def __set_vehicle(self):
self.vehicle = BulletVehicle(PhysMgr().root, self.pnode)
self.vehicle.setCoordinateSystem(ZUp)
self.vehicle.setPitchControl(self.pitch_control)
tuning = self.vehicle.getTuning()
tuning.setSuspensionCompression(self.suspension_compression)
tuning.setSuspensionDamping(self.suspension_damping)
PhysMgr().attach_vehicle(self.vehicle)
def setupVehicle(self, bulletWorld):
# Chassis
shape = BulletBoxShape(Vec3(1, 2.2, 0.5))
ts = TransformState.makePos(Point3(0, 0, .7))
if self.isMainChar:
self.chassisNode = BulletRigidBodyNode(self.username)
else:
self.chassisNode = BulletRigidBodyNode('vehicle')
self.chassisNode.setTag("username", str(self.username))
self.chassisNP = render.attachNewNode(self.chassisNode)
self.chassisNP.node().addShape(shape, ts)
if self.isMainChar:
self.chassisNP.node().notifyCollisions(True)
else:
self.chassisNP.node().notifyCollisions(False)
self.setVehiclePos(self.pos[0], self.pos[1], self.pos[2], self.pos[3],
self.pos[4], self.pos[5])
# self.chassisNP.setPos(-5.34744, 114.773, 6)
#self.chassisNP.setPos(49.2167, 64.7968, 10)
self.chassisNP.node().setMass(800.0)
self.chassisNP.node().setDeactivationEnabled(False)
bulletWorld.attachRigidBody(self.chassisNP.node())
#np.node().setCcdSweptSphereRadius(1.0)
#np.node().setCcdMotionThreshold(1e-7)
# Vehicle
self.vehicle = BulletVehicle(bulletWorld, self.chassisNP.node())
self.vehicle.setCoordinateSystem(ZUp)
bulletWorld.attachVehicle(self.vehicle)
self.carNP = loader.loadModel('models/batmobile-chassis.egg')
#self.yugoNP.setScale(.7)
self.carNP.reparentTo(self.chassisNP)
# Right front wheel
np = loader.loadModel('models/batmobile-wheel-right.egg')
np.reparentTo(render)
self.addWheel(Point3(1, 1.1, .7), True, np)
# Left front wheel
np = loader.loadModel('models/batmobile-wheel-left.egg')
np.reparentTo(render)
self.addWheel(Point3(-1, 1.1, .7), True, np)
# Right rear wheel
np = loader.loadModel('models/batmobile-wheel-right.egg')
np.reparentTo(render)
self.addWheel(Point3(1, -2, .7), False, np)
# Left rear wheel
np = loader.loadModel('models/batmobile-wheel-left.egg')
np.reparentTo(render)
self.addWheel(Point3(-1, -2, .7), False, np)
def __init__(self, tempworld, bulletWorld, type, playerId):
self.world = tempworld
self.speed = 0
self.acceleration = 1.5
self.brakes = .7
self.min_speed = 0
self.max_speed = 150
self.reverse_speed = 20
self.reverse_limit = -40
self.armor = 100
self.health = 100
self.a_timer_start = time.time()
self.a_timer_end = time.time()
self.power_ups = [0, 0, 0]
self.playerId = playerId
if type == 0:
self.actor = Actor("models/batmobile-chassis")
self.actor.setScale(0.7)
carRadius = 3
elif type == 1:
self.actor = Actor("models/policecarpainted", {})
self.actor.setScale(0.30)
self.actor.setH(180) # elif type == 2:
# self.actor = loader.loadModel("knucklehead.egg")
# self.tex = loader.loadTexture("knucklehead.jpg")
# self.actor.setTexture(self.car_tex, 1)
shape = BulletBoxShape(Vec3(1.0, 1.5, 0.4))
ts = TransformState.makePos(Point3(0, 0, 0.6))
self.chassisNP = render.attachNewNode(BulletRigidBodyNode('Vehicle'))
self.chassisNP.node().addShape(shape, ts)
self.chassisNP.setPos(50 * random.random(), 50 * random.random(), 1)
self.chassisNP.setH(180)
self.chassisNP.node().setMass(800.0)
self.chassisNP.node().setDeactivationEnabled(False)
bulletWorld.attachRigidBody(self.chassisNP.node())
self.actor.reparentTo(self.chassisNP)
self.actor.setH(180)
# Vehicle
self.vehicle = BulletVehicle(bulletWorld, self.chassisNP.node())
self.vehicle.setCoordinateSystem(ZUp)
bulletWorld.attachVehicle(self.vehicle)
for fb, y in (("F", 1.1), ("B", -1.1)):
for side, x in (("R", 0.75), ("L", -0.75)):
np = loader.loadModel("models/tire%s.egg" % side)
np.reparentTo(render)
isFront = fb == "F"
self.addWheel(Point3(x, y, 0.55), isFront, np)
def __set_vehicle(self):
self.vehicle = BulletVehicle(self.eng.phys_mgr.root._wld, self.pnode)
# access to a protected member
self.vehicle.set_coordinate_system(ZUp)
self.vehicle.set_pitch_control(self.pitch_control)
tuning = self.vehicle.get_tuning()
tuning.set_suspension_compression(self.suspension_compression)
# default .83
tuning.set_suspension_damping(self.suspension_damping)
# default .88
self.eng.phys_mgr.attach_vehicle(self.vehicle)
def _add_chassis(self, pg_physics_world: PGPhysicsWorld):
para = self.get_config()
self.LENGTH = self.vehicle_config["vehicle_length"]
self.WIDTH = self.vehicle_config["vehicle_width"]
chassis = BaseVehicleNode(BodyName.Base_vehicle, self)
chassis.setIntoCollideMask(BitMask32.bit(CollisionGroup.EgoVehicle))
chassis_shape = BulletBoxShape(
Vec3(self.WIDTH / 2, self.LENGTH / 2,
para[Parameter.vehicle_height] / 2))
ts = TransformState.makePos(
Vec3(0, 0, para[Parameter.chassis_height] * 2))
chassis.addShape(chassis_shape, ts)
heading = np.deg2rad(-para[Parameter.heading] - 90)
chassis.setMass(para[Parameter.mass])
self.chassis_np = self.node_path.attachNewNode(chassis)
# not random spawn now
self.chassis_np.setPos(Vec3(*self.spawn_place, 1))
self.chassis_np.setQuat(
LQuaternionf(math.cos(heading / 2), 0, 0, math.sin(heading / 2)))
chassis.setDeactivationEnabled(False)
