def __init__(self, x, y, z, origin=(0, 0, 0), maximum=100, timestep=0.01):
ccm.Model.__init__(self)
self.dir = Vector3f(x, y, z)
self.dir.normalize()
self.dir.scale(maximum)
self.origin = Vector3f(origin)
self.range = 0
self.timestep = timestep
def add(self, obj, x, y, z=None):
if z is None:
t = Transform()
min = Vector3f()
max = Vector3f()
obj.physics.getAabb(min, max)
z = -min.z
self.temp = obj
if hasattr(obj, 'physics'):
t = Transform()
ms = obj.physics.motionState
ms.getWorldTransform(t)
m = Matrix4f()
t.getMatrix(m)
m.m03 = x
m.m13 = y
m.m23 = z
t.set(m)
ms.worldTransform = t
obj.physics.motionState = ms
self.physics.addRigidBody(obj.physics)
if hasattr(obj, 'wheels'):
tuning = VehicleTuning()
obj.vehicle = RaycastVehicle(tuning, obj.physics,
self.vehicle_raycaster)
obj.physics.setActivationState(
CollisionObject.DISABLE_DEACTIVATION)
self.physics.addVehicle(obj.vehicle)
obj.vehicle.setCoordinateSystem(1, 2, 0)
for w in obj.wheels:
wheel = obj.vehicle.addWheel(Vector3f(w.x, w.y, w.z),
Vector3f(w.dir),
Vector3f(w.axle),
w.suspension_rest_len,
w.radius, tuning, False)
wheel.suspensionStiffness = w.suspension_stiffness
wheel.maxSuspensionTravelCm = w.suspension_max_travel * 100
wheel.frictionSlip = w.friction
wheel.wheelsDampingRelaxation = w.damping_relaxation
wheel.wheelsDampingCompression = w.damping_compression
wheel.rollInfluence = w.roll_influence
self.objects.append(obj)
self.world.addObject(obj.shape)
def __init__(self,
x,
y,
z,
mass=1,
scale=1,
draw_as_cylinder=False,
color=Color.blue,
overdraw_length=1,
overdraw_radius=1,
flat_shading=False):
if draw_as_cylinder:
if y is max(x, y, z):
radius = (x + z) / 4 * overdraw_radius
self.shape = Primitives.getCylinder(
90, radius, y / (radius * 2) * overdraw_length)
if z is max(x, y, z):
radius = (x + y) / 4 * overdraw_radius
self.shape = Primitives.getCylinder(
90, radius, z / (radius * 2) * overdraw_length)
self.shape.rotateX(math.pi / 2)
self.shape.rotateMesh()
else:
self.shape = createBox(x / 2.0 * scale, y / 2.0 * scale,
z / 2.0 * scale)
if flat_shading: self.shape.shadingMode = Object3D.SHADING_FAKED_FLAT
colorname = 'box%d' % id(self)
TextureManager.getInstance().addTexture(colorname,
Texture(1, 1, color))
self.shape.setTexture(colorname)
self.shape.build()
shape = BoxShape(Vector3f(x / 2.0, y / 2.0, z / 2.0))
inertia = Vector3f(0, 0, 0)
shape.calculateLocalInertia(mass, inertia)
t = Transform()
t.setIdentity()
ms = DefaultMotionState(t)
rb = RigidBodyConstructionInfo(mass, ms, shape, inertia)
self.physics = RigidBody(rb)
def update_neurons(self):
while True:
scale = 0.0003
m1 = controlU.getOrigin('u1').getValues().getValues()[0] * scale
m2 = controlU.getOrigin('u2').getValues().getValues()[0] * scale
v1 = Vector3f(0, 0, 0)
v2 = Vector3f(0, 0, 0)
#java.lang.System.out.println("m1: %f m2:%f"%(m1,m2))
self.upperarm.physics.applyTorqueImpulse(Vector3f(0, 0, m1))
self.lowerarm.physics.applyTorqueImpulse(Vector3f(0, 0, m2))
self.hinge1 = -(self.shoulder.hingeAngle - pi / 2)
self.hinge2 = -self.elbow.hingeAngle
#java.lang.System.out.println("angle1: %f
#angle2:%f"%(self.hinge1,self.hinge2))
self.upperarm.physics.getAngularVelocity(v1)
self.lowerarm.physics.getAngularVelocity(v2)
# put bounds on the velocity possible
if v1.z > 2:
self.upperarm.physics.setAngularVelocity(Vector3f(0, 0, 2))
if v1.z < -2:
self.upperarm.physics.setAngularVelocity(Vector3f(0, 0, -2))
if v2.z > 2:
self.lowerarm.physics.setAngularVelocity(Vector3f(0, 0, 2))
if v2.z < -2:
self.lowerarm.physics.setAngularVelocity(Vector3f(0, 0, -2))
self.upperarm.physics.getAngularVelocity(v1)
self.lowerarm.physics.getAngularVelocity(v2)
wt = Transform()
#self.target.physics.motionState.getWorldTransform(wt)
wt.setIdentity()
