def setup(self):
self.worldNP = render.attach_new_node('World')
# World
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.debugNP.show()
#self.debugNP.show_tight_bounds()
#self.debugNP.show_bounds()
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Ground
p0 = LPoint3(-20, -20, 0)
p1 = LPoint3(-20, 20, 0)
p2 = LPoint3(20, -20, 0)
p3 = LPoint3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.add_triangle(p0, p1, p2)
mesh.add_triangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh'))
np.node().add_shape(shape)
np.set_pos(0, 0, -2)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Stair
origin = LPoint3(0, 0, 0)
size = LVector3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attach_new_node(
BulletRigidBodyNode('Stair{}'.format(i)))
np.node().add_shape(shape)
np.set_pos(pos)
np.set_collide_mask(BitMask32.all_on())
npV = loader.load_model('models/box.egg')
npV.reparent_to(np)
npV.set_scale(size)
self.world.attach(np.node())
# Soft body world information
info = self.world.get_world_info()
info.set_air_density(1.2)
info.set_water_density(0)
info.set_water_offset(0)
info.set_water_normal(LVector3(0, 0, 0))
# Softbody
center = LPoint3(0, 0, 0)
radius = LVector3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.make_ellipsoid(info, center, radius, 128)
node.set_name('Ellipsoid')
node.get_material(0).set_linear_stiffness(0.1)
node.get_cfg().set_dynamic_friction_coefficient(1)
node.get_cfg().set_damping_coefficient(0.001)
node.get_cfg().set_pressure_coefficient(1500)
node.set_total_mass(30, True)
node.set_pose(True, False)
np = self.worldNP.attach_new_node(node)
np.set_pos(15, 0, 12)
#np.setH(90.0)
#np.show_bounds()
#np.show_tight_bounds()
self.world.attach(np.node())
geom = BulletHelper.make_geom_from_faces(node)
node.link_geom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.add_geom(geom)
npV = np.attach_new_node(nodeV)
