def __init__(self):
ShowBase.__init__(self)
loadPrcFileData('', 'bullet-enable-contact-events true')
world = BulletWorld()
self.world = world
world.setGravity(Vec3(0, 0, -9.81))
base.cam.setPos(0,-50,1)
# Cameras
base.camNode.setActive(0)
self.cam1 = base.makeCamera(base.win, displayRegion=(0,.5,0.5,1))
self.cam2 = base.makeCamera(base.win, displayRegion=(.5,1,0.5,1))
self.cam1.setPos(-10,-50,1)
self.cam2.setPos(10,-50,1)
# base.camList[0].setPos(0,-100, 1)
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(0, 0, 0)
self.world.attachRigidBody(node)
scene = loader.loadModel('Ground2/Ground2')
scene.reparentTo(render)
self.newGame()
taskMgr.add(self.update, 'update')
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())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# initial vehicles
self.vehicles = []
#self.vehicles.append(basicVehicle(self,[13,2,0.5],18)) # [10,0.1,0.5] is vehicle start position
self.vehicles.append(
basicVehicle(self, [10, 0.1, 0.5],
18)) # [10,0.1,0.5] is vehicle start position
sensor = basicSensor(self) # initial sensor
sensor.setVehicle(self.vehicles[0])
self.vehicles[0].setSensor(sensor)
self.vehicles[0].sensor.align()
agent = basicAgent(50, 10.8, 15) # initial agent
agent.setVehicle(self.vehicles[0])
self.vehicles[0].setAgent(agent)
def createPlane(self):
rb = BulletRigidBodyNode('Ground')
rb.addShape(BulletPlaneShape(Vec3(0, 0, 1), 1))
rb.setFriction(1.0)
np = self.render.attachNewNode(rb)
np.setPos(Vec3(0, 0, -100))
np.setCollideMask(BitMask32.bit(0))
self.world.attachRigidBody(rb)
return np
def createPlane(self, pos):
rb = BulletRigidBodyNode("plane")
rb.addShape(BulletPlaneShape(Vec3(0, 0, 1), 1))
rb.setFriction(1.0)
rb.setAnisotropicFriction(1.0)
rb.setRestitution(1.0)
np = self.render.attachNewNode(rb)
np.setPos(pos)
np.setCollideMask(BitMask32.bit(0))
self.world.attachRigidBody(rb)
return np
def addSmiley(self, task):
node = cd.genCollisionMeshNp(self.smiley)
node.setMass(1.0)
node.setName("part"+str(self.smileyCount))
np = base.render.attachNewNode(node)
np.setPos(random.uniform(-2, 2), random.uniform(-2, 2), 15.0+self.smileyCount*25.0)
sm = np.attachNewNode("partrender"+str(self.smileyCount))
self.smiley.instanceTo(sm)
self.bltWorld.attachRigidBody(node)
self.smileyCount += 1
if self.smileyCount == 20:
return task.done
return task.again
def addSmiley(self, task):
node = cd.genCollisionMeshNp(self.smiley)
node.setMass(1.0)
node.setName("part"+str(self.smileyCount))
np = base.render.attachNewNode(node)
np.setPos(random.uniform(-2, 2), random.uniform(-2, 2), 15.0+self.smileyCount*25.0)
sm = np.attachNewNode("partrender"+str(self.smileyCount))
self.smiley.instanceTo(sm)
self.bltWorld.attachRigidBody(node)
self.smileyCount += 1
if self.smileyCount == 20:
return task.done
return task.again
def createLighting(self):
light = DirectionalLight("light")
light.setColor(VBase4(0.2, 0.2, 0.2, 1))
np = self.render.attachNewNode(light)
np.setPos(10, -10, 20)
np.lookAt(0, 0, 0)
self.render.setLight(np)
light = AmbientLight("ambient")
light.setColor(VBase4(0.4, 0.4, 0.4, 1))
np = self.render.attachNewNode(light)
self.render.setLight(np)
def createLighting(self):
light = DirectionalLight('light')
light.set_color(VBase4(0.2, 0.2, 0.2, 1))
np = self.render.attach_new_node(light)
np.setPos(0, -200, 0)
np.lookAt(0, 0, 0)
self.render.set_light(np)
light = AmbientLight('ambient')
light.set_color(VBase4(0.4, 0.4, 0.4, 1))
np = self.render.attachNewNode(light)
self.render.setLight(np)
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())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# initial vehicles
