def on_mouse_button(self, button, down):
if self.hover > 0 and down:
self.wm.focus(self.hover)
if button == 1 and self.hover_caption and down:
if self.dragged_window:
self.stop_drag(True)
globals.gui.mouse_mode(False)
else:
self.dragged_window = self.hover_caption
self.dragged_window.set_physics(True)
offset = LVector3(0, 0, 50)
self.hand.node.setPos(self.hover_caption_pos + offset)
self.hand_constraint = BulletHingeConstraint(
self.hand.phy_node, self.dragged_window.phy_node,
Point3(0, 0, 0),
self.dragged_window.box.node.getPos() + offset,
LVector3(1, 0, 0), LVector3(1, 0, 0), False)
# self.hand_constraint = BulletSphericalConstraint(self.hand.phy_node, self.dragged_window.phy_node,
# Point3(0, 0, 0), self.dragged_window.box.node.getPos())
globals.gui.world.attachConstraint(self.hand_constraint)
# self.dragged_window.set_physics(False)
self.hold_mouse = self.mouse_pos[0], self.mouse_pos[1]
globals.gui.mouse_mode(True)
return
if button == 3 and (self.dragged_window or self.rotate_window):
self.reset_mouse = True
self.rotate_window = self.dragged_window if down else None
if self.dragged_window:
self.dragged_window.set_physics(False)
globals.gui.mouse_mode(down)
self.stop_drag(False)
return
self.handle_mouse_button_event(button, down)
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.node().show_wireframe(True)
self.debugNP.node().show_constraints(True)
self.debugNP.node().show_bounding_boxes(False)
self.debugNP.node().show_normals(False)
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Box A
shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5))
bodyA = BulletRigidBodyNode('Box A')
bodyNP = self.worldNP.attach_new_node(bodyA)
bodyNP.node().add_shape(shape)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos(-2, 0, 1)
visNP = loader.load_model('models/box.egg')
visNP.clear_model_nodes()
visNP.reparent_to(bodyNP)
self.world.attach(bodyA)
# Box B
shape = BulletBoxShape(LVector3(0.5, 0.5, 0.5))
bodyB = BulletRigidBodyNode('Box B')
bodyNP = self.worldNP.attach_new_node(bodyB)
bodyNP.node().add_shape(shape)
bodyNP.node().set_mass(1.0)
bodyNP.node().set_deactivation_enabled(False)
bodyNP.set_collide_mask(BitMask32.all_on())
bodyNP.set_pos(2, 0, 1)
visNP = loader.load_model('models/box.egg')
visNP.clear_model_nodes()
visNP.reparent_to(bodyNP)
self.world.attach(bodyB)
# Hinge
pivotA = LPoint3(2, 0, 0)
pivotB = LPoint3(-4, 0, 0)
axisA = LVector3(0, 0, 1)
axisB = LVector3(0, 0, 1)
hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA,
axisB, True)
hinge.set_debug_draw_size(2.0)
hinge.set_limit(-90, 120, softness=0.9, bias=0.3, relaxation=1.0)
self.world.attach(hinge)
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
self.debugNP.show()
self.debugNP.node().showWireframe(True)
self.debugNP.node().showConstraints(True)
self.debugNP.node().showBoundingBoxes(False)
self.debugNP.node().showNormals(False)
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Box A
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
bodyA = BulletRigidBodyNode('Box A')
bodyNP = self.worldNP.attachNewNode(bodyA)
bodyNP.node().addShape(shape)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(-2, 0, 1)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.reparentTo(bodyNP)
self.world.attachRigidBody(bodyA)
# Box B
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
bodyB = BulletRigidBodyNode('Box B')
bodyNP = self.worldNP.attachNewNode(bodyB)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(2, 0, 1)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.reparentTo(bodyNP)
self.world.attachRigidBody(bodyB)
# Hinge
pivotA = Point3(2, 0, 0)
pivotB = Point3(-4, 0, 0)
axisA = Vec3(0, 0, 1)
axisB = Vec3(0, 0, 1)
hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA,
axisB, True)
hinge.setDebugDrawSize(2.0)
hinge.setLimit(-90, 120, softness=0.9, bias=0.3, relaxation=1.0)
self.world.attachConstraint(hinge)
def setupDoor(self, _obj, _eggFile):
shape = BulletBoxShape(Vec3(1.7 / 2, 0.6 / 2, 0.2 / 2))
node = BulletRigidBodyNode(_obj.getTag("door"))
