def __init__(self, rootParent=None):
self.btnEndTurn = DirectButton(
borderWidth=(0.0, 0.0),
frameColor=(0.8, 0.8, 0.8, 0.0),
frameSize=(-3.0, 3.0, -1.0, 1.0),
hpr=LVecBase3f(0, 0, 0),
image='./assets/Turn/EndTurn.png',
pos=LPoint3f(0, 0, 0.1),
relief=1,
scale=LVecBase3f(0.1, 0.1, 0.1),
text='End Turn',
image_scale=LVecBase3f(3, 0, 1),
image_pos=LPoint3f(0, 0, 0),
text_align=TextNode.A_center,
text_scale=(1.0, 1.0),
text_pos=(0.0, -0.3),
text_fg=LVecBase4f(1, 1, 1, 1),
text_bg=LVecBase4f(0, 0, 0, 0),
parent=rootParent,
command=base.messenger.send,
extraArgs=["endTurn"],
pressEffect=0,
)
self.btnEndTurn.setTransparency(1)
def camera_move(self, task):
"""
Moves the camera about the quadcopter
"""
keys_vs_moves = {'k': i,
'h': -i,
'i': j,
'y': -j,
'u': k,
'j': -k
}
mat = np.array(self.cam.getMat())[0:3, 0:3]
move_total = LPoint3f(0, 0, 0)
for key, move in keys_vs_moves.items():
pressed_key = self.mouseWatcherNode.is_button_down(KeyboardButton.asciiKey(key))
if pressed_key:
move = LPoint3f(move)
move_total += move
# if any([abs(coordinate) > 0 for coordinate in move_total]):
# ROTATE COORDINATE SYSTEM (TO CAMERA)
move_total = LPoint3f(*tuple(np.dot(mat.T, np.array(move_total))))
proportionality_constant = 0.05
cam_pos = self.cam.getPos() + move_total * proportionality_constant
self.cam.setPos(cam_pos)
self.cam.lookAt(self.quad_model)
return task.cont
def setWalkable(self, value):
if value == False:
self.collisionTube = CollisionBox(LPoint3f(0,0,0),LPoint3f(1,1,1))
self.collisionNode = CollisionNode('unwalkable')
self.collisionNode.addSolid(self.collisionTube)
self.collisionNodeNp = self.groundnode.attachNewNode(self.collisionNode)
def __init__(self, rootParent=None):
self.overlay = DirectFrame(
frameColor=(1.0, 1.0, 1.0, 0.0),
frameSize=(-1, 1, -1, 1),
hpr=LVecBase3f(0, 0, 0),
image='chapter4/overlay.png',
pos=LPoint3f(0, 0, 0),
sortOrder=200,
image_scale=LVecBase3f(0.8, 1, 0.8),
image_pos=LPoint3f(0, 0, 0),
parent=rootParent,
)
self.overlay.setTransparency(1)
self.newspaper = DirectFrame(
frameColor=(1.0, 1.0, 1.0, 0.0),
frameSize=(-1, 1, -1, 1),
hpr=LVecBase3f(0, 0, 0),
image='chapter4/newspaperA.png',
pos=LPoint3f(0, 0, 0),
sortOrder=200,
image_scale=LVecBase3f(0.5, 1, 0.5),
image_pos=LPoint3f(0, 0, 0),
parent=rootParent,
)
self.newspaper.setTransparency(1)
def __init__(self, rootParent=None):
self.frmMain = DirectFrame(
frameColor=(0.0, 0.0, 0.0, 0.5),
frameSize=(-1, 1, -1, 1),
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0, 0, 0),
parent=rootParent,
)
self.frmMain.setTransparency(0)
self.lblVictory = DirectLabel(
frameColor=(0.0, 0.0, 0.0, 0.0),
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0, 0, 0),
scale=LVecBase3f(0.2, 0.2, 0.2),
text='Won Fight',
text_align=TextNode.A_center,
text_scale=(1, 1),
text_pos=(0, 0),
text_fg=LVecBase4f(1, 1, 1, 1),
text_bg=LVecBase4f(0, 0, 0, 0),
parent=self.frmMain,
)
self.lblVictory.setTransparency(0)
def __init__(self, rootParent=None):
self.frmMain = DirectFrame(
frameColor=(1, 1, 1, 1),
frameSize=(-1, 1, -1, 1),
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0, 0, 0),
parent=rootParent,
)
self.frmMain.setTransparency(0)
self.waitbar = DirectWaitBar(
barColor=(0.0, 0.0, 1.0, 1.0),
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0, 0, 0),
state='normal',
text='0%',
value=50.0,
text_align=TextNode.A_center,
text_scale=(0.1, 0.1),
text_pos=(0, -0.025),
text_fg=LVecBase4f(0, 0, 0, 1),
text_bg=LVecBase4f(0, 0, 0, 0),