tx = controlV.getTermination('inputRefX').input
if tx is not None:
wt.origin.x = tx.values[0] + 0.7
else:
wt.origin.x = 0.7
ty = controlV.getTermination('inputRefY').input
if ty is not None:
wt.origin.y = ty.values[0] + 0.1
else:
wt.origin.y = 0.1
wt.origin.z = 2
ms = self.target.physics.motionState
ms.worldTransform = wt
self.target.physics.motionState = ms
self.vel1 = v1.z
self.vel2 = v2.z
yield 0.0001
def __init__(self, r, mass=1, color=Color.red):
colorname = 'sphere_%d' % id(self)
self.shape = Primitives.getSphere(r)
TextureManager.getInstance().addTexture(colorname,
Texture(1, 1, color))
self.shape.setTexture(colorname)
self.shape.build()
shape = BoxShape(Vector3f(r / 2.0, r / 2.0, r / 2.0))
inertia = Vector3f(0, 0, 0)
shape.calculateLocalInertia(mass, inertia)
t = Transform()
t.setIdentity()
ms = DefaultMotionState(t)
rb = RigidBodyConstructionInfo(mass, ms, shape, inertia)
self.physics = RigidBody(rb)
def start(self):
while True:
physics = self.parent.parent.physics
t = Transform()
self.parent.physics.getWorldTransform(t)
pt1 = Vector3f(self.origin)
pt2 = Vector3f(self.dir)
t.transform(pt1)
t.transform(pt2)
callback = CollisionWorld.ClosestRayResultCallback(pt1, pt2)
physics.rayTest(pt1, pt2, callback)
delta = Vector3f(callback.hitPointWorld)
delta.sub(pt1)
self.range = delta.length()
yield self.timestep
def __init__(self,
filename,
texture,
scale=1.0,
mass=1,
overdraw_scale=1.0):
if not TextureManager.getInstance().containsTexture(texture):
TextureManager.getInstance().addTexture(texture, Texture(texture))
if (filename, scale) not in MD2._shapes:
shape = Loader.loadMD2(filename, scale)
shape.rotateAxis(SimpleVector(1, 0, 0), math.pi / 2)
shape.rotateAxis(SimpleVector(0, 0, 1), -math.pi / 2)
shape.rotateMesh()
shape.rotationMatrix = Matrix()
MD2._shapes[(filename, scale)] = shape
#self.shape=MD2._shapes[(filename,scale)].cloneObject()
self.shape = Object3D(MD2._shapes[(filename, scale)], False)
self.shape.build()
self.shape.setTexture(texture)
minx, maxx, miny, maxy, minz, maxz = self.shape.mesh.boundingBox
shape = BoxShape(
Vector3f((maxx - minx) / overdraw_scale / 2.0,
(maxy - miny) / overdraw_scale / 2.0,
(maxz - minz) / 2.0))
t = Transform()
t.setIdentity()
t.origin.x = (maxx + minx) / 2
t.origin.y = (maxy + miny) / 2
t.origin.z = (maxz + minz) / 2
ms = DefaultMotionState(t)
inertia = Vector3f(0, 0, 0)
shape.calculateLocalInertia(mass, inertia)
rb = RigidBodyConstructionInfo(mass, ms, shape, inertia)
self.physics = RigidBody(rb)
self.shape.setOrigin(
SimpleVector(-(maxx + minx) / 2, -(maxy + miny) / 2,
-(maxz + minz) / 2))
def start(self):
self.target=space.Sphere(0.2,mass=1,color=Color(0xFF0000))
self.add(self.target,0,0,2)
torso=space.Box(0.1,0.1,1.5,mass=100000,draw_as_cylinder=True,
color=Color(0x4444FF))
self.add(torso,0,0,1)
upperarm=space.Box(0.1,0.7,0.1,mass=0.5,draw_as_cylinder=True,
color=Color(0x8888FF),overdraw_radius=1.2,overdraw_length=1.2)
self.add(upperarm,0.7,0.5,2)
upperarm.add_sphere_at(0,0.5,0,0.1,Color(0x4444FF),self)
upperarm.add_sphere_at(0,-0.5,0,0.1,Color(0x4444FF),self)
lowerarm=space.Box(0.1,0.75,0.1,mass=0.1,draw_as_cylinder=True,
color=Color(0x8888FF),overdraw_radius=1.2,overdraw_length=1.1)
self.add(lowerarm,0.7,1.5,2)
shoulder=HingeConstraint(torso.physics,upperarm.physics,
Vector3f(0.7,0.1,1),Vector3f(0,-0.5,0),
Vector3f(0,0,1),Vector3f(0,0,1))
elbow=HingeConstraint(upperarm.physics,lowerarm.physics,
Vector3f(0,0.5,0),Vector3f(0,-0.5,0),
Vector3f(0,0,1),Vector3f(0,0,1))
shoulder.setLimit(-pi/2,pi/2+.1)
elbow.setLimit(-pi,0)
self.physics.addConstraint(elbow)
self.physics.addConstraint(shoulder)
#upperarm.physics.applyTorqueImpulse(Vector3f(0,0,300))
#lowerarm.physics.applyTorqueImpulse(Vector3f(0,0,300))