chassis.notifyCollisions(
True
) # advance collision check, do callback in pg_collision_callback
self.dynamic_nodes.append(chassis)
chassis_beneath = BulletGhostNode(BodyName.Base_vehicle_beneath)
chassis_beneath.setIntoCollideMask(
BitMask32.bit(CollisionGroup.EgoVehicleBeneath))
chassis_beneath.addShape(chassis_shape)
self.chassis_beneath_np = self.chassis_np.attachNewNode(
chassis_beneath)
self.dynamic_nodes.append(chassis_beneath)
self.system = BulletVehicle(pg_physics_world.dynamic_world, chassis)
self.system.setCoordinateSystem(ZUp)
self.dynamic_nodes.append(
self.system
) # detach chassis will also detach system, so a waring will generate
if self.render:
if self.MODEL is None:
model_path = 'models/ferra/scene.gltf'
self.MODEL = self.loader.loadModel(
AssetLoader.file_path(model_path))
self.MODEL.setZ(para[Parameter.vehicle_vis_z])
self.MODEL.setY(para[Parameter.vehicle_vis_y])
self.MODEL.setH(para[Parameter.vehicle_vis_h])
self.MODEL.set_scale(para[Parameter.vehicle_vis_scale])
self.MODEL.instanceTo(self.chassis_np)
def test_get_steering():
world = BulletWorld()
# Chassis
shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5))
body = BulletRigidBodyNode('Vehicle')
body.addShape(shape)
world.attach(body)
# Vehicle
vehicle = BulletVehicle(world, body)
world.attachVehicle(vehicle)
# Wheel
wheel = vehicle.createWheel()
wheel.setSteering(30.0)
# Returns the steering angle in degrees.
assert wheel.getSteering() == approx(30.0)
def _add_chassis(self, pg_physics_world: PGPhysicsWorld):
para = self.get_config()
chassis = BulletRigidBodyNode(BodyName.Ego_vehicle_top)
chassis.setIntoCollideMask(BitMask32.bit(self.COLLISION_MASK))
chassis_shape = BulletBoxShape(
Vec3(para[Parameter.vehicle_width] / 2,
para[Parameter.vehicle_length] / 2,
para[Parameter.vehicle_height] / 2))
ts = TransformState.makePos(
Vec3(0, 0, para[Parameter.chassis_height] * 2))
chassis.addShape(chassis_shape, ts)
heading = np.deg2rad(-para[Parameter.heading] - 90)
chassis.setMass(para[Parameter.mass])
self.chassis_np = self.node_path.attachNewNode(chassis)
# not random born now
self.chassis_np.setPos(Vec3(*self.born_place, 1))
self.chassis_np.setQuat(
LQuaternionf(np.cos(heading / 2), 0, 0, np.sin(heading / 2)))
chassis.setDeactivationEnabled(False)
chassis.notifyCollisions(True) # advance collision check
self.pg_world.physics_world.dynamic_world.setContactAddedCallback(
PythonCallbackObject(self._collision_check))
self.dynamic_nodes.append(chassis)
chassis_beneath = BulletGhostNode(BodyName.Ego_vehicle)
chassis_beneath.setIntoCollideMask(BitMask32.bit(self.COLLISION_MASK))
chassis_beneath.addShape(chassis_shape)
self.chassis_beneath_np = self.chassis_np.attachNewNode(
chassis_beneath)
self.dynamic_nodes.append(chassis_beneath)
self.system = BulletVehicle(pg_physics_world.dynamic_world, chassis)
self.system.setCoordinateSystem(ZUp)
self.dynamic_nodes.append(
self.system
) # detach chassis will also detach system, so a waring will generate
self.LENGTH = para[Parameter.vehicle_length]
self.WIDTH = para[Parameter.vehicle_width]
if self.render:
model_path = 'models/ferra/scene.gltf'
self.chassis_vis = self.loader.loadModel(
AssetLoader.file_path(model_path))
self.chassis_vis.setZ(para[Parameter.vehicle_vis_z])
self.chassis_vis.setY(para[Parameter.vehicle_vis_y])
self.chassis_vis.setH(para[Parameter.vehicle_vis_h])
self.chassis_vis.set_scale(para[Parameter.vehicle_vis_scale])
self.chassis_vis.reparentTo(self.chassis_np)
def reset(self):
car = loader.loadModel("models/car.egg")
car.flattenLight()
car_bounds = car.getTightBounds()
car_shape = BulletBoxShape(Vec3((car_bounds[1].x - car_bounds[0].x) / 2,
(car_bounds[1].y - car_bounds[0].y) / 2,
(car_bounds[1].z - car_bounds[0].z) / 2))
car_ts = TransformState.makePos(Point3(0, 0, 0.5))
if self.car_node is not None:
self.car_node.removeNode()
self.car_node = render.attachNewNode(BulletRigidBodyNode('Car'))
self.car_node.node().setDeactivationEnabled(False)
self.car_node.node().setMass(600)
self.car_node.node().addShape(car_shape, car_ts)
self.world.attachRigidBody(self.car_node.node())
car.reparentTo(self.car_node)
self.car_node.setPos(0, 6, 1)
self.car = BulletVehicle(self.world, self.car_node.node())
self.car.setCoordinateSystem(ZUp)
self.world.attachVehicle(self.car)
self.car_node.setPos(0, 6, 1)
self.car_node.setHpr(0, 0, 0)
self.car.resetSuspension()
self.car_node.node().clearForces()
wheel_fl = loader.loadModel("models/wheelL")
wheel_fl.reparentTo(render)
self.make_wheel(Point3(-0.4, 1.28, 0), True, wheel_fl)
wheel_fr = loader.loadModel("models/wheelR")
wheel_fr.reparentTo(render)
self.make_wheel(Point3(0.4, 1.28, 0), True, wheel_fr)
wheel_rl = loader.loadModel("models/wheelL")
wheel_rl.reparentTo(render)
self.make_wheel(Point3(-0.4, -1.35, 0), False, wheel_rl)
wheel_rr = loader.loadModel("models/wheelR")
wheel_rr.reparentTo(render)
self.make_wheel(Point3(0.4, -1.35, 0), False, wheel_rr)
def _create_vehicle_chassis(self):
self.LENGTH = type(self).LENGTH
self.WIDTH = type(self).WIDTH
self.HEIGHT = type(self).HEIGHT
assert self.LENGTH < BaseVehicle.MAX_LENGTH, "Vehicle is too large!"