parent=self.frmMain,
)
self.waitbar.setTransparency(0)
def _movePickedBody(self, task):
# handle picked body if any
if self.pickedBody and self.dragging:
# check mouse position
if self.mouseWatcher.has_mouse():
# Get to and from pos in camera coordinates
pMouse = self.mouseWatcher.get_mouse()
#
pFrom = LPoint3f()
pTo = LPoint3f()
if self.camLens.extrude(pMouse, pFrom, pTo):
# Transform to global coordinates
rayFromWorld = self.render.get_relative_point(
self.camera, pFrom)
rayToWorld = self.render.get_relative_point(
self.camera, pTo)
# keep it at the same picking distance
direction = (rayToWorld - rayFromWorld).normalized()
direction *= self.oldPickingDist
self.pickedBody.set_pos(
self.render, rayFromWorld + direction + self.deltaDist)
#self.pickedBody.reparentTo(np)
#self.pickedBody.setMass(10.0)
#
return task.cont
def getCollisionEntryFromCamera():
"""throws a ray and returns the first collision entry or nullptr"""
global app
# get nav mesh manager
navMeshMgr = RNNavMeshManager.get_global_ptr()
# get the mouse watcher
mwatcher = app.mouseWatcherNode
if mwatcher.has_mouse():
# Get to and from pos in camera coordinates
pMouse = mwatcher.get_mouse()
#
pFrom, pTo = (LPoint3f(), LPoint3f())
if app.camLens.extrude(pMouse, pFrom, pTo):
# Transform to global coordinates
pFrom = app.render.get_relative_point(app.cam, pFrom)
pTo = app.render.get_relative_point(app.cam, pTo)
direction = (pTo - pFrom).normalized()
navMeshMgr.get_collision_ray().set_origin(pFrom)
navMeshMgr.get_collision_ray().set_direction(direction)
navMeshMgr.get_collision_traverser().traverse(app.render)
# check collisions
if navMeshMgr.get_collision_handler().get_num_entries() > 0:
# Get the closest entry
navMeshMgr.get_collision_handler().sort_entries()
return navMeshMgr.get_collision_handler().get_entry(0)
return None
def __init__(self, rootParent=None):
self.frmMain = DirectFrame(
frameColor=(0.25, 0.25, 0.25, 1.0),
frameSize=(0.0, 2.0, -0.1, 0.0),
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0, 0, 0),
parent=rootParent,
)
self.frmMain.setTransparency(0)
self.btnLeave = DirectButton(
hpr=LVecBase3f(0, 0, 0),
pad=(0.1, 0.1),
pos=LPoint3f(0.115, 0, -0.075),
relief=1,
scale=LVecBase3f(0.1, 0.1, 0.1),
text='Leave',
text_align=TextNode.A_center,
text_scale=(0.75, 0.75),
text_pos=(0, 0),
text_fg=LVecBase4f(0, 0, 0, 1),
text_bg=LVecBase4f(0, 0, 0, 0),
parent=self.frmMain,
command=base.messenger.send,
extraArgs=["leaveRoom"],
)
self.btnLeave.setTransparency(0)
self.lblPlayerName = DirectLabel(
frameColor=(0.8, 0.8, 0.8, 0.0),
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0.55, 0, -0.075),
scale=LVecBase3f(0.1, 0.1, 0.1),
text='Label',
text_align=TextNode.A_left,
text_scale=(0.75, 0.75),
text_pos=(0, 0),
text_fg=LVecBase4f(0.8, 0.8, 0.8, 1),
text_bg=LVecBase4f(0, 0, 0, 0),
parent=self.frmMain,
)
self.lblPlayerName.setTransparency(0)
self.pg1983 = DirectLabel(
frameColor=(0.8, 0.8, 0.8, 0.0),
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0.42, 0, -0.075),
scale=LVecBase3f(0.1, 0.1, 0.1),
text='Name:',
text_align=TextNode.A_center,
text_scale=(0.75, 0.75),
text_pos=(0, 0),
text_fg=LVecBase4f(0.6, 0.6, 0.6, 1),
text_bg=LVecBase4f(0, 0, 0, 0),
parent=self.frmMain,
)
self.pg1983.setTransparency(0)
def _pickBody(self, event):
# handle body picking
if event == self.pickKeyOn:
# check mouse position
if self.mouseWatcher.has_mouse():
# Get to and from pos in camera coordinates
pMouse = self.mouseWatcher.get_mouse()
