def drawSquare(self, x1,y1,z1, x2,y2,z2):
format=GeomVertexFormat.getV3n3cpt2()
vdata=GeomVertexData('square', format, Geom.UHStatic)
vertex=GeomVertexWriter(vdata, 'vertex')
normal=GeomVertexWriter(vdata, 'normal')
color=GeomVertexWriter(vdata, 'color')
texcoord=GeomVertexWriter(vdata, 'texcoord')
#make sure we draw the sqaure in the right plane
#if x1!=x2:
vertex.addData3f(x1, y1, z1)
vertex.addData3f(x2, y1, z1)
vertex.addData3f(x2, y2, z2)
vertex.addData3f(x1, y2, z2)
normal.addData3f(self.myNormalize(Vec3(2*x1-1, 2*y1-1, 2*z1-1)))
normal.addData3f(self.myNormalize(Vec3(2*x2-1, 2*y1-1, 2*z1-1)))
normal.addData3f(self.myNormalize(Vec3(2*x2-1, 2*y2-1, 2*z2-1)))
normal.addData3f(self.myNormalize(Vec3(2*x1-1, 2*y2-1, 2*z2-1)))
#adding different colors to the vertex for visibility
color.addData4f(0.0,0.5,0.0,0.5)
color.addData4f(0.0,0.5,0.0,0.5)
color.addData4f(0.0,0.5,0.0,0.5)
color.addData4f(0.0,0.5,0.0,0.5)
texcoord.addData2f(0.0, 1.0)
texcoord.addData2f(0.0, 0.0)
texcoord.addData2f(1.0, 0.0)
texcoord.addData2f(1.0, 1.0)
#quads arent directly supported by the Geom interface
#you might be interested in the CardMaker class if you are
#interested in rectangle though
tri1=GeomTriangles(Geom.UHStatic)
tri2=GeomTriangles(Geom.UHStatic)
tri1.addVertex(0)
tri1.addVertex(1)
tri1.addVertex(3)
tri2.addConsecutiveVertices(1,3)
tri1.closePrimitive()
tri2.closePrimitive()
square=Geom(vdata)
square.addPrimitive(tri1)
square.addPrimitive(tri2)
#square.setIntoCollideMask(BitMask32.bit(1))
squareNP = NodePath(GeomNode('square gnode'))
squareNP.node().addGeom(square)
squareNP.setTransparency(1)
squareNP.setAlphaScale(.5)
squareNP.setTwoSided(True)
squareNP.setCollideMask(BitMask32.bit(1))
return squareNP
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 getShip(
self,
shipClass,
style=ShipGlobals.Styles.Undefined,
logo=ShipGlobals.Logos.Undefined,
hullDesign=None,
detailLevel=2,
wantWheel=True,
hullMaterial=None,
sailMaterial=None,
sailPattern=None,
prowType=None,
):
Ship = Ship
import pirates.ship
modelClass = ShipGlobals.getModelClass(shipClass)
shipConfig = ShipGlobals.getShipConfig(shipClass)
if style == ShipGlobals.Styles.Undefined:
style = shipConfig["defaultStyle"]
complexCustomization = 0
if sailPattern and sailMaterial and hullMaterial or SailReplace.has_key(shipClass):
complexCustomization = 1
if not prowType:
prowType = shipConfig["prow"]
if not hullMaterial:
hullMaterial = style
if not sailMaterial:
if SailReplace.has_key(shipClass):
sailMaterial = SailReplace[shipClass]
else:
sailMaterial = style
if not sailPattern:
sailPattern = style
shipHullTexture = ShipBlueprints.getShipTexture(hullMaterial)
shipTextureSail = ShipBlueprints.getShipTexture(sailMaterial)
logoTex = None
if logo:
logoTex = ShipBlueprints.getLogoTexture(logo)
sailPatternTex = None
if sailPattern:
sailPatternTex = ShipBlueprints.getSailTexture(sailPattern)
self.notify.debug("%s %s" % (sailPattern, logo))
if logo == ShipGlobals.Logos.Undefined:
logo = shipConfig["sailLogo"]
if logo in ShipGlobals.MAST_LOGO_PLACEMENT_LIST:
placeLogos = 1
else:
placeLogos = 0
if modelClass <= ShipGlobals.INTERCEPTORL3:
mastHax = True
else:
mastHax = False
customHull = hullDesign is not None
if not logo != 0:
pass
customMasts = sailPattern != 0
hull = self.getHull(modelClass, customHull)
breakAnims = {}
metaAnims = {}
hitAnims = {}
root = NodePath("Ship")
hull.locators.reparentTo(root)
charRoot = root.attachNewNode(Character("ShipChar"))
collisions = root.attachNewNode("collisions")
lodNode = charRoot.attachNewNode(LODNode("lod"))
if detailLevel == 0:
lodNode.node().addSwitch(200, 0)
lodNode.node().addSwitch(800, 200)
lodNode.node().addSwitch(100000, 800)
high = lodNode.attachNewNode("high")
low = lodNode.attachNewNode("low")
med = NodePath("med")
superlow = lodNode.attachNewNode("superlow")
elif detailLevel == 1:
lodNode.node().addSwitch(300, 0)
lodNode.node().addSwitch(1000, 300)
lodNode.node().addSwitch(2000, 1000)
lodNode.node().addSwitch(100000, 2000)
high = lodNode.attachNewNode("high")
med = lodNode.attachNewNode("med")
low = lodNode.attachNewNode("low")
superlow = lodNode.attachNewNode("superlow")
else:
lodNode.node().addSwitch(750, 0)
lodNode.node().addSwitch(3000, 750)
lodNode.node().addSwitch(8000, 3000)
lodNode.node().addSwitch(100000, 8000)
high = lodNode.attachNewNode("high")
med = lodNode.attachNewNode("med")
low = lodNode.attachNewNode("low")
superlow = lodNode.attachNewNode("superlow")
mastSetup = ShipGlobals.getMastSetup(shipClass)
for data in [
(0, "location_mainmast_0"),
(1, "location_mainmast_1"),
(2, "location_mainmast_2"),
(3, "location_aftmast*"),
(4, "location_foremast*"),
]:
mastData = mastSetup.get(data[0])
if mastData:
mast = self.mastSets[mastData[0]].getMastSet(mastData[1] - 1, customMasts)
mastRoot = hull.locators.find("**/%s" % data[1]).getTransform(hull.locators)
model = NodePath(mast.charRoot)
model.setTransform(mastRoot)
if complexCustomization:
model.setTexture(shipTextureSail)
useLogoTex = logoTex
if placeLogos:
mastNum = data[0]
if mastNum not in ShipGlobals.MAST_LOGO_PLACEMENT.get(modelClass):
useLogoTex = None
charBundle = mast.charRoot.getBundle(0)
if data[0] < 3:
for side in ["left", "right"]:
ropeNode = hull.locators.find("**/location_ropeLadder_%s_%s" % (side, data[0]))
if ropeNode:
transform = ropeNode.getTransform(NodePath(mast.charRoot))
charBundle.findChild("def_ladder_0_%s" % side).applyFreeze(transform)
continue
if sailPatternTex and useLogoTex:
for node in model.findAllMatches("**/sails"):
node.setTextureOff(TextureStage.getDefault())
node.setTexture(self.colorLayer, sailPatternTex)
node.setTexture(self.logoLayer, logoTex)
node.setTexture(self.vertLayer, shipTextureSail)
node.setTexture(self.baseLayer, shipTextureSail)
elif sailPatternTex:
for node in model.findAllMatches("**/sails"):
node.setTextureOff(TextureStage.getDefault())
node.setTexture(self.colorLayer, sailPatternTex)
node.setTexture(self.vertLayer, shipTextureSail)
node.setTexture(self.baseLayer, shipTextureSail)
elif useLogoTex:
for node in model.findAllMatches("**/sails"):
node.setTextureOff(TextureStage.getDefault())
node.setTexture(self.logoLayerNoColor, logoTex)
node.setTexture(self.vertLayer, shipTextureSail)
node.setTexture(self.baseLayer, shipTextureSail)
model.flattenLight()
if detailLevel == 0:
model.find("**/low").copyTo(high)
model.find("**/low").copyTo(low)
model.find("**/superlow").copyTo(superlow)
elif detailLevel == 1:
model.find("**/med").copyTo(high)
model.find("**/med").copyTo(med)
low.node().stealChildren(model.find("**/low").node())
superlow.node().stealChildren(model.find("**/superlow").node())
elif detailLevel == 2:
high.node().stealChildren(model.find("**/high").node())
med.node().stealChildren(model.find("**/med").node())
low.node().stealChildren(model.find("**/low").node())
superlow.node().stealChildren(model.find("**/superlow").node())
mastRoot = mast.collisions.find("**/collision_masts")
if modelClass > ShipGlobals.INTERCEPTORL3 or data[0] != 3:
mastCode = str(data[0])
mastRoot.setTag("Mast Code", mastCode)
else:
mastRoot.setName("colldision_sub_mast")
mastRoot.reparentTo(collisions.find("**/collision_masts"))
mastCode = "0"
for coll in mast.collisions.findAllMatches("**/collision_sail_*"):
coll.setName("Sail-%s" % data[0])
coll.setTag("Mast Code", mastCode)
for coll in mast.collisions.findAllMatches("**/sail_*"):
coll.setName("Sail-%s" % data[0])
coll.setTag("Mast Code", mastCode)
collisions.node().stealChildren(mast.collisions.node())
charBundle = mast.charRoot.getBundle(0)
if mastHax and data[0] == 3:
breakAnims[0][0].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.breakAnim[0], -1, MastSubset, True), "1"
)
breakAnims[0][1].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.breakAnim[1], -1, MastSubset, True), "1"