assert self.WIDTH < BaseVehicle.MAX_WIDTH, "Vehicle is too large!"
chassis = BaseRigidBodyNode(self.name, BodyName.Vehicle)
chassis.setIntoCollideMask(CollisionGroup.Vehicle)
chassis_shape = BulletBoxShape(
Vec3(self.WIDTH / 2, self.LENGTH / 2, self.HEIGHT / 2))
ts = TransformState.makePos(Vec3(0, 0, self.HEIGHT / 2))
chassis.addShape(chassis_shape, ts)
chassis.setMass(self.MASS)
chassis.setDeactivationEnabled(False)
chassis.notifyCollisions(
True
) # advance collision check, do callback in pg_collision_callback
physics_world = get_engine().physics_world
vehicle_chassis = BulletVehicle(physics_world.dynamic_world, chassis)
vehicle_chassis.setCoordinateSystem(ZUp)
self.dynamic_nodes.append(vehicle_chassis)
return vehicle_chassis
def setup(self):
# Bullet physics world
self.worldNP = render.attach_new_node('World')
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Vehicle
# Steering info
self.steering = 0.0 # degrees
self.steering_clamp = 45.0 # degrees
self.steering_increment = 120.0 # degrees per second
# How fast steering relaxes to straight ahead
self.steering_relax_factor = 2.0
# How much steering intensity decreases with higher speeds
self.steering_speed_reduction_factor = 0.003
# Chassis collision box (note: Bullet uses half-measures)
shape = BulletBoxShape(LVector3(0.6, 1.4, 0.5))
ts = TransformState.make_pos(LPoint3(0, 0, 0.5))
self.vehicleNP = self.worldNP.attach_new_node(
BulletRigidBodyNode('Vehicle'))
self.vehicleNP.node().add_shape(shape, ts)
# Set initial position
self.vehicleNP.set_pos(0, 70, -10)
self.vehicleNP.node().set_mass(800.0)
self.vehicleNP.node().set_deactivation_enabled(False)
self.world.attach(self.vehicleNP.node())
# Camera floater
self.attach_camera_floater()
# BulletVehicle
self.vehicle = BulletVehicle(self.world, self.vehicleNP.node())
self.world.attach(self.vehicle)
# Vehicle model
self.yugoNP = loader.load_model('models/yugo/yugo.egg')
self.yugoNP.reparent_to(self.vehicleNP)
# Right front wheel
np = loader.load_model('models/yugo/yugotireR.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3( 0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.load_model('models/yugo/yugotireL.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.load_model('models/yugo/yugotireR.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3( 0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.load_model('models/yugo/yugotireL.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3(-0.70, -1.05, 0.3), False, np)
# Load a skybox
self.skybox = self.loader.load_model(
"samples/shader-terrain/models/skybox.bam")
self.skybox.reparent_to(self.render)
self.skybox.set_scale(20000)
skybox_texture = self.loader.load_texture(
"samples/shader-terrain/textures/skybox.jpg")
skybox_texture.set_minfilter(SamplerState.FT_linear)
skybox_texture.set_magfilter(SamplerState.FT_linear)
skybox_texture.set_wrap_u(SamplerState.WM_repeat)
skybox_texture.set_wrap_v(SamplerState.WM_mirror)
skybox_texture.set_anisotropic_degree(16)
self.skybox.set_texture(skybox_texture)
skybox_shader = Shader.load(Shader.SL_GLSL,
"samples/shader-terrain/skybox.vert.glsl",
"samples/shader-terrain/skybox.frag.glsl")
self.skybox.set_shader(skybox_shader)
# Terrain
self.setup_terrain()
def setup(self):
self.worldNP = render.attachNewNode('World')
# World
self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
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.ground = self.worldNP.attachNewNode(
BulletRigidBodyNode('Ground'))
np.node().addShape(shape)
np.setPos(0, 0, -1)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# collision
self.maze = []
for pos in [(0.0, 72.0, 0.0), (-11.0, 60.0, 0.0), (11.0, 60.0, 0.0),
(-11.0, 48.0, 0.0), (11.0, 48.0, 0.0), (-11.0, 36.0, 0.0),
(11.0, 36.0, 0.0), (-11.0, 24.0, 0.0), (11.0, 24.0, 0.0),
(-11.0, 12.0, 0.0), (11.0, 12.0, 0.0), (-11.0, 0.0, 0.0),
(11.0, 0.0, 0.0), (0.0, -12.0, 0.0), (0.5, 12.0, 1.0),
(-0.5, 12.0, 1.0)]:
translate = False
if (abs(pos[0]) == 0.5):
translate = True
visNP = loader.loadModel('../models/ball.egg')
else:
visNP = loader.loadModel('../models/maze.egg')
visNP.clearModelNodes()
visNP.reparentTo(self.ground)
visNP.setPos(pos[0], pos[1], pos[2])
bodyNPs = BulletHelper.fromCollisionSolids(visNP, True)
for bodyNP in bodyNPs:
bodyNP.reparentTo(render)
if translate:
bodyNP.setPos(pos[0], pos[1], pos[2] - 1)
else:
bodyNP.setPos(pos[0], pos[1], pos[2])
if isinstance(bodyNP.node(), BulletRigidBodyNode):
bodyNP.node().setMass(0.0)
bodyNP.node().setKinematic(True)
self.maze.append(bodyNP)
for bodyNP in self.maze:
self.world.attachRigidBody(bodyNP.node())
# Chassis
mass = rospy.get_param('~mass')
#chassis_shape = rospy.get_param('~chassis_shape')
shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5))
ts = TransformState.makePos(Point3(0, 0, 0.5))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Vehicle'))
np.node().addShape(shape, ts)
rand_vals = numpy.random.random(2) * 8 - 4.0
np.setPos(rand_vals[0], 0.0, -0.6)
np.node().setMass(mass)
np.node().setDeactivationEnabled(False)
first_person = rospy.get_param('~first_person')