#
pFrom = LPoint3f()
pTo = LPoint3f()
if self.camLens.extrude(pMouse, pFrom, pTo):
# Transform to global coordinates
rayFromWorld = self.render.get_relative_point(
self.camera, pFrom)
rayToWorld = self.render.get_relative_point(
self.camera, pTo)
# cast a ray to detect a body
# traverse downward starting at rayOrigin
self.pickerRay.set_direction(rayToWorld - rayFromWorld)
self.pickerRay.set_origin(rayFromWorld)
self.cTrav.traverse(self.render)
if self.collisionHandler.get_num_entries() > 0:
self.collisionHandler.sort_entries()
entry0 = self.collisionHandler.get_entry(0)
hitPos = entry0.get_surface_point(self.render)
# get the first parent with name
pickedObject = entry0.get_into_node_path()
while not pickedObject.has_tag(self.pickableTag):
pickedObject = pickedObject.getParent()
if not pickedObject:
return
if pickedObject == self.render:
return
#
self.pickedBody = pickedObject
self.oldPickingDist = (hitPos - rayFromWorld).length()
self.deltaDist = (
self.pickedBody.get_pos(self.render) - hitPos)
print(self.pickedBody.get_name(), hitPos)
if not self.dragging:
self.dragging = True
# create the task for updating picked body motion
self.updateTask = self.taskMgr.add(
self._movePickedBody, "_movePickedBody")
# set sort/priority
self.updateTask.set_sort(0)
self.updateTask.set_priority(0)
else:
if self.dragging:
# remove pick body motion update task
self.taskMgr.remove("_movePickedBody")
self.updateTask = None
self.dragging = False
self.pickedBody = None
def traverse(self, nodePath, dnaStorage):
node = dnaStorage.findNode(self.code)
if node is None:
raise DNAError.DNAError('DNAWall code ' + self.code +
' not found in DNAStorage')
node = node.copyTo(nodePath)
pos = LPoint3f(self.pos)
pos.setZ(DNAFlatBuilding.DNAFlatBuilding.currentWallHeight)
scale = LPoint3f(self.scale)
scale.setZ(self.height)
node.setPosHprScale(pos, self.hpr, scale)
node.setColor(self.color)
self.traverseChildren(node, dnaStorage)
DNAFlatBuilding.DNAFlatBuilding.currentWallHeight += self.height
def __init__(self, rootParent=None):
self.volume = DirectSlider(
pos=LPoint3f(0.2, 0, 0.325),
text='Volume',
text_pos=(-1.05, -0.02),
text_fg=(1, 1, 1, 1),
text_scale=0.1,
text_align=TextNode.ARight,
parent=rootParent,
command=base.messenger.send,
extraArgs=["volumeChange"],
)
self.volume.setTransparency(0)
self.audioMute = DirectCheckButton(
frameSize=(-2.925000047683716, 3.024999713897705, -0.225,
0.8250000238418579),
pos=LPoint3f(0, 0, 0),
scale=LVecBase3f(0.1, 0.1, 0.1),
text='Mute',
parent=rootParent,
command=self.toggleMute,
)
self.audioMute.setTransparency(0)
self.btnBack = DirectButton(
frameSize=(-1.5249999523162843, 1.6499999523162843,
-0.21250001192092896, 0.8250000238418579),
pos=LPoint3f(0, 0, -0.575),
scale=LVecBase3f(0.1, 0.1, 0.1),
text='Back',
parent=rootParent,
command=base.messenger.send,
extraArgs=["optionBack"],
pressEffect=1,
)
self.btnBack.setTransparency(0)
self.fullscreen = DirectCheckButton(
frameSize=(-3.35, 2.6, -0.213, 0.825),
pos=LPoint3f(0.045, 0, -0.175),
scale=LVecBase3f(0.1, 0.1, 0.1),
text='Fullscreen',
parent=rootParent,
command=self.toggleFullscreen,
)
self.fullscreen.setTransparency(0)
def __createFile(self, filename, xPos, zPos):
name = filename
if len(filename) > 10:
name = ""
for i in range(min(math.ceil(len(filename)/10), 4)):
name += filename[i*10:i*10+10]+"\n"
name = name[:-1]
if math.ceil(len(filename)/10) > 4:
name += "..."
