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())
# Ground
p0 = LPoint3(-20, -20, 0)
p1 = LPoint3(-20, 20, 0)
p2 = LPoint3(20, -20, 0)
p3 = LPoint3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.add_triangle(p0, p1, p2)
mesh.add_triangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh'))
np.node().add_shape(shape)
np.set_pos(0, 0, -2)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Soft body world information
info = self.world.get_world_info()
info.set_air_density(1.2)
info.set_water_density(0)
info.set_water_offset(0)
info.set_water_normal(LVector3(0, 0, 0))
# Softbody
def make_SB(pos, hpr):
#use this to construct a torus geom.
#import torus
#geom = torus.make_geom()
geom = (loader.load_model('models/torus.egg').find_all_matches(
'**/+GeomNode').get_path(0).node().modify_geom(0))
geomNode = GeomNode('')
geomNode.add_geom(geom)
node = BulletSoftBodyNode.make_tri_mesh(info, geom)
node.link_geom(geomNode.modify_geom(0))
node.generate_bending_constraints(2)
node.get_cfg().set_positions_solver_iterations(2)
node.get_cfg().set_collision_flag(
BulletSoftBodyConfig.CF_vertex_face_soft_soft, True)
node.randomize_constraints()
node.set_total_mass(50, True)
softNP = self.worldNP.attach_new_node(node)
softNP.set_pos(pos)
softNP.set_hpr(hpr)
self.world.attach(node)
geomNP = softNP.attach_new_node(geomNode)
make_SB(LPoint3(-3, 0, 4), (0, 0, 0))
make_SB(LPoint3(0, 0, 4), (0, 90, 90))
make_SB(LPoint3(3, 0, 4), (0, 0, 0))
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())
# Ground
p0 = LPoint3(-20, -20, 0)
p1 = LPoint3(-20, 20, 0)
p2 = LPoint3(20, -20, 0)
p3 = LPoint3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.add_triangle(p0, p1, p2)
mesh.add_triangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh'))
np.node().add_shape(shape)
np.set_pos(0, 0, -2)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Soft body world information
info = self.world.get_world_info()
info.set_air_density(1.2)
info.set_water_density(0)
info.set_water_offset(0)
info.set_water_normal(LVector3(0, 0, 0))
# Softbody
for i in range(50):
p00 = LPoint3(-2, -2, 0)
p10 = LPoint3(2, -2, 0)
p01 = LPoint3(-2, 2, 0)
p11 = LPoint3(2, 2, 0)
node = BulletSoftBodyNode.make_patch(info, p00, p10, p01, p11, 6,
6, 0, True)
node.generate_bending_constraints(2)
node.get_cfg().set_lift_coefficient(0.004)
node.get_cfg().set_dynamic_friction_coefficient(0.0003)
node.get_cfg().set_aero_model(
BulletSoftBodyConfig.AM_vertex_two_sided)
node.set_total_mass(0.1)
node.add_force(LVector3(0, 2, 0), 0)
np = self.worldNP.attach_new_node(node)
np.set_pos(self.LVector3_rand() * 10 + LVector3(0, 0, 20))
np.set_hpr(self.LVector3_rand() * 16)
self.world.attach(node)
fmt = GeomVertexFormat.get_v3n3t2()
geom = BulletHelper.make_geom_from_faces(node, fmt, True)
node.link_geom(geom)
nodeV = GeomNode('')
nodeV.add_geom(geom)
npV = np.attach_new_node(nodeV)
tex = loader.load_texture('models/panda.jpg')
npV.set_texture(tex)
BulletHelper.make_texcoords_for_patch(geom, 6, 6)
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())
# Ground
p0 = LPoint3(-20, -20, 0)
p1 = LPoint3(-20, 20, 0)
p2 = LPoint3(20, -20, 0)
p3 = LPoint3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.add_triangle(p0, p1, p2)
mesh.add_triangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh'))
np.node().add_shape(shape)
np.set_pos(0, 0, -4)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Soft body world information
info = self.world.get_world_info()
info.set_air_density(1.2)
info.set_water_density(0)
info.set_water_offset(0)
info.set_water_normal(LVector3(0, 0, 0))
## Softbody - From points/indices
#import cube
#points = [LPoint3(x,y,z) * 3 for x,y,z in cube.nodes]
#indices = sum([list(x) for x in cube.elements], [])
#node = BulletSoftBodyNode.make_tet_mesh(info, points, indices, True)
#node.set_volume_mass(300);
#node.get_shape(0).set_margin(0.01)
#node.get_material(0).set_linear_stiffness(0.8)
#node.get_cfg().set_positions_solver_iterations(1)
#node.get_cfg().clear_all_collision_flags()
#node.get_cfg().set_collision_flag(
#BulletSoftBodyConfig.CF_cluster_soft_soft, True)
#node.get_cfg().set_collision_flag(
#BulletSoftBodyConfig.CF_cluster_rigid_soft, True)
#node.generate_clusters(16)
#softNP = self.worldNP.attach_new_node(node)
#softNP.set_pos(0, 0, 8)
#softNP.set_hpr(0, 0, 45)
#self.world.attach(node)
# Softbody - From tetgen data
ele = open('models/cube/cube.1.ele', 'r').read()
face = open('models/cube/cube.1.face', 'r').read()
node = open('models/cube/cube.1.node', 'r').read()
node = BulletSoftBodyNode.make_tet_mesh(info, ele, face, node)
node.set_name('Tetra')
node.set_volume_mass(300)
node.get_shape(0).set_margin(0.01)
node.get_material(0).set_linear_stiffness(0.1)
node.get_cfg().set_positions_solver_iterations(1)
node.get_cfg().clear_all_collision_flags()
node.get_cfg().set_collision_flag(
BulletSoftBodyConfig.CF_cluster_soft_soft, True)
node.get_cfg().setCollisionFlag(
BulletSoftBodyConfig.CF_cluster_rigid_soft, True)
node.generate_clusters(6)
softNP = self.worldNP.attach_new_node(node)
softNP.set_pos(0, 0, 8)
softNP.set_hpr(45, 0, 0)
self.world.attach(node)
# Option 1:
visNP = loader.load_model('models/cube/cube.egg')
visNP.reparent_to(softNP)
geom = (visNP.findAllMatches('**/+GeomNode').getPath(
0).node().modifyGeom(0))
node.link_geom(geom)
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.show_tight_bounds()
#self.debugNP.show_bounds()
self.world = BulletWorld()
self.world.set_gravity(LVector3(0, 0, -9.81))
self.world.set_debug_node(self.debugNP.node())
# Ground
p0 = LPoint3(-20, -20, 0)
p1 = LPoint3(-20, 20, 0)
p2 = LPoint3(20, -20, 0)
p3 = LPoint3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.add_triangle(p0, p1, p2)
mesh.add_triangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh'))
np.node().add_shape(shape)
np.set_pos(0, 0, -2)
np.set_collide_mask(BitMask32.all_on())
self.world.attach(np.node())
# Stair
origin = LPoint3(0, 0, 0)
size = LVector3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attach_new_node(
BulletRigidBodyNode('Stair{}'.format(i)))
np.node().add_shape(shape)
np.set_pos(pos)
np.set_collide_mask(BitMask32.all_on())
npV = loader.load_model('models/box.egg')
npV.reparent_to(np)
npV.set_scale(size)
self.world.attach(np.node())
# Soft body world information
info = self.world.get_world_info()
info.set_air_density(1.2)
info.set_water_density(0)
info.set_water_offset(0)
info.set_water_normal(LVector3(0, 0, 0))
# Softbody
center = LPoint3(0, 0, 0)
radius = LVector3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.make_ellipsoid(info, center, radius, 128)
node.set_name('Ellipsoid')
node.get_material(0).set_linear_stiffness(0.1)
node.get_cfg().set_dynamic_friction_coefficient(1)
node.get_cfg().set_damping_coefficient(0.001)
node.get_cfg().set_pressure_coefficient(1500)
node.set_total_mass(30, True)
node.set_pose(True, False)
np = self.worldNP.attach_new_node(node)
np.set_pos(15, 0, 12)
#np.setH(90.0)
#np.show_bounds()
#np.show_tight_bounds()
self.world.attach(np.node())
geom = BulletHelper.make_geom_from_faces(node)
node.link_geom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.add_geom(geom)
npV = np.attach_new_node(nodeV)