node.addShape(shape)
node.setMass(1)
node.setDeactivationEnabled(False)
np = self.rootNode.attachNewNode(node)
np.setCollideMask(BitMask32.bit(2))
np.setPos(_obj.getPos())
np.setHpr(_obj.getHpr())
self.parent.physics_world.attachRigidBody(node)
_obj.reparentTo(np)
_obj.setPos(np.getPos() - _obj.getPos())
# Setup hinge
if _obj.getTag("door") == "left" and self.isHingeLeftSet != True:
pos = Point3(-2.0, 0, 0) #hingeLeft.getPos()
axisA = Vec3(0, 1, 0)
hinge = BulletHingeConstraint(node, pos, axisA, True)
hinge.setDebugDrawSize(0.3)
hinge.setLimit(-10, 58, softness=0.9, bias=0.3, relaxation=1.0)
self.parent.physics_world.attachConstraint(hinge)
self.isHingeLeftSet = True
self.parent.game_doors["left"] = np
self.parent.game_doors["left_hinge"] = hinge
if _obj.getTag("door") == "right" and self.isHingeRightSet != True:
pos = Point3(2.0, 0, 0) #hingeLeft.getPos()
axisA = Vec3(0, -1, 0)
hinge = BulletHingeConstraint(node, pos, axisA, True)
hinge.setDebugDrawSize(0.3)
hinge.setLimit(-10, 58, softness=0.9, bias=0.3, relaxation=1.0)
self.parent.physics_world.attachConstraint(hinge)
self.isHingeRightSet = True
self.parent.game_doors["right"] = np
self.parent.game_doors["right_hinge"] = hinge
def __init__(self, world, render, position, direction, side, torso,
limits):
radius = 0.15
bicep_length = 0.75
forearm_length = 0.75
in_limit, out_limit, forward_limit, backward_limit, twist_limit = limits
torso_pos = torso.getPos()
x, y, z = position
bicep_y = y + direction * bicep_length / 2
forearm_y = y + direction * bicep_length + forearm_length / 2
bicep_node = BulletRigidBodyNode('Bicep')
bicep_node.addShape(BulletCapsuleShape(radius, bicep_length, 1))
bicep_node.setMass(0.25)
bicep_pointer = render.attachNewNode(bicep_node)
bicep_pointer.setPos(x, bicep_y, z)
world.attachRigidBody(bicep_node)
forearm_node = BulletRigidBodyNode('Forearm')
forearm_node.addShape(BulletCapsuleShape(radius, forearm_length, 1))
forearm_node.setMass(0.25)
forearm_pointer = render.attachNewNode(forearm_node)
forearm_pointer.setPos(x, forearm_y, z)
world.attachRigidBody(forearm_node)
rotation = LMatrix3((-direction, 0, 0), (0, 0, -side),
(0, -side * direction, 0))
bicep_to_shoulder = Vec3(0, -direction * bicep_length / 2, 0)
torso_to_shoulder = Vec3(0, y + torso_pos[1], z - torso_pos[2])
bicep_shoulder_frame = make_rigid_transform(rotation,
bicep_to_shoulder)
torso_shoulder_frame = make_rigid_transform(rotation,
torso_to_shoulder)
shoulder = BulletGenericConstraint(torso.node(), bicep_node,
torso_shoulder_frame,
bicep_shoulder_frame, True)
shoulder.setDebugDrawSize(0.3)
world.attachConstraint(shoulder, True)
elbow_axis = Vec3(0, 0, side)
forearm_to_elbow = Point3(0, -direction * forearm_length / 2, 0)
bicep_to_elbow = Point3(0, direction * bicep_length / 2, 0)
elbow = BulletHingeConstraint(bicep_node, forearm_node, bicep_to_elbow,
forearm_to_elbow, elbow_axis, elbow_axis,
True)
elbow.setDebugDrawSize(0.3)
world.attachConstraint(elbow, True)
for axis in range(3):
shoulder.getRotationalLimitMotor(axis).setMaxMotorForce(200)
elbow.setMaxMotorImpulse(200)
shoulder.setAngularLimit(0, -in_limit, out_limit)
shoulder.setAngularLimit(1, -twist_limit, twist_limit)
shoulder.setAngularLimit(2, -backward_limit, forward_limit)
elbow.setLimit(0, 180)
self.render = render
self.position = position
self.bicep = bicep_pointer
self.forearm = forearm_pointer
self.shoulder = shoulder
self.elbow = elbow
self.transform = LMatrix3(-side * direction, 0, 0, 0, -direction, 0, 0,
0, 1)
self.side = side
self.lines = LineNodePath(name='debug',
parent=self.render,
colorVec=VBase4(0.2, 0.2, 0.5, 1))
axes = LineNodePath(name='axes', parent=self.render)
paths = [
dict(color=VBase4(1, 0, 0, 1)),
dict(color=VBase4(0, 1, 0, 1)),
dict(color=VBase4(0, 0, 1, 1))
]
for i in range(3):
axis = shoulder.getAxis(i) * 0.25
paths[i]['points'] = [axis]
draw_lines(axes, *paths, origin=position)
def construct(self, node1, node2, point1, point2):
self.constr = BulletHingeConstraint(node1, node2, point1, point2)