btn = DirectButton(
parent=self.container.getCanvas(),
image="icons/File.png",
image_scale=35,
relief=1,
frameColor = (
(0.9, 0.9, 0.9, 0), # Normal
(0.95, 0.95, 1, 1), # Click
(0.9, 0.9, 1, 1), # Hover
(0.5, 0.5, 0.5, 1)), # Disabled
frameSize=(-40, 40, -40, 40),
pos=LPoint3f(xPos, 0, zPos),
text = name,
text_scale=12,
text_pos=(0,-40),
command=self.txtFileName.set,
extraArgs=[filename]
)
btn.bind(DGG.MWDOWN, self.scroll, [0.01])
btn.bind(DGG.MWUP, self.scroll, [-0.01])
btn.setTransparency(TransparencyAttrib.M_multisample)
def __createFolder(self, entry, xPos, zPos):
name = entry.name
if len(entry.name) > 10:
name = ""
for i in range(max(math.ceil(len(entry.name) / 10), 4)):
name += entry.name[i * 10:i * 10 + 10] + "\n"
name = name[:-1]
if math.ceil(len(entry.name) / 10) > 4:
name += "..."
btn = DirectButton(parent=self.container.getCanvas(),
image=loader.load_texture(f"{self.iconDir}/Folder.png",
loaderOptions=self.imageOpts),
image_scale=35,
relief=1,
frameColor=self.theme.folder_background,
frameSize=(-40, 40, -40, 40),
pos=LPoint3f(xPos, 0, zPos),
text=name,
text_scale=12,
text_pos=(0, -40),
text_fg=self.theme.default_text_color,
command=self.folderMoveIn,
extraArgs=[entry.path])
btn.bind(DGG.MWDOWN, self.scroll, [0.01])
btn.bind(DGG.MWUP, self.scroll, [-0.01])
btn.setTransparency(TransparencyAttrib.M_multisample)
def __createUnknown(self, filename, xPos, zPos):
name = filename
if len(filename) > 10:
name = ""
for i in range(math.ceil(len(filename) / 10)):
name += filename[i * 10:i * 10 + 10] + "\n"
name = name[:-1]
lbl = DirectLabel(
parent=self.container.getCanvas(),
image=loader.load_texture(f"{self.iconDir}/File.png",
loaderOptions=self.imageOpts),
image_scale=35,
image_color=self.theme.unknown_image_tint,
relief=1,
frameColor=(0.7, 0.7, 0.7, 0),
frameSize=(-40, 40, -40, 40),
pos=LPoint3f(xPos, 0, zPos),
text=name,
text_scale=12,
text_pos=(0, -40),
text_fg=self.theme.default_text_color,
)
lbl.bind(DGG.MWDOWN, self.scroll, [0.01])
lbl.bind(DGG.MWUP, self.scroll, [-0.01])
lbl.setTransparency(TransparencyAttrib.M_multisample)
def setupFlat(self, np, store, chr, wallCode):
if self.name[:2] != 'tb':
return
ss = chr + 'b' + self.name[2:]
node = np.attachNewNode(ss)
scale = LPoint3f(self.scale)
scale.setX(self.width)
scale.setZ(DNAFlatBuilding.currentWallHeight)
node.setZ(DNAFlatBuilding.currentWallHeight)
node.setPosHprScale(self.pos, self.hpr, scale)
numCodes = store.getNumCatalogCodes(wallCode)
if not numCodes:
return
wallNode = store.findNode(
store.getCatalogCode(wallCode, random.randint(0, numCodes - 1)))
if wallNode.isEmpty():
return
wallNode.copyTo(node)
if self.hasDoor:
wallNp = node.find('wall_*')
doorNp = store.findNode('suit_door').copyTo(wallNp)
doorNp.setColor(0.2, 0.2, 0.2, 1)
doorNp.setPosHprScale(0.5, 0, 0, 0, 0, 0, 1.0 / self.width, 0,
1.0 / DNAFlatBuilding.currentWallHeight)
wallNp.setEffect(DecalEffect.make())
node.flattenMedium()
node.stash()
def processInput(self, dt):
force = Vec3(0, 0, 0)
throttleChange = 0.0
#torque = Vec3(0, 0, 0)
if inputState.isSet('forward'): force.setX(1)
if inputState.isSet('reverse'): force.setX(-1)
if inputState.isSet('left'): force.setY(-1)
if inputState.isSet('right'): force.setY(1)
if inputState.isSet('turnLeft'): throttleChange = -1.0
