Camera.Angle, 0)
self._camera.reparentTo(self._camParent)
self._camera.setPos(0, Globals.Camera.Distance, 0)
self._camera.lookAt(self._toon, 0, 0, self._lookAtZ)
self._cameraLookAtNP = NodePath("CameraLookAt")
self._cameraLookAtNP.reparentTo(self._camera.getParent())
self._cameraLookAtNP.setPosHpr(self._camera.getPos(), self._camera.getHpr())
self._levelBounds = self._level.getBounds()
self._enabled = True
self._frozen = False
self._initCollisions()
def _initCollisions(self):
self._camCollRay = CollisionRay()
camCollNode = CollisionNode("CameraToonRay")
camCollNode.addSolid(self._camCollRay)
camCollNode.setFromCollideMask(
OTPGlobals.WallBitmask
| OTPGlobals.CameraBitmask
| ToontownGlobals.FloorEventBitmask
| ToontownGlobals.CeilingBitmask
)
camCollNode.setIntoCollideMask(0)
self._camCollNP = self._camera.attachNewNode(camCollNode)
self._camCollNP.show()
self._collOffset = Vec3(0, 0, 0.5)
self._collHandler = CollisionHandlerQueue()
self._collTrav = CollisionTraverser()
self._collTrav.addCollider(self._camCollNP, self._collHandler)
self._betweenCamAndToon = {}
self._transNP = NodePath("trans")
self._transNP.reparentTo(render)
self._transNP.setTransparency(True)
self._transNP.setAlphaScale(Globals.Camera.AlphaBetweenToon)
self._transNP.setBin("fixed", 10000)
def _destroyCollisions(self):
self._collTrav.removeCollider(self._camCollNP)
self._camCollNP.removeNode()
del self._camCollNP
del self._camCollRay
del self._collHandler
del self._collOffset
del self._betweenCamAndToon
self._transNP.removeNode()
del self._transNP
def freeze(self):
self._frozen = True
def unfreeze(self):
self._frozen = False
def disable(self):
if not self._enabled:
return
self._destroyCollisions()
self._camera.wrtReparentTo(render)
self._cameraLookAtNP.removeNode()
del self._cameraLookAtNP
self._camParent.removeNode()
del self._camParent
del self._prevToonY
del self._lookAtZ
del self._bounds
del self._frozen
self._enabled = False
def update(self, dt=0.0):
self._updateCam(dt)
self._updateCollisions()
def _updateCam(self, dt):
toonPos = self._toon.getPos()
camPos = self._camParent.getPos()
x = camPos[0]
z = camPos[2]
toonWorldX = self._toon.getX(render)
maxX = Globals.Camera.MaxSpinX
toonWorldX = clamp(toonWorldX, -1.0 * maxX, maxX)
spinAngle = Globals.Camera.MaxSpinAngle * toonWorldX * toonWorldX / (maxX * maxX)
newH = 180.0 + spinAngle
self._camParent.setH(newH)
spinAngle = spinAngle * (pi / 180.0)
distBehindToon = Globals.Camera.SpinRadius * cos(spinAngle)
distToRightOfToon = Globals.Camera.SpinRadius * sin(spinAngle)
d = self._camParent.getX() - clamp(toonPos[0], *self._bounds[0])
if abs(d) > Globals.Camera.LeewayX:
if d > Globals.Camera.LeewayX:
x = toonPos[0] + Globals.Camera.LeewayX
else:
x = toonPos[0] - Globals.Camera.LeewayX
x = self._toon.getX(render) + distToRightOfToon
boundToonZ = min(toonPos[2], self._bounds[2][1])
d = z - boundToonZ
if d > Globals.Camera.MinLeewayZ:
if self._player.velocity[2] >= 0 and toonPos[1] != self._prevToonY or self._player.velocity[2] > 0:
z = boundToonZ + d * INVERSE_E ** (dt * Globals.Camera.CatchUpRateZ)
elif d > Globals.Camera.MaxLeewayZ:
z = boundToonZ + Globals.Camera.MaxLeewayZ
elif d < -Globals.Camera.MinLeewayZ:
z = boundToonZ - Globals.Camera.MinLeewayZ
if self._frozen:
y = camPos[1]
else:
y = self._toon.getY(render) - distBehindToon
