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
class MyApp(ShowBase):
def __init__(self):
ShowBase.__init__(self)
dlight = DirectionalLight('dlight')
dlight.setColor(VBase4(0.8, 0.8, 0.5, 1))
dlnp = self.render.attachNewNode(dlight)
dlnp.setHpr(0, -60, 0)
self.render.setLight(dlnp)
self.balls = [Ball(self) for x in range(NUMBALLS)]
# Setup our physics world and the body
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
if 0:
self.body = OdeBody(self.world)
M = OdeMass()
M.setSphere(7874, 1.0)
self.body.setMass(M)
self.body.setPosition(self.sphere.getPos(self.render))
self.body.setQuaternion(self.sphere.getQuat(self.render))
## Set the camera position
self.disableMouse()
self.angle = 0.0
self.camera.setPos(1000, 1000, 1000)
self.camera.lookAt(0, 0, 0)
#self.enableMouse()
# Create an accumulator to track the time since the sim
# has been running
self.deltaTimeAccumulator = 0.0
# This stepSize makes the simulation run at 60 frames per second
self.stepSize = 1.0 / 60.0
taskMgr.doMethodLater(1.0, self.simulationTask, "Physics Simulation")
def simulationTask(self, task):
if 0:
# Add the deltaTime for the task to the accumulator
self.deltaTimeAccumulator += globalClock.getDt()
while self.deltaTimeAccumulator > self.stepSize:
# Remove a stepSize from the accumulator until
# the accumulated time is less than the stepsize
self.deltaTimeAccumulator -= self.stepSize
# Step the simulation
self.world.quickStep(self.stepSize)
for ball in self.balls:
ball.evolve()
deltas = [ball.getdelta(self.balls) for ball in self.balls]
for i, ball in enumerate(self.balls):
dx, dy, dz = deltas[i]
ball.move(dx, dy, dz)
ball.update()
#print "moved"
self.camera.setPos(CX + 2500 * math.sin(self.angle),
CY + 2500 * math.cos(self.angle), CZ)
self.camera.lookAt(CX, CY, CZ)
self.angle += 0.01
return task.cont
class MyApp(ShowBase):
def __init__(self):
ShowBase.__init__(self)
dlight = DirectionalLight("dlight")
dlight.setColor(VBase4(0.8, 0.8, 0.5, 1))
dlnp = self.render.attachNewNode(dlight)
dlnp.setHpr(0, -60, 0)
self.render.setLight(dlnp)
self.balls = [Ball(self) for x in range(NUMBALLS)]
# Setup our physics world and the body
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
if 0:
self.body = OdeBody(self.world)
M = OdeMass()
M.setSphere(7874, 1.0)
self.body.setMass(M)
self.body.setPosition(self.sphere.getPos(self.render))
self.body.setQuaternion(self.sphere.getQuat(self.render))
## Set the camera position
self.disableMouse()
self.angle = 0.0
self.camera.setPos(1000, 1000, 1000)
self.camera.lookAt(0, 0, 0)
# self.enableMouse()
# Create an accumulator to track the time since the sim
# has been running
self.deltaTimeAccumulator = 0.0
# This stepSize makes the simulation run at 60 frames per second
self.stepSize = 1.0 / 60.0
taskMgr.doMethodLater(1.0, self.simulationTask, "Physics Simulation")
def simulationTask(self, task):
if 0:
# Add the deltaTime for the task to the accumulator
self.deltaTimeAccumulator += globalClock.getDt()
while self.deltaTimeAccumulator > self.stepSize:
# Remove a stepSize from the accumulator until
# the accumulated time is less than the stepsize
self.deltaTimeAccumulator -= self.stepSize
# Step the simulation
self.world.quickStep(self.stepSize)
for ball in self.balls:
ball.evolve()
deltas = [ball.getdelta(self.balls) for ball in self.balls]
for i, ball in enumerate(self.balls):
dx, dy, dz = deltas[i]
ball.move(dx, dy, dz)
ball.update()
# print "moved"
self.camera.setPos(CX + 2500 * math.sin(self.angle), CY + 2500 * math.cos(self.angle), CZ)
self.camera.lookAt(CX, CY, CZ)
self.angle += 0.01
return task.cont
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 __init__(self):
ShowBase.__init__(self)
dlight = DirectionalLight("dlight")
dlight.setColor(VBase4(0.8, 0.8, 0.5, 1))
dlnp = self.render.attachNewNode(dlight)
dlnp.setHpr(0, -60, 0)
self.render.setLight(dlnp)
self.balls = [Ball(self) for x in range(NUMBALLS)]
