class Leg():
def __init__(self,x,y,name,world,worldNP,body,front):
self.hip1 = 0;
self.hip2 = 0;
self.uLeg1 = Vec3(0, 0, 0)
self.lLeg1 = Vec3(0, 0, 0)
self.uLeg2 = Vec3(0, 0, 0)
self.lLeg2 = Vec3(0, 0, 0)
self.kneeJoint1 = 0
self.kneeJoint2 = 0
self.footJoint = 0
# upper leg1
shape = BulletBoxShape(Vec3(0.1, 0.1, 5))
self.hLeg1 = BulletRigidBodyNode(name+'Up')
bodyNP = worldNP.attachNewNode(self.hLeg1)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(x, y-1, 5.1)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.setScale(Vec3(0.2, 0.2, 10))
visNP.reparentTo(bodyNP)
world.attachRigidBody(self.hLeg1)
# upper leg2
shape = BulletBoxShape(Vec3(0.1, 0.1, 5))
self.hLeg2 = BulletRigidBodyNode(name+'Up')
bodyNP = worldNP.attachNewNode(self.hLeg2)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(x, y+1, 5.1)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.setScale(Vec3(0.2, 0.2, 10))
visNP.reparentTo(bodyNP)
world.attachRigidBody(self.hLeg2)
# lower leg1
shape = BulletBoxShape(Vec3(0.1, 0.1, 5))
self.lLeg1 = BulletRigidBodyNode(name+'Down')
bodyNP = worldNP.attachNewNode(self.lLeg1)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(x, y-1, -5.1)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.setScale(Vec3(0.2, 0.2, 10))
visNP.reparentTo(bodyNP)
world.attachRigidBody(self.lLeg1)
# lower leg2
shape = BulletBoxShape(Vec3(0.1, 0.1, 5))
self.lLeg2 = BulletRigidBodyNode(name+'Down')
bodyNP = worldNP.attachNewNode(self.lLeg2)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(x, y+1, -5.1)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.setScale(Vec3(0.2, 0.2, 10))
visNP.reparentTo(bodyNP)
world.attachRigidBody(self.lLeg2)
# attachment to hip
# Hinge01
pivotA = Point3(x, y-0.5, -2.0)
pivotB = Point3(0, 0, 5.1)
axisA = Vec3(1, 0, 0)
axisB = Vec3(1, 0, 0)
self.hipJoint1 = BulletHingeConstraint(body, self.hLeg1, pivotA, pivotB, axisA, axisB, False)
self.hipJoint1.setDebugDrawSize(2.0)
self.hipJoint1.setLimit(-91, 91, softness=0.1, bias=0.3, relaxation=0.1)
self.hipJoint1.enableAngularMotor(True,0,0)
world.attachConstraint(self.hipJoint1)
# attachment to hip
# Hinge02
pivotA = Point3(x+1, y+0.5, -2.0)
pivotB = Point3(0, 0, 5.1)
axisA = Vec3(1, 0, 0)
axisB = Vec3(1, 0, 0)
self.hipJoint2 = BulletHingeConstraint(body, self.hLeg2, pivotA, pivotB, axisA, axisB, False)
self.hipJoint2.setDebugDrawSize(2.0)
self.hipJoint2.setLimit(-91, 91, softness=0.1, bias=0.3, relaxation=0.1)
self.hipJoint2.enableAngularMotor(True,0,0)
world.attachConstraint(self.hipJoint2)
# Hinge1
pivotA = Point3(0, 0, -5.3)
pivotB = Point3(0, 0, 5.3)
axisA = Vec3(1, 0, 0)
axisB = Vec3(1, 0, 0)
self.kneeJoint1 = BulletHingeConstraint(self.hLeg1, self.lLeg1, pivotA, pivotB, axisA, axisB, True)
self.kneeJoint1.enableAngularMotor(True,0,0)
self.kneeJoint1.setDebugDrawSize(2.0)
self.kneeJoint1.setLimit(-90, 90, softness=0.0, bias=0.0, relaxation=0.0)
world.attachConstraint(self.kneeJoint1)
# Hinge2
pivotA = Point3(0, 0, -5.3)
pivotB = Point3(0, 0, 5.3)
axisA = Vec3(1, 0, 0)
axisB = Vec3(1, 0, 0)
self.kneeJoint2 = BulletHingeConstraint(self.hLeg2, self.lLeg2, pivotA, pivotB, axisA, axisB, True)
self.kneeJoint2.enableAngularMotor(True,0,0)
#self.kneeJoin2.setMaxMotorImpulse(5000)
self.kneeJoint2.setDebugDrawSize(2.0)
self.kneeJoint2.setLimit(-90, 90, softness=0.0, bias=0.0, relaxation=0.0)
world.attachConstraint(self.kneeJoint2)