length = 2.8
width = 1.2
height = 1
axisDis = 2.1
wheelDis = 1.4
wheelH = 0.3
radius = 0.25
self.vehicles = []
self.sensors = []
# Adding autonomous vehicles
for i in range(len(self.initAV)):
self.vehicles.append(
basicVehicle(self,
[self.initAV[i][0], self.initAV[i][1], -0.6],
self.initAV[i][2], length, width, height, axisDis,
wheelDis, radius, wheelH))
self.sensors.append(basicSensor(self)) # initial sensor
self.sensors[i].setVehicle(self.vehicles[i])
self.vehicles[i].setSensor(self.sensors[i])
self.vehicles[i].sensor.align()
self.agents[i].setVehicle(self.vehicles[i])
self.vehicles[i].setAgent(self.agents[i])
def __init__(self):
ShowBase.__init__(self)
loadPrcFileData('', 'bullet-enable-contact-events true')
loadPrcFileData("", "win-size 300 100")
loadPrcFileData("", "show-buffers t")
winProp = WindowProperties()
winProp.setSize(300,100)
base.win.requestProperties(winProp)
world = BulletWorld()
self.world = world
# Cameras
base.camNode.setActive(0)
self.cam1 = base.makeCamera(base.win, displayRegion=(0,.5,0,1))
self.cam2 = base.makeCamera(base.win, displayRegion=(.5,1,0,1))
self.cam1.setPos(-10,-50,1)
self.cam2.setPos(10,-50,1)
# Plane ground
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(0, 0, 0)
self.world.attachRigidBody(node)
scene = loader.loadModel('Ground2/Ground2')
scene.reparentTo(render)
plight = PointLight('plight')
plnp = render.attachNewNode(plight)
plnp.setPos(100,0,1000)
render.setLight(plnp)
plight2 = PointLight('plight2')
plnp2 = render.attachNewNode(plight2)
plnp2.setPos(-100,0,1000)
render.setLight(plnp2)
# Repeat every new game
self.newGame()
self.skip = True
plt.ion()
plt.figure(figsize=(2,3))
# Repeat tasks every frame
taskMgr.add(self.update, 'update')
self.texDepth = Texture()
base.win.addRenderTexture(self.texDepth, GraphicsOutput.RTMCopyRam, GraphicsOutput.RTPDepthStencil)
def createPlane(self, pos):
rb = BulletRigidBodyNode("GroundPlane")
rb.addShape(BulletPlaneShape(Vec3(0, 0, 1), 1))
rb.setFriction(1.0)
rb.setAnisotropicFriction(1.0)
rb.setRestitution(1.0)
np = self.render.attachNewNode(rb)
np.setPos(pos)
np.setCollideMask(BitMask32.bit(0))
plane = self.loader.loadModel("cube")
plane.setScale(Vec3(100, 100, 1))
plane.setPos(Vec3(0, 0, -0.5))
plane.setColor(VBase4(0.8, 0.8, 0.8, 1.0))
plane.reparentTo(np)
self.world.attachRigidBody(rb)
return np
def createLighting(self):
light = DirectionalLight("light")
light.setColor(VBase4(0.4, 0.4, 0.4, 1))
light.setShadowCaster(True)
light.getLens().setNearFar(100.0, 400.0)
light.getLens().setFilmSize(400, 400)
# light.showFrustum()
np = self.render.attachNewNode(light)
np.setPos(100, -100, 200)
np.lookAt(0, 0, -100)
self.render.setLight(np)
light = AmbientLight("ambient")
light.setColor(VBase4(0.2, 0.2, 0.2, 1))
np = self.render.attachNewNode(light)
self.render.setLight(np)
def __init__(self):
ShowBase.__init__(self)
loadPrcFileData('', 'bullet-enable-contact-events true')
world = BulletWorld()
self.world = world
world.setGravity(Vec3(0, 0, -9.81))
base.cam.setPos(0, -50, 1)
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
np = render.attachNewNode(node)
np.setPos(0, 0, 0)
self.world.attachRigidBody(node)
scene = loader.loadModel('Ground2/Ground2')
scene.reparentTo(render)
self.newGame()
taskMgr.add(self.update, 'update')
def createBox(self, mass, pos, scale, color):
rb = BulletRigidBodyNode('box')
rb.addShape(BulletBoxShape(scale))
rb.setMass(mass)
rb.setLinearDamping(0.2)
rb.setAngularDamping(0.9)
rb.setFriction(1.0)
rb.setAnisotropicFriction(1.0)
rb.setRestitution(0.0)
self.world.attachRigidBody(rb)