# Setup our physics world and the body
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
if 0:
self.body = OdeBody(self.world)
M = OdeMass()
M.setSphere(7874, 1.0)
self.body.setMass(M)
self.body.setPosition(self.sphere.getPos(self.render))
self.body.setQuaternion(self.sphere.getQuat(self.render))
## Set the camera position
self.disableMouse()
self.angle = 0.0
self.camera.setPos(1000, 1000, 1000)
self.camera.lookAt(0, 0, 0)
# self.enableMouse()
# Create an accumulator to track the time since the sim
# has been running
self.deltaTimeAccumulator = 0.0
# This stepSize makes the simulation run at 60 frames per second
self.stepSize = 1.0 / 60.0
taskMgr.doMethodLater(1.0, self.simulationTask, "Physics Simulation")
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 = []
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 create_ode_world(self):
self.world = OdeWorld()
self.world.setGravity(0,0,-9.81)
self.world.initSurfaceTable(1)
#self.world.setSurfaceEntry(0,0,0.5,0.35,0.1,0.9,0.00001,0.4,0.002)
self.world.setSurfaceEntry(0,0,0.8,0.7,0.1,0.9,0.00001,0.4,0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.groundGeom = OdePlaneGeom(self.space, Vec4(0,0,1,0))
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):
#init the world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
#init the friction
self.world.initSurfaceTable(1)
surfaceId1 = 0
surfaceId2 = 0
mu = 500
bounce = 0. # 2
bounce_vel = 0.1
soft_erp = 0.9
soft_cfm = 0.00001
slip = 0.0
dampen = 0.002
self.world.setSurfaceEntry(
surfaceId1,
surfaceId2,
mu,
bounce,
bounce_vel,
soft_erp,
soft_cfm,
slip,
dampen)
#init the collision space
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contactgroup = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contactgroup)
self.servogroup = OdeJointGroup()
#cm = CardMaker("ground")
#cm.setFrame(-20, 20, -20, 20)
#ground = render.attachNewNode(cm.generate())
#ground.setPos(0, 0, 0); ground.lookAt(0, 0, -1)
# Ground definition
self.groundGeom = OdePlaneGeom(self.space, Vec4(0, 0, 1, 0))
self.groundGeom.setCollideBits(BitMask32(0x00000001))
self.groundGeom.setCategoryBits(BitMask32(0x00000002))
self.deltaTimeAccumulator = 0.0
self.stepSize = 0.01
def __init__(self, game):
super(World, self).__init__()
self.game = game
self.things = []
#initialize the rendering
self.renderer = self.game.render
self.initFog()
#FIXME do better lighting
alight = AmbientLight('alight')
alight.setColor(VBase4(0.2, 0.2, 0.2, 1))
alnp = self.renderer.attachNewNode(alight)
self.renderer.setLight(alnp)
#initialize a hud
self.hud = HUD()
self.add(self.hud)
#physics
self.world = OdeWorld()
self.world.setGravity(0, -20, 0) #FIXME (0,-9.81) would be realistic physics
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 0.6, 0.0, 9.1, 0.9, 0.00001, 1.0, 0.02) #FIXME I have no idea what this means
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contactGroup = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contactGroup)
#constrain to 2d
self.plane = OdePlane2dJoint(self.world)
self.timeAccumulator = 0
self.dt = 1.0 / 60.0
#give it a player
self.player = Player(self, Point3(0,10,0))
self.add(self.player)
self.game.taskMgr.add(self.player.move, "movePlayer")
def __init__(self, world):
self.world = world
self.world.objs = []
self.world.spheres = []
self.world.joints = []
self.world.myWorld = OdeWorld()
zapolnenie(self.world, 15, 10, 15)
self.world.deltaTimeAccumulator = 0.0
self.world.stepSize = 1.0 / 90.0
self.accept('g-up', self.up)
self.accept('g', self.press)
self.g_pressed = False
self.world.taskMgr.doMethodLater(1.0, self.simulationTask,
'Physics Simulation')
def setupODE(self,*args,**kw):
if self.world is None :
if panda3d is None :
return
from panda3d.core import loadPrcFileData
loadPrcFileData("", "window-type none" )
# Make sure we don't need a graphics engine
#(Will also prevent X errors / Display errors when starting on linux without X server)