self.camera_sensor = Panda3dCameraSensor(base,
color=True,
depth=True,
size=(160, 90))
self.camera_node = self.camera_sensor.cam
if first_person:
self.camera_node.reparentTo(np)
self.camera_node.setPos(0.0, 1.0, 1.0)
self.camera_node.lookAt(0.0, 6.0, 0.0)
else:
self.camera_node.reparentTo(np)
self.camera_node.setPos(0.0, -10.0, 5.0)
self.camera_node.lookAt(0.0, 5.0, 0.0)
base.cam.reparentTo(np)
base.cam.setPos(0.0, -10.0, 5.0)
base.cam.lookAt(0.0, 5.0, 0.0)
self.world.attachRigidBody(np.node())
np.node().setCcdSweptSphereRadius(1.0)
np.node().setCcdMotionThreshold(1e-7)
# Vehicle
self.vehicle_node = np.node()
self.vehicle = BulletVehicle(self.world, np.node())
self.vehicle.setCoordinateSystem(ZUp)
self.world.attachVehicle(self.vehicle)
self.yugoNP = loader.loadModel('../models/yugo/yugo.egg')
self.yugoNP.reparentTo(np)
# Right front wheel
np = loader.loadModel('../models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.loadModel('../models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.loadModel('../models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.loadModel('../models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, -1.05, 0.3), False, 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())
#terrain = GeoMipTerrain("mySimpleTerrain")
#terrain.setHeightfield("./models/heightfield_2.png")
#terrain.getRoot().reparentTo(self.worldNP)#render)
#terrain.generate()
# 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())
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Track'))
np.node().setMass(5000.0)
np.setPos(3, 0, 10)
np.setCollideMask(BitMask32.allOn()) #(0x0f))
#self.track = BulletVehicle(self.world, np.node())
#self.track.setCoordinateSystem(ZUp)
self.track_np = loader.loadModel('models/race_track.egg')
self.track_np.setScale(100)
self.track_np.reparentTo(np)
self.track_np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
self.track_np = np
#self.track_np.show()
# Chassis
shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5))
ts = TransformState.makePos(Point3(0, 0, 0.5))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Vehicle'))
np.node().addShape(shape, ts)
np.setPos(0, 0, 1)
np.node().setMass(800.0)
np.node().setDeactivationEnabled(False)
self.world.attachRigidBody(np.node())
#np.node().setCcdSweptSphereRadius(1.0)
#np.node().setCcdMotionThreshold(1e-7)
self.cTrav = CollisionTraverser()
# Vehicle
self.vehicle = BulletVehicle(self.world, np.node())
self.vehicle.setCoordinateSystem(ZUp)
self.yugoNP = loader.loadModel('models/yugo/yugo.egg')
self.yugoNP.reparentTo(np)
self.colHandler = CollisionHandlerQueue()
self.ray_col_np = {}
self.ray_col_vec_dict = {}
for ray_dir in range(-1, 2): # populate collision rays
self.ray = CollisionRay()
self.ray.setOrigin(ray_dir, 0.5, 0.5)
self.ray.setDirection(ray_dir, 1, 0)
self.ray_col = CollisionNode('ray%d' % (ray_dir + 1))
self.ray_col.addSolid(self.ray)
self.ray_col.setFromCollideMask(
BitMask32.allOn()) #(0x0f))#CollideMask.bit(0)
#self.ray_col.setIntoCollideMask(CollideMask.allOff())
self.ray_col_np['ray%d' %
(ray_dir + 1)] = self.yugoNP.attachNewNode(
self.ray_col)
self.cTrav.addCollider(self.ray_col_np['ray%d' % (ray_dir + 1)],
self.colHandler)
self.ray_col_np['ray%d' % (ray_dir + 1)].show()
self.ray_col_vec_dict['ray%d' % (ray_dir + 1)] = []
self.world.attachVehicle(self.vehicle)
self.cTrav.showCollisions(render)
# FIXME
base.camera.reparentTo(self.yugoNP)
# Right front wheel
np = loader.loadModel('models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.loadModel('models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.loadModel('models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.loadModel('models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, -1.05, 0.3), False, np)
# Steering info
self.steering = 0.0 # degree
self.steeringClamp = 45.0 # degree
self.steeringIncrement = 120.0 # degree per second
# Box
for i, j in [(0, 8), (-3, 5), (6, -5), (8, 3), (-4, -4)]:
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
# https://discourse.panda3d.org/t/wall-collision-help/23606
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(i, j, 2)
np.setCollideMask(BitMask32.allOn()) #(0x0f))
self.world.attachRigidBody(np.node())
self.boxNP = np
#self.colHandler2 = CollisionHandlerQueue()
visualNP = loader.loadModel('models/box.egg')
visualNP.reparentTo(self.boxNP)
#self.cTrav.addCollider(self.boxNP,self.colHandler)
"""
aNode = CollisionNode("TheRay")
self.ray = CollisionRay()
self.ray.setOrigin( self.yugoNP.getPos() )
self.ray.setDirection( Vec3(0, 10, 0) )
#self.ray.show()
aNodePath = self.yugoNP.attachNewNode( CollisionNode("TheRay") )
aNodePath.node().addSolid(self.ray)
aNodePath.show()
"""
#aNode.addSolid(self.ray)
#self.ray = CollisionRay(0,0,0,10,0,0)
#self.ray.reparentTo(self.yugoNP)
#self.rayColl = CollisionNode('PlayerRay')
#self.rayColl.addSolid(self.ray)
#self.playerRayNode = self.yugoNP.attachNewNode( self.rayColl )
#self.playerRayNode.show()
#base.myTraverser.addCollider (self.playerRayNode, base.floor)
#base.floor.addCollider( self.playerRayNode, self.yugoNP)