)
tempHit = hitAnims[0]
tempHit[0].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.hitAnim, -1, HitMastSubset, True), "1"
)
tempHit[1].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.hitAnim, -1, PartSubset(), True), "1"
)
else:
breakAnims[data[0]] = (AnimControlCollection(), AnimControlCollection())
breakAnims[data[0]][0].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.breakAnim[0], -1, MastSubset, True), "0"
)
breakAnims[data[0]][1].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.breakAnim[1], -1, MastSubset, True), "0"
)
tempHit = [AnimControlCollection(), AnimControlCollection()]
tempHit[0].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.hitAnim, -1, HitMastSubset, True), "0"
)
tempHit[1].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.hitAnim, -1, PartSubset(), True), "0"
)
hitAnims[data[0]] = tempHit
for (anim, fileName) in mast.metaAnims.iteritems():
if anim not in metaAnims:
metaAnims[anim] = AnimControlCollection()
if anim not in MissingAnims.get(modelClass, []):
ac = charBundle.loadBindAnim(loader.loader, fileName, -1, SailSubset, True)
if ac:
metaAnims[anim].storeAnim(ac, str(metaAnims[anim].getNumAnims()))
charRoot.node().combineWith(mast.charRoot)
continue
if self.wantProws and prowType:
(highSprit, medSprit, lowSprit) = self.sprits[prowType].getAsset()
transform = hull.locators.find("**/location_bowsprit").getTransform(hull.locators)
highSprit.setTransform(transform)
medSprit.setTransform(transform)
lowSprit.setTransform(transform)
highSprit.reparentTo(hull.geoms[0])
medSprit.reparentTo(hull.geoms[1])
lowSprit.reparentTo(hull.geoms[2])
if wantWheel:
shipWheel = ShipBlueprints.getWheel()
wheelPoint = hull.locators.find("**/location_wheel;+s").getTransform(hull.locators)
shipWheel.setTransform(wheelPoint)
shipWheel.flattenLight()
shipWheel.find("**/collisions").copyTo(collisions)
hull.geoms[0].node().stealChildren(shipWheel.find("**/high").node())
hull.geoms[1].node().stealChildren(shipWheel.find("**/med").node())
hull.geoms[2].node().stealChildren(shipWheel.find("**/low").node())
if complexCustomization:
hull.geoms[0].setTexture(shipHullTexture)
hull.geoms[0].flattenLight()
hull.geoms[1].setTexture(shipHullTexture)
hull.geoms[1].flattenLight()
hull.geoms[2].setTexture(shipHullTexture)
hull.geoms[2].flattenLight()
hull.geoms[3].setTexture(shipHullTexture)
hull.geoms[3].flattenLight()
high.attachNewNode(ModelNode("non-animated")).node().stealChildren(hull.geoms[0].node())
med.attachNewNode(ModelNode("non-animated")).node().stealChildren(hull.geoms[1].node())
low.attachNewNode(ModelNode("non-animated")).node().stealChildren(hull.geoms[2].node())
superlow.attachNewNode(ModelNode("non-animated")).node().stealChildren(hull.geoms[3].node())
collisions.node().stealChildren(hull.collisions.node())
hull.locators.stash()
charRoot.flattenStrong()
ship = Ship.Ship(shipClass, root, breakAnims, hitAnims, metaAnims, collisions, hull.locators)
if not complexCustomization:
ship.char.setTexture(shipHullTexture)
return ship
def getShip(self,
shipClass,
style=ShipGlobals.Styles.Undefined,
logo=ShipGlobals.Logos.Undefined,
hullDesign=None,
detailLevel=2,
wantWheel=True,
hullMaterial=None,
sailMaterial=None,
sailPattern=None,
prowType=None,
invertLogo=False):
Ship = Ship
import pirates.ship
modelClass = ShipGlobals.getModelClass(shipClass)
shipConfig = ShipGlobals.getShipConfig(shipClass)
if style == ShipGlobals.Styles.Undefined:
style = shipConfig['defaultStyle']
complexCustomization = 0
if sailPattern and sailMaterial and hullMaterial or SailReplace.has_key(
shipClass):
complexCustomization = 1
if not prowType:
prowType = shipConfig['prow']
if not hullMaterial:
hullMaterial = style
if not sailMaterial:
if SailReplace.has_key(shipClass):
sailMaterial = SailReplace[shipClass]
else:
sailMaterial = style
if not sailPattern:
sailPattern = style
shipHullTexture = ShipBlueprints.getShipTexture(hullMaterial)
shipTextureSail = ShipBlueprints.getShipTexture(sailMaterial)
logoTex = None
if logo:
logoTex = ShipBlueprints.getLogoTexture(logo)
sailPatternTex = None
if sailPattern:
sailPatternTex = ShipBlueprints.getSailTexture(sailPattern)
self.notify.debug('%s %s' % (sailPattern, logo))
if logo == ShipGlobals.Logos.Undefined:
logo = shipConfig['sailLogo']
if logo in ShipGlobals.MAST_LOGO_PLACEMENT_LIST:
placeLogos = 1
else:
placeLogos = 0
if modelClass <= ShipGlobals.INTERCEPTORL3:
mastHax = True
else:
mastHax = False
customHull = hullDesign is not None
if not logo != 0:
pass
customMasts = sailPattern != 0
hull = self.getHull(modelClass, customHull)
breakAnims = {}
metaAnims = {}
hitAnims = {}
root = NodePath('Ship')
hull.locators.reparentTo(root)
charRoot = root.attachNewNode(Character('ShipChar'))
collisions = root.attachNewNode('collisions')
lodNode = charRoot.attachNewNode(LODNode('lod'))
if detailLevel == 0:
lodNode.node().addSwitch(200, 0)
lodNode.node().addSwitch(800, 200)
lodNode.node().addSwitch(100000, 800)
high = lodNode.attachNewNode('high')
low = lodNode.attachNewNode('low')
med = NodePath('med')
superlow = lodNode.attachNewNode('superlow')
elif detailLevel == 1:
lodNode.node().addSwitch(300, 0)
lodNode.node().addSwitch(1000, 300)
lodNode.node().addSwitch(2000, 1000)
lodNode.node().addSwitch(100000, 2000)
high = lodNode.attachNewNode('high')
med = lodNode.attachNewNode('med')
low = lodNode.attachNewNode('low')
superlow = lodNode.attachNewNode('superlow')
else:
lodNode.node().addSwitch(750, 0)
lodNode.node().addSwitch(3000, 750)
lodNode.node().addSwitch(8000, 3000)
lodNode.node().addSwitch(100000, 8000)
high = lodNode.attachNewNode('high')
med = lodNode.attachNewNode('med')
low = lodNode.attachNewNode('low')
superlow = lodNode.attachNewNode('superlow')
mastSetup = ShipGlobals.getMastSetup(shipClass)
for data in [(0, 'location_mainmast_0'), (1, 'location_mainmast_1'),
(2, 'location_mainmast_2'), (3, 'location_aftmast*'),
(4, 'location_foremast*')]:
mastData = mastSetup.get(data[0])
if mastData:
mast = self.mastSets[mastData[0]].getMastSet(
mastData[1] - 1, customMasts)
mastRoot = hull.locators.find('**/%s' % data[1]).getTransform(
hull.locators)
model = NodePath(mast.charRoot)
model.setTransform(mastRoot)
if complexCustomization:
model.setTexture(shipTextureSail)
useLogoTex = logoTex
if placeLogos:
mastNum = data[0]
if mastNum not in ShipGlobals.MAST_LOGO_PLACEMENT.get(
modelClass):
useLogoTex = None
charBundle = mast.charRoot.getBundle(0)
if data[0] < 3:
for side in ['left', 'right']:
ropeNode = hull.locators.find(
'**/location_ropeLadder_%s_%s' % (side, data[0]))
if ropeNode:
transform = ropeNode.getTransform(
NodePath(mast.charRoot))
charBundle.findChild('def_ladder_0_%s' %
side).applyFreeze(transform)
continue
if sailPatternTex and useLogoTex:
for node in model.findAllMatches('**/sails'):
node.setTextureOff(TextureStage.getDefault())
node.setTexture(self.colorLayer, sailPatternTex)
if invertLogo:
node.setTexture(self.logoLayerInv, logoTex)
else:
node.setTexture(self.logoLayer, logoTex)
node.setTexture(self.vertLayer, shipTextureSail)
node.setTexture(self.baseLayer, shipTextureSail)
elif sailPatternTex:
for node in model.findAllMatches('**/sails'):
node.setTextureOff(TextureStage.getDefault())
node.setTexture(self.colorLayer, sailPatternTex)
node.setTexture(self.vertLayer, shipTextureSail)
node.setTexture(self.baseLayer, shipTextureSail)
elif useLogoTex:
for node in model.findAllMatches('**/sails'):
node.setTextureOff(TextureStage.getDefault())
if invertLogo:
node.setTexture(self.logoLayerNoColorInv, logoTex)
else:
node.setTexture(self.logoLayerNoColor, logoTex)
node.setTexture(self.vertLayer, shipTextureSail)
node.setTexture(self.baseLayer, shipTextureSail)
model.flattenLight()