# Hinge3
pivotA = Point3(1, 0, -5.3)
pivotB = Point3(0, 0, -5.3)
axisA = Vec3(1, 0, 0)
axisB = Vec3(1, 0, 0)
self.footJoint = BulletHingeConstraint(self.lLeg1, self.lLeg2, pivotA, pivotB, axisA, axisB, True)
self.footJoint.enableAngularMotor(True,0,0)
#self.kneeJoin2.setMaxMotorImpulse(5000)
self.footJoint.setDebugDrawSize(2.0)
self.footJoint.setLimit(-90, 90, softness=0.0, bias=0.0, relaxation=0.0)
world.attachConstraint(self.footJoint)
def setHipMax(self):
self.hipJoint1.enableAngularMotor(True,-1,3)
def setHipMin(self):
self.hipJoint1.enableAngularMotor(True,1,3)
def setKneeMax(self):
self.kneeJoint1.enableAngularMotor(True,-1,3)
def setKneeMin(self):
self.kneeJoint1.enableAngularMotor(True,1,3)
class Leg():
def __init__(self,x,y,name,world,worldNP,body,front):
self.hipX = 0;
self.hipY = 0;
self.hipZ = 0;
self.upperLeg = Vec3(0, 0, 0)
self.lowerLeg = Vec3(0, 0, 0)
self.kneeJointX = 0
# upper leg
shape = BulletBoxShape(Vec3(0.1, 0.1, 5))
self.hLeg = BulletRigidBodyNode(name+'Up')
bodyNP = worldNP.attachNewNode(self.hLeg)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(x, y, 5.1)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.setScale(Vec3(0.2, 0.2, 10))
visNP.reparentTo(bodyNP)
world.attachRigidBody(self.hLeg)
# lower leg
shape = BulletBoxShape(Vec3(0.1, 0.1, 5))
self.lLeg = BulletRigidBodyNode(name+'Down')
bodyNP = worldNP.attachNewNode(self.lLeg)
bodyNP.node().addShape(shape)
bodyNP.node().setMass(1.0)
bodyNP.node().setDeactivationEnabled(False)
bodyNP.setCollideMask(BitMask32.allOn())
bodyNP.setPos(x, y, -5.1)
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.setScale(Vec3(0.2, 0.2, 10))
visNP.reparentTo(bodyNP)
world.attachRigidBody(self.lLeg)
# attachment to hip
# Hinge01
pivotA = Point3(x, y, -1.0)
pivotB = Point3(0, 0, 5.1)
axisA = Vec3(1, 0, 0)
axisB = Vec3(1, 0, 0)
self.hipJointY = BulletHingeConstraint(body, self.hLeg, pivotA, pivotB, axisA, axisB, False)
self.hipJointY.setDebugDrawSize(2.0)
self.hipJointY.setLimit(-91, 91, softness=0.1, bias=0.3, relaxation=0.1)
self.hipJointY.enableAngularMotor(True,0,0)
#self.hipJointY.setMaxMotorImpulse(5000)
world.attachConstraint(self.hipJointY)
# Hinge1
pivotA = Point3(0, 0, -5.3)
pivotB = Point3(0, 0, 5.3)
axisA = Vec3(1, 0, 0)
axisB = Vec3(1, 0, 0)
self.kneeJoint = BulletHingeConstraint(self.hLeg, self.lLeg, pivotA, pivotB, axisA, axisB, True)
self.kneeJoint.enableAngularMotor(True,0,0)
#self.kneeJoint.setMaxMotorImpulse(5000)
self.kneeJoint.setDebugDrawSize(2.0)
self.front = front;
if(front):
self.maxAngle = 91;
self.minAngle = -1;
else:
self.maxAngle = 1;
self.minAngle = -91;
self.kneeJoint.setLimit(self.minAngle, self.maxAngle, softness=0.1, bias=0.3, relaxation=0.1)
world.attachConstraint(self.kneeJoint)
self.force = 10
def setHipMax(self):
if(self.front):
direction = 1
else:
direction = -1
self.hipJointY.enableAngularMotor(True,direction,self.force)
self.hipJointY.setMotorTarget(90*direction,1);
def setHipMin(self):
if(self.front):
direction = -1
else:
direction = 1
self.hipJointY.enableAngularMotor(True,direction,self.force)
self.hipJointY.setMotorTarget(90*direction,1);
def setKneeMax(self):
if(self.front):
direction = -1
else:
direction = 1
self.kneeJoint.enableAngularMotor(True,direction,4)
def setKneeMin(self):
if(self.front):
direction = 1
else:
direction = -1
self.kneeJoint.enableAngularMotor(True,direction,4)