"""
def setup(self):
self.worldNP = render.attach_new_node('World')
# World
self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
self.debugNP.show()
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Plane
shape = BulletPlaneShape(LVector3(0, 0, 1), 0)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground'))
np.node().add_shape(shape)
np.set_pos(0, 0, -1)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Chassis
shape = BulletBoxShape(LVector3(0.6, 1.4, 0.5))
ts = TransformState.make_pos(LPoint3(0, 0, 0.5))
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Vehicle'))
np.node().add_shape(shape, ts)
np.set_pos(0, 0, 1)
np.node().set_mass(800.0)
np.node().set_deactivation_enabled(False)
self.world.attach(np.node())
#np.node().set_ccd_swept_sphere_radius(1.0)
#np.node().set_ccd_motion_threshold(1e-7)
# Vehicle
self.vehicle = BulletVehicle(self.world, np.node())
self.vehicle.set_coordinate_system(ZUp)
self.world.attach(self.vehicle)
self.yugoNP = loader.load_model('models/yugo/yugo.egg')
self.yugoNP.reparent_to(np)
# Right front wheel
np = loader.load_model('models/yugo/yugotireR.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3( 0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.load_model('models/yugo/yugotireL.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.load_model('models/yugo/yugotireR.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3( 0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.load_model('models/yugo/yugotireL.egg')
np.reparent_to(self.worldNP)
self.add_wheel(LPoint3(-0.70, -1.05, 0.3), False, np)
# Steering info
self.steering = 0.0 # degree
self.steeringClamp = 45.0 # degree
self.steeringIncrement = 120.0 # degree per second
def load_vehicle(self, pos=(0.0, -20.0, -0.6), quat=None):
# Chassis
self._mass = self.params['mass']
#chassis_shape = self.params['chassis_shape']
shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5))
ts = TransformState.makePos(Point3(0, 0, 0.5))
self.vehicle_pointer = self.worldNP.attachNewNode(
BulletRigidBodyNode('Vehicle'))
self.vehicle_node = self.vehicle_pointer.node()
self.vehicle_node.addShape(shape, ts)
self.previous_pos = pos
self.vehicle_pointer.setPos(pos[0], pos[1], pos[2])
if quat is not None:
self.vehicle_pointer.setQuat(quat)
self.previous_quat = self.vehicle_pointer.getQuat()
self.vehicle_node.setMass(self._mass)
self.vehicle_node.setDeactivationEnabled(False)
# first_person = self.params['first_person']
self.camera_sensor = Panda3dCameraSensor(base,
color=True,
depth=True,
size=(160, 90))
self.camera_node = self.camera_sensor.cam
# if first_person:
# self.camera_node.setPos(0.0, 1.0, 1.0)
# self.camera_node.lookAt(0.0, 6.0, 0.0)
# else:
# self.camera_node.setPos(0.0, -10.0, 5.0)
# self.camera_node.lookAt(0.0, 5.0, 0.0)
self.camera_node.reparentTo(self.vehicle_pointer)
self.camera_node.setPos(0.0, 1.0, 1.0)
self.camera_node.lookAt(0.0, 6.0, 0.0)
self.back_camera_sensor = Panda3dCameraSensor(base,
color=True,
depth=True,
size=(160, 90))
self.back_camera_node = self.back_camera_sensor.cam
# if first_person:
# self.camera_node.setPos(0.0, 1.0, 1.0)
# self.camera_node.lookAt(0.0, 6.0, 0.0)
# else:
# self.camera_node.setPos(0.0, -10.0, 5.0)
# self.camera_node.lookAt(0.0, 5.0, 0.0)
self.back_camera_node.reparentTo(self.vehicle_pointer)
self.back_camera_node.setPos(0.0, -1.0, 1.0)
self.back_camera_node.lookAt(0.0, -6.0, 0.0)
self.world.attachRigidBody(self.vehicle_node)
self.vehicle_node.setCcdSweptSphereRadius(1.0)
self.vehicle_node.setCcdMotionThreshold(1e-7)
# Vehicle
self.vehicle = BulletVehicle(self.world, self.vehicle_node)
self.vehicle.setCoordinateSystem(ZUp)
self.world.attachVehicle(self.vehicle)
self.yugoNP = loader.loadModel('../models/yugo/yugo.egg')
self.yugoNP.reparentTo(self.vehicle_pointer)
self._wheels = []
# Right front wheel
np = loader.loadModel('../models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.loadModel('../models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.loadModel('../models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.loadModel('../models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, -1.05, 0.3), False, np)
def setup(self):
self.worldNP = render.attachNewNode('World')
self.distance_text = OnscreenText(
text='Distance=0', pos=(0.75, 0.85), scale=0.08,
mayChange=1) #Directxxxxxx(distance='Distance=%d'%(0))
self.speed_text = OnscreenText(
text='Speed=0', pos=(0.75, 0.78), scale=0.08,
mayChange=1) #Directxxxxxx(distance='Distance=%d'%(0))
self.time_text = OnscreenText(
text='TotalTime=0', pos=(0.75, 0.71), scale=0.08,
mayChange=1) #Directxxxxxx(distance='Distance=%d'%(0))
#self.time_maxsteer_text = OnscreenText(text='TotalTimeMaxSteer=0', pos = (0.85,0.70), scale = 0.05, mayChange=1)#Directxxxxxx(distance='Distance=%d'%(0))
#self.nn_image = OnscreenImage(image='blank.png', pos= (0.85,0,0.15), scale=0.45) # http://dev-wiki.gestureworks.com/index.php/GestureWorksCore:Python_%26_Panda3D:_Getting_Started_II_(Hello_Multitouch)#8._Create_a_method_to_draw_touchpoint_data
self.total_time = 0.
self.time_max_steering = 0.
# 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())
#terrain = GeoMipTerrain("mySimpleTerrain")
#terrain.setHeightfield("./models/heightfield_2.png")
#terrain.getRoot().reparentTo(self.worldNP)#render)
#terrain.generate()
# 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())
#np = self.worldNP.attachNewNode(BulletRigidBodyNode('Track'))
#np.node().setMass(5000.0)
#np.setPos(3, 0, 10)
#np.setCollideMask(BitMask32.allOn())#(0x0f))
#self.track = BulletVehicle(self.world, np.node())
#self.track.setCoordinateSystem(ZUp)
self.track_np = loader.loadModel(
'models/race_track_2.egg'
) # https://discourse.panda3d.org/t/panda3d-and-bullet-physics/15724/10
self.track_np.setPos(-72, -7, -3.5)
self.track_np.setScale(10)
self.track_np.reparentTo(render)
self.track_np.setCollideMask(BitMask32.allOn()) #(0))#.allOn())
self.world.attachRigidBody(np.node())
self.track_np = np
#self.track_np.show()
# Chassis
shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5))
ts = TransformState.makePos(Point3(0, 0, 0.5))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Vehicle'))
np.node().addShape(shape, ts)
np.setPos(0, 0, 0.05)
np.node().setMass(800.0)
np.node().setDeactivationEnabled(False)
self.world.attachRigidBody(np.node())
#np.node().setCcdSweptSphereRadius(1.0)
#np.node().setCcdMotionThreshold(1e-7)
self.cTrav = CollisionTraverser()
# Vehicle
self.vehicle = BulletVehicle(self.world, np.node())
self.vehicle.setCoordinateSystem(ZUp)
self.yugoNP = loader.loadModel('models/yugo/yugo.egg')
self.yugoNP.setCollideMask(BitMask32(0)) #.allOn())
self.yugoNP.reparentTo(np)
self.colHandler = CollisionHandlerQueue()
# travel distance
self.distance = 0.
"""self.sphere = CollisionSphere(0,0,0,2)
self.sphere_col = CollisionNode('yugo')
self.sphere_col.addSolid(self.sphere)
self.sphere_col.setFromCollideMask(BitMask32.allOn())
self.sphere_col_np = self.yugoNP.attachNewNode(self.sphere_col)
self.cTrav.addCollider(self.sphere_col_np,self.colHandler)
self.sphere_col_np.show()"""
self.yugo_col = CollisionNode('yugo_box')
self.yugo_col.addSolid(CollisionBox(Point3(0, 0, 0.7), 0.9, 1.6, 0.05))
self.yugo_col.setFromCollideMask(BitMask32(1))
self.box_col_np = self.yugoNP.attachNewNode(self.yugo_col)
self.cTrav.addCollider(self.box_col_np, self.colHandler)
self.box_col_np.show()
self.ray_col_np = {}
self.ray_col_vec_dict = {}
self.n_rays = self.model.shape[0]
for i, ray_dir in enumerate(
numpy.linspace(-numpy.pi / 4, numpy.pi / 4,
self.n_rays)): # populate collision rays
#print(ray_dir)
self.ray = CollisionRay()
y_dir, x_dir = numpy.cos(ray_dir), numpy.sin(ray_dir)
self.ray.setOrigin(1.3 * x_dir, 1.3 * y_dir, 0.5)
self.ray.setDirection(x_dir, y_dir, 0)
self.ray_col = CollisionNode('ray%d' % (i))
self.ray_col.addSolid(self.ray)
self.ray_col.setFromCollideMask(
BitMask32.allOn()) #(0x0f))#CollideMask.bit(0)
#self.ray_col.setIntoCollideMask(CollideMask.allOff())
self.ray_col_np['ray%d' % (i)] = self.yugoNP.attachNewNode(
self.ray_col)
self.cTrav.addCollider(self.ray_col_np['ray%d' % (i)],
self.colHandler)
self.ray_col_np['ray%d' % (i)].show()
self.ray_col_vec_dict['ray%d' % (i)] = []
self.world.attachVehicle(self.vehicle)
self.cTrav.showCollisions(render)
# FIXME
base.camera.reparentTo(self.yugoNP)
# Right front wheel
np = loader.loadModel('models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.loadModel('models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.loadModel('models/yugo/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.loadModel('models/yugo/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, -1.05, 0.3), False, np)
# Steering info
self.steering = 0.0 # degree
self.steeringClamp = 38.0 #45.0 # degree
self.steeringIncrement = 105.0 #120.0 # degree per second
# add previous positions
self.prevPos = []
self.prevPos.append(self.yugoNP.getPos(render))
self.model_offset = 0.5 if self.model.activation == 'relu' else 0.
# Box
"""
for i,j in [(0,8),(-3,5),(6,-5),(8,3),(-4,-4),(0,0)]:
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
# https://discourse.panda3d.org/t/wall-collision-help/23606
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
np.node().setMass(1.0)
np.node().addShape(shape)
np.setPos(i, j, 2)
np.setCollideMask(BitMask32.allOn())#(0x0f))
self.world.attachRigidBody(np.node())
self.boxNP = np
#self.colHandler2 = CollisionHandlerQueue()
visualNP = loader.loadModel('models/box.egg')
visualNP.reparentTo(self.boxNP)
#self.cTrav.addCollider(self.boxNP,self.colHandler)
"""
"""
aNode = CollisionNode("TheRay")
self.ray = CollisionRay()
self.ray.setOrigin( self.yugoNP.getPos() )
self.ray.setDirection( Vec3(0, 10, 0) )
#self.ray.show()
aNodePath = self.yugoNP.attachNewNode( CollisionNode("TheRay") )
aNodePath.node().addSolid(self.ray)
aNodePath.show()
"""
#aNode.addSolid(self.ray)
#self.ray = CollisionRay(0,0,0,10,0,0)
#self.ray.reparentTo(self.yugoNP)
#self.rayColl = CollisionNode('PlayerRay')
#self.rayColl.addSolid(self.ray)
#self.playerRayNode = self.yugoNP.attachNewNode( self.rayColl )
#self.playerRayNode.show()
#base.myTraverser.addCollider (self.playerRayNode, base.floor)
#base.floor.addCollider( self.playerRayNode, self.yugoNP)
"""
def __init__(self):
ShowBase.__init__(self)
scene = BulletWorld()
scene.setGravity(Vec3(0, 0, -9.81))
base.setBackgroundColor(0.6, 0.9, 0.9)
#Variables
self.steering = 0
#Controls
inputState.watchWithModifiers("F", "arrow_up")
inputState.watchWithModifiers("B", "arrow_down")
inputState.watchWithModifiers("L", "arrow_left")
inputState.watchWithModifiers("R", "arrow_right")
#The ground
self.ground = BulletPlaneShape(Vec3(
0,
0,
1,
), 1)
self.ground_node = BulletRigidBodyNode("The ground")
self.ground_node.addShape(self.ground)
self.ground_np = render.attachNewNode(self.ground_node)
self.ground_np.setPos(0, 0, -2)
scene.attachRigidBody(self.ground_node)
self.track_model = loader.loadModel("Models/Track.egg")
self.track_model.reparentTo(self.render)
self.track_model.setPos(0, 0, -7)
self.track_tex = loader.loadTexture("Textures/Road.jpg")
self.track_model.setTexture(self.track_tex, 1)
#The car
Car_shape = BulletBoxShape(Vec3(1, 2.0, 1.0))
Car_node = BulletRigidBodyNode("The Car")
Car_node.setMass(1200.0)
Car_node.addShape(Car_shape)
Car_np = render.attachNewNode(Car_node)
Car_np.setPos(0, 0, 0)
Car_np.setHpr(0, 0, 0)
Car_np.node().setDeactivationEnabled(False)
scene.attachRigidBody(Car_node)
#Load and transform the Car Actor
self.car_model = loader.loadModel("Models/Car.egg")
self.car_model.setPos(0, 20, -3)
self.car_model.setHpr(180, 0, 0)
self.car_model.reparentTo(Car_np)
self.Car_sim = BulletVehicle(scene, Car_np.node())
self.Car_sim.setCoordinateSystem(ZUp)
scene.attachVehicle(self.Car_sim)
#Camera
#base.disableMouse()
camera.reparentTo(Car_np)
camera.setPos(0, 0, 0)
camera.setHpr(0, 0, 0)
def Wheel(pos, r, f):
w = self.Car_sim.createWheel()
w.setChassisConnectionPointCs(pos)
w.setFrontWheel(f)
w.setWheelDirectionCs(Vec3(0, 0, -1))
w.setWheelAxleCs(Vec3(1, 0, 0))
w.setWheelRadius(r)
w.setMaxSuspensionTravelCm(40)
w.setSuspensionStiffness(120)
w.setWheelsDampingRelaxation(2.3)
w.setWheelsDampingCompression(4.4)
w.setFrictionSlip(50)
w.setRollInfluence(0.1)
#Wheels
Wheel(Point3(-1, 1, -0.6), 0.4, False)
Wheel(Point3(-1.1, -1.2, -0.6), 0.4, True)
Wheel(Point3(1.1, -1, -0.6), 0.4, True)
Wheel(Point3(1, 1, -0.6), 0.4, False)
def ProcessInput(dt):
engineForce = 0.0
self.steeringClamp = 35.0
self.steeringIncrement = 70
#Get the vehicle's current speed
self.carspeed = self.Car_sim.getCurrentSpeedKmHour()
#Reset the steering
if not inputState.isSet("L") and not inputState.isSet("R"):
if self.steering < 0.00:
self.steering = self.steering + 0.6
if self.steering > 0.00:
self.steering = self.steering - 0.6
if self.steering < 1.0 and self.steering > -1.0:
self.steering = 0
if inputState.isSet("F"):
engineForce = 35
if inputState.isSet("B"):
engineForce = -35
#Left
if inputState.isSet("L"):
if self.steering < 0.0:
#This makes the steering reset at the correct speed when turning from right to left
self.steering += dt * self.steeringIncrement + 0.6
self.steering = min(self.steering, self.steeringClamp)
else:
#Normal steering
self.steering += dt * self.steeringIncrement
self.steering = min(self.steering, self.steeringClamp)
#Right
if inputState.isSet("R"):
if self.steering > 0.0:
#This makes the steering reset at the correct speed when turning from left to right
self.steering -= dt * self.steeringIncrement + 0.6
self.steering = max(self.steering, -self.steeringClamp)
else:
#Normal steering
self.steering -= dt * self.steeringIncrement
self.steering = max(self.steering, -self.steeringClamp)
#Apply forces to wheels
self.Car_sim.applyEngineForce(engineForce, 0)
self.Car_sim.applyEngineForce(engineForce, 3)
def Update(task):
dt = globalClock.getDt()
ProcessInput(dt)
scene.doPhysics(dt, 5, 1.0 / 180.0)
return task.cont
taskMgr.add(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())
# Chassis
shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5))
ts = TransformState.makePos(Point3(0, 0, 0.5))
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Vehicle'))
np.node().addShape(shape, ts)
np.setPos(0, 0, 1)
np.node().setMass(800.0)
np.node().setDeactivationEnabled(False)
self.world.attachRigidBody(np.node())
#np.node().setCcdSweptSphereRadius(1.0)
#np.node().setCcdMotionThreshold(1e-7)
# Vehicle
self.vehicle = BulletVehicle(self.world, np.node())
self.vehicle.setCoordinateSystem(ZUp)
self.world.attachVehicle(self.vehicle)
self.yugoNP = loader.loadModel('car/yugo.egg')
self.yugoNP.reparentTo(np)
# Right front wheel
np = loader.loadModel('car/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, 1.05, 0.3), True, np)
# Left front wheel
np = loader.loadModel('car/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, 1.05, 0.3), True, np)
# Right rear wheel
np = loader.loadModel('car/yugotireR.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(0.70, -1.05, 0.3), False, np)
# Left rear wheel
np = loader.loadModel('car/yugotireL.egg')
np.reparentTo(self.worldNP)
self.addWheel(Point3(-0.70, -1.05, 0.3), False, np)
# Steering info
self.steering = 0.0 # degree
self.steeringClamp = 45.0 # degree
self.steeringIncrement = 120.0 # degree per second
def __init__(self, params={}):
self._params = params
if 'random_seed' in self._params:
np.random.seed(self._params['random_seed'])
self._use_vel = self._params.get('use_vel', True)
self._run_as_task = self._params.get('run_as_task', False)
self._do_back_up = self._params.get('do_back_up', False)
self._use_depth = self._params.get('use_depth', False)
self._use_back_cam = self._params.get('use_back_cam', False)
self._collision_reward = self._params.get('collision_reward', 0.)
if not self._params.get('visualize', False):
loadPrcFileData('', 'window-type offscreen')
# Defines base, render, loader
try:
ShowBase()
except:
pass
base.setBackgroundColor(0.0, 0.0, 0.0, 1)
# World
self._worldNP = render.attachNewNode('World')
self._world = BulletWorld()
self._world.setGravity(Vec3(0, 0, -9.81))
self._dt = params.get('dt', 0.25)
self._step = 0.05
# Vehicle
shape = BulletBoxShape(Vec3(0.6, 1.0, 0.25))
ts = TransformState.makePos(Point3(0., 0., 0.25))
self._vehicle_node = BulletRigidBodyNode('Vehicle')
self._vehicle_node.addShape(shape, ts)
self._mass = self._params.get('mass', 10.)
self._vehicle_node.setMass(self._mass)
self._vehicle_node.setDeactivationEnabled(False)
self._vehicle_node.setCcdSweptSphereRadius(1.0)
self._vehicle_node.setCcdMotionThreshold(1e-7)
self._vehicle_pointer = self._worldNP.attachNewNode(self._vehicle_node)
self._world.attachRigidBody(self._vehicle_node)
self._vehicle = BulletVehicle(self._world, self._vehicle_node)
self._vehicle.setCoordinateSystem(ZUp)
self._world.attachVehicle(self._vehicle)
self._addWheel(Point3(0.3, 0.5, 0.07), True, 0.07)
self._addWheel(Point3(-0.3, 0.5, 0.07), True, 0.07)
self._addWheel(Point3(0.3, -0.5, 0.07), False, 0.07)
self._addWheel(Point3(-0.3, -0.5, 0.07), False, 0.07)
# Camera
size = self._params.get('size', [160, 90])
hfov = self._params.get('hfov', 60)
near_far = self._params.get('near_far', [0.1, 100.])
self._camera_sensor = Panda3dCameraSensor(base,
color=not self._use_depth,
depth=self._use_depth,
size=size,
hfov=hfov,
near_far=near_far,
title='front cam')
self._camera_node = self._camera_sensor.cam
self._camera_node.setPos(0.0, 0.5, 0.375)
self._camera_node.lookAt(0.0, 6.0, 0.0)
self._camera_node.reparentTo(self._vehicle_pointer)
if self._use_back_cam:
self._back_camera_sensor = Panda3dCameraSensor(
base,
color=not self._use_depth,
depth=self._use_depth,
size=size,
hfov=hfov,
near_far=near_far,
title='back cam')
self._back_camera_node = self._back_camera_sensor.cam
self._back_camera_node.setPos(0.0, -0.5, 0.375)
self._back_camera_node.lookAt(0.0, -6.0, 0.0)
self._back_camera_node.reparentTo(self._vehicle_pointer)
# Car Simulator
self._des_vel = None
self._setup()
# Input
self.accept('escape', self._doExit)
self.accept('r', self.reset)
self.accept('f1', self._toggleWireframe)
self.accept('f2', self._toggleTexture)
self.accept('f3', self._view_image)
self.accept('f5', self._doScreenshot)
self.accept('q', self._forward_0)
self.accept('w', self._forward_1)
self.accept('e', self._forward_2)
self.accept('a', self._left)
self.accept('s', self._stop)
self.accept('x', self._backward)
self.accept('d', self._right)
self.accept('m', self._mark)
self._steering = 0.0 # degree
self._engineForce = 0.0
self._brakeForce = 0.0
self._p = self._params.get('p', 1.25)
self._d = self._params.get('d', 0.0)
self._last_err = 0.0
self._curr_time = 0.0
self._accelClamp = self._params.get('accelClamp', 2.0)
self._engineClamp = self._accelClamp * self._mass
self._collision = False
if self._run_as_task:
self._mark_d = 0.0
taskMgr.add(self._update_task, 'updateWorld')
base.run()