if detailLevel == 0:
model.find('**/low').copyTo(high)
model.find('**/low').copyTo(low)
model.find('**/superlow').copyTo(superlow)
elif detailLevel == 1:
model.find('**/med').copyTo(high)
model.find('**/med').copyTo(med)
low.node().stealChildren(model.find('**/low').node())
superlow.node().stealChildren(
model.find('**/superlow').node())
elif detailLevel == 2:
high.node().stealChildren(model.find('**/high').node())
med.node().stealChildren(model.find('**/med').node())
low.node().stealChildren(model.find('**/low').node())
superlow.node().stealChildren(
model.find('**/superlow').node())
mastRoot = mast.collisions.find('**/collision_masts')
if modelClass > ShipGlobals.INTERCEPTORL3 or data[0] != 3:
mastCode = str(data[0])
mastRoot.setTag('Mast Code', mastCode)
else:
mastRoot.setName('colldision_sub_mast')
mastRoot.reparentTo(collisions.find('**/collision_masts'))
mastCode = '0'
for coll in mast.collisions.findAllMatches(
'**/collision_sail_*'):
coll.setName('Sail-%s' % data[0])
coll.setTag('Mast Code', mastCode)
for coll in mast.collisions.findAllMatches('**/sail_*'):
coll.setName('Sail-%s' % data[0])
coll.setTag('Mast Code', mastCode)
collisions.node().stealChildren(mast.collisions.node())
charBundle = mast.charRoot.getBundle(0)
if mastHax and data[0] == 3:
breakAnims[0][0].storeAnim(
charBundle.loadBindAnim(loader.loader,
mast.breakAnim[0], -1,
MastSubset, True), '1')
breakAnims[0][1].storeAnim(
charBundle.loadBindAnim(loader.loader,
mast.breakAnim[1], -1,
MastSubset, True), '1')
tempHit = hitAnims[0]
tempHit[0].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.hitAnim,
-1, HitMastSubset, True), '1')
tempHit[1].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.hitAnim,
-1, PartSubset(), True), '1')
else:
breakAnims[data[0]] = (AnimControlCollection(),
AnimControlCollection())
breakAnims[data[0]][0].storeAnim(
charBundle.loadBindAnim(loader.loader,
mast.breakAnim[0], -1,
MastSubset, True), '0')
breakAnims[data[0]][1].storeAnim(
charBundle.loadBindAnim(loader.loader,
mast.breakAnim[1], -1,
MastSubset, True), '0')
tempHit = [
AnimControlCollection(),
AnimControlCollection()
]
tempHit[0].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.hitAnim,
-1, HitMastSubset, True), '0')
tempHit[1].storeAnim(
charBundle.loadBindAnim(loader.loader, mast.hitAnim,
-1, PartSubset(), True), '0')
hitAnims[data[0]] = tempHit
for (anim, fileName) in mast.metaAnims.iteritems():
if anim not in metaAnims:
metaAnims[anim] = AnimControlCollection()
if anim not in MissingAnims.get(modelClass, []):
ac = charBundle.loadBindAnim(loader.loader, fileName,
-1, SailSubset, True)
if ac:
metaAnims[anim].storeAnim(
ac, str(metaAnims[anim].getNumAnims()))
charRoot.node().combineWith(mast.charRoot)
continue
if self.wantProws and prowType:
(highSprit, medSprit, lowSprit) = self.sprits[prowType].getAsset()
transform = hull.locators.find(
'**/location_bowsprit').getTransform(hull.locators)
highSprit.setTransform(transform)
medSprit.setTransform(transform)
lowSprit.setTransform(transform)
highSprit.reparentTo(hull.geoms[0])
medSprit.reparentTo(hull.geoms[1])
lowSprit.reparentTo(hull.geoms[2])
if wantWheel:
shipWheel = ShipBlueprints.getWheel()
wheelPoint = hull.locators.find(
'**/location_wheel;+s').getTransform(hull.locators)
shipWheel.setTransform(wheelPoint)
shipWheel.flattenLight()
shipWheel.find('**/collisions').copyTo(collisions)
hull.geoms[0].node().stealChildren(
shipWheel.find('**/high').node())
hull.geoms[1].node().stealChildren(shipWheel.find('**/med').node())
hull.geoms[2].node().stealChildren(shipWheel.find('**/low').node())
if complexCustomization:
hull.geoms[0].setTexture(shipHullTexture)
hull.geoms[0].flattenLight()
hull.geoms[1].setTexture(shipHullTexture)
hull.geoms[1].flattenLight()
hull.geoms[2].setTexture(shipHullTexture)
hull.geoms[2].flattenLight()
hull.geoms[3].setTexture(shipHullTexture)
hull.geoms[3].flattenLight()
high.attachNewNode(ModelNode('non-animated')).node().stealChildren(
hull.geoms[0].node())
med.attachNewNode(ModelNode('non-animated')).node().stealChildren(
hull.geoms[1].node())
low.attachNewNode(ModelNode('non-animated')).node().stealChildren(
hull.geoms[2].node())
superlow.attachNewNode(ModelNode('non-animated')).node().stealChildren(
hull.geoms[3].node())
collisions.node().stealChildren(hull.collisions.node())
hull.locators.stash()
charRoot.flattenStrong()
ship = Ship.Ship(shipClass, root, breakAnims, hitAnims, metaAnims,
collisions, hull.locators)
if not complexCustomization:
ship.char.setTexture(shipHullTexture)
return ship
class Camera( NodePath ):
"""Class representing a camera."""
class Target( NodePath ):
"""Class representing the camera's point of interest."""
def __init__( self, pos=Vec3( 0, 0, 0 ) ):
NodePath.__init__( self, 'target' )
self.defaultPos = pos
class Axes( NodePath ):
"""Class representing the viewport camera axes."""
def __Create( self, thickness, length ):
# Build line segments
ls = LineSegs()
ls.setThickness( thickness )
# X Axis - Red
ls.setColor( 1.0, 0.0, 0.0, 1.0 )
ls.moveTo( 0.0, 0.0, 0.0 )
ls.drawTo( length, 0.0, 0.0 )
# Y Axis - Green
ls.setColor( 0.0, 1.0, 0.0, 1.0 )
ls.moveTo( 0.0,0.0,0.0 )
ls.drawTo( 0.0, length, 0.0 )
# Z Axis - Blue
ls.setColor( 0.0, 0.0, 1.0, 1.0 )
ls.moveTo( 0.0,0.0,0.0 )
ls.drawTo( 0.0, 0.0, length )
return ls.create()
def __init__( self, thickness=1, length=25 ):
ls = self.__Create( thickness, length )
NodePath.__init__( self, ls )
def __init__( self,
name='camera',
pos=Vec3( 0, 0, 0 ),
targetPos=Vec3( 0, 0, 0 ),
style=CAM_DEFAULT_STYLE ):
self.zoomLevel = 2
self.defaultPos = pos
self.style = style
# Use Panda's default camera
if self.style & CAM_USE_DEFAULT:
self.cam = getBase().cam
#self.camNode = getBase().camNode
# Otherwise create a new one
else:
# Create camera
self.cam = NodePath( PCamera( name ) )
# Create lens
lens = PerspectiveLens()
lens.setAspectRatio( 800.0 / 300.0 )
self.cam.node().setLens( lens )
# Wrap the camera in this node path class
NodePath.__init__( self, self.cam )
# Create camera styles
if self.style & CAM_VIEWPORT_AXES:
self.axes = self.Axes()
self.axes.reparentTo( pixel2d )
# Create camera target
self.target = self.Target( pos=targetPos )
self.Reset()
def Reset( self ):
# Reset camera and target back to default positions
self.target.setPos( self.target.defaultPos )
self.setPos( self.defaultPos )
# Set camera to look at target
self.lookAt( self.target.getPos() )
self.target.setQuat( self.getQuat() )
def Move( self, moveVec ):
# Modify the move vector by the distance to the target, so the further
# away the camera is the faster it moves
cameraVec = self.getPos() - self.target.getPos()
cameraDist = cameraVec.length()
moveVec *= cameraDist / 300
# Move the camera
self.setPos( self, moveVec )
# Move the target so it stays with the camera
self.target.setQuat( self.getQuat() )
test = Vec3( moveVec.getX(), 0, moveVec.getZ() )
self.target.setPos( self.target, test )
def Orbit( self, delta ):
# Get new hpr
newHpr = Vec3()
newHpr.setX( self.getH() + delta.getX() )
newHpr.setY( self.getP() + delta.getY() )
newHpr.setZ( self.getR() )
# Set camera to new hpr
self.setHpr( newHpr )
# Get the H and P in radians
radX = newHpr.getX() * ( math.pi / 180.0 )
radY = newHpr.getY() * ( math.pi / 180.0 )
# Get distance from camera to target
cameraVec = self.getPos() - self.target.getPos()
cameraDist = cameraVec.length()
# Get new camera pos
newPos = Vec3()
newPos.setX( cameraDist * math.sin( radX ) * math.cos( radY ) )
newPos.setY( -cameraDist * math.cos( radX ) * math.cos( radY ) )
newPos.setZ( -cameraDist * math.sin( radY ) )
newPos += self.target.getPos()
# Set camera to new pos
self.setPos( newPos )
def cameraMovement( self, task ):
x,y,z = self.cube.getPos()
#smoothly follow the cube...