if inputState.isSet('turnRight'): throttleChange = 1.0
force *= -20.0 / 180.0 * math.pi
self.throttle += throttleChange / 100.0
self.throttle = min(max(self.throttle, 0), 1)
thrust = Vec3(0, 0, self.throttle * 50)
quatGimbal = self.rocketNozzle.getTransform(self.worldNP).getQuat()
self.rocketNozzle.node().applyForce(quatGimbal.xform(thrust),
LPoint3f(0, 0, 0))
#torque *= 10.0
#force = render.getRelativeVector(self.rocketNP, force)
#torque = render.getRelativeVector(self.rocketNP, torque)
self.rocketNozzle.node().setActive(True)
self.rocketNP.node().setActive(True)
#self.rocketNozzle.node().applyCentralForce(force)
#self.rocketNozzle.node().applyTorque(torque)
force = rot.from_euler('zyx', force).as_quat()
self.cone.setMotorTarget(
LQuaternionf(force[0], force[1], force[2], force[3]))
def __createFolder(self, entry, xPos, zPos):
name = entry.name
btn = DirectButton(
parent=self.container.getCanvas(),
image=loader.load_texture(f"{self.iconDir}/Folder.png", loaderOptions=self.imageOpts),
image_scale=16,
image_pos=(16,0,0),
relief=1,
frameColor = self.theme.folder_background,
frameSize=(0, self.screenWidthPxHalf*2, -16, 16),
pos=LPoint3f(xPos, 0, zPos),
text = name,
text_scale=12,
text_align=TextNode.ALeft,
text_pos=(32,-4),
text_fg=self.theme.default_text_color,
command=self.folderMoveIn,
extraArgs=[entry.path]
)
lblInfo = __createMIMEInfo(self, btn, entry, True)
#lblSize = __createSizeInfo(self, btn, entry)
btn.bind(DGG.MWDOWN, self.scroll, [0.01])
btn.bind(DGG.MWUP, self.scroll, [-0.01])
btn.setTransparency(TransparencyAttrib.M_multisample)
def __add_wheel(self, pos, is_front, node, radius, i):
whl = self.vehicle.create_wheel()
whl.set_node(node)
whl.set_chassis_connection_point_cs(LPoint3f(*pos))
whl.set_front_wheel(is_front)
whl.set_wheel_direction_cs((0, 0, -1))
whl.set_wheel_axle_cs((1, 0, 0))
whl.set_wheel_radius(radius)
whl.set_suspension_stiffness(self.suspension_stiffness[0])
# default 5.88
whl.set_wheels_damping_relaxation(self.wheels_damping_relaxation[0])
# default .88
whl.set_wheels_damping_compression(self.wheels_damping_compression[0])
# default .83
idx = 0 if is_front else 1
whl.set_friction_slip(self.get_friction_static()[idx][0])
# default 10.5
# friction slip high -> more adherence
whl.set_roll_influence(self.roll_influence[0])
# low -> more stability # default .1
whl.set_max_suspension_force(self.max_suspension_force)
# default 6000
whl.set_max_suspension_travel_cm(self.max_suspension_travel_cm)
# default 500
whl.set_skid_info(self.skid_info) # default 0
self.__whl2flytime[i] = 0
def load_simplex_dict(simp_index, golog_index):
simp_dict = GSON[simp_index]
if simp_index in handled: return handled[simp_index]
faces = tuple([
load_simplex_dict(face_key, golog_index)
for face_key in simp_dict['faces']
])
#handle math_data, if golog, change into an anctual golog
if simp_dict['math_data_type'] == 'golog':
golog_dict = {
'golog': load_golog_dict(simp_dict['math_data']['golog']),
'folder_path': simp_dict['math_data']['folder_path']
}
math_data = hcat.Math_Data(type='golog', math_data=golog_dict)
else:
math_data = hcat.Math_Data(type=simp_dict['math_data_type'],
math_data=simp_dict['math_data'])
G = load_golog_dict(golog_index)
simp = G.add(faces,
label=simp_dict['meta']['label'],
math_data=math_data,