self.sch.add(space.Room.start,args=(self,))
self.update_neurons()
self.upperarm=upperarm
self.lowerarm=lowerarm
self.shoulder=shoulder
self.elbow=elbow
self.hinge1=self.shoulder.hingeAngle
self.hinge2=self.elbow.hingeAngle
self.upperarm.physics.setSleepingThresholds(0,0)
self.lowerarm.physics.setSleepingThresholds(0,0)
source2 = audio.provideAudio("IAS2")
# Assign Audio Buffer to this Audio Source
source2.setAssignedBuffer("IAB1")
# Set the pitch of this Audio Source
source2.setPitch(1.1)
# Set the minimum and maximum number of times this Audio Source should loop
source2.setMinLoops(3)
source2.setMaxLoops(6)
# Set the position of this Audio Source using x, y, z coordinates
# 10 units to the right
# 0 units to the rear
# 0 units up
source2.setPosition(10.0, 0.0, 0.0)
# Set the velocity of this Audio Source using Vector3f object
# 1 units/sec to the left
# 0 units/sec to the rear
# 0 units/sec up
source2.setVelocity(Vector3f(-1.0, 0.0, 0.0))
# Start playing the first Audio Source
source1.play()
# Go to sleep for 3 seconds
time.sleep(3)
# Fade-in the second Audio Source
source2.fadeIn()
# Go to sleep for 1 second
time.sleep(1)
# Fade-out the first Audio Source
source1.fadeOut()
# Second Audio Source will stop after playback of the requisite number of loops
def __init__(self,
x,
y,
z=1,
gravity=10,
color=[
Color(0xFFFFFF),
Color(0xFFFFFF),
Color(0xEEEEEE),
Color(0xDDDDDD),
Color(0xCCCCCC),
Color(0xBBBBBB)
],
camera=(0, 0, 10),
dt=0.0001):
ccm.Model.__init__(self)
self.size = (x, y, z)
self.world = World()
self.dt = dt
brightness = 180
self.world.setAmbientLight(brightness, brightness, brightness)
self.world.addLight(SimpleVector(2, 2, 5), 10, 10, 10)
self.world.camera.setPosition(*camera)
self.world.camera.setOrientation(SimpleVector(0, 0, -1),
SimpleVector(0, -1, 0))
self.objects = []
collisionConfiguration = DefaultCollisionConfiguration()
dispatcher = CollisionDispatcher(collisionConfiguration)
overlappingPairCache = AxisSweep3(
Vector3f(-x / 2.0, -y / 2.0, -z / 2.0),
Vector3f(x / 2.0, y / 2.0, z / 2.0), 1024)
solver = SequentialImpulseConstraintSolver()
self.physics = DiscreteDynamicsWorld(dispatcher, overlappingPairCache,
solver, collisionConfiguration)
self.physics.setGravity(Vector3f(0, 0, -gravity))
t = Transform()
t.setIdentity()
rbi = RigidBodyConstructionInfo(0, DefaultMotionState(t),
StaticPlaneShape(Vector3f(0, 0, 1), 0),
Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t),
StaticPlaneShape(Vector3f(0, 1, 0), -y / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t),
StaticPlaneShape(Vector3f(0, -1, 0), -y / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t),
StaticPlaneShape(Vector3f(1, 0, 0), -x / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
rbi = RigidBodyConstructionInfo(
0, DefaultMotionState(t),
StaticPlaneShape(Vector3f(-1, 0, 0), -x / 2.0), Vector3f(0, 0, 0))
self.physics.addRigidBody(RigidBody(rbi))
self.vehicle_raycaster = DefaultVehicleRaycaster(self.physics)
if not isinstance(color, (list, tuple)):
room = createBox(x / 2.0, y / 2.0, z / 2.0)
room.translate(0, 0, z / 2.0)
room.invert()
colorname = 'room%d' % id(self)
TextureManager.getInstance().addTexture(colorname,
Texture(1, 1, color))
room.setTexture(colorname)
room.shadingMode = Object3D.SHADING_FAKED_FLAT
room.build()
self.world.addObject(room)
else:
room = createBoxPieces(x / 2.0, y / 2.0, z / 2.0)
for i, r in enumerate(room):
r.translate(0, 0, z / 2.0)
r.invert()
colorname = 'room%d_%d' % (id(self), i)
TextureManager.getInstance().addTexture(
colorname, Texture(1, 1, color[i % len(color)]))
r.setTexture(colorname)
r.shadingMode = Object3D.SHADING_FAKED_FLAT
r.build()
self.world.addObject(r)
self.ratelimit = RateLimit()