loadPrcFileData("", "audio-library-name null" ) # Prevent ALSA errors
# loadPrcFileData('', 'bullet-enable-contact-events true')
# loadPrcFileData('', 'bullet-max-objects 50')#10240
import direct.directbase.DirectStart
# bullet.bullet-max-objects = 1024 * 10#sum of all predicted n Ingredient ?
# self.worldNP = render.attachNewNode('World')
self.world = OdeWorld()
self.world.setGravity(Vec3(0, 0, 0))
self.static=[]
self.moving = None
self.rb_panda = []
return self.world
class PhysicsSimulator(ShowBase):
def __init__(self):
ShowBase.__init__(self)
self.smiley = loader.loadModel("smiley")
self.smiley.set_scale(1)
self.cam.set_pos(0, -50, 25)
self.setup_ODE()
self.add_ground()
self.add_static_box(1, 1, 1)
self.s1 = self.add_smiley(0, 0, 50)
self.s2 = self.add_smiley(0, 0, 40)
self.accept("escape", sys.exit)
self.accept('a', self.velocity)
taskMgr.add(self.update_ODE, "update_ODE")
self.accept('on_collision', self.on_collision)
def velocity(self):
self.s2.set_linear_vel(0, 0, 10)
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 on_collision(self, entry):
geom1 = entry.getGeom1()
geom2 = entry.getGeom2()
body1 = entry.getBody1()
body2 = entry.getBody2()
def add_ground(self):
cm = CardMaker("ground")
cm.setFrame(-1, 1, -1, 1)
ground = render.attachNewNode(cm.generate())
ground.setColor(0.5, 0.7, 0.8)
ground.lookAt(0, 0, -1)
groundGeom = OdePlaneGeom(self.space, Vec4(0, 0, 1, 0))
def add_smiley(self, x, y, z):
sm = render.attachNewNode("smiley-instance")
sm.setPos(x, y, z)
self.smiley.instanceTo(sm)
body = OdeBody(self.world)
mass = OdeMass()
mass.setSphereTotal(10, 1)
body.setMass(mass)
body.setPosition(sm.getPos())
geom = OdeSphereGeom(self.space, 1)
geom.setBody(body)
sm.setPythonTag("body", body)
return body
def add_static_box(self, x, y, z):
self.box = OdeBoxGeom(self.space, Vec3(x, y, z))
self.box.set_position(0, 0, 25)
def draw_box(self, box):
line_collection = LineNodePath(parent=render, thickness=1.0, colorVec=Vec4(1, 0, 0, 1))
pos = box.get_position()
lengths = box.get_lengths()
x = pos[0]
y = pos[1]
z = pos[2]
half_width = lengths[0] / 2
half_length = lengths[1] / 2
half_height = lengths[2] / 2
lines = [
# Bottom Face
((x - half_width, y - half_length, z - half_height), (x + half_width, y - half_length, z - half_height)),
((x + half_width, y - half_length, z - half_height), (x + half_width, y + half_length, z - half_height)),
((x + half_width, y + half_length, z - half_height), (x - half_width, y + half_length, z - half_height)),
((x - half_width, y + half_length, z - half_height), (x - half_width, y - half_length, z - half_height)),
# Top Face
((x - half_width, y - half_length, z + half_height), (x + half_width, y - half_length, z + half_height)),
((x + half_width, y - half_length, z + half_height), (x + half_width, y + half_length, z + half_height)),
((x + half_width, y + half_length, z + half_height), (x - half_width, y + half_length, z + half_height)),
((x - half_width, y + half_length, z + half_height), (x - half_width, y - half_length, z + half_height)),
# Vertical Lines
((x - half_width, y - half_length, z - half_height), (x - half_width, y - half_length, z + half_height)),
((x + half_width, y - half_length, z - half_height), (x + half_width, y - half_length, z + half_height)),
((x + half_width, y + half_length, z - half_height), (x + half_width, y + half_length, z + half_height)),
((x - half_width, y + half_length, z - half_height), (x - half_width, y + half_length, z + half_height)),
]
line_collection.drawLines(lines)