pos=LPoint3f(*GSON[golog_index]['pos_dict'][simp_index]))
return simp
def __init__(self):
ShowBase.__init__(self)
self.disable_mouse()
# need to migrate into gologToWindow
base.accept("f5", sys.exit)
base.accept("f6", sys.exit)
G = golog(base, label='run')
self.win.getDisplayRegion(1).setCamera(G.camera)
a = G.add(0, label='1')
b = G.add(0, label='2', pos=LPoint3f(0, 0, 10))
f1 = G.add((b, a), label='(1,2)1', pos=LPoint3f(-2, 0, 0))
f2 = G.add((b, a), label='(1,2)2', pos=LPoint3f(-1, 0, 0))
f3 = G.add((b, a), label='(1,2)3', pos=LPoint3f(1, 0, 0))
f4 = G.add((b, a), label='(1,2)4', pos=LPoint3f(2, 0, 0))
G.Simplex_to_Graphics[a]._remove()
def takeoff(self):
"""
Let the drones takeoff to one meter above their current position.
"""
for drone in self.drones:
drone.in_flight = True
pos = drone.get_pos()
drone.set_target(LPoint3f(pos[0], pos[1], 1))
def stop_movement(self):
"""
To stop all current movement just set the current position to the target position.
"""
self.stop_rotation()
for drone in self.drones:
pos = drone.get_pos()
drone.set_target(LPoint3f(pos[0], pos[1], pos[2]))
def traverse(self, np, store):
DNAFlatBuilding.currentWallHeight = 0
node = np.attachNewNode(self.name)
internalNode = node.attachNewNode(self.getName() + '-internal')
scale = LPoint3f(self.scale)
scale.setX(self.width)
internalNode.setScale(scale)
node.setPosHpr(self.pos, self.hpr)
for child in self.children:
if isinstance(child, DNAWall.DNAWall):
child.traverse(internalNode, store)
else:
child.traverse(node, store)
if DNAFlatBuilding.currentWallHeight != 0:
result = store.findNode("wall_camera_barrier")
if result.isEmpty():
raise DNAError.DNAError(
'DNAFlatBuilding requires that there is a wall_camera_barrier in storage'
)
cameraBarrier = result.copyTo(internalNode)
cameraBarrier.setScale(1, 1, DNAFlatBuilding.currentWallHeight)
self.setupSuitFlatBuilding(np, store)
self.setupCogdoFlatBuilding(np, store)
internalNode.flattenStrong()
collNp = node.find("**/door_*/+CollisionNode")
if not collNp.isEmpty():
collNp.setName("KnockKnockDoorSphere_" +
store.getBlock(self.name))
cameraBarrier.wrtReparentTo(np)
wallCollection = internalNode.findAllMatches("wall*")
doorCollection = internalNode.findAllMatches("**/door*")
corniceCollection = internalNode.findAllMatches("**/cornice*_d")
windowCollection = internalNode.findAllMatches("**/window*")
wallHolder = node.attachNewNode("wall_holder")
wallDecal = node.attachNewNode("wall_decal")
wallCollection.reparentTo(wallHolder)
doorCollection.reparentTo(wallDecal)
corniceCollection.reparentTo(wallDecal)
windowCollection.reparentTo(wallDecal)
for i in range(wallHolder.getNumChildren()):
child = wallHolder.getChild(i)
child.clearTag("DNARoot")
child.clearTag("DNACode")
wallHolder.flattenStrong()
wallDecal.flattenStrong()
holderChild0 = wallHolder.getChild(0)
wallDecal.getChildren().reparentTo(holderChild0)
holderChild0.reparentTo(internalNode)
holderChild0.setEffect(DecalEffect.make())
wallHolder.removeNode()
wallDecal.removeNode()
def get_taille(self):
bounds = self.modele.getTightBounds()
if bounds is not None:
bound_min, bound_max = bounds
return LPoint3f(abs(bound_max.x - bound_min.x),
abs(bound_max.y - bound_min.y),
abs(bound_max.z - bound_min.z))
return bounds
def __init__(self, rootParent=None):
self.frmMain = DirectFrame(
