def addTetraMeshSB(self,vertices, faces,normals = None,ghost=False,**kw):
#step 1) create GeomVertexData and add vertex information
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
points = [Point3(x,y,z) * 3 for x,y,z in vertices]
indices = sum([list(x) for x in faces], [])
#step 4) create the bullet softbody and node
bodyNode = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)
bodyNode.setName('Tetra')
bodyNode.setVolumeMass(150000)
bodyNode.getShape(0).setMargin(0.01)
bodyNode.getMaterial(0).setLinearStiffness(0.9)
bodyNode.getCfg().setPositionsSolverIterations(4)
bodyNode.getCfg().clearAllCollisionFlags()
bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
bodyNode.generateClusters(12)
bodyNode.setPose(True, True)
bodyNP = self.worldNP.attachNewNode(bodyNode)
geom = BulletHelper.makeGeomFromFaces(bodyNode)
geomNode = GeomNode('vtetra')
geomNode.addGeom(geom)
# self.setRB(bodyNP,**kw)#set po
# inodenp.setCollideMask(BitMask32.allOn())
self.world.attachSoftBody(bodyNode)
geomNP = bodyNP.attachNewNode(geomNode)
bodyNode.linkGeom(geom)
return bodyNP,geomNP
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, -4)
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 - From points/indices
#import cube
#points = [Point3(x,y,z) * 3 for x,y,z in cube.nodes]
#indices = sum([list(x) for x in cube.elements], [])
#node = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)
#node.setVolumeMass(300);
#node.getShape(0).setMargin(0.01)
#node.getMaterial(0).setLinearStiffness(0.8)
#node.getCfg().setPositionsSolverIterations(1)
#node.getCfg().clearAllCollisionFlags()
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
#node.generateClusters(16)
#softNP = self.worldNP.attachNewNode(node)
#softNP.setPos(0, 0, 8)
#softNP.setHpr(0, 0, 45)
#self.world.attachSoftBody(node)
# Softbody - From tetgen data
ele = file('models/cube/cube.1.ele', 'r').read()
face = file('models/cube/cube.1.face', 'r').read()
node = file('models/cube/cube.1.node', 'r').read()
node = BulletSoftBodyNode.makeTetMesh(info, ele, face, node)
node.setName('Tetra')
node.setVolumeMass(300)
node.getShape(0).setMargin(0.01)
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setPositionsSolverIterations(1)
node.getCfg().clearAllCollisionFlags()
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
node.generateClusters(6)
softNP = self.worldNP.attachNewNode(node)
softNP.setPos(0, 0, 8)
softNP.setHpr(45, 0, 0)
self.world.attachSoftBody(node)
# Option 1:
visNP = loader.loadModel('models/cube/cube.egg')
visNP.reparentTo(softNP)
geom = visNP \
.findAllMatches('**/+GeomNode').getPath(0).node() \
.modifyGeom(0)
node.linkGeom(geom)
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, -4)
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 - From points/indices
#import cube
#points = [Point3(x,y,z) * 3 for x,y,z in cube.nodes]
#indices = sum([list(x) for x in cube.elements], [])
#node = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)
#node.setVolumeMass(300);
#node.getShape(0).setMargin(0.01)
#node.getMaterial(0).setLinearStiffness(0.8)
#node.getCfg().setPositionsSolverIterations(1)
#node.getCfg().clearAllCollisionFlags()
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
#node.generateClusters(16)
#softNP = self.worldNP.attachNewNode(node)
#softNP.setPos(0, 0, 8)
#softNP.setHpr(0, 0, 45)
#self.world.attachSoftBody(node)
# Softbody - From tetgen data
ele = open('models/cube/cube.1.ele', 'r').read()
face = open('models/cube/cube.1.face', 'r').read()
node = open('models/cube/cube.1.node', 'r').read()
node = BulletSoftBodyNode.makeTetMesh(info, ele, face, node)
node.setName('Tetra')
node.setVolumeMass(300)
node.getShape(0).setMargin(0.01)
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setPositionsSolverIterations(1)
node.getCfg().clearAllCollisionFlags()
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft,
True)
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft,
True)
node.generateClusters(6)
softNP = self.worldNP.attachNewNode(node)
softNP.setPos(0, 0, 8)
softNP.setHpr(45, 0, 0)
self.world.attachSoftBody(node)
# Option 1:
visNP = loader.loadModel('models/cube/cube.egg')
visNP.reparentTo(softNP)
geom = visNP \
.findAllMatches('**/+GeomNode').getPath(0).node() \
.modifyGeom(0)
node.linkGeom(geom)
