def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
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())
# 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
for i in range(50):
p00 = Point3(-2, -2, 0)
p10 = Point3( 2, -2, 0)
p01 = Point3(-2, 2, 0)
p11 = Point3( 2, 2, 0)
node = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, 6, 6, 0, True)
node.generateBendingConstraints(2)
node.getCfg().setLiftCoefficient(0.004)
node.getCfg().setDynamicFrictionCoefficient(0.0003)
node.getCfg().setAeroModel(BulletSoftBodyConfig.AMVertexTwoSided)
node.setTotalMass(0.1)
node.addForce(Vec3(0, 2, 0), 0)
np = self.worldNP.attachNewNode(node)
np.setPos(self.Vec3Rand() * 10 + Vec3(0, 0, 20))
np.setHpr(self.Vec3Rand() * 16)
self.world.attachSoftBody(node)
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(node, fmt, True)
node.linkGeom(geom)
nodeV = GeomNode('')
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.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Box
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5) * 2.0)
boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
boxNP.node().setMass(150.0)
boxNP.node().addShape(shape)
boxNP.setPos(0, 0, 2)
boxNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(boxNP.node())
visualNP = loader.loadModel('models/box.egg')
visualNP.clearModelNodes()
visualNP.setScale(2.0)
visualNP.reparentTo(boxNP)
# 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
nx = 31
ny = 31
p00 = Point3(-8, -8, 0)
p10 = Point3(8, -8, 0)
p01 = Point3(-8, 8, 0)
p11 = Point3(8, 8, 0)
bodyNode = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, nx,
ny, 1 + 2 + 4 + 8, True)
material = bodyNode.appendMaterial()
material.setLinearStiffness(0.4)
bodyNode.generateBendingConstraints(2, material)
bodyNode.setTotalMass(50.0)
bodyNode.getShape(0).setMargin(0.5)
bodyNP = self.worldNP.attachNewNode(bodyNode)
self.world.attachSoftBody(bodyNode)
# Rendering with Geom:
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt, True)
bodyNode.linkGeom(geom)
visNode = GeomNode('')
visNode.addGeom(geom)
visNP = bodyNP.attachNewNode(visNode)
# Now we want to have a texture and texture coordinates.
# The geom's format has already a column for texcoords, so we just need
# to write texcoords using a GeomVertexRewriter.
tex = loader.loadTexture('models/panda.jpg')
visNP.setTexture(tex)
BulletHelper.makeTexcoordsForPatch(geom, nx, ny)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Box
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5) * 2.0)
boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
boxNP.node().setMass(150.0)
boxNP.node().addShape(shape)
boxNP.setPos(0, 0, 2)
boxNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(boxNP.node())
visualNP = loader.loadModel('models/box.egg')
visualNP.clearModelNodes()
visualNP.setScale(2.0)
visualNP.reparentTo(boxNP)
# 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
nx = 31
ny = 31
p00 = Point3(-8, -8, 0)
p10 = Point3( 8, -8, 0)
p01 = Point3(-8, 8, 0)
p11 = Point3( 8, 8, 0)
bodyNode = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, nx, ny, 1+2+4+8, True)
material = bodyNode.appendMaterial()
material.setLinearStiffness(0.4)
bodyNode.generateBendingConstraints(2, material);
bodyNode.setTotalMass(50.0)
bodyNode.getShape(0).setMargin(0.5)
bodyNP = self.worldNP.attachNewNode(bodyNode)
self.world.attachSoftBody(bodyNode)
# Rendering with Geom:
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt, True)
bodyNode.linkGeom(geom)
visNode = GeomNode('')
visNode.addGeom(geom)
visNP = bodyNP.attachNewNode(visNode)
# Now we want to have a texture and texture coordinates.
# The geom's format has already a column for texcoords, so we just need
# to write texcoords using a GeomVertexRewriter.
tex = loader.loadTexture('models/panda.jpg')
visNP.setTexture(tex)
BulletHelper.makeTexcoordsForPatch(geom, nx, ny)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
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())
# 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
for i in range(50):
p00 = Point3(-2, -2, 0)
p10 = Point3(2, -2, 0)
p01 = Point3(-2, 2, 0)
p11 = Point3(2, 2, 0)
node = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, 6, 6,
0, True)
node.generateBendingConstraints(2)
node.getCfg().setLiftCoefficient(0.004)
node.getCfg().setDynamicFrictionCoefficient(0.0003)
node.getCfg().setAeroModel(BulletSoftBodyConfig.AMVertexTwoSided)
node.setTotalMass(0.1)
node.addForce(Vec3(0, 2, 0), 0)
np = self.worldNP.attachNewNode(node)
np.setPos(self.Vec3Rand() * 10 + Vec3(0, 0, 20))
np.setHpr(self.Vec3Rand() * 16)
self.world.attachSoftBody(node)
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(node, fmt, True)
node.linkGeom(geom)
nodeV = GeomNode('')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