line_collection.create()
def update_ODE(self, task):
self.space.autoCollide()
self.world.quickStep(globalClock.getDt())
self.draw_box(self.box)
for smiley in render.findAllMatches("smiley-instance"):
body = smiley.getPythonTag("body")
smiley.setPosQuat(body.getPosition(), Quat(body.getQuaternion()))
self.contacts.empty()
return task.cont
class BaseApp(ShowBase):
odeBoxes = []
def createOdeEnv(self, model):
geomNodeCollection = model.findAllMatches('**/+GeomNode')
for nodePath in geomNodeCollection:
geomNode = nodePath.node()
#print "\n\nGeomNode: ", geomNode.getName()
for i in range(geomNode.getNumGeoms()):
geom = geomNode.getGeom(i)
#state = geomNode.getGeomState(i)
T = geomNode.getTransform()
#print " - ", T
pos = T.getPos()
if T.hasComponents():
Q = T.getQuat()
S = T.getScale()
vdata = geom.getVertexData()
vertex = GeomVertexReader(vdata, 'vertex')
#mins and maxes for MBB
minX = 1e10
maxX = -1e10
minY = 1e10
maxY = -1e10
minZ = 1e10
maxZ = -1e10
while not vertex.isAtEnd():
v = vertex.getData3f()
minX = min(minX,v[0])
minY = min(minY,v[1])
minZ = min(minZ,v[2])
maxX = max(maxX,v[0])
maxY = max(maxY,v[1])
maxZ = max(maxZ,v[2])
#print "v = %s" % (repr(v))
#print "X:(%f->%f) Y(%f->%f) Z(%f->%f)" % (minX, maxX, minY, maxY, minZ, maxZ)
minX *= S[0]
maxX *= S[0]
minY *= S[1]
maxY *= S[1]
minZ *= S[2]
maxZ *= S[2]
#print "X:(%f->%f) Y(%f->%f) Z(%f->%f)" % (minX, maxX, minY, maxY, minZ, maxZ)
box = OdeBoxGeom(self.space, maxX-minX, maxY-minY, maxZ-minZ)
box.setPosition(pos)
box.setQuaternion(Q)
self.odeBoxes.append(box)
else:
print "Error Transform does not have components - skipping"
def load_environment(self, modelfile):
self.room = loader.loadModel(modelfile)
self.room.reparentTo(render)
self.room.setPos(0,0,0)
self.createOdeEnv(self.room)
def __init__(self):
ShowBase.__init__(self)
ambLight = AmbientLight("ambient")
ambLight.setColor(Vec4(0.1,0.11,0.12,1.0))
ambNode = render.attachNewNode(ambLight)
render.setLight(ambNode)
dirLight = DirectionalLight("directional")
dirLight.setColor(Vec4(0.7,0.7,0.68,1.0))
dirNode = render.attachNewNode(dirLight)
dirNode.setHpr(60,-40,90)
render.setLight(dirNode)
sptLight = Spotlight("spot")
sptLens = PerspectiveLens()
sptLight.setLens(sptLens)
sptLight.setColor(Vec4(0.6,0.6,0.6,1.0))
sptLight.setShadowCaster(True)
sptNode = render.attachNewNode(sptLight)
sptNode.setPos(0,0,20)
sptNode.lookAt(0,0,0)
render.setLight(sptNode)
render.setShaderAuto()
base.camLens.setFov(70)
base.camLens.setNear(0.1)
base.camLens.setFar(50)
self.cam.setPos(-1,-4,4)
self.cam.lookAt(0,-1,1)
def create_ode_world(self):
self.world = OdeWorld()
self.world.setGravity(0,0,-9.81)
self.world.initSurfaceTable(1)
#self.world.setSurfaceEntry(0,0,0.5,0.35,0.1,0.9,0.00001,0.4,0.002)
self.world.setSurfaceEntry(0,0,0.8,0.7,0.1,0.9,0.00001,0.4,0.002)
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contacts = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contacts)
self.groundGeom = OdePlaneGeom(self.space, Vec4(0,0,1,0))
def updateODE(self, n_millis):
for n in range(0,n_millis):
self.space.autoCollide()
self.world.quickStep(0.001)
self.contacts.empty()
return True
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