self.setX( self.getX() - ( ( self.getX() - x - 18 * self.zoomLevel ) * 5 * globalClock.getDt() ) )
self.setY( self.getY() - ( ( self.getY() - y + 5 * self.zoomLevel ) * 5 * globalClock.getDt() ) )
self.setZ( 15 * self.ZOOMLEVEL )
self.setHpr( 75, -37, 0 )
return Task.cont
def AxesTask( self, task ):
# Position axes 30 pixels from bottom left corner
#posY = 100# self.GetSize()[1]
self.axes.setPos( Vec3( 1120, 0, -60 ) )
# Set rotation to inverse of camera rotation
cameraQuat = Quat( self.getQuat() )
cameraQuat.invertInPlace()
self.axes.setQuat( cameraQuat )
return Task.cont
def Start( self ):
if self.style & CAM_VIEWPORT_AXES:
taskMgr.add( self.AxesTask, 'cameraAxesTask' )
def Stop( self ):
taskMgr.remove( self.Task )
def GetLens( self ):
return self.cam.node().getLens()
class Square(object):
#Draws a square from lower left (x1, y2, z1) to upper right (x2, y2, z2)
def __init__(self, parent, p1, p2, color):
self.parent = parent
self.x1 = p1.getX()
self.y1 = p1.getY()
self.z1 = p1.getZ()
self.x2 = p2.getX()
self.y2 = p2.getY()
self.z2 = p2.getZ()
self.r = color.getX()
self.g = color.getY()
self.b = color.getZ()
self.a = color.getW()
self.draw()
def draw(self):
format=GeomVertexFormat.getV3n3cpt2()
vdata=GeomVertexData('square', format, Geom.UHStatic)
vertex=GeomVertexWriter(vdata, 'vertex')
normal=GeomVertexWriter(vdata, 'normal')
color=GeomVertexWriter(vdata, 'color')
texcoord=GeomVertexWriter(vdata, 'texcoord')
#make sure we draw the sqaure in the right plane
#if x1!=x2:
vertex.addData3f(self.x1, self.y1, self.z1)
vertex.addData3f(self.x2, self.y1, self.z1)
vertex.addData3f(self.x2, self.y2, self.z2)
vertex.addData3f(self.x1, self.y2, self.z2)
normal.addData3f(Vec3(2*self.x1-1, 2*self.y1-1, 2*self.z1-1).normalize())
normal.addData3f(Vec3(2*self.x2-1, 2*self.y1-1, 2*self.z1-1).normalize())
normal.addData3f(Vec3(2*self.x2-1, 2*self.y2-1, 2*self.z2-1).normalize())
normal.addData3f(Vec3(2*self.x1-1, 2*self.y2-1, 2*self.z2-1).normalize())
#adding different colors to the vertex for visibility
color.addData4f(self.r, self.g, self.b, self.a)
color.addData4f(self.r, self.g, self.b, self.a)
color.addData4f(self.r, self.g, self.b, self.a)
color.addData4f(self.r, self.g, self.b, self.a)
texcoord.addData2f(0.0, 1.0)
texcoord.addData2f(0.0, 0.0)
texcoord.addData2f(1.0, 0.0)
texcoord.addData2f(1.0, 1.0)
#quads arent directly supported by the Geom interface
#you might be interested in the CardMaker class if you are
#interested in rectangle though
tri1=GeomTriangles(Geom.UHStatic)
tri2=GeomTriangles(Geom.UHStatic)
tri1.addVertex(0)
tri1.addVertex(1)
tri1.addVertex(3)
tri2.addConsecutiveVertices(1,3)
tri1.closePrimitive()
tri2.closePrimitive()
square=Geom(vdata)
square.addPrimitive(tri1)
square.addPrimitive(tri2)
#square.setIntoCollideMask(BitMask32.bit(1))
self.squareNP = NodePath(GeomNode('square gnode'))
self.squareNP.node().addGeom(square)
self.squareNP.setTransparency(1)
self.squareNP.setAlphaScale(.5)
self.squareNP.setTwoSided(True)
#squareNP.setCollideMask(BitMask32.bit(1))
self.squareNP.reparentTo(self.parent)
return self.squareNP
class Sprite2d:
class Cell:
def __init__(self, col, row):
self.col = col
self.row = row
def __str__(self):
return "Cell - Col %d, Row %d" % (self.col, self.row)
class Animation:
def __init__(self, cells, fps):
self.cells = cells
self.fps = fps
self.playhead = 0
ALIGN_CENTER = "Center"
ALIGN_LEFT = "Left"
ALIGN_RIGHT = "Right"
ALIGN_BOTTOM = "Bottom"
ALIGN_TOP = "Top"
TRANS_ALPHA = TransparencyAttrib.MAlpha
TRANS_DUAL = TransparencyAttrib.MDual
# One pixel is divided by this much. If you load a 100x50 image with PIXEL_SCALE of 10.0
# you get a card that is 1 unit wide, 0.5 units high
PIXEL_SCALE = 20.0
def __init__(self, image_path, rowPerFace, name=None,\
rows=1, cols=1, scale=1.0,\
twoSided=False, alpha=TRANS_ALPHA,\
repeatX=1, repeatY=1,\
anchorX=ALIGN_CENTER, anchorY=ALIGN_BOTTOM):
"""
Create a card textured with an image. The card is sized so that the ratio between the
card and image is the same.
"""
global SpriteId
self.spriteNum = str(SpriteId)
SpriteId += 1
scale *= self.PIXEL_SCALE
self.animations = {}
self.scale = scale
self.repeatX = repeatX
self.repeatY = repeatY
self.flip = {'x':False,'y':False}
self.rows = rows
self.cols = cols
self.currentFrame = 0
self.currentAnim = None
self.loopAnim = False
self.frameInterrupt = True
# Create the NodePath
if name:
self.node = NodePath("Sprite2d:%s" % name)
else:
self.node = NodePath("Sprite2d:%s" % image_path)
# Set the attribute for transparency/twosided
self.node.node().setAttrib(TransparencyAttrib.make(alpha))
if twoSided:
self.node.setTwoSided(True)
# Make a filepath
self.imgFile = Filename(image_path)
if self.imgFile.empty():
raise IOError, "File not found"
# Instead of loading it outright, check with the PNMImageHeader if we can open
# the file.
imgHead = PNMImageHeader()
if not imgHead.readHeader(self.imgFile):
raise IOError, "PNMImageHeader could not read file. Try using absolute filepaths"
# Load the image with a PNMImage
image = PNMImage()
image.read(self.imgFile)
self.sizeX = image.getXSize()
self.sizeY = image.getYSize()
# We need to find the power of two size for the another PNMImage
# so that the texture thats loaded on the geometry won't have artifacts
textureSizeX = self.nextsize(self.sizeX)
textureSizeY = self.nextsize(self.sizeY)
# The actual size of the texture in memory
self.realSizeX = textureSizeX
self.realSizeY = textureSizeY
self.paddedImg = PNMImage(textureSizeX, textureSizeY)
if image.hasAlpha():
self.paddedImg.alphaFill(0)
# Copy the source image to the image we're actually using
self.paddedImg.blendSubImage(image, 0, 0)
# We're done with source image, clear it
image.clear()
# The pixel sizes for each cell
self.colSize = self.sizeX/self.cols
self.rowSize = self.sizeY/self.rows
# How much padding the texture has
self.paddingX = textureSizeX - self.sizeX
self.paddingY = textureSizeY - self.sizeY
# Set UV padding
self.uPad = float(self.paddingX)/textureSizeX
self.vPad = float(self.paddingY)/textureSizeY
# The UV dimensions for each cell
self.uSize = (1.0 - self.uPad) / self.cols
self.vSize = (1.0 - self.vPad) / self.rows
self.cards = []
self.rowPerFace = rowPerFace
for i in range(len(rowPerFace)):
card = CardMaker("Sprite2d-Geom")
# The positions to create the card at
if anchorX == self.ALIGN_LEFT:
posLeft = 0
posRight = (self.colSize/scale)*repeatX
elif anchorX == self.ALIGN_CENTER:
posLeft = -(self.colSize/2.0/scale)*repeatX
posRight = (self.colSize/2.0/scale)*repeatX
elif anchorX == self.ALIGN_RIGHT:
posLeft = -(self.colSize/scale)*repeatX
posRight = 0
if anchorY == self.ALIGN_BOTTOM:
posTop = 0
posBottom = (self.rowSize/scale)*repeatY
elif anchorY == self.ALIGN_CENTER:
posTop = -(self.rowSize/2.0/scale)*repeatY
posBottom = (self.rowSize/2.0/scale)*repeatY
elif anchorY == self.ALIGN_TOP:
posTop = -(self.rowSize/scale)*repeatY
posBottom = 0
card.setFrame(posLeft, posRight, posTop, posBottom)
card.setHasUvs(True)
self.cards.append(self.node.attachNewNode(card.generate()))
self.cards[-1].setH(i * 360/len(rowPerFace))
# Since the texture is padded, we need to set up offsets and scales to make
# the texture fit the whole card
self.offsetX = (float(self.colSize)/textureSizeX)
self.offsetY = (float(self.rowSize)/textureSizeY)
# self.node.setTexScale(TextureStage.getDefault(), self.offsetX * repeatX, self.offsetY * repeatY)
# self.node.setTexOffset(TextureStage.getDefault(), 0, 1-self.offsetY)
self.texture = Texture()
self.texture.setXSize(textureSizeX)
self.texture.setYSize(textureSizeY)
self.texture.setZSize(1)
# Load the padded PNMImage to the texture
self.texture.load(self.paddedImg)
self.texture.setMagfilter(Texture.FTNearest)
self.texture.setMinfilter(Texture.FTNearest)
#Set up texture clamps according to repeats
if repeatX > 1:
self.texture.setWrapU(Texture.WMRepeat)
else:
self.texture.setWrapU(Texture.WMClamp)
if repeatY > 1:
self.texture.setWrapV(Texture.WMRepeat)
else:
self.texture.setWrapV(Texture.WMClamp)
self.node.setTexture(self.texture)
self.setFrame(0)
def nextsize(self, num):
""" Finds the next power of two size for the given integer. """
p2x=max(1,log(num,2))
notP2X=modf(p2x)[0]>0
return 2**int(notP2X+p2x)
def setFrame(self, frame=0):
""" Sets the current sprite to the given frame """
self.frameInterrupt = True # A flag to tell the animation task to shut it up ur face
self.currentFrame = frame
self.flipTexture()
def playAnim(self, animName, loop=False):
""" Sets the sprite to animate the given named animation. Booleon to loop animation"""
if not taskMgr.hasTaskNamed("Animate sprite" + self.spriteNum):
if hasattr(self, "task"):
taskMgr.remove("Animate sprite" + self.spriteNum)
del self.task
self.frameInterrupt = False # Clear any previous interrupt flags
self.loopAnim = loop
self.currentAnim = self.animations[animName]
self.currentAnim.playhead = 0
self.task = taskMgr.doMethodLater(1.0/self.currentAnim.fps,self.animPlayer, "Animate sprite" + self.spriteNum)
def createAnim(self, animName, frameCols, fps=12):
""" Create a named animation. Takes the animation name and a tuple of frame numbers """
self.animations[animName] = Sprite2d.Animation(frameCols, fps)
return self.animations[animName]
def flipX(self, val=None):
""" Flip the sprite on X. If no value given, it will invert the current flipping."""
