def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
#self.debugNP.showTightBounds()
#self.debugNP.showBounds()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Stair
origin = Point3(0, 0, 0)
size = Vec3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Stair%i' % i))
np.node().addShape(shape)
np.setPos(pos)
np.setCollideMask(BitMask32.allOn())
npV = loader.loadModel('models/box.egg')
npV.reparentTo(np)
npV.setScale(size)
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
center = Point3(0, 0, 0)
radius = Vec3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.makeEllipsoid(info, center, radius, 128)
node.setName('Ellipsoid')
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setDynamicFrictionCoefficient(1)
node.getCfg().setDampingCoefficient(0.001)
node.getCfg().setPressureCoefficient(1500)
node.setTotalMass(30, True)
node.setPose(True, False)
np = self.worldNP.attachNewNode(node)
np.setPos(15, 0, 12)
#np.setH(90.0)
#np.showBounds()
#np.showTightBounds()
self.world.attachSoftBody(np.node())
geom = BulletHelper.makeGeomFromFaces(node)
node.linkGeom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
#self.debugNP.showTightBounds()
#self.debugNP.showBounds()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Stair
origin = Point3(0, 0, 0)
size = Vec3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Stair%i' % i))
np.node().addShape(shape)
np.setPos(pos)
np.setCollideMask(BitMask32.allOn())
npV = loader.loadModel('models/box.egg')
npV.reparentTo(np)
npV.setScale(size)
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
center = Point3(0, 0, 0)
radius = Vec3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.makeEllipsoid(info, center, radius, 128)
node.setName('Ellipsoid')
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setDynamicFrictionCoefficient(1)
node.getCfg().setDampingCoefficient(0.001)
node.getCfg().setPressureCoefficient(1500)
node.setTotalMass(30, True)
node.setPose(True, False)
np = self.worldNP.attachNewNode(node)
np.setPos(15, 0, 12)
#np.setH(90.0)
#np.showBounds()
#np.showTightBounds()
self.world.attachSoftBody(np.node())
geom = BulletHelper.makeGeomFromFaces(node)
node.linkGeom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
