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)
class Drive(ShowBase): def __init__(self): ShowBase.__init__(self) #Setup scene = BulletWorld() scene.setGravity(Vec3(0, 0, -9.81)) base.setBackgroundColor(0.6,0.9,0.9) fog = Fog("The Fog") fog.setColor(0.9,0.9,1.0) fog.setExpDensity(0.003) render.setFog(fog) #Lighting #Sun light sun = DirectionalLight("The Sun") sun_np = render.attachNewNode(sun) sun_np.setHpr(0,-60,0) render.setLight(sun_np) #Ambient light amb = AmbientLight("The Ambient Light") amb.setColor(VBase4(0.39,0.39,0.39, 1)) amb_np = render.attachNewNode(amb) render.setLight(amb_np) #Variables self.gear = 0 self.start = 0 self.Pbrake = 0 self.terrain_var = 1 self.time = 0 self.headlight_var = 0 self.RPM = 0 self.clutch = 0 self.carmaxspeed = 100 #KPH self.carmaxreversespeed = -40 #KPH self.steering = 0 #Functions def V1(): camera.setPos(0.25,-1.2,0.5) camera.setHpr(0,-13,0) def V2(): camera.setPos(0,-15,3) camera.setHpr(0,-10,0) def V3(): camera.setPos(0,0,9) camera.setHpr(0,-90,0) def up(): self.gear = self.gear -1 if self.gear < -1: self.gear = -1 def down(): self.gear = self.gear +1 if self.gear > 1: self.gear = 1 def start_function(): self.start = 1 self.start_sound.play() self.engine_idle_sound.play() self.RPM = 1000 def stop_function(): self.start = 0 self.engine_idle_sound.stop() def parkingbrake(): self.Pbrake = (self.Pbrake + 1) % 2 def rotate(): Car_np.setHpr(0, 0, 0) def horn(): self.horn_sound.play() def set_time(): if self.time == -1: sun.setColor(VBase4(0.4, 0.3, 0.3, 1)) base.setBackgroundColor(0.8,0.7,0.7) if self.time == 0: sun.setColor(VBase4(0.7, 0.7, 0.7, 1)) base.setBackgroundColor(0.6,0.9,0.9) if self.time == 1: sun.setColor(VBase4(0.2, 0.2, 0.2, 1)) base.setBackgroundColor(0.55,0.5,0.5) if self.time == 2: sun.setColor(VBase4(0.02, 0.02, 0.05, 1)) base.setBackgroundColor(0.3,0.3,0.3) if self.time == -2: self.time = -1 if self.time == 3: self.time = 2 def time_forward(): self.time = self.time + 1 def time_backward(): self.time = self.time -1 def set_terrain(): if self.terrain_var == 1: self.ground_model.setTexture(self.ground_tex, 1) self.ground_model.setScale(3) if self.terrain_var == 2: self.ground_model.setTexture(self.ground_tex2, 1) self.ground_model.setScale(3) if self.terrain_var == 3: self.ground_model.setTexture(self.ground_tex3, 1) self.ground_model.setScale(4) if self.terrain_var == 4: self.terrain_var = 1 if self.terrain_var == 0: self.terrain_var = 3 def next_terrain(): self.terrain_var = self.terrain_var + 1 def previous_terrain(): self.terrain_var = self.terrain_var - 1 def show_menu(): self.menu_win.show() self.a1.show() self.a2.show() self.a3.show() self.a4.show() self.t1.show() self.t2.show() self.ok.show() self.exit_button.show() def hide_menu(): self.menu_win.hide() self.a1.hide() self.a2.hide() self.a3.hide() self.a4.hide() self.ok.hide() self.t1.hide() self.t2.hide() self.exit_button.hide() def Menu(): self.menu_win = OnscreenImage(image = "Textures/menu.png", pos = (0.9,0,0), scale = (0.5)) self.menu_win.setTransparency(TransparencyAttrib.MAlpha) #The Arrow Buttons self.a1 = DirectButton(text = "<", scale = 0.2, pos = (0.55,0,0.25), command = previous_terrain) self.a2 = DirectButton(text = ">", scale = 0.2, pos = (1.15,0,0.25), command = next_terrain) self.a3 = DirectButton(text = "<", scale = 0.2, pos = (0.55,0,0.0), command = time_backward) self.a4 = DirectButton(text = ">", scale = 0.2, pos = (1.15,0,0.0), command = time_forward) #The Text self.t1 = OnscreenText(text = "Terrain", pos = (0.85,0.25,0), scale = 0.1, fg = (0.4,0.4,0.5,1)) self.t2 = OnscreenText(text = "Time", pos = (0.85,0,0), scale = 0.1, fg = (0.4,0.4,0.5,1)) #The Buttons self.ok = DirectButton(text = "Okay", scale = 0.11, pos = (0.87,0,-0.25), command = hide_menu) self.exit_button = DirectButton(text = "Quit", scale = 0.11, pos = (0.87,0,-0.42), command = sys.exit) Menu() def take_screenshot(): base.screenshot("Screenshot") def set_headlights(): if self.headlight_var == 1: Headlight1.setColor(VBase4(9.0,8.9,8.9,1)) Headlight2.setColor(VBase4(9.0,8.9,8.9,1)) if self.headlight_var == 0: Headlight1.setColor(VBase4(0,0,0,1)) Headlight2.setColor(VBase4(0,0,0,1)) def headlights(): self.headlight_var = (self.headlight_var + 1) % 2 def update_rpm(): #Simulate RPM if self.start == 1: if self.gear == 0: self.RPM = self.RPM - self.RPM / 400 else: self.RPM = self.RPM + self.carspeed / 9 self.RPM = self.RPM - self.RPM / 200 #Reset RPM to 0 when engine is off if self.start == 0: if self.RPM > 0.0: self.RPM = self.RPM - 40 if self.RPM < 10: self.RPM = 0.0 #Idle RPM power if self.start == 1: if self.RPM < 650: self.RPM = self.RPM + 4 if self.RPM < 600: self.clutch = 1 else: self.clutch = 0 #RPM limit if self.RPM > 6000: self.RPM = 6000 #Controls inputState.watchWithModifiers("F", "arrow_up") inputState.watchWithModifiers("B", "arrow_down") inputState.watchWithModifiers("L", "arrow_left") inputState.watchWithModifiers("R", "arrow_right") do = DirectObject() do.accept("escape", show_menu) do.accept("1", V1) do.accept("2", V2) do.accept("3", V3) do.accept("page_up", up) do.accept("page_down", down) do.accept("x-repeat", start_function) do.accept("x", stop_function) do.accept("p", parkingbrake) do.accept("backspace", rotate) do.accept("enter", horn) do.accept("f12", take_screenshot) do.accept("h", headlights) #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.ground_model = loader.loadModel("Models/plane.egg") self.ground_model.reparentTo(render) self.ground_model.setPos(0,0,-1) self.ground_model.setScale(3) self.ground_tex = loader.loadTexture("Textures/ground.png") self.ground_tex2 = loader.loadTexture("Textures/ground2.png") self.ground_tex3 = loader.loadTexture("Textures/ground3.png") self.ground_model.setTexture(self.ground_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(0,0,3) Car_np.setHpr(0,0,0) Car_np.node().setDeactivationEnabled(False) scene.attachRigidBody(Car_node) Car_model = loader.loadModel("Models/Car.egg") Car_model.reparentTo(Car_np) Car_tex = loader.loadTexture("Textures/Car1.png") Car_model.setTexture(Car_tex, 1) self.Car_sim = BulletVehicle(scene, Car_np.node()) self.Car_sim.setCoordinateSystem(ZUp) scene.attachVehicle(self.Car_sim) #The inside of the car Car_int = loader.loadModel("Models/inside.egg") Car_int.reparentTo(Car_np) Car_int_tex = loader.loadTexture("Textures/inside.png") Car_int.setTexture(Car_int_tex, 1) Car_int.setTransparency(TransparencyAttrib.MAlpha) #The steering wheel Sw = loader.loadModel("Models/Steering wheel.egg") Sw.reparentTo(Car_np) Sw.setPos(0.25,0,-0.025) #The first headlight Headlight1 = Spotlight("Headlight1") lens = PerspectiveLens() lens.setFov(180) Headlight1.setLens(lens) Headlight1np = render.attachNewNode(Headlight1) Headlight1np.reparentTo(Car_np) Headlight1np.setPos(-0.8,2.5,-0.5) Headlight1np.setP(-15) render.setLight(Headlight1np) #The second headlight Headlight2 = Spotlight("Headlight2") Headlight2.setLens(lens) Headlight2np = render.attachNewNode(Headlight2) Headlight2np.reparentTo(Car_np) Headlight2np.setPos(0.8,2.5,-0.5) Headlight2np.setP(-15) render.setLight(Headlight2np) #Sounds self.horn_sound = loader.loadSfx("Sounds/horn.ogg") self.start_sound = loader.loadSfx("Sounds/enginestart.ogg") self.engine_idle_sound = loader.loadSfx("Sounds/engineidle.ogg") self.engine_idle_sound.setLoop(True) self.accelerate_sound = loader.loadSfx("Sounds/enginethrottle.ogg") #Camera base.disableMouse() camera.reparentTo(Car_np) camera.setPos(0,-15,3) camera.setHpr(0,-10,0) #Wheel function def Wheel(pos, np, r, f): w = self.Car_sim.createWheel() w.setNode(np.node()) 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 w1_np = loader.loadModel("Models/Lwheel") w1_np.reparentTo(render) w1_np.setColorScale(0,6) Wheel(Point3(-1,1,-0.6), w1_np, 0.4, False) w2_np = loader.loadModel("Models/Rwheel") w2_np.reparentTo(render) w2_np.setColorScale(0,6) Wheel(Point3(-1.1,-1.2,-0.6), w2_np, 0.4, True) w3_np = loader.loadModel("Models/Lwheel") w3_np.reparentTo(render) w3_np.setColorScale(0,6) Wheel(Point3(1.1,-1,-0.6), w3_np, 0.4, True) w4_np = loader.loadModel("Models/Rwheel") w4_np.reparentTo(render) w4_np.setColorScale(0,6) Wheel(Point3(1,1,-0.6), w4_np, 0.4, False) #The engine and steering def processInput(dt): #Vehicle properties self.steeringClamp = 35.0 self.steeringIncrement = 70 engineForce = 0.0 brakeForce = 0.0 #Get the vehicle's current speed self.carspeed = self.Car_sim.getCurrentSpeedKmHour() #Engage clutch when in gear 0 if self.gear == 0: self.clutch = 1 #Slow the steering when at higher speeds self.steeringIncrement = self.steeringIncrement - self.carspeed / 1.5 #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 #Slow the car down while it's moving if self.clutch == 0: brakeForce = brakeForce + self.carspeed / 5 else: brakeForce = brakeForce + self.carspeed / 15 #Forward if self.start == 1: if inputState.isSet("F"): self.RPM = self.RPM + 35 self.accelerate_sound.play() if self.clutch == 0: if self.gear == -1: if self.carspeed > self.carmaxreversespeed: engineForce = -self.RPM / 3 if self.gear == 1: if self.carspeed < self.carmaxspeed: engineForce = self.RPM / 1 #Brake if inputState.isSet("B"): engineForce = 0.0 brakeForce = 12.0 if self.gear != 0 and self.clutch == 0: self.RPM = self.RPM - 20 #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) #Park if self.Pbrake == 1: brakeForce = 10.0 if self.gear != 0 and self. clutch == 0: self.RPM = self.RPM - 20 #Apply forces to wheels self.Car_sim.applyEngineForce(engineForce, 0); self.Car_sim.applyEngineForce(engineForce, 3); self.Car_sim.setBrake(brakeForce, 1); self.Car_sim.setBrake(brakeForce, 2); self.Car_sim.setSteeringValue(self.steering, 0); self.Car_sim.setSteeringValue(self.steering, 3); #Steering wheel Sw.setHpr(0,0,-self.steering*10) #The HUD self.gear_hud = OnscreenImage(image = "Textures/gear_hud.png", pos = (-1,0,-0.85), scale = (0.2)) self.gear_hud.setTransparency(TransparencyAttrib.MAlpha) self.gear2_hud = OnscreenImage(image = "Textures/gear2_hud.png", pos = (-1,0,-0.85), scale = (0.2)) self.gear2_hud.setTransparency(TransparencyAttrib.MAlpha) self.starter = OnscreenImage(image = "Textures/starter.png", pos = (-1.2,0,-0.85), scale = (0.15)) self.starter.setTransparency(TransparencyAttrib.MAlpha) self.park = OnscreenImage(image = "Textures/pbrake.png", pos = (-0.8,0,-0.85), scale = (0.1)) self.park.setTransparency(TransparencyAttrib.MAlpha) self.rev_counter = OnscreenImage(image = "Textures/dial.png", pos = (-1.6, 0.0, -0.70), scale = (0.6,0.6,0.4)) self.rev_counter.setTransparency(TransparencyAttrib.MAlpha) self.rev_needle = OnscreenImage(image = "Textures/needle.png", pos = (-1.6, 0.0, -0.70), scale = (0.5)) self.rev_needle.setTransparency(TransparencyAttrib.MAlpha) self.rev_text = OnscreenText(text = " ", pos = (-1.6, -0.90, 0), scale = 0.05) self.speedometer = OnscreenImage(image = "Textures/dial.png", pos = (-1.68, 0.0, -0.10), scale = (0.7,0.7,0.5)) self.speedometer.setTransparency(TransparencyAttrib.MAlpha) self.speedometer_needle = OnscreenImage(image = "Textures/needle.png", pos = (-1.68, 0.0, -0.10), scale = (0.5)) self.speedometer_needle.setTransparency(TransparencyAttrib.MAlpha) self.speedometer_text = OnscreenText(text = " ", pos = (-1.68, -0.35, 0), scale = 0.05) #Update the HUD def Update_HUD(): #Move gear selector if self.gear == -1: self.gear2_hud.setPos(-1,0,-0.785) if self.gear == 0: self.gear2_hud.setPos(-1,0,-0.85) if self.gear == 1: self.gear2_hud.setPos(-1,0,-0.91) #Rotate starter if self.start == 0: self.starter.setHpr(0,0,0) else: self.starter.setHpr(0,0,45) #Update the parking brake light if self.Pbrake == 1: self.park.setImage("Textures/pbrake2.png") self.park.setTransparency(TransparencyAttrib.MAlpha) else: self.park.setImage("Textures/pbrake.png") self.park.setTransparency(TransparencyAttrib.MAlpha) #Update the rev counter self.rev_needle.setR(self.RPM/22) rev_string = str(self.RPM)[:4] self.rev_text.setText(rev_string+" RPM") #Update the speedometer if self.carspeed > 0.0: self.speedometer_needle.setR(self.carspeed*2.5) if self.carspeed < 0.0: self.speedometer_needle.setR(-self.carspeed*2.5) speed_string = str(self.carspeed)[:3] self.speedometer_text.setText(speed_string+" KPH") #Update the program def update(task): dt = globalClock.getDt() processInput(dt) Update_HUD() set_time() set_terrain() set_headlights() update_rpm() scene.doPhysics(dt, 5, 1.0/180.0) return task.cont taskMgr.add(update, "Update")
class Game(DirectObject): def __init__(self, model): self.model = model base.setBackgroundColor(0.1, 0.1, 0.8, 1) base.setFrameRateMeter(True) base.cam.setPos(0, -20, 4) base.cam.lookAt(0, 0, 0) # Light alight = AmbientLight('ambientLight') alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) alightNP = render.attachNewNode(alight) dlight = DirectionalLight('directionalLight') dlight.setDirection(Vec3(1, 1, -1)) dlight.setColor(Vec4(0.7, 0.7, 0.7, 1)) dlightNP = render.attachNewNode(dlight) render.clearLight() render.setLight(alightNP) render.setLight(dlightNP) # Input self.accept('escape', self.doExit) self.accept('r', self.doReset) self.accept('f1', self.toggleWireframe) self.accept('f2', self.toggleTexture) self.accept('f3', self.toggleDebug) self.accept('f5', self.doScreenshot) inputState.watchWithModifiers('forward', 'w') inputState.watchWithModifiers('left', 'a') inputState.watchWithModifiers('reverse', 's') inputState.watchWithModifiers('right', 'd') inputState.watchWithModifiers('turnLeft', 'q') inputState.watchWithModifiers('turnRight', 'e') # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() # _____HANDLER_____ def doExit(self): self.cleanup() sys.exit(1) def doReset(self): self.cleanup() self.setup() def toggleWireframe(self): base.toggleWireframe() def toggleTexture(self): base.toggleTexture() def toggleDebug(self): if self.debugNP.isHidden(): self.debugNP.show() else: self.debugNP.hide() def doScreenshot(self): base.screenshot('Bullet') # ____TASK___ def calculate_moves(self): self.y = self.model.predict(self.x) self.moves = self.y > 0 # 0.5 def processInput(self, dt): engineForce = 0.0 brakeForce = 0.0 if self.moves[0]: #inputState.isSet('forward'): engineForce = 1000.0 brakeForce = 0.0 if not self.moves[0]: #inputState.isSet('reverse'): engineForce = 0.0 brakeForce = 100.0 if self.moves[1]: #inputState.isSet('turnLeft'): self.steering += dt * self.steeringIncrement self.steering = min(self.steering, self.steeringClamp) if not self.moves[1]: #inputState.isSet('turnRight'): self.steering -= dt * self.steeringIncrement self.steering = max(self.steering, -self.steeringClamp) """ if inputState.isSet('forward'): engineForce = 1000.0 brakeForce = 0.0 if inputState.isSet('reverse'): engineForce = 0.0 brakeForce = 100.0 if inputState.isSet('turnLeft'): self.steering += dt * self.steeringIncrement self.steering = min(self.steering, self.steeringClamp) if inputState.isSet('turnRight'): self.steering -= dt * self.steeringIncrement self.steering = max(self.steering, -self.steeringClamp) """ # Apply steering to front wheels