sphere_a = cm.gen_sphere(radius=radius) sphere_a.set_pos([0, .3, -.3]) sphere_a.set_rgba([1, .2, .3, 1]) sphere_a.attach_to(base) sphere_b = cm.gen_sphere(radius=radius) sphere_b.set_pos([0, 1.25, -.7]) sphere_b.set_rgba([.3, .2, 1, 1]) sphere_b.attach_to(base) gm.gen_linesegs([[np.zeros(3), sphere_a.get_pos()]], thickness=.05, rgba=[0, 1, 0, 1]).attach_to(base) gm.gen_linesegs([[sphere_a.get_pos(), sphere_b.get_pos()]], thickness=.05, rgba=[0, 0, 1, 1]).attach_to(base) # Setup our physics world and the body world = OdeWorld() world.setGravity(0, 0, -9.81) body_sphere_a = OdeBody(world) M = OdeMass() M.setSphere(7874, radius) body_sphere_a.setMass(M) body_sphere_a.setPosition(da.npv3_to_pdv3(sphere_a.get_pos())) body_sphere_b = OdeBody(world) M = OdeMass() M.setSphere(7874, radius) body_sphere_b.setMass(M) body_sphere_b.setPosition(da.npv3_to_pdv3(sphere_b.get_pos())) # Create the joints
from panda3d.core import Quat
# Load the cube where the ball will fall from
cube = loader.loadModel("box.egg")
cube.reparentTo(render)
cube.setColor(0.2, 0, 0.7)
cube.setScale(20)
# Load the smiley model which will act as our iron ball
sphere = loader.loadModel("smiley.egg")
sphere.reparentTo(render)
sphere.setPos(10, 1, 21)
sphere.setColor(0.7, 0.4, 0.4)
# Setup our physics world and the body
world = OdeWorld()
world.setGravity(0, 0, -9.81)
body = OdeBody(world)
M = OdeMass()
M.setSphere(7874, 1.0)
body.setMass(M)
body.setPosition(sphere.getPos())
body.setQuaternion(sphere.getQuat())
# Set the camera position
base.disableMouse()
base.camera.setPos(80, -20, 40)
base.camera.lookAt(0, 0, 10)
# Create an accumulator to track the time since the sim
# has been running
class World(object):
def __init__(self, game):
super(World, self).__init__()
self.game = game
self.things = []
#initialize the rendering
self.renderer = self.game.render
self.initFog()
#FIXME do better lighting
alight = AmbientLight('alight')
alight.setColor(VBase4(0.2, 0.2, 0.2, 1))
alnp = self.renderer.attachNewNode(alight)
self.renderer.setLight(alnp)
#initialize a hud
self.hud = HUD()
self.add(self.hud)
#physics
self.world = OdeWorld()
self.world.setGravity(0, -20, 0) #FIXME (0,-9.81) would be realistic physics
self.world.initSurfaceTable(1)
self.world.setSurfaceEntry(0, 0, 0.6, 0.0, 9.1, 0.9, 0.00001, 1.0, 0.02) #FIXME I have no idea what this means
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contactGroup = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contactGroup)
#constrain to 2d
self.plane = OdePlane2dJoint(self.world)
self.timeAccumulator = 0
self.dt = 1.0 / 60.0
#give it a player
self.player = Player(self, Point3(0,10,0))
self.add(self.player)
self.game.taskMgr.add(self.player.move, "movePlayer")
def initFog(self):
f = Fog("World Fog")
f.setColor(0.5,0.5,0.5)
f.setLinearOnsetPoint(0,0,0)
f.setLinearOpaquePoint(0,0,-Thing.REVERTS_VISIBLE * 3)#THING_REVERT_DISTANCE)
self.renderer.attachNewNode(f)
self.renderer.setFog(f)
def add(self, obj):
obj.model.reparentTo(self.renderer)
if isinstance(obj, Physical):
self.things += [obj]
self.plane.attach(obj.body, None)
def step(self, task):
self.timeAccumulator += globalClock.getDt()
while(self.timeAccumulator > self.dt):
self.timeAccumulator -= self.dt
self.space.autoCollide()
self.world.quickStep(self.dt)
self.contactGroup.empty()
for x in self.things:
x.constrainQuat()
x.model.setPosQuat(self.renderer, x.body.getPosition(), Quat(x.body.getQuaternion()))
return task.cont
from panda3d.core import Quat
from panda3d.core import NodePath
from panda3d.core import NodePath
import math
import keyboard
import random
from direct.gui.DirectGui import *
from direct.gui.OnscreenText import OnscreenText
from panda3d.core import TextNode
from direct.gui.DirectGui import DirectFrame
Counter = textObject = OnscreenText(text='Electron Pairs:',
pos=(0.9, -0.95),
scale=0.1)