if val:
self.flip['x'] = val
else:
if self.flip['x']:
self.flip['x'] = False
else:
self.flip['x'] = True
self.flipTexture()
return self.flip['x']
def flipY(self, val=None):
""" See flipX """
if val:
self.flip['y'] = val
else:
if self.flip['y']:
self.flip['y'] = False
else:
self.flip['y'] = True
self.flipTexture()
return self.flip['y']
def updateCameraAngle(self, cameraNode):
baseH = cameraNode.getH(render) - self.node.getH(render)
degreesBetweenCards = 360/len(self.cards)
bestCard = int(((baseH)+degreesBetweenCards/2)%360 / degreesBetweenCards)
#print baseH, bestCard
for i in range(len(self.cards)):
if i == bestCard:
self.cards[i].show()
else:
self.cards[i].hide()
def flipTexture(self):
""" Sets the texture coordinates of the texture to the current frame"""
for i in range(len(self.cards)):
currentRow = self.rowPerFace[i]
sU = self.offsetX * self.repeatX
sV = self.offsetY * self.repeatY
oU = 0 + self.currentFrame * self.uSize
#oU = 0 + self.frames[self.currentFrame].col * self.uSize
#oV = 1 - self.frames[self.currentFrame].row * self.vSize - self.offsetY
oV = 1 - currentRow * self.vSize - self.offsetY
if self.flip['x'] ^ i==1: ##hack to fix side view
#print "flipping, i = ",i
sU *= -1
#oU = self.uSize + self.frames[self.currentFrame].col * self.uSize
oU = self.uSize + self.currentFrame * self.uSize
if self.flip['y']:
sV *= -1
#oV = 1 - self.frames[self.currentFrame].row * self.vSize
oV = 1 - currentRow * self.vSize
self.cards[i].setTexScale(TextureStage.getDefault(), sU, sV)
self.cards[i].setTexOffset(TextureStage.getDefault(), oU, oV)
def clear(self):
""" Free up the texture memory being used """
self.texture.clear()
self.paddedImg.clear()
self.node.removeNode()
def animPlayer(self, task):
if self.frameInterrupt:
return task.done
#print "Playing",self.currentAnim.cells[self.currentAnim.playhead]
self.currentFrame = self.currentAnim.cells[self.currentAnim.playhead]
self.flipTexture()
if self.currentAnim.playhead+1 < len(self.currentAnim.cells):
self.currentAnim.playhead += 1
return task.again
if self.loopAnim:
self.currentAnim.playhead = 0
return task.again
def createSector(self, sectorId):
(sectorX, sectorY) = sectorId
# print "creating sector %s" % str(sectorId)
# init seed depending on quadrant we are currently in
random.seed(sectorId)
if self.usingLod:
plantLodNpChilds = [NodePath("lod-0-%s" % str(sectorId)), NodePath("lod-1-%s" % str(sectorId))]
else:
tileNode = self.plantClassNp.attachNewNode("tileNode-%s" % str(sectorId))
tempTileNode = NodePath("tempTileNode-%s" % str(sectorId))
# create each plant with the given chance in the sector
for (
plantName,
[plantChance, plantModel, plantMinScale, plantScaleVariance, [noiseFunc, distFunc, distParams]],
) in self.plantModelDict.items():
# maximum number of plants of this type
averagePlantCount = (plantChance / 100.0) * self.sizeOfTile ** 2
# well use ceil, if not some plants may never be generated
plantCount = math.ceil(averagePlantCount)
distFuncResultAccumulated = 0.0
# print "planning to create %i plants" % plantCount [commented by Finn]
# creating plantCount number of plants
placedPlantCounter = 0
for plantId in xrange(int(plantCount)):
# select position the plant will have
posX = random.randint(0, self.sizeOfTile) + (sectorX * self.sizeOfTile)
posY = random.randint(0, self.sizeOfTile) + (sectorY * self.sizeOfTile)
# get z position of ground
posZ = self.heightfield.get_elevation([posX, posY])
# the absolue world position of the plant
absoluteWorldPosition = Vec3(posX, posY, posZ)
# decide if we want to place this plant based on the noise function
noiseFuncResult = noiseFunc(posX, posY)
distFuncResult = distFunc(noiseFuncResult, *distParams)
# make sure the plants are placed evenly
distFuncResultAccumulated += distFuncResult
if distFuncResultAccumulated > 1.0:
placedPlantCounter += 1
# print "plant"
# place a plant
distFuncResultAccumulated -= 1.0
# select scale & rotation of plant
scale = random.random()
rotation = random.randint(0, 360)
# load model
if self.usingLod:
# save that we are using lod, we cant flatten if we are
# usingLod = True
# setup lod nodepath
# plantLodNp = NodePath(FadeLODNode('lod'))
# plantLodNp.reparentTo(self.plantClassNp)
i = 0
for [maxLodDist, minLodDistance, lodModelName] in plantModel:
# print "creating lod %i of plant %s" % (i, plantName) [commented by Finn]
tempPlantNp = loader.loadModel(lodModelName + ".egg")
plantNp = NodePath("model-%s" % str(absoluteWorldPosition))
tempPlantNp.getChildren().reparentTo(plantNp)
# flatten the nodepath
# plantNp.flattenStrong()
# set position of plant
plantNp.setPos(absoluteWorldPosition)
plantNp.setHpr(rotation, 0, 0)
finalScale = plantMinScale + scale * plantScaleVariance
plantNp.setScale(finalScale)
# add plant to tile
plantNp.reparentTo(plantLodNpChilds[i])
#
i += 1
else:
# plantNp = loader.loadModelCopy( plantModel+".egg" )
# plantNp.reparentTo( tileNode )
tempPlantNp = loader.loadModelCopy(plantModel + ".egg")
plantNp = NodePath("model-%s" % str(absoluteWorldPosition))
tempPlantNp.getChildren().reparentTo(plantNp)
tempPlantNp.removeNode()
# flatten the nodepath
# plantNp.flattenStrong()
# add plant to tile
plantNp.reparentTo(tempTileNode)
# set position of plant
plantNp.setPos(absoluteWorldPosition)
plantNp.setHpr(rotation, 0, 0)
finalScale = plantMinScale + scale * plantScaleVariance
plantNp.setScale(finalScale)
# print "planted %i plants" % placedPlantCounter
# flatten the tile if not using lod
if self.usingLod:
plantLodNpChilds[0].flattenStrong()
plantLodNpChilds[1].flattenStrong()
fadeLodNode = FadeLODNode("lod-%s" % str(sectorId))
absolutePosX = (sectorX * self.sizeOfTile) + self.sizeOfTile / 2.0
absolutePosY = (sectorY * self.sizeOfTile) + self.sizeOfTile / 2.0
absolutePosZ = self.heightfield.get_elevation([absolutePosX, absolutePosY])
fadeLodNode.setCenter(Point3(absolutePosX, absolutePosY, absolutePosZ))
plantLodNp = NodePath(fadeLodNode)
# plantLodNp = NodePath('lod-%s' % str(sectorId))
plantLodNpChilds[0].reparentTo(plantLodNp)
plantLodNp.node().addSwitch(9999, self.sizeOfTile * 2.0)
plantLodNpChilds[1].reparentTo(plantLodNp)
plantLodNp.node().addSwitch(self.sizeOfTile * 2.0, 0)
self.tileDict[sectorId] = plantLodNp
plantLodNp.reparentTo(self.plantClassNp)
if FADEIN:
self.makeFadeIn(plantLodNp)
else:
# reassign plants to sectorNode
tempTileNode.getChildren().reparentTo(tileNode)
tempTileNode.removeNode()
tempTileNode = None
# tileNode.flattenMedium()
tileNode.flattenStrong()
tileNode.reparentTo(self.plantClassNp)
self.tileDict[sectorId] = tileNode
if FADEIN:
self.makeFadeIn(tileNode)
class Camera( NodePath, p3d.SingleTask ):
"""Class representing a camera."""
class Target( NodePath ):
"""Class representing the camera's point of interest."""
def __init__( self, pos=Vec3( 0, 0, 0 ) ):
NodePath.__init__( self, 'target' )
self.defaultPos = pos
def __init__( self, name='camera', *args, **kwargs ):
pos = kwargs.pop( 'pos', (0, 0, 0) )
targetPos = kwargs.pop( 'targetPos', (0, 0, 0) )
style = kwargs.pop( 'style', CAM_DEFAULT_STYLE )
p3d.SingleTask.__init__( self, name, *args, **kwargs )
self.zoomLevel = 2
self.defaultPos = pos
self.style = style
# Use Panda's default camera
if self.style & CAM_USE_DEFAULT:
self.cam = getBase().cam
#self.camNode = getBase().camNode
# Otherwise create a new one
else:
# Create camera
self.cam = NodePath( PCamera( name ) )
# Create lens
lens = PerspectiveLens()
lens.setAspectRatio( 800.0 / 300.0 )
self.cam.node().setLens( lens )
# Wrap the camera in this node path class
NodePath.__init__( self, self.cam )
# Create camera styles
if self.style & CAM_VIEWPORT_AXES:
self.axes = pm.NodePath( p3d.geometry.Axes() )
self.axes.reparentTo( self.rootP2d )
# Create camera target
self.target = self.Target( pos=targetPos )
self.Reset()
def Reset( self ):
# Reset camera and target back to default positions
self.target.setPos( self.target.defaultPos )
self.setPos( self.defaultPos )
# Set camera to look at target
self.lookAt( self.target.getPos() )
self.target.setQuat( self.getQuat() )
def Move( self, moveVec ):
# Modify the move vector by the distance to the target, so the further
# away the camera is the faster it moves
cameraVec = self.getPos() - self.target.getPos()
cameraDist = cameraVec.length()
moveVec *= cameraDist / 300
# Move the camera
self.setPos( self, moveVec )
# Move the target so it stays with the camera
self.target.setQuat( self.getQuat() )
test = Vec3( moveVec.getX(), 0, moveVec.getZ() )
self.target.setPos( self.target, test )
def Orbit( self, delta ):
# Get new hpr
newHpr = Vec3()
newHpr.setX( self.getH() + delta.getX() )
newHpr.setY( self.getP() + delta.getY() )
newHpr.setZ( self.getR() )
# Set camera to new hpr
self.setHpr( newHpr )
# Get the H and P in radians
radX = newHpr.getX() * ( math.pi / 180.0 )
radY = newHpr.getY() * ( math.pi / 180.0 )
# Get distance from camera to target
cameraVec = self.getPos() - self.target.getPos()
cameraDist = cameraVec.length()
# Get new camera pos
newPos = Vec3()
newPos.setX( cameraDist * math.sin( radX ) * math.cos( radY ) )
newPos.setY( -cameraDist * math.cos( radX ) * math.cos( radY ) )
newPos.setZ( -cameraDist * math.sin( radY ) )
newPos += self.target.getPos()
# Set camera to new pos
self.setPos( newPos )
def Frame( self, nps ):
# Get a list of bounding spheres for each NodePath in world space.
allBnds = []
allCntr = pm.Vec3()
for np in nps:
bnds = np.getBounds()
if bnds.isInfinite():
continue
mat = np.getParent().getMat( self.rootNp )
bnds.xform( mat )
allBnds.append( bnds )
allCntr += bnds.getCenter()
# Now create a bounding sphere at the center point of all the
# NodePaths and extend it to encapsulate each one.
bnds = pm.BoundingSphere( pm.Point3( allCntr / len( nps ) ), 0 )
for bnd in allBnds:
bnds.extendBy( bnd )
# Move the camera and the target the the bounding sphere's center.
self.target.setPos( bnds.getCenter() )
self.setPos( bnds.getCenter() )
# Now move the camera back so the view accomodates all NodePaths.
# Default the bounding radius to something reasonable if the object
# has no size.
fov = self.GetLens().getFov()
radius = bnds.getRadius() or 0.5
dist = radius / math.tan( math.radians( min( fov[0], fov[1] ) * 0.5 ) )
self.setY( self, -dist )
def cameraMovement( self, task ):
x,y,z = self.cube.getPos()
#smoothly follow the cube...