frameColor=(0.0, 0.0, 0.0, 0.75),
frameSize=(-1, 1, -1, 1),
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0, 0, 0),
parent=rootParent,
)
self.frmMain.setTransparency(1)
self.btnQuit = DirectButton(
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0, 0, -0.75),
scale=LVecBase3f(0.1, 0.1, 0.1),
text='Quit',
text_align=TextNode.A_center,
text_scale=(1, 1),
text_pos=(0, 0),
text_fg=LVecBase4f(0, 0, 0, 1),
text_bg=LVecBase4f(0, 0, 0, 0),
parent=self.frmMain,
command=base.messenger.send,
extraArgs=["quitRoom"],
pressEffect=1,
)
self.btnQuit.setTransparency(0)
self.lblMessage = DirectLabel(
frameColor=(0.0, 0.0, 0.0, 0.0),
frameSize=(-2.981, 3.106, -0.325, 0.725),
hpr=LVecBase3f(0, 0, 0),
pos=LPoint3f(0, 0, 0),
scale=LVecBase3f(0.2, 0.2, 0.2),
text='Player A Won',
text_align=TextNode.A_center,
text_scale=(1.0, 1.0),
text_pos=(0, 0),
text_fg=LVecBase4f(1, 1, 1, 1),
text_bg=LVecBase4f(0, 0, 0, 0),
parent=self.frmMain,
)
self.lblMessage.setTransparency(0)
def __init__(self, manager, number):
"""
Initialises the drone as a bullet and panda object.
:param manager: The drone manager creating this very drone.
"""
self.manager = manager # Drone manager handling this drone
self.base = manager.base # Simulation
self.crazyflie = None # object of real drone, if connected to one
self.debug = False # If debugging info should be given
self.in_flight = False # If currently in flight
self.number = number # Number of drone in list
# Every drone has its own vector to follow if an avoidance manouver has to be done
self.avoidance_vector = LVector3f(random.uniform(-1, 1),
random.uniform(-1, 1),
random.uniform(-1, 1)).normalize()
# Create bullet rigid body for drone
drone_collision_shape = BulletSphereShape(self.COLLISION_SPHERE_RADIUS)
self.drone_node_bullet = BulletRigidBodyNode("RigidSphere")
self.drone_node_bullet.addShape(drone_collision_shape)
self.drone_node_bullet.setMass(self.RIGID_BODY_MASS)
# Set some values for the physics object
self.drone_node_bullet.setLinearSleepThreshold(
self.LINEAR_SLEEP_THRESHOLD)
self.drone_node_bullet.setFriction(self.FRICTION)
self.drone_node_bullet.setLinearDamping(self.LINEAR_DAMPING)
# Attach to the simulation
self.drone_node_panda = self.base.render.attachNewNode(
self.drone_node_bullet)
# ...and physics engine
self.base.world.attachRigidBody(self.drone_node_bullet)
# Add a model to the drone to be actually seen in the simulation
drone_model = self.base.loader.loadModel(
"models/drones/drone_florian.egg")
drone_model.setScale(0.2)
drone_model.reparentTo(self.drone_node_panda)
# Set the position and target position to their default (origin)
default_position = LPoint3f(0, 0, 0)
self.drone_node_panda.setPos(default_position)
self.target_position = default_position
# Create a line renderer to draw a line from center to target point
self.line_creator = LineSegs()
# Then draw a default line so that the update function works as expected (with the removal)
self.target_line_node = self.base.render.attachNewNode(
self.line_creator.create(False))
# Create node for text
self.drone_text_node_panda = None
def getRandomPos(modelNP):
"""return a random point on the facing upwards surface of the model"""
# collisions are made wrt render
steerMgr = OSSteerManager.get_global_ptr()