# Setup our physics world and the body
world = OdeWorld()
bodies = []
swap = True
def createElectron():
global world
electrons.append(
electron(random.randint(-10, 10), random.randint(-10, 10),
random.randint(-10, 10), False))
body = OdeBody(world)
M = OdeMass()
M.setSphere(7874, 1.0)
body.setMass(M)
bodies.append(body)
button2.setText(("Remove Electron Pair", "Destroy", "Destroy", "disabled"))
class PhysicsSimulator(ShowBase):
def __init__(self):
ShowBase.__init__(self)
self.smiley = loader.loadModel("smiley")
self.smiley.set_scale(1)
self.cam.set_pos(0, -50, 25)
self.setup_ODE()
self.add_ground()
self.add_static_box(1, 1, 1)
self.s1 = self.add_smiley(0, 0, 50)
self.s2 = self.add_smiley(0, 0, 40)
self.accept("escape", sys.exit)
self.accept('a', self.velocity)
taskMgr.add(self.update_ODE, "update_ODE")
self.accept('on_collision', self.on_collision)
def velocity(self):
self.s2.set_linear_vel(0, 0, 10)
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 on_collision(self, entry):
geom1 = entry.getGeom1()
geom2 = entry.getGeom2()
body1 = entry.getBody1()
body2 = entry.getBody2()
def add_ground(self):
cm = CardMaker("ground")
cm.setFrame(-1, 1, -1, 1)
ground = render.attachNewNode(cm.generate())
ground.setColor(0.5, 0.7, 0.8)
ground.lookAt(0, 0, -1)
groundGeom = OdePlaneGeom(self.space, Vec4(0, 0, 1, 0))
def add_smiley(self, x, y, z):
sm = render.attachNewNode("smiley-instance")
sm.setPos(x, y, z)
self.smiley.instanceTo(sm)
body = OdeBody(self.world)
mass = OdeMass()
mass.setSphereTotal(10, 1)
body.setMass(mass)
body.setPosition(sm.getPos())
geom = OdeSphereGeom(self.space, 1)
geom.setBody(body)
sm.setPythonTag("body", body)
return body
def add_static_box(self, x, y, z):
self.box = OdeBoxGeom(self.space, Vec3(x, y, z))
self.box.set_position(0, 0, 25)
def draw_box(self, box):
line_collection = LineNodePath(parent=render,
thickness=1.0,
colorVec=Vec4(1, 0, 0, 1))
pos = box.get_position()
lengths = box.get_lengths()
x = pos[0]
y = pos[1]
z = pos[2]
half_width = lengths[0] / 2
half_length = lengths[1] / 2
half_height = lengths[2] / 2
lines = [
# Bottom Face
((x - half_width, y - half_length, z - half_height),
(x + half_width, y - half_length, z - half_height)),
((x + half_width, y - half_length, z - half_height),
(x + half_width, y + half_length, z - half_height)),
((x + half_width, y + half_length, z - half_height),
(x - half_width, y + half_length, z - half_height)),
((x - half_width, y + half_length, z - half_height),
(x - half_width, y - half_length, z - half_height)),
# Top Face
((x - half_width, y - half_length, z + half_height),
(x + half_width, y - half_length, z + half_height)),
((x + half_width, y - half_length, z + half_height),
(x + half_width, y + half_length, z + half_height)),
((x + half_width, y + half_length, z + half_height),
(x - half_width, y + half_length, z + half_height)),
((x - half_width, y + half_length, z + half_height),
(x - half_width, y - half_length, z + half_height)),
# Vertical Lines
((x - half_width, y - half_length, z - half_height),
(x - half_width, y - half_length, z + half_height)),
((x + half_width, y - half_length, z - half_height),
(x + half_width, y - half_length, z + half_height)),
((x + half_width, y + half_length, z - half_height),
(x + half_width, y + half_length, z + half_height)),
((x - half_width, y + half_length, z - half_height),
(x - half_width, y + half_length, z + half_height)),
]
line_collection.drawLines(lines)
line_collection.create()
def update_ODE(self, task):
self.space.autoCollide()
self.world.quickStep(globalClock.getDt())