self.vehicle.setSteeringValue(self.steering, 0) self.vehicle.setSteeringValue(self.steering, 1) # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(engineForce, 2) self.vehicle.applyEngineForce(engineForce, 3) self.vehicle.setBrake(brakeForce, 2) self.vehicle.setBrake(brakeForce, 3) def raycast(self): """pFrom = render.getRelativePoint(self.yugoNP,Point3(0,0,0))#Point3(0,0,0) pFrom -= Point3(0,0,pFrom[2]) pRel = render.getRelativePoint(base.cam,self.yugoNP.getPos()) # FIXME THIS IS IT!! get rid of z component pRel -= Point3(0,0,pRel[2]) p45 = Point3(pRel[0] - pRel[1], pRel[1] + pRel[0],0) pn45 = Point3(pRel[0] + pRel[1], pRel[1] - pRel[0],0) #print(render.getRelativePoint(self.yugoNP,Point3(0,0,0))) #print(dir(self.yugoNP)) pTo = [pFrom + pn45, pFrom + pRel, pFrom + p45]#[pFrom + Vec3(-10,10,0)*999,pFrom + Vec3(0,10,0)*999,pFrom + Vec3(10,10,0)*999]# FIXME should be relative to front of car, getting cloe! #self.yugoNP.getPosDelta()*99999]#[Point3(-10,10,0) * 99999,Point3(0,10,0) * 99999,Point3(10,10,0) * 99999] #self.ray = CollisionRay(0,0,0,100,0,0) result = [self.world.rayTestClosest(pFrom,pt) for pt in pTo] #print(dir(self.yugoNP)) #print(result.getHitPos()) return tuple([res.getHitPos().length() for res in result]) """#queue = CollisionHandlerQueue() #traverser.addCollider(fromObject, queue) #traverser.traverse(render) #queue.sortEntries() #for entry in queue.getEntries(): #print(entry) #print(result.getHitPos()) #if result.getNode() != None: #print(self.yugoNP.getPos(result.getNode())) #print(self.cTrav) self.cTrav.traverse(render) entries = list(self.colHandler.getEntries()) entries.sort(key=lambda y: y.getSurfacePoint(render).getY()) #for entry in entries: print(entry.getFromNodePath().getName()) if entries: # and len(result) > 1: for r in entries: if r.getIntoNodePath().getName( ) == 'Box' and r.getFromNodePath().getName() in [ 'ray%d' % i for i in range(3) ]: self.ray_col_vec_dict[ r.getFromNodePath().getName()].append( numpy.linalg.norm( list(r.getSurfacePoint( r.getFromNodePath()))[:-1])) self.ray_col_vec_dict = { k: (min(self.ray_col_vec_dict[k]) if len(self.ray_col_vec_dict[k]) >= 1 else 10000) for k in self.ray_col_vec_dict } self.x = numpy.array(list(self.ray_col_vec_dict.values())) #return entries def update(self, task): dt = globalClock.getDt() self.raycast() self.calculate_moves() self.ray_col_vec_dict = {k: [] for k in self.ray_col_vec_dict} self.processInput(dt) self.world.doPhysics(dt, 10, 0.008) #print(dir(result[1])) #print(numpy.linalg.norm(list(result[1].getSurfacePoint(result[1].getFromNodePath()))[:-1])) #base.camera.setPos(0,-40,10) #print self.vehicle.getWheel(0).getRaycastInfo().isInContact() #print self.vehicle.getWheel(0).getRaycastInfo().getContactPointWs() #print self.vehicle.getChassis().isKinematic() return task.cont def cleanup(self): self.world = None self.worldNP.removeNode() 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) """ MyEvent=CollisionHandlerFloor() MyEvent.setReach(100) MyEvent.setOffset(15.0) aNode = CollisionNode("TheRay") ray = CollisionRay() ray.setOrigin( self.boxNP.getPos() ) ray.setDirection( Vec3(10, 0, 0) ) aNode.addSolid(ray) aNodePath = MyModel.attachNewNode( aNode ) Collision = ( aNode, "TheRay" ) Collision[0].setFromCollideMask( BitMask32.bit( 1 ) ) """ def addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.25) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100.0) wheel.setRollInfluence(0.1)
class Vehicle(object): COUNT = 0 def __init__(self, bulletWorld, pos, username, isMainChar=False): self.specs = { "mass": 400.0, "maxWheelForce": 2000.0, "brakeForce": 100.0, "steeringLock": 45.0 } self.vehicleControlState = { "throttle": 0, "reverse": False, "brake": 0.0, "steering": 0.0 } self.username = username self.isMainChar = isMainChar # Steering change per second, normalised to steering lock # Eg. 45 degrees lock and 1.0 rate means 45 degrees per second self.steeringRate = 0.8 self.centreingRate = 1.2 self.pos = pos self.currentPowerups = { "powerup1": None, "powerup2": None, "powerup3": None } self.setupVehicle(bulletWorld) self.startTime = time.time() COUNT = 1 def move(self, steering, wheelForce, brakeForce, x, y, z, h, p, r): self.applyForcesAndSteering(steering, wheelForce, brakeForce) self.endTime = time.time() #print self.endTime elapsed = self.endTime - self.startTime #if elapsed > .1: #print "Set Pos Now" self.setVehiclePos(x, y, z, h, p, r) self.startTime = self.endTime #print "Do Move" def applyForcesAndSteering(self, steering, wheelForce, brakeForce): # Apply steering to front wheels self.vehicle.setSteeringValue(steering, 0) self.vehicle.setSteeringValue(steering, 1) # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(wheelForce, 2) self.vehicle.applyEngineForce(wheelForce, 3) self.vehicle.setBrake(brakeForce, 2) self.vehicle.setBrake(brakeForce, 3) def processInput(self, inputState, dt): # print self.chassisNP.getPos() #print self.chassisNP.getH() """Use controls to update the player's car""" # For keyboard throttle and brake