self.setX( self.getX() - ( ( self.getX() - x - 18 * self.zoomLevel ) * 5 * globalClock.getDt() ) )
self.setY( self.getY() - ( ( self.getY() - y + 5 * self.zoomLevel ) * 5 * globalClock.getDt() ) )
self.setZ( 15 * self.ZOOMLEVEL )
self.setHpr( 75, -37, 0 )
return task.cont
def OnUpdate( self, task ):
# Position axes 30 pixels from top left corner
self.axes.setPos( Vec3( 30, 0, -30 ) )
# Set rotation to inverse of camera rotation
cameraQuat = Quat( self.getQuat() )
cameraQuat.invertInPlace()
self.axes.setQuat( cameraQuat )
def GetLens( self ):
return self.cam.node().getLens()
class Square(object):
#drawSquare
#Draws a square from lower left (x1, y2, z1) to upper right (x2, y2, z2)
def __init__(self, parent, p1, p2, color):
self.parent = parent
self.x1 = p1.getX()
self.y1 = p1.getY()
self.z1 = p1.getZ()
self.x2 = p2.getX()
self.y2 = p2.getY()
self.z2 = p2.getZ()
self.r = color.getX()
self.g = color.getY()
self.b = color.getZ()
self.a = color.getW()
self.draw()
def draw(self):
format = GeomVertexFormat.getV3n3cpt2()
vdata = GeomVertexData('square', format, Geom.UHStatic)
vertex = GeomVertexWriter(vdata, 'vertex')
normal = GeomVertexWriter(vdata, 'normal')
color = GeomVertexWriter(vdata, 'color')
texcoord = GeomVertexWriter(vdata, 'texcoord')
#make sure we draw the sqaure in the right plane
#if x1!=x2:
vertex.addData3f(self.x1, self.y1, self.z1)
vertex.addData3f(self.x2, self.y1, self.z1)
vertex.addData3f(self.x2, self.y2, self.z2)
vertex.addData3f(self.x1, self.y2, self.z2)
normal.addData3f(
Vec3(2 * self.x1 - 1, 2 * self.y1 - 1,
2 * self.z1 - 1).normalize())
normal.addData3f(
Vec3(2 * self.x2 - 1, 2 * self.y1 - 1,
2 * self.z1 - 1).normalize())
normal.addData3f(
Vec3(2 * self.x2 - 1, 2 * self.y2 - 1,
2 * self.z2 - 1).normalize())
normal.addData3f(
Vec3(2 * self.x1 - 1, 2 * self.y2 - 1,
2 * self.z2 - 1).normalize())
#adding different colors to the vertex for visibility
color.addData4f(self.r, self.g, self.b, self.a)
color.addData4f(self.r, self.g, self.b, self.a)
color.addData4f(self.r, self.g, self.b, self.a)
color.addData4f(self.r, self.g, self.b, self.a)
texcoord.addData2f(0.0, 1.0)
texcoord.addData2f(0.0, 0.0)
texcoord.addData2f(1.0, 0.0)
texcoord.addData2f(1.0, 1.0)
#quads arent directly supported by the Geom interface
#you might be interested in the CardMaker class if you are
#interested in rectangle though
tri1 = GeomTriangles(Geom.UHStatic)
tri2 = GeomTriangles(Geom.UHStatic)
tri1.addVertex(0)
tri1.addVertex(1)
tri1.addVertex(3)
tri2.addConsecutiveVertices(1, 3)
tri1.closePrimitive()
tri2.closePrimitive()
square = Geom(vdata)
square.addPrimitive(tri1)
square.addPrimitive(tri2)
#square.setIntoCollideMask(BitMask32.bit(1))
self.squareNP = NodePath(GeomNode('square gnode'))
self.squareNP.node().addGeom(square)
self.squareNP.setTransparency(1)
self.squareNP.setAlphaScale(.5)
self.squareNP.setTwoSided(True)
#squareNP.setCollideMask(BitMask32.bit(1))
self.squareNP.reparentTo(self.parent)
return self.squareNP
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 Camera(NodePath, p3d.SingleTask):
"""Class representing a camera."""
class Target(NodePath):
"""Class representing the camera's point of interest."""
def __init__(self, pos=Vec3(0, 0, 0)):
NodePath.__init__(self, 'target')
self.defaultPos = pos
def __init__(self, name='camera', *args, **kwargs):
pos = kwargs.pop('pos', (0, 0, 0))
targetPos = kwargs.pop('targetPos', (0, 0, 0))
style = kwargs.pop('style', CAM_DEFAULT_STYLE)
p3d.SingleTask.__init__(self, name, *args, **kwargs)
self.zoomLevel = 2
self.defaultPos = pos
self.style = style
# Use Panda's default camera
if self.style & CAM_USE_DEFAULT:
self.cam = getBase().cam
#self.camNode = getBase().camNode
# Otherwise create a new one
else:
# Create camera
self.cam = NodePath(PCamera(name))
# Create lens
lens = PerspectiveLens()
lens.setAspectRatio(800.0 / 300.0)
self.cam.node().setLens(lens)
# Wrap the camera in this node path class
NodePath.__init__(self, self.cam)
# Create camera styles
if self.style & CAM_VIEWPORT_AXES:
self.axes = pm.NodePath(p3d.geometry.Axes())
self.axes.reparentTo(self.rootP2d)
# Create camera target
self.target = self.Target(pos=targetPos)
self.Reset()
def Reset(self):
# Reset camera and target back to default positions
self.target.setPos(self.target.defaultPos)
self.setPos(self.defaultPos)
# Set camera to look at target
self.lookAt(self.target.getPos())
self.target.setQuat(self.getQuat())
def Move(self, moveVec):
# Modify the move vector by the distance to the target, so the further
# away the camera is the faster it moves
cameraVec = self.getPos() - self.target.getPos()
cameraDist = cameraVec.length()
moveVec *= cameraDist / 300
# Move the camera
self.setPos(self, moveVec)
# Move the target so it stays with the camera
self.target.setQuat(self.getQuat())
test = Vec3(moveVec.getX(), 0, moveVec.getZ())
self.target.setPos(self.target, test)
def Orbit(self, delta):
# Get new hpr
newHpr = Vec3()
newHpr.setX(self.getH() + delta.getX())
newHpr.setY(self.getP() + delta.getY())
newHpr.setZ(self.getR())
# Set camera to new hpr
self.setHpr(newHpr)
# Get the H and P in radians
radX = newHpr.getX() * (math.pi / 180.0)
radY = newHpr.getY() * (math.pi / 180.0)
# Get distance from camera to target
cameraVec = self.getPos() - self.target.getPos()
cameraDist = cameraVec.length()
# Get new camera pos
newPos = Vec3()
newPos.setX(cameraDist * math.sin(radX) * math.cos(radY))
newPos.setY(-cameraDist * math.cos(radX) * math.cos(radY))
newPos.setZ(-cameraDist * math.sin(radY))
newPos += self.target.getPos()
# Set camera to new pos
self.setPos(newPos)
def Frame(self, nps):
# Get a list of bounding spheres for each NodePath in world space.
allBnds = []
allCntr = pm.Vec3()
for np in nps:
bnds = np.getBounds()
if bnds.isInfinite():
continue
mat = np.getParent().getMat(self.rootNp)
bnds.xform(mat)
allBnds.append(bnds)
allCntr += bnds.getCenter()
# Now create a bounding sphere at the center point of all the
# NodePaths and extend it to encapsulate each one.
bnds = pm.BoundingSphere(pm.Point3(allCntr / len(nps)), 0)
for bnd in allBnds:
bnds.extendBy(bnd)
# Move the camera and the target the the bounding sphere's center.
self.target.setPos(bnds.getCenter())
self.setPos(bnds.getCenter())
# Now move the camera back so the view accomodates all NodePaths.
# Default the bounding radius to something reasonable if the object
# has no size.
fov = self.GetLens().getFov()
radius = bnds.getRadius() or 0.5
dist = radius / math.tan(math.radians(min(fov[0], fov[1]) * 0.5))
self.setY(self, -dist)
def cameraMovement(self, task):
x, y, z = self.cube.getPos()
#smoothly follow the cube...
self.setX(self.getX() - (
(self.getX() - x - 18 * self.zoomLevel) * 5 * globalClock.getDt()))
self.setY(self.getY() - (
(self.getY() - y + 5 * self.zoomLevel) * 5 * globalClock.getDt()))
self.setZ(15 * self.ZOOMLEVEL)
self.setHpr(75, -37, 0)
return task.cont
def OnUpdate(self, task):
# Position axes 30 pixels from top left corner
self.axes.setPos(Vec3(30, 0, -30))
# Set rotation to inverse of camera rotation
cameraQuat = Quat(self.getQuat())
cameraQuat.invertInPlace()
self.axes.setQuat(cameraQuat)
def GetLens(self):
return self.cam.node().getLens()
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 Sprite2d:
class Cell:
def __init__(self, col, row):
self.col = col
self.row = row
def __str__(self):
return "Cell - Col %d, Row %d" % (self.col, self.row)
class Animation:
def __init__(self, cells, fps):
self.cells = cells
self.fps = fps
self.playhead = 0
ALIGN_CENTER = "Center"
ALIGN_LEFT = "Left"
ALIGN_RIGHT = "Right"
ALIGN_BOTTOM = "Bottom"
ALIGN_TOP = "Top"
TRANS_ALPHA = TransparencyAttrib.MAlpha
TRANS_DUAL = TransparencyAttrib.MDual
# One pixel is divided by this much. If you load a 100x50 image with PIXEL_SCALE of 10.0
# you get a card that is 1 unit wide, 0.5 units high
PIXEL_SCALE = 20.0
def __init__(self, image_path, rowPerFace, name=None,\
rows=1, cols=1, scale=1.0,\
twoSided=False, alpha=TRANS_ALPHA,\
repeatX=1, repeatY=1,\
anchorX=ALIGN_CENTER, anchorY=ALIGN_BOTTOM):
"""
Create a card textured with an image. The card is sized so that the ratio between the
card and image is the same.
"""
global SpriteId
self.spriteNum = str(SpriteId)
SpriteId += 1
scale *= self.PIXEL_SCALE
self.animations = {}
self.scale = scale
self.repeatX = repeatX
self.repeatY = repeatY
self.flip = {'x': False, 'y': False}
self.rows = rows
self.cols = cols
self.currentFrame = 0
self.currentAnim = None
self.loopAnim = False
self.frameInterrupt = True
# Create the NodePath
if name:
self.node = NodePath("Sprite2d:%s" % name)
else:
self.node = NodePath("Sprite2d:%s" % image_path)
# Set the attribute for transparency/twosided
self.node.node().setAttrib(TransparencyAttrib.make(alpha))
if twoSided:
self.node.setTwoSided(True)
# Make a filepath
self.imgFile = Filename(image_path)
if self.imgFile.empty():
raise IOError, "File not found"
# Instead of loading it outright, check with the PNMImageHeader if we can open
# the file.
imgHead = PNMImageHeader()
if not imgHead.readHeader(self.imgFile):
raise IOError, "PNMImageHeader could not read file. Try using absolute filepaths"
# Load the image with a PNMImage
image = PNMImage()
image.read(self.imgFile)
self.sizeX = image.getXSize()
self.sizeY = image.getYSize()
# We need to find the power of two size for the another PNMImage
# so that the texture thats loaded on the geometry won't have artifacts
textureSizeX = self.nextsize(self.sizeX)
textureSizeY = self.nextsize(self.sizeY)
# The actual size of the texture in memory
self.realSizeX = textureSizeX
self.realSizeY = textureSizeY
self.paddedImg = PNMImage(textureSizeX, textureSizeY)
if image.hasAlpha():
self.paddedImg.alphaFill(0)
# Copy the source image to the image we're actually using
self.paddedImg.blendSubImage(image, 0, 0)
# We're done with source image, clear it
image.clear()
# The pixel sizes for each cell
self.colSize = self.sizeX / self.cols
self.rowSize = self.sizeY / self.rows
# How much padding the texture has
self.paddingX = textureSizeX - self.sizeX
self.paddingY = textureSizeY - self.sizeY
# Set UV padding
self.uPad = float(self.paddingX) / textureSizeX
self.vPad = float(self.paddingY) / textureSizeY
# The UV dimensions for each cell
self.uSize = (1.0 - self.uPad) / self.cols
self.vSize = (1.0 - self.vPad) / self.rows
self.cards = []
self.rowPerFace = rowPerFace
for i in range(len(rowPerFace)):
card = CardMaker("Sprite2d-Geom")
# The positions to create the card at
if anchorX == self.ALIGN_LEFT:
posLeft = 0
posRight = (self.colSize / scale) * repeatX
elif anchorX == self.ALIGN_CENTER:
posLeft = -(self.colSize / 2.0 / scale) * repeatX
posRight = (self.colSize / 2.0 / scale) * repeatX
elif anchorX == self.ALIGN_RIGHT:
posLeft = -(self.colSize / scale) * repeatX
posRight = 0
if anchorY == self.ALIGN_BOTTOM:
posTop = 0
posBottom = (self.rowSize / scale) * repeatY
elif anchorY == self.ALIGN_CENTER:
posTop = -(self.rowSize / 2.0 / scale) * repeatY
posBottom = (self.rowSize / 2.0 / scale) * repeatY
elif anchorY == self.ALIGN_TOP:
posTop = -(self.rowSize / scale) * repeatY
posBottom = 0
card.setFrame(posLeft, posRight, posTop, posBottom)
card.setHasUvs(True)
self.cards.append(self.node.attachNewNode(card.generate()))
self.cards[-1].setH(i * 360 / len(rowPerFace))
# Since the texture is padded, we need to set up offsets and scales to make
# the texture fit the whole card
self.offsetX = (float(self.colSize) / textureSizeX)
self.offsetY = (float(self.rowSize) / textureSizeY)
# self.node.setTexScale(TextureStage.getDefault(), self.offsetX * repeatX, self.offsetY * repeatY)
# self.node.setTexOffset(TextureStage.getDefault(), 0, 1-self.offsetY)
self.texture = Texture()
self.texture.setXSize(textureSizeX)
self.texture.setYSize(textureSizeY)
self.texture.setZSize(1)
# Load the padded PNMImage to the texture
self.texture.load(self.paddedImg)
self.texture.setMagfilter(Texture.FTNearest)
self.texture.setMinfilter(Texture.FTNearest)
#Set up texture clamps according to repeats
if repeatX > 1:
self.texture.setWrapU(Texture.WMRepeat)
else:
self.texture.setWrapU(Texture.WMClamp)
if repeatY > 1:
self.texture.setWrapV(Texture.WMRepeat)
else:
self.texture.setWrapV(Texture.WMClamp)
self.node.setTexture(self.texture)
self.setFrame(0)
def nextsize(self, num):
""" Finds the next power of two size for the given integer. """
p2x = max(1, log(num, 2))
notP2X = modf(p2x)[0] > 0
return 2**int(notP2X + p2x)
def setFrame(self, frame=0):
""" Sets the current sprite to the given frame """
self.frameInterrupt = True # A flag to tell the animation task to shut it up ur face
self.currentFrame = frame
self.flipTexture()
def playAnim(self, animName, loop=False):
""" Sets the sprite to animate the given named animation. Booleon to loop animation"""
if not taskMgr.hasTaskNamed("Animate sprite" + self.spriteNum):
if hasattr(self, "task"):
taskMgr.remove("Animate sprite" + self.spriteNum)
del self.task
self.frameInterrupt = False # Clear any previous interrupt flags
self.loopAnim = loop
self.currentAnim = self.animations[animName]
self.currentAnim.playhead = 0
self.task = taskMgr.doMethodLater(
1.0 / self.currentAnim.fps, self.animPlayer,
"Animate sprite" + self.spriteNum)
def createAnim(self, animName, frameCols, fps=12):
""" Create a named animation. Takes the animation name and a tuple of frame numbers """
self.animations[animName] = Sprite2d.Animation(frameCols, fps)
return self.animations[animName]
def flipX(self, val=None):
""" Flip the sprite on X. If no value given, it will invert the current flipping."""
if val:
self.flip['x'] = val
else:
if self.flip['x']:
self.flip['x'] = False
else:
self.flip['x'] = True
self.flipTexture()
return self.flip['x']
def flipY(self, val=None):
""" See flipX """
if val:
self.flip['y'] = val
else:
if self.flip['y']:
self.flip['y'] = False
else:
self.flip['y'] = True
self.flipTexture()
return self.flip['y']
def updateCameraAngle(self, cameraNode):
baseH = cameraNode.getH(render) - self.node.getH(render)
degreesBetweenCards = 360 / len(self.cards)
bestCard = int(
((baseH) + degreesBetweenCards / 2) % 360 / degreesBetweenCards)
#print baseH, bestCard
for i in range(len(self.cards)):
if i == bestCard:
self.cards[i].show()
else:
self.cards[i].hide()
def flipTexture(self):
""" Sets the texture coordinates of the texture to the current frame"""
for i in range(len(self.cards)):
currentRow = self.rowPerFace[i]
sU = self.offsetX * self.repeatX
sV = self.offsetY * self.repeatY
oU = 0 + self.currentFrame * self.uSize
#oU = 0 + self.frames[self.currentFrame].col * self.uSize
#oV = 1 - self.frames[self.currentFrame].row * self.vSize - self.offsetY
oV = 1 - currentRow * self.vSize - self.offsetY
if self.flip['x'] ^ i == 1: ##hack to fix side view
#print "flipping, i = ",i
sU *= -1
#oU = self.uSize + self.frames[self.currentFrame].col * self.uSize
oU = self.uSize + self.currentFrame * self.uSize
if self.flip['y']:
sV *= -1
#oV = 1 - self.frames[self.currentFrame].row * self.vSize
oV = 1 - currentRow * self.vSize
self.cards[i].setTexScale(TextureStage.getDefault(), sU, sV)
self.cards[i].setTexOffset(TextureStage.getDefault(), oU, oV)
def clear(self):
""" Free up the texture memory being used """
self.texture.clear()
self.paddedImg.clear()
self.node.removeNode()
def animPlayer(self, task):
if self.frameInterrupt:
return task.done
#print "Playing",self.currentAnim.cells[self.currentAnim.playhead]
self.currentFrame = self.currentAnim.cells[self.currentAnim.playhead]
self.flipTexture()
if self.currentAnim.playhead + 1 < len(self.currentAnim.cells):
self.currentAnim.playhead += 1
return task.again
if self.loopAnim:
self.currentAnim.playhead = 0
return task.again
class Game(ShowBase):
'''
'''
def __init__(self):
'''
'''
# loadPrcFileData("", "want-pstats 1\n pstats-host 127.0.0.1\n pstats-tasks 1\n task-timer-verbose 1")
# loadPrcFileData("", "pstatshost 192.168.220.121")
ShowBase.__init__(self)
# PStatClient.connect() #activate to start performance measuring with pstats
base.setFrameRateMeter(True) # Show the Framerate
# base.toggleWireframe()
self.accept("space", self.onSpace)
self.accept("tab", self.onTab)
self.startGame()
self.cam_on = True
# -----------------------------------------------------------------
# -----------------------------------------------------------------
def onSpace(self, evt=None):
'''
'''
if self.trackmesh2.getParent() == render:
self.trackmesh.reparentTo(render)
self.trackmesh2.detachNode()
else:
self.trackmesh.detachNode()
self.trackmesh2.reparentTo(render)
# base.toggleWireframe()
# -----------------------------------------------------------------
def startGame(self):
'''
Start the game
'''
# Create the Track
self.track = trackgen3d.Track3d(1000, 800, 600, 200, 5)
self.trackmesh = NodePath(self.track.createRoadMesh())
tex = loader.loadTexture('data/textures/street.png')
self.trackmesh.setTexture(tex)
self.trackmesh2 = NodePath(self.track.createUninterpolatedRoadMesh())
self.trackmesh2.setTexture(tex)
# nodePath.setTwoSided(True)
self.trackmesh.reparentTo(render)
# LICHT
self.plight = PointLight('kkkplight')
self.plight.setColor(VBase4(21, 0, 0, 1))
self.plnp = NodePath(self.plight)
self.plnp.reparentTo(render)
self.plnp.setPos(0, 0, 2000)
self.plnp.node().setAttenuation(Point3(0, 0, 1))
self.plnp.setScale(.5, .5, .5)
# self.plnp.setHpr(0,-90,0)
# print plight.getAttenuation()
# plnp.setPos(-10, -800, 20)
render.setLight(self.plnp)
self.accept("w", self.setA, [100])
self.accept("s", self.setA, [-10])
self.accept("e", self.setB, [10])
self.accept("d", self.setB, [-10])
self.accept("r", self.setC, [100])
self.accept("f", self.setC, [-100])
self.accept("z", self.setRotation, [0, 10])
self.accept("h", self.setRotation, [0, -10])
self.accept("u", self.setRotation, [1, 10])
self.accept("j", self.setRotation, [1, -10])
self.accept("i", self.setRotation, [2, 10])
self.accept("k", self.setRotation, [2, -10])
self.accept("n", self.setExponent, [-50])
self.accept("m", self.setExponent, [50])
# load our model
tron = loader.loadModel("data/models/vehicles/vehicle02")
self.tron = tron
# self.tron.loadAnims({"running":"models/tron_anim"})
tron.reparentTo(render)
tron.setPos(0, 0, 15)
tron.setHpr(0, -90, 0)
# nodePath2 = self.render.attachNewNode(self.track.createBorderLeftMesh())
# tex2 = loader.loadTexture('data/textures/border.png')
# nodePath2.setTexture(tex2)
#
# nodePath3 = self.render.attachNewNode(self.track.createBorderRightMesh())
# tex2 = loader.loadTexture('data/textures/border.png')
# nodePath3.setTexture(tex2)
ring = loader.loadModel("data/models/ring.egg")
ring.setScale(24)
ring.setZ(-25)
ring.setY(100)
ring.setTransparency(TransparencyAttrib.MAlpha)
ring.reparentTo(render)
# Load the Lights
ambilight = AmbientLight('ambilight')
ambilight.setColor(VBase4(0.8, 0.8, 0.8, 1))
render.setLight(render.attachNewNode(ambilight))
# -----------------------------------------------------------------
def setA(self, val):
'''
'''
tpos = self.tron.getPos()
tpos[0] += val
self.tron.setPos(tpos)
pos = self.plnp.getPos()
pos[0] += val
print(pos)
self.plnp.setPos(pos)
def setB(self, val):
'''
'''
tpos = self.tron.getPos()
tpos[1] += val
self.tron.setPos(tpos)
pos = self.plnp.getPos()
pos[1] += val
print(pos)
self.plnp.setPos(pos)
def setC(self, val):
'''
'''
tpos = self.tron.getPos()
tpos[2] += val
self.tron.setPos(tpos)
pos = self.plnp.getPos()
pos[2] += val
print(pos)
self.plnp.setPos(pos)
def setRotation(self, var, val):
'''
'''
hpr = self.plnp.getHpr()
hpr[var] += val
print(("hpr", hpr))
self.plnp.setHpr(hpr)
def setExponent(self, val):
'''
'''
val = self.plight.getExponent() + val
print(val)
self.plight.setExponent(val)
def onTab(self):
'''
'''
if self.cam_on:
base.disableMouse()
base.camera.setPos(-293.807, 91.2993, 3984.4)
base.camera.setHpr(-76.0078, -85.4581, -71.7315)
# base.camera.setPos(39.3053, -376.205, -3939.89)
# base.camera.setHpr(5.33686, -82.7432, 8.26239)
# print base.camera.getPos(), base.camera.getHpr()
self.cam_on = False
else:
base.enableMouse()
self.cam_on = True
class Camera( NodePath, p3d.SingleTask ):
"""Class representing a camera."""
class Target( NodePath ):
"""Class representing the camera's point of interest."""
def __init__( self, pos=Vec3( 0, 0, 0 ) ):
NodePath.__init__( self, 'target' )
self.defaultPos = pos
class Axes( NodePath ):
"""Class representing the viewport camera axes."""
def __Create( self, thickness, length ):
# Build line segments
ls = LineSegs()
ls.setThickness( thickness )
# X Axis - Red
ls.setColor( 1.0, 0.0, 0.0, 1.0 )
ls.moveTo( 0.0, 0.0, 0.0 )
ls.drawTo( length, 0.0, 0.0 )
# Y Axis - Green
ls.setColor( 0.0, 1.0, 0.0, 1.0 )
ls.moveTo( 0.0,0.0,0.0 )
ls.drawTo( 0.0, length, 0.0 )
# Z Axis - Blue
ls.setColor( 0.0, 0.0, 1.0, 1.0 )
ls.moveTo( 0.0,0.0,0.0 )
ls.drawTo( 0.0, 0.0, length )
return ls.create()
def __init__( self, thickness=1, length=25 ):
ls = self.__Create( thickness, length )
NodePath.__init__( self, ls )
def __init__( self, name='camera', *args, **kwargs ):
pos = kwargs.pop( 'pos', (0, 0, 0) )
targetPos = kwargs.pop( 'targetPos', (0, 0, 0) )
style = kwargs.pop( 'style', CAM_DEFAULT_STYLE )
p3d.SingleTask.__init__( self, name, *args, **kwargs )
self.zoomLevel = 2
self.defaultPos = pos
self.style = style
# Use Panda's default camera
if self.style & CAM_USE_DEFAULT:
self.cam = getBase().cam
#self.camNode = getBase().camNode
# Otherwise create a new one
else:
# Create camera
self.cam = NodePath( PCamera( name ) )
# Create lens
lens = PerspectiveLens()
lens.setAspectRatio( 800.0 / 300.0 )
self.cam.node().setLens( lens )
# Wrap the camera in this node path class
NodePath.__init__( self, self.cam )
# Create camera styles
if self.style & CAM_VIEWPORT_AXES:
self.axes = self.Axes()
self.axes.reparentTo( self.rootP2d )
# Create camera target
self.target = self.Target( pos=targetPos )
self.Reset()
def Reset( self ):
# Reset camera and target back to default positions
self.target.setPos( self.target.defaultPos )
self.setPos( self.defaultPos )
# Set camera to look at target
self.lookAt( self.target.getPos() )
self.target.setQuat( self.getQuat() )
def Move( self, moveVec ):
# Modify the move vector by the distance to the target, so the further
# away the camera is the faster it moves
cameraVec = self.getPos() - self.target.getPos()
cameraDist = cameraVec.length()
moveVec *= cameraDist / 300
# Move the camera
self.setPos( self, moveVec )
# Move the target so it stays with the camera
self.target.setQuat( self.getQuat() )
test = Vec3( moveVec.getX(), 0, moveVec.getZ() )
self.target.setPos( self.target, test )
def Orbit( self, delta ):
# Get new hpr
newHpr = Vec3()
newHpr.setX( self.getH() + delta.getX() )
newHpr.setY( self.getP() + delta.getY() )
newHpr.setZ( self.getR() )
# Set camera to new hpr
self.setHpr( newHpr )
# Get the H and P in radians
radX = newHpr.getX() * ( math.pi / 180.0 )
radY = newHpr.getY() * ( math.pi / 180.0 )
# Get distance from camera to target
cameraVec = self.getPos() - self.target.getPos()
cameraDist = cameraVec.length()
# Get new camera pos
newPos = Vec3()
newPos.setX( cameraDist * math.sin( radX ) * math.cos( radY ) )
newPos.setY( -cameraDist * math.cos( radX ) * math.cos( radY ) )
newPos.setZ( -cameraDist * math.sin( radY ) )
newPos += self.target.getPos()
# Set camera to new pos
self.setPos( newPos )
def Frame( self, nps ):
# Create a bounding volume which includes all node paths
parent = self.rootNp.attachNewNode( 'parent' )
dupeNps = []
for np in nps:
dupeNp = np.copyTo( parent )
dupeNp.setTransform( np.getTransform( parent ) )
dupeNps.append( dupeNp )
bounds = parent.getBounds()
parent.removeNode()
# Bail if the bounds are infinite
if bounds.isInfinite():
return
# Move the camera and the target the the bounding center
self.target.setPos( bounds.getCenter() )
self.setPos( bounds.getCenter() )
# Now move the camera back so the view accomodates all object(s)
# Default the bounding radius to something reasonable if the object
# has no size
fov = self.GetLens().getFov()
radius = bounds.getRadius()
if not radius:
radius = 0.5
distance = radius / math.tan( math.radians( min( fov[0], fov[1] ) * 0.5 ) )
self.setY( self, -distance )
def cameraMovement( self, task ):
x,y,z = self.cube.getPos()
#smoothly follow the cube...
self.setX( self.getX() - ( ( self.getX() - x - 18 * self.zoomLevel ) * 5 * globalClock.getDt() ) )
self.setY( self.getY() - ( ( self.getY() - y + 5 * self.zoomLevel ) * 5 * globalClock.getDt() ) )
self.setZ( 15 * self.ZOOMLEVEL )
self.setHpr( 75, -37, 0 )
return task.cont
def OnUpdate( self, task ):
# Position axes 30 pixels from top left corner
self.axes.setPos( Vec3( 30, 0, -30 ) )
# Set rotation to inverse of camera rotation
cameraQuat = Quat( self.getQuat() )
cameraQuat.invertInPlace()
self.axes.setQuat( cameraQuat )
def GetLens( self ):
return self.cam.node().getLens()
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