self.draw_box(self.box)
for smiley in render.findAllMatches("smiley-instance"):
body = smiley.getPythonTag("body")
smiley.setPosQuat(body.getPosition(), Quat(body.getQuaternion()))
self.contacts.empty()
return task.cont
class MinigamePhysicsWorldBase:
notify = DirectNotifyGlobal.directNotify.newCategory(
'MinigamePhysicsWorldBase')
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
self.collisionEventName = 'ode-collision-%s' % id(self)
self.space.setCollisionEvent(self.collisionEventName)
self.accept(self.collisionEventName, self.__handleCollision)
def delete(self):
self.notify.debug('Max Collision Count was %s' % self.maxColCount)
self.stopSim()
self.commonObjectDict = None
if self.canRender:
for pair in self.odePandaRelationList:
pair[0].removeNode()
pair[1].destroy()
self.odePandaRelationList = None
else:
for body in self.bodyList:
body[1].destroy()
self.bodyList = None
for mass in self.massList:
mass = None
for geom in self.geomList:
geom.destroy()
geom = None
for ray in self.rayList:
ray.destroy()
ray = None
self.placerNode.removeNode()
self.root.removeNode()
for marker in self.jointMarkers:
marker.removeNode()
self.jointMarkers = None
for data in self.geomDataList:
data.destroy()
for data in self.meshDataList:
data.destroy()
self.contactgroup.empty()
self.world.destroy()
self.space.destroy()
self.world = None
self.space = None
self.ignore(self.collisionEventName)
return
def setupSimulation(self):
if self.canRender:
for count in xrange(self.jointMarkerCount):
testMarker = render.attachNewNode('Joint Marker')
ballmodel = loader.loadModel('phase_3/models/misc/sphere')
ballmodel.reparentTo(testMarker)
ballmodel.setScale(0.1)
testMarker.setPos(0.0, 0.0, -100.0)
self.jointMarkers.append(testMarker)
def startSim(self):
taskMgr.add(self.__simulationTask, 'simulation task')
def stopSim(self):
taskMgr.remove('simulation task')
def __simulationTask(self, task):
self.DTA += globalClock.getDt()
numSteps = int(self.DTA / self.DTAStep)
if numSteps > 10:
self.notify.warning('phyics steps = %d' % numSteps)
startTime = globalClock.getRealTime()
while self.DTA >= self.DTAStep:
if self.deterministic:
OdeUtil.randSetSeed(0)
self.DTA -= self.DTAStep
self.preStep()
self.simulate()
self.postStep()
if self.canRender:
self.placeBodies()
return task.cont
def preStep(self):
pass
def postStep(self):
if self.showContacts and self.canRender:
for count in xrange(self.jointMarkerCount):
pandaNodePathGeom = self.jointMarkers[count]
if count < self.colCount:
pandaNodePathGeom.setPos(
self.space.getContactData(count * 3 + 0),
self.space.getContactData(count * 3 + 1),
self.space.getContactData(count * 3 + 2))
else:
pandaNodePathGeom.setPos(0.0, 0.0, -100.0)
def __handleCollision(self, entry):
self.colEntries.append(entry)
def simulate(self):
self.colEntries = []
self.space.autoCollide()
eventMgr.doEvents()
self.colCount = len(self.colEntries)
if self.maxColCount < self.colCount:
self.maxColCount = self.colCount
self.notify.debug('New Max Collision Count %s' % self.maxColCount)
if self.useQuickStep:
self.world.quickStep(self.DTAStep)
else:
self.world.step(self.DTAStep)
for bodyPair in self.bodyList:
self.world.applyDampening(self.DTAStep, bodyPair[1])
self.contactgroup.empty()
self.timingSimTime = self.timingSimTime + self.DTAStep
def placeBodies(self):
for pair in self.odePandaRelationList:
pandaNodePathGeom = pair[0]
odeBody = pair[1]
if pandaNodePathGeom:
pandaNodePathGeom.setPos(odeBody.getPosition())
pandaNodePathGeom.setQuat(
Quat(odeBody.getQuaternion()[0],