# get the bounding box of scene
modelDims, modelDeltaCenter = (LVecBase3f(), LVector3f())
# modelRadius not used
steerMgr.get_bounding_dimensions(modelNP, modelDims, modelDeltaCenter)
# throw a ray downward from a point with z = double scene's height
# and x,y randomly within the scene's (x,y) plane
# set the ray origin at double of maximum height of the model
zOrig = ((-modelDeltaCenter.get_z() + modelDims.get_z() / 2.0) + modelNP.get_z()) * 2.0
while True:
x = modelDims.get_x() * (random.uniform(0.0, 1.0) - 0.5) - modelDeltaCenter.get_x() + modelNP.get_x()
y = modelDims.get_y() * (random.uniform(0.0, 1.0) - 0.5) - modelDeltaCenter.get_y() + modelNP.get_y()
gotCollisionZ = steerMgr.get_collision_height(LPoint3f(x, y, zOrig))
if gotCollisionZ.get_first():
break
return LPoint3f(x, y, gotCollisionZ.get_second())
def consolidate(self, selected = False,sel_simp = None):
#ask for label, or cancel
G = self.golog
# if a collection isn't provided, use the (multi-select) drag dictionary
if not selected: selected = [G.Graphics_to_Simplex[G.NP_to_Graphics[node]] for node in self.drag_dict.keys()]
if not selected: return #return if there was nothing passed, and nothing in the drag_dict
for simp in selected:
for face in simp.faces:
if face not in selected: selected.append(face)
# #? select a simplex to consolidate into
# sel_simp = None
# for simp in selected:
# if simp.math_data.type == 'None':
# sel_simp = simp
#make a golog from selected
new_golog = golog.golog(self.base, label ='test')
def add(simplex):
for face in simplex.faces:
add(face)
new_golog.add(simplex, pos = G.Simplex_to_Graphics[simplex].graphics_kwargs['pos'])
for simplex in selected: add(simplex)
#consolidate into 1 simplex
if sel_simp:
#consolidate into sel_simp
subgolog_folder_path = os.path.join(self.folder_path,'subgologs')
unique_path = tk_funcs.unique_path(subgolog_folder_path,[sel_simp.label])
new_folder_path = ['subgologs', *unique_path]
sel_simp.math_data = hcat.Math_Data(math_data = {'golog':new_golog, 'folder_path':new_folder_path}, type = 'golog')
#? remove simplexes and place at selected simplex location
return sel_simp
#create an entirely new simplex to put the golog into
else:
#? ask for label / cancel
label = "test"
subgolog_folder_path = os.path.join(self.folder_path,'subgologs')
unique_path = tk_funcs.unique_path(subgolog_folder_path,[label])
new_folder_path = ['subgologs', *unique_path]
#create a simplex with average position of things in golog
avg = LPoint3f(*[sum([G.Simplex_to_Graphics[simplex].graphics_kwargs['pos'][i]/len(new_golog.sSet.simplecies[()]) for simplex in new_golog.sSet.simplecies[()]]) for i in range(3)])
s = self.golog.add(0, label ='test', math_data = hcat.Math_Data(math_data = {'golog':new_golog, 'folder_path':new_folder_path}, type = 'golog'), pos = LPoint3f(avg))
return s
def random_formation(self):
"""
Set targets of all drones to a random position within safe corridor of room.
"""
# Only use part of the room as possible coordinates
safe_coordinates = self.ROOM_SIZE - LVector3f(1.0, 1.0, 0.5)
for drone in self.drones:
x = random.uniform(-safe_coordinates.x / 2, safe_coordinates.x / 2)
y = random.uniform(-safe_coordinates.y / 2, safe_coordinates.y / 2)
z = random.uniform(0.3, safe_coordinates.z)
drone.set_target(LPoint3f(x, y, z))