np = self.render.attachNewNode(rb)
np.setPos(pos)
np.setCollideMask(BitMask32.bit(1))
cube = self.loader.loadModel('cube')
cube.setScale(scale)
cube.setColor(color)
cube.reparentTo(np)
return np
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())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
self.vehicles = dict()
def generate_environment(self):
f = create_plane()
np = NodePath(f)
np.reparentTo(self.scenery)
np.setPos(0,0,-1)
slight = PointLight('slight')
slight.setColor(VBase4(1, 1, 1, 1))
slight.setAttenuation(Point3(0, 0, 0.001))
lens = PerspectiveLens()
slight.setLens(lens)
np = NodePath(slight)
np.setPos(0, 0, 50)
render.setLight(np)
alight = AmbientLight('alight')
alnp = render.attachNewNode(alight)
alight.setColor(Vec4(0.2, 0.2, 0.2, 1))
render.setLight(alnp)
self.scenery.reparentTo(render)
base.cam.setPos(0, -60, 60)
base.cam.lookAt(0, 0, 1)
import basis.data_adapter as da
import copy
base = wd.World(cam_pos=np.array([1000, 0, 3000]), lookat_pos=np.array([0, 0, 0]), toggle_debug=True)
# World
# world = BulletWorld()
# world.setGravity(Vec3(0, 0, -9810))
# gm.gen_frame().attach_to(base)
# Plane
shape = BulletBoxShape(Vec3(500, 500, 100))
# shape = BulletPlaneShape(Vec3(0, 0, 1), 1)
node = BulletRigidBodyNode('Ground')
node.addShape(shape)
np = base.render.attachNewNode(node)
np.setPos(0, 0, 0)
base.physicsworld.attachRigidBody(node)
# Box
# shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
# shape = BulletSphereShape(radius=.1)
# radius = 0.5
# height = 1.4
# shape = BulletCylinderShape(radius, height, ZUp)
# radius = 0.5
# height = 1.0
# shape = BulletCapsuleShape(radius, height, ZUp)
# radius = 0.6
# height = 1.0
# shape = BulletConeShape(radius, height, ZUp)
# shape = BulletConvexHullShape()
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())
# Plane
shape = BulletPlaneShape(Vec3(0, 0, 1), 0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# initial vehicles
length=2.8
width=1.2
height=1
axisDis=2.1
wheelDis=1.4
wheelH=0.3
radius=0.25
self.vehicles=[]
self.sensors=[]
self.vehicles.append(basicVehicle(self,[self.initAV[0],self.initAV[1],-0.6],self.initAV[2],length,width,height,axisDis,wheelDis,radius,wheelH)) # [10,0.1,0.5] is vehicle start position
self.sensors.append(basicSensor(self)) # initial sensor
self.sensors[0].setVehicle(self.vehicles[0])
self.vehicles[0].setSensor(self.sensors[0])
self.vehicles[0].sensor.align()
self.agents[0].setVehicle(self.vehicles[0])
self.vehicles[0].setAgent(self.agents[0])
#Adding laneKeeping vehicles
for i in range(len(self.initSV)):
self.vehicles.append(surroundingVehicle(self,[self.initSV[i][0],self.initSV[i][1],-0.6],self.initSV[i][2],length,width,height,axisDis,wheelDis,radius,wheelH)) # [10,0.1,0.5] is vehicle start position
self.sensors.append(basicSensor(self)) # initial sensor
self.sensors[i+1].setVehicle(self.vehicles[i+1])
self.vehicles[i+1].setSensor(self.sensors[i+1])
self.vehicles[i+1].sensor.align()
self.agents[i+1].setVehicle(self.vehicles[i+1])
self.vehicles[i+1].setAgent(self.agents[i+1])
'''self.vehicles.append(basicVehicle(self,[50,-6,-0.6],30)) # [10,0.1,0.5] is vehicle start position
sensor1=basicSensor(self) # initial sensor
sensor1.setVehicle(self.vehicles[1])
self.vehicles[1].setSensor(sensor1)
self.vehicles[1].sensor.align()
#agent1=planningAgent(20,5,40,0,1) # initial agent
agent1=laneKeepingAgent(20,20,30,1)
agent1.setVehicle(self.vehicles[1])
self.vehicles[1].setAgent(agent1)'''
#Surrounding vehicles' speed
v1=25
v2=25
v3=25
v4=25
'''self.vehicles.append(basicVehicle(self,[60,-6.1,-0.6],v1))