self._camParent.setPos(x, smooth(camPos[1], y), smooth(camPos[2], z))
if toonPos[2] < self._bounds[2][1]:
h = self._cameraLookAtNP.getH()
if d >= Globals.Camera.MinLeewayZ:
self._cameraLookAtNP.lookAt(self._toon, 0, 0, self._lookAtZ)
elif d <= -Globals.Camera.MinLeewayZ:
self._cameraLookAtNP.lookAt(self._camParent, 0, 0, self._lookAtZ)
self._cameraLookAtNP.setHpr(h, self._cameraLookAtNP.getP(), 0)
self._camera.setHpr(smooth(self._camera.getHpr(), self._cameraLookAtNP.getHpr()))
self._prevToonY = toonPos[1]
def _updateCollisions(self):
pos = self._toon.getPos(self._camera) + self._collOffset
self._camCollRay.setOrigin(pos)
direction = -Vec3(pos)
direction.normalize()
self._camCollRay.setDirection(direction)
self._collTrav.traverse(render)
nodesInBetween = {}
if self._collHandler.getNumEntries() > 0:
self._collHandler.sortEntries()
for entry in self._collHandler.getEntries():
name = entry.getIntoNode().getName()
if name.find("col_") >= 0:
np = entry.getIntoNodePath().getParent()
if not nodesInBetween.has_key(np):
nodesInBetween[np] = np.getParent()
for np in nodesInBetween.keys():
if self._betweenCamAndToon.has_key(np):
del self._betweenCamAndToon[np]
else:
np.setTransparency(True)
np.wrtReparentTo(self._transNP)
if np.getName().find("lightFixture") >= 0:
if not np.find("**/*floor_mesh").isEmpty():
np.find("**/*floor_mesh").hide()
elif np.getName().find("platform") >= 0:
if not np.find("**/*Floor").isEmpty():
np.find("**/*Floor").hide()
for np, parent in self._betweenCamAndToon.items():
np.wrtReparentTo(parent)
np.setTransparency(False)
if np.getName().find("lightFixture") >= 0:
if not np.find("**/*floor_mesh").isEmpty():
np.find("**/*floor_mesh").show()
elif np.getName().find("platform") >= 0:
if not np.find("**/*Floor").isEmpty():
np.find("**/*Floor").show()
self._betweenCamAndToon = nodesInBetween
class Translation( Base ):
def __init__( self, *args, **kwargs ):
Base.__init__( self, *args, **kwargs )
# Create x, y, z and camera normal axes
self.axes.append( self.CreateArrow( Vec3(1, 0, 0), RED ) )
self.axes.append( self.CreateArrow( Vec3(0, 1, 0), GREEN ) )
self.axes.append( self.CreateArrow( Vec3(0, 0, 1), BLUE ) )
self.axes.append( self.CreateSquare( Vec3(0, 0, 0), TEAL ) )
def CreateArrow( self, vector, colour ):
# Create the geometry and collision
line = NodePath( Line( (0, 0, 0), vector ) )
cone = NodePath( Cone( 0.05, 0.25, axis=vector, origin=vector * 0.125 ) )
collTube = CollisionTube( (0,0,0), Point3( vector ) * 0.95, 0.05 )
# Create the axis, add the geometry and collision
axis = Axis( self.name, vector, colour )
axis.AddGeometry( line, sizeStyle=SCALE )
axis.AddGeometry( cone, vector, colour )
axis.AddCollisionSolid( collTube, sizeStyle=TRANSLATE_POINT_B )
axis.reparentTo( self )
return axis
def CreateSquare( self, vector, colour ):
# Create the geometry and collision
self.square = NodePath( Square( 0.2, 0.2, Vec3(0, 1, 0) ) )
self.square.setBillboardPointEye()
collSphere = CollisionSphere( 0, 0.125 )
# Create the axis, add the geometry and collision
axis = Axis( self.name, CAMERA_VECTOR, colour, planar=True, default=True )
axis.AddGeometry( self.square, sizeStyle=NONE )
axis.AddCollisionSolid( collSphere, sizeStyle=NONE )
axis.reparentTo( self )
return axis
def Transform( self ):
# Get the point where the mouse clicked the axis
axis = self.GetSelectedAxis()
axisPoint = self.GetAxisPoint( axis )
# Get the gizmo's translation matrix and transform it
newTransMat = Mat4().translateMat( self.initXform.getPos() - self.getPos() + axisPoint - self.initMousePoint )
self.setMat( self.getMat() * newTransMat )
# Get the attached node path's translation matrix
transVec = axisPoint - self.initMousePoint
if axis.vector != CAMERA_VECTOR:
transVec = self.getRelativeVector( self.rootNp, transVec ) * self.getScale()[0]
newTransMat = Mat4().translateMat( transVec )
# Transform attached node paths
for i, np in enumerate( self.attachedNps ):
# Perform transforms in local or world space
if self.local and axis.vector != CAMERA_VECTOR:
transMat, rotMat, scaleMat = commonUtils.GetTrsMatrices( self.initNpXforms[i] )
np.setMat( scaleMat * newTransMat * rotMat * transMat )
else:
np.setMat( self.initNpXforms[i].getMat() * newTransMat )
def OnNodeMouse1Down( self, planar, collEntry ):
Base.OnNodeMouse1Down( self, planar, collEntry )
# Store the gizmo's initial transform
self.initXform = self.getTransform()
# If in planar mode, clear the billboard effect on the center square
# and make it face the selected axis
axis = self.GetSelectedAxis()
if self.planar and not axis.planar:
self.square.clearBillboard()
self.square.lookAt( self, Point3( axis.vector ) )
else:
self.square.setHpr( Vec3(0, 0, 0) )
self.square.setBillboardPointEye()
def OnMouse2Down( self ):
Base.OnMouse2Down( self )
# Store the gizmo's initial transform
self.initXform = self.getTransform()
class DirLight:
"""Creates a simple directional light"""
def __init__(self,manager,xml):
self.light = PDirectionalLight('dlight')
self.lightNode = NodePath(self.light)
self.lightNode.setCompass()
if hasattr(self.lightNode.node(), "setCameraMask"):
self.lightNode.node().setCameraMask(BitMask32.bit(3))
self.reload(manager,xml)
def reload(self,manager,xml):
color = xml.find('color')
if color!=None:
self.light.setColor(VBase4(float(color.get('r')),
float(color.get('g')),
float(color.get('b')), 1.0))
pos = xml.find('pos')
if pos!=None:
self.lightNode.setPos(float(pos.get('x')),
float(pos.get('y')),
float(pos.get('z')))
else:
self.lightNode.setPos(0, 0, 0)
lookAt = xml.find('lookAt')
if lookAt!=None:
self.lightNode.lookAt(float(lookAt.get('x')),
float(lookAt.get('y')),
float(lookAt.get('z')))
lens = xml.find('lens')
if lens!=None and hasattr(self.lightNode.node(), 'getLens'):
if bool(int(lens.get('auto'))):
self.lightNode.reparentTo(base.camera)
else:
self.lightNode.reparentTo(render)
lobj = self.lightNode.node().getLens()
lobj.setNearFar(float(lens.get('near', 1.0)),
float(lens.get('far', 100000.0)))
lobj.setFilmSize(float(lens.get('width', 1.0)),
float(lens.get('height', 1.0)))
lobj.setFilmOffset(float(lens.get('x', 0.0)),
float(lens.get('y', 0.0)))
if hasattr(self.lightNode.node(), 'setShadowCaster'):
shadows = xml.find('shadows')
if shadows!=None:
self.lightNode.node().setShadowCaster(True, int(shadows.get('width', 512)),
int(shadows.get('height', 512)),
int(shadows.get('sort', -10)))
#self.lightNode.node().setPushBias(float(shadows.get('bias', 0.5)))
else:
self.lightNode.node().setShadowCaster(False)
def start(self):
render.setLight(self.lightNode)
def stop(self):
render.clearLight(self.lightNode)
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