odeBody.getQuaternion()[1],
odeBody.getQuaternion()[2],
odeBody.getQuaternion()[3]))
def getOrderedContacts(self, entry):
c0 = self.space.getCollideId(entry.getGeom1())
c1 = self.space.getCollideId(entry.getGeom2())
if c0 > c1:
return c1, c0
else:
return c0, c1
import modeling.collision_model as cm from panda3d.ode import OdeWorld, OdeSimpleSpace, OdeJointGroup from panda3d.ode import OdeBody, OdeMass, OdeBoxGeom, OdePlaneGeom, OdeTriMeshGeom, OdeTriMeshData from panda3d.core import BitMask32, CardMaker, Vec4 import visualization.panda.world as wd from random import randint, random import math import basis.robot_math as rm import basis.data_adapter as da import numpy as np base = wd.World(cam_pos=[15, 15, 15], lookat_pos=[0, 0, 0], toggle_debug=True) world = OdeWorld() world.setGravity(0, 0, -9.81) world.setQuickStepNumIterations(100) world.setErp(.2) world.setCfm(1e-3) # 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) box = cm.gen_box(extent=[.3, .3, .3])
from direct.directbase import DirectStart
from panda3d.ode import OdeWorld, OdeSimpleSpace, OdeJointGroup
from panda3d.ode import OdeBody, OdeMass, OdeBoxGeom, OdePlaneGeom
from panda3d.core import BitMask32, CardMaker, Vec4, Quat
from random import randint, random
from direct.directbase import DirectStart
from direct.directtools.DirectGeometry import LineNodePath
from panda3d.core import *
from panda3d.ode import *
# 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")
box.setScale(4, 4, 1)
# Make sure its center is at 0, 0, 0 like OdeBoxGeom
box.setPos(1, 1, 1)
box.flattenLight() # Apply transform
box.setTextureOff()
class Physics():
def __init__(self):
#init the world
self.world = OdeWorld()
self.world.setGravity(0, 0, -9.81)
#init the friction
self.world.initSurfaceTable(1)
surfaceId1 = 0
surfaceId2 = 0
mu = 500
bounce = 0. # 2
bounce_vel = 0.1
soft_erp = 0.9
soft_cfm = 0.00001
slip = 0.0
dampen = 0.002
self.world.setSurfaceEntry(
surfaceId1,
surfaceId2,
mu,
bounce,
bounce_vel,
soft_erp,
soft_cfm,
slip,
dampen)
#init the collision space
self.space = OdeSimpleSpace()
self.space.setAutoCollideWorld(self.world)
self.contactgroup = OdeJointGroup()
self.space.setAutoCollideJointGroup(self.contactgroup)
self.servogroup = OdeJointGroup()
#cm = CardMaker("ground")
#cm.setFrame(-20, 20, -20, 20)
#ground = render.attachNewNode(cm.generate())
#ground.setPos(0, 0, 0); ground.lookAt(0, 0, -1)
# Ground definition
self.groundGeom = OdePlaneGeom(self.space, Vec4(0, 0, 1, 0))
self.groundGeom.setCollideBits(BitMask32(0x00000001))
self.groundGeom.setCategoryBits(BitMask32(0x00000002))
self.deltaTimeAccumulator = 0.0
self.stepSize = 0.01
# The task for our simulation
def simulationTask(self, creatures, dt=0):
# Add the deltaTime for the task to the accumulator
self.stepSize = dt
for c in creatures:
c.update_angles(dt)
c.draw()
#model.setPosQuat(render, body.getPosition(), Quat(body.getQuaternion()))
if dt == 0:
self.deltaTimeAccumulator += globalClock.getDt()
else:
self.deltaTimeAccumulator = dt
#while self.deltaTimeAccumulator > self.stepSize:
# Remove a stepSize from the accumulator until
# the accumulated time is less than the stepsize
# self.deltaTimeAccumulator -= self.stepSize
# Step the simulation
self.space.autoCollide() # Setup the contact joints
self.world.quickStep(self.stepSize)
# set the new positions
self.contactgroup.empty() # Clear the contact joints
def run_physics(self, t, creatures):
""" run physics for t steps """
for i in range(t):
self.simulationTask(creatures, 0.01)