are either 0 or 1 if inputState.isSet('forward'): self.vehicleControlState["throttle"] = 1.0 else: self.vehicleControlState["throttle"] = 0.0 velocity = self.chassisNode.getLinearVelocity() speed = math.sqrt(sum(v**2 for v in velocity)) # Update braking and reversing if inputState.isSet('brake'): if speed < 0.5 or self.vehicleControlState["reverse"]: # If we're stopped, then start reversing # Also keep reversing if we already were self.vehicleControlState["reverse"] = True self.vehicleControlState["throttle"] = 1.0 self.vehicleControlState["brake"] = 0.0 else: self.vehicleControlState["reverse"] = False self.vehicleControlState["brake"] = 1.0 else: self.vehicleControlState["reverse"] = False self.vehicleControlState["brake"] = 0.0 # steering is normalised from -1 to 1, corresponding # to the steering lock right and left steering = self.vehicleControlState["steering"] if inputState.isSet('left'): steering += dt * self.steeringRate steering = min(steering, 1.0) elif inputState.isSet('right'): steering -= dt * self.steeringRate steering = max(steering, -1.0) else: # gradually re-center the steering if steering > 0.0: steering -= dt * self.centreingRate if steering < 0.0: steering = 0.0 elif steering < 0.0: steering += dt * self.centreingRate if steering > 0.0: steering = 0.0 self.vehicleControlState["steering"] = steering # """Updates acceleration, braking and steering # These are all passed in through a controlState dictionary # """ # Update acceleration and braking wheelForce = self.vehicleControlState["throttle"] * self.specs[ "maxWheelForce"] self.reversing = self.vehicleControlState["reverse"] if self.reversing: # Make reversing a bit slower than moving forward wheelForce *= -0.5 brakeForce = self.vehicleControlState["brake"] * self.specs[ "brakeForce"] # Update steering # Steering control state is from -1 to 1 steering = self.vehicleControlState["steering"] * self.specs[ "steeringLock"] self.applyForcesAndSteering(steering, wheelForce, brakeForce) return [steering, wheelForce, brakeForce] def setVehiclePos(self, x, y, z, h, p, r): self.chassisNP.setPosHpr(x, y, z, h, p, r) 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 addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.33) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100.0) wheel.setRollInfluence(0.1) def reset(self): self.chassisNP.setP(0) self.chassisNP.setR(0) def pickedPowerup(self, powerup): if not powerup.pickable: powerup.useAbility() else: if self.currentPowerups["powerup1"] is None: self.currentPowerups["powerup1"] = powerup elif self.currentPowerups["powerup2"] is None: self.currentPowerups["powerup2"] = powerup elif self.currentPowerups["powerup3"] is None: self.currentPowerups["powerup3"] = powerup def canPickUpPowerup(self): return (self.currentPowerups["powerup1"] is None or self.currentPowerups["powerup2"] is None or self.currentPowerups["powerup3"] is None) def usePowerup(self, powerupIndex): # Move usePowerupN to this function if powerupIndex == 0 and self.currentPowerups["powerup1"] is not None: self.currentPowerups["powerup1"].useAbility() self.currentPowerups["powerup1"] = None elif powerupIndex == 1 and self.currentPowerups["powerup2"] is not None: self.currentPowerups["powerup2"].useAbility() self.currentPowerups["powerup2"] = None elif powerupIndex == 2 and self.currentPowerups["powerup3"] is not None: self.currentPowerups["powerup3"].useAbility() self.currentPowerups["powerup3"] = None
class CarEnv(DirectObject): 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() # _____HANDLER_____ def _doExit(self): sys.exit(1) def _toggleWireframe(self): base.toggleWireframe() def _toggleTexture(self): base.toggleTexture() def _doScreenshot(self): base.screenshot('Bullet') def _forward_0(self): self._des_vel = 1 self._brakeForce = 0.0 def _forward_1(self): self._des_vel = 2 self._brakeForce = 0.0 def _forward_2(self): self._des_vel = 4 self._brakeForce = 0.0 def _stop(self): self._des_vel = 0.0 self._brakeForce = 0.0 def _backward(self): self._des_vel = -4 self._brakeForce = 0.0 def _right(self): self._steering = np.min([np.max([-30, self._steering - 5]), 0.0]) def _left(self): self._steering = np.max([np.min([30, self._steering + 5]), 0.0]) def _view_image(self): from matplotlib import pyplot as plt image = self._camera_sensor.observe()[0] if self._use_depth: plt.imshow(image[:, :, 0], cmap='gray') else: import cv2 def rgb2gray(rgb): return np.dot(rgb[..., :3], [0.299, 0.587, 0.114]) image = rgb2gray(image) im = cv2.resize(image, (64, 36), interpolation=cv2.INTER_AREA ) # TODO how does this deal with aspect ratio plt.imshow(im.astype(np.uint8), cmap='Greys_r') plt.show() def _mark(self): self._mark_d = 0.0 # Setup def _setup(self): if hasattr(self, '_model_path'): # Collidable objects visNP = loader.loadModel(self._model_path) visNP.clearModelNodes() visNP.reparentTo(render) pos = (0., 0., 0.) visNP.setPos(pos[0], pos[1], pos[2]) bodyNPs = BulletHelper.fromCollisionSolids(visNP, True) for bodyNP in bodyNPs: bodyNP.reparentTo(render) bodyNP.setPos(pos[0], pos[1], pos[2]) if isinstance(bodyNP.node(), BulletRigidBodyNode): bodyNP.node().setMass(0.0) bodyNP.node().setKinematic(True) bodyNP.setCollideMask(BitMask32.allOn()) self._world.attachRigidBody(bodyNP.node()) else: ground = self._worldNP.attachNewNode(BulletRigidBodyNode('Ground')) shape = BulletPlaneShape(Vec3(0, 0, 1), 0) ground.node().addShape(shape) ground.setCollideMask(BitMask32.allOn()) self._world.attachRigidBody(ground.node()) self._place_vehicle() self._setup_light() self._setup_restart_pos() def _setup_restart_pos(self): self._restart_pos = [] self._restart_index = 0 if self._params.get('position_ranges', None) is not None: ranges = self._params['position_ranges'] num_pos = self._params['num_pos'] if self._params.get('range_type', 'random') == 'random': for _ in range(num_pos): ran = ranges[np.random.randint(len(ranges))] self._restart_pos.append(np.random.uniform(ran[0], ran[1])) elif self._params['range_type'] == 'fix_spacing': num_ran = len(ranges) num_per_ran = num_pos // num_ran for i in range(num_ran): ran = ranges[i] low = np.array(ran[0]) diff = np.array(ran[1]) - np.array(ran[0]) for j in range(num_per_ran): val = diff * ((j + 0.0) / num_per_ran) + low self._restart_pos.append(val) elif self._params.get('positions', None) is not None: self._restart_pos = self._params['positions'] else: self._restart_pos = self._default_restart_pos() def _next_restart_pos_hpr(self): num = len(self._restart_pos) if num == 0: return None, None else: pos_hpr = self._restart_pos[self._restart_index] self._restart_index = (self._restart_index + 1) % num return pos_hpr[:3], pos_hpr[3:] def _next_random_restart_pos_hpr(self): num = len(self._restart_pos) if num == 0: return None, None else: index = np.random.randint(num) pos_hpr = self._restart_pos[index] self._restart_index = (self._restart_index + 1) % num return pos_hpr[:3], pos_hpr[3:] def _setup_light(self): alight = AmbientLight('ambientLight') alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) alightNP = render.attachNewNode(alight) render.clearLight() render.setLight(alightNP) # Vehicle def _default_pos(self): return (0.0, 0.0, 0.3) def _default_hpr(self): return (0.0, 0.0, 3.14) def _default_restart_pos(): return [self._default_pos() + self._default_hpr()] def _get_speed(self): vel = self._vehicle.getCurrentSpeedKmHour() / 3.6 return vel def _update(self, dt=1.0, coll_check=True): self._vehicle.setSteeringValue(self._steering, 0) self._vehicle.setSteeringValue(self._steering, 1) self._vehicle.setBrake(self._brakeForce, 0) self._vehicle.setBrake(self._brakeForce, 1) self._vehicle.setBrake(self._brakeForce, 2) self._vehicle.setBrake(self._brakeForce, 3) if dt >= self._step: # TODO maybe change number of timesteps for i in range(int(dt / self._step)): if self._des_vel is not None: vel = self._get_speed() err = self._des_vel - vel d_err = (err - self._last_err) / self._step self._last_err = err self._engineForce = np.clip( self._p * err + self._d * d_err, -self._accelClamp, self._accelClamp) * self._mass self._vehicle.applyEngineForce(self._engineForce, 0) self._vehicle.applyEngineForce(self._engineForce, 1) self._vehicle.applyEngineForce(self._engineForce, 2) self._vehicle.applyEngineForce(self._engineForce, 3) self._world.doPhysics(self._step, 1, self._step) self._collision = self._is_contact() elif self._run_as_task: self._curr_time += dt if self._curr_time > 0.05: if self._des_vel is not None: vel = self._get_speed() self._mark_d += vel * self._curr_time print(vel, self._mark_d, self._is_contact()) err = self._des_vel - vel d_err = (err - self._last_err) / 0.05 self._last_err = err self._engineForce = np.clip( self._p * err + self._d * d_err, -self._accelClamp, self._accelClamp) * self._mass self._curr_time = 0.0 self._vehicle.applyEngineForce(self._engineForce, 0) self._vehicle.applyEngineForce(self._engineForce, 1) self._vehicle.applyEngineForce(self._engineForce, 2) self._vehicle.applyEngineForce(self._engineForce, 3) self._world.doPhysics(dt, 1, dt) self._collision = self._is_contact() else: raise ValueError( "dt {0} s is too small for velocity control".format(dt)) def _stop_car(self): self._steering = 0.0 self._engineForce = 0.0 self._vehicle.setSteeringValue(0.0, 0) self._vehicle.setSteeringValue(0.0, 1) self._vehicle.applyEngineForce(0.0, 0) self._vehicle.applyEngineForce(0.0, 1) self._vehicle.applyEngineForce(0.0, 2) self._vehicle.applyEngineForce(0.0, 3) if self._des_vel is not None: self._des_vel = 0 self._vehicle_node.setLinearVelocity(Vec3(0.0, 0.0, 0.0)) self._vehicle_node.setAngularVelocity(Vec3(0.0, 0.0, 0.0)) for i in range(self._vehicle.getNumWheels()): wheel = self._vehicle.getWheel(i) wheel.setRotation(0.0) self._vehicle_node.clearForces() def _place_vehicle(self, pos=None, hpr=None): if pos is None: pos = self._default_pos() if hpr is None: hpr = self._default_hpr() self._vehicle_pointer.setPos(pos[0], pos[1], pos[2]) self._vehicle_pointer.setHpr(hpr[0], hpr[1], hpr[2]) self._stop_car() def _addWheel(self, pos, front, radius=0.25): wheel = self._vehicle.createWheel() wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(radius) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(1e2) wheel.setRollInfluence(0.1) # Task def _update_task(self, task): dt = globalClock.getDt() self._update(dt=dt) self._get_observation() return task.cont # Helper functions def _get_observation(self): self._obs = self._camera_sensor.observe() observation = [] observation.append(self._obs[0]) if self._use_back_cam: self._back_obs = self._back_camera_sensor.observe() observation.append(self._back_obs[0]) observation = np.concatenate(observation, axis=2) return observation def _get_reward(self): reward = self._collision_reward if self._collision else self._get_speed( ) return reward def _get_done(self): return self._collision def _get_info(self): info = {} info['pos'] = np.array(self._vehicle_pointer.getPos()) info['hpr'] = np.array(self._vehicle_pointer.getHpr()) info['vel'] = self._get_speed() info['coll'] = self._collision return info def _back_up(self): assert (self._use_vel) back_up_vel = self._params['back_up'].get('vel', -2.0) self._des_vel = back_up_vel back_up_steer = self._params['back_up'].get('steer', (-5.0, 5.0)) # TODO self._steering = np.random.uniform(*back_up_steer) self._brakeForce = 0. duration = self._params['back_up'].get('duration', 1.0) self._update(dt=duration) self._des_vel = 0.0 self._steering = 0.0 self._update(dt=duration) self._brakeForce = 0. def _is_contact(self): result = self._world.contactTest(self._vehicle_node) num_contacts = result.getNumContacts() return result.getNumContacts() > 0 # Environment functions def reset(self, pos=None, hpr=None, hard_reset=False, random_reset=False): if self._do_back_up and not hard_reset and \ pos is None and hpr is None: if self._collision: self._back_up() else: if pos is None and hpr is None: if random_reset: pos, hpr = self._next_random_restart_pos_hpr() else: pos, hpr = self._next_restart_pos_hpr() self._place_vehicle(pos=pos, hpr=hpr) self._collision = False return self._get_observation() def step(self, action): self._steering = action[0] if action[1] == 0.0: self._brakeForce = 1000. else: self._brakeForce = 0. if self._use_vel: # Convert from m/s to km/h self._des_vel = action[1] else: self._engineForce = self._engineClamp * \ ((action[1] - 49.5) / 49.5) self._update(dt=self._dt) observation = self._get_observation() reward = self._get_reward() done = self._get_done() info = self._get_info() return observation, reward, done, info
class Vehicle(object): def __init__(self, positionHpr, render, world, base): self.base = base loader = base.loader position, hpr = positionHpr vehicleType = "yugo" self.vehicleDir = "data/vehicles/" + vehicleType + "/" # Load vehicle description and specs with open(self.vehicleDir + "vehicle.json") as vehicleData: data = json.load(vehicleData) self.specs = data["specs"] # Chassis for collisions and mass uses a simple box shape halfExtents = (0.5 * dim for dim in self.specs["dimensions"]) shape = BulletBoxShape(Vec3(*halfExtents)) ts = TransformState.makePos(Point3(0, 0, 0.5)) self.rigidNode = BulletRigidBodyNode("vehicle") self.rigidNode.addShape(shape, ts) self.rigidNode.setMass(self.specs["mass"]) self.rigidNode.setDeactivationEnabled(False) self.np = render.attachNewNode(self.rigidNode) self.np.setPos(position) self.np.setHpr(hpr) world.attachRigidBody(self.rigidNode) # Vehicle physics model self.vehicle = BulletVehicle(world, self.rigidNode) self.vehicle.setCoordinateSystem(ZUp) world.attachVehicle(self.vehicle) # Vehicle graphical model self.vehicleNP = loader.loadModel(self.vehicleDir + "car.egg") self.vehicleNP.reparentTo(self.np) # Create wheels wheelPos = self.specs["wheelPositions"] for fb, y in (("F", wheelPos[1]), ("B", -wheelPos[1])): for side, x in (("R", wheelPos[0]), ("L", -wheelPos[0])): np = loader.loadModel(self.vehicleDir + "tire%s.egg" % side) np.reparentTo(render) isFront = fb == "F" self.addWheel(Point3(x, y, wheelPos[2]), isFront, np) def addWheel(self, position, isFront, np): wheel = self.vehicle.createWheel() wheelSpecs = self.specs["wheels"] wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(position) wheel.setFrontWheel(isFront) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(wheelSpecs["radius"]) wheel.setMaxSuspensionTravelCm(wheelSpecs["suspensionTravel"] * 100.0) wheel.setSuspensionStiffness(wheelSpecs["suspensionStiffness"]) wheel.setWheelsDampingRelaxation(wheelSpecs["dampingRelaxation"]) wheel.setWheelsDampingCompression(wheelSpecs["dampingCompression"]) wheel.setFrictionSlip(wheelSpecs["frictionSlip"]) wheel.setRollInfluence(wheelSpecs["rollInfluence"]) def initialiseSound(self, audioManager): """Start the engine sound and set collision sounds""" # Set sounds to play for collisions self.collisionSound = CollisionSound( nodePath=self.np, sounds=["data/sounds/09.wav"], thresholdForce=600.0, maxForce=800000.0 ) self.engineSound = audioManager.loadSfx(self.vehicleDir + "engine.wav") audioManager.attachSoundToObject(self.engineSound, self.np) self.engineSound.setLoop(True) self.engineSound.setPlayRate(0.6) self.engineSound.play() self.gearSpacing = self.specs["sound"]["maxExpectedRotationRate"] / self.specs["sound"]["numberOfGears"] self.reversing = False def updateSound(self, dt): """Use vehicle speed to update sound pitch""" soundSpecs = self.specs["sound"] # Use rear wheel rotation speed as some measure of engine revs wheels = (self.vehicle.getWheel(idx) for idx in (2, 3)) # wheelRate is in degrees per second wheelRate = 0.5 * abs(sum(w.getDeltaRotation() / dt for w in wheels)) # Calculate which gear we're in, and what the normalised revs are if self.reversing: numberOfGears = 1 else: numberOfGears = self.specs["sound"]["numberOfGears"] gear = min(int(wheelRate / self.gearSpacing), numberOfGears - 1) posInGear = (wheelRate - gear * self.gearSpacing) / self.gearSpacing targetPlayRate = 0.6 + posInGear * (1.5 - 0.6) currentRate = self.engineSound.getPlayRate() self.engineSound.setPlayRate(0.8 * currentRate + 0.2 * targetPlayRate) def updateControl(self, controlState, dt): """Updates acceleration, braking and steering These are all passed in through a controlState dictionary """ # Update acceleration and braking wheelForce = controlState["throttle"] * self.specs["maxWheelForce"] self.reversing = controlState["reverse"] if self.reversing: # Make reversing a bit slower than moving forward wheelForce *= -0.5 brakeForce = controlState["brake"] * self.specs["brakeForce"] # Update steering # Steering control state is from -1 to 1 steering = controlState["steering"] * self.specs["steeringLock"] # Apply steering to front wheels self.vehicle.setSteeringValue(steering, 0) self.vehicle.setSteeringValue(steering, 1) # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(wheelForce, 2) self.vehicle.applyEngineForce(wheelForce, 3) self.vehicle.setBrake(brakeForce, 2) self.vehicle.setBrake(brakeForce, 3)
class Vehicle(object): COUNT = 0 def __init__(self, main, username, pos = LVecBase3(-5, -5, 1), isCurrentPlayer = False, carId=3): self.username = username self.main = main self.isCurrentPlayer = isCurrentPlayer self.boostCount = 0 self.boostActive = False self.boostStep = 2 self.boostDuration = 0 self.moveStartTime = self.startTime = self.boostStartTime = time.time() self.pos = pos self.boostFactor = 1.2 self.specs = {"mass": 800.0, "maxWheelForce": 2000.0, "brakeForce": 100.0, "steeringLock": 45.0, "maxSpeed": 33.0, "maxReverseSpeed": 10.0} self.vehicleControlState = {"throttle": 0, "reverse": False, "brake": 0.0, "steering": 0.0, "health": 1} # Steering change per second, normalised to steering lock # Eg. 45 degrees lock and 1.0 rate means 45 degrees per second self.steeringRate = 0.8 self.centreingRate = 1.2 self.speed = 0 self.setupVehicle(main) self.props = VehicleProps(carId) self.currentPowerups = {"powerup1": None, "powerup2": None, "powerup3": None} if isCurrentPlayer: #This command is required for Panda to render particles base.enableParticles() self.p = ParticleEffect() # self.loadParticleConfig('steam.ptf') def setPropHealth(self, health): self.props.setHealth(health) if not self.isCurrentPlayer: self.main.updateStatusBars(self.username, self.props.health) def loadParticleConfig(self, file): #Start of the code from steam.ptf self.p.cleanup() self.p = ParticleEffect() self.p.loadConfig(Filename(file)) # print type(main.worldNp) self.p.softStart() self.p.start(self.yugoNP) # self.p.setPos(0.000, -0.700, 0.250) self.p.setPos(0.000, -0.700, 0) #self.setupVehicle(bulletWorld) self.startTime = time.time() #COUNT = 1 def move(self, steering, wheelForce, brakeForce, x, y, z, h, p, r): self.applyForcesAndSteering(steering, wheelForce, brakeForce) self.endTime = time.time() #print self.endTime elapsed = self.endTime - self.moveStartTime #self.startTime = self.endTime #if elapsed > 1: self.moveStartTime = self.endTime if not self.isCurrentPlayer: self.setVehiclePos(x, y, z, h, p, r) #print "Do Move" def applyForcesAndSteering(self, steering, wheelForce, brakeForce): # Apply steering to front wheels self.vehicle.setSteeringValue(steering, 0); self.vehicle.setSteeringValue(steering, 1); # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(wheelForce, 2); self.vehicle.applyEngineForce(wheelForce, 3); self.vehicle.setBrake(brakeForce, 2); self.vehicle.setBrake(brakeForce, 3); def addBoost(self): if self.boostCount > 0: self.boostCount -= 1 if not self.boostActive: self.boostStartTime = time.time() self.boostActive = True self.boostDuration += self.boostStep def checkDisableBoost(self): if time.time() - self.boostStartTime > self.boostDuration: self.boostActive = False def reset(self): self.chassisNP.setP(0) self.chassisNP.setR(0) def processInput(self, inputState, dt): # print self.chassisNP.getPos() #print self.chassisNP.getH() """Use controls to update the player's car""" # For keyboard throttle and brake are either 0 or 1 self.checkDisableBoost() if inputState.isSet('forward'): self.vehicