def __init__(self, canRender=0):
self.canRender = canRender
self.world = OdeWorld()
self.space = OdeSimpleSpace()
self.contactgroup = OdeJointGroup()
self.bodyList = []
self.geomList = []
self.massList = []
self.rayList = []
self.showContacts = 0
self.jointMarkers = []
self.jointMarkerCount = 64
self.meshDataList = []
self.geomDataList = []
self.commonObjectInfoDict = {}
self.maxColCount = 0
if self.canRender:
self.odePandaRelationList = self.bodyList
self.root = render.attachNewNode('physics root node')
else:
self.root = NodePath('physics root node')
self.placerNode = self.root.attachNewNode('Placer')
self.subPlacerNode = self.placerNode.attachNewNode('Placer Sub Node')
self.commonObjectDict = {}
self.commonId = 0
self.worldAttach = self.root.attachNewNode('physics geom attach point')
self.timingCycleLength = 10.0
self.timingCycleOffset = 0.0
self.timingSimTime = 0.0
self.FPS = 60.0
self.DTAStep = 1.0 / self.FPS
self.DTA = 0
self.useQuickStep = False
self.deterministic = True
self.numStepsInSimulateTask = 0
def setup_ODE(self):
# Setup our physics world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 200, 0.7, 0.2, 0.9, 0.00001, 0.0,
0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.space.setCollisionEvent("on_collision")
def ode_cols(self):
world = OdeWorld()
world.setGravity(0, 0, -9)
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)
space.autoCollide()
#try ODE for collisions
t_trimesh = OdeTriMeshData(self.terrain.getRoot(), True)
t_geom = OdeTriMeshGeom(space, t_trimesh)
def __init__(self, app):
OdeWorld.__init__(self)
self.app = app
self.lock = Lock()
# Creation d'un espace
self.espace = OdeSimpleSpace()
# Activation de la collision automatique
self.espace.setAutoCollideWorld(self)
# Creation d'une jointure entre les collisions
self.contactgroup = OdeJointGroup()
self.espace.setAutoCollideJointGroup(self.contactgroup)
# Creation d'une liste rassemblant les elements dynamique
self.elements = []
from direct.directbase import DirectStart
from panda3d.ode import OdeWorld, OdeSimpleSpace, OdeJointGroup
from panda3d.ode import OdeBody, OdeMass, OdeBoxGeom, OdePlaneGeom, OdeTriMeshGeom, OdeTriMeshData
from panda3d.core import BitMask32, CardMaker, Vec4, Quat
from random import randint, random
# Setup our physics world
world = OdeWorld()
world.setGravity(0, 0, -9.81)
# The surface table is needed for autoCollide
world.initSurfaceTable(1)
world.setSurfaceEntry(0, 0, 150, 0.0, 9.1, 0.9, 0.00001, 0.0, 0.002)
# Create a space and add a contactgroup to it to add the contact joints
space = OdeSimpleSpace()
space.setAutoCollideWorld(world)
contactgroup = OdeJointGroup()
space.setAutoCollideJointGroup(contactgroup)
# Load the box
box = loader.loadModel("box")
# Make sure its center is at 0, 0, 0 like OdeBoxGeom
box.setPos(-.5, -.5, -.5)
box.flattenLight() # Apply transform
box.setTextureOff()
# Add a random amount of boxes
boxes = []
for i in range(randint(5, 10)):
# Setup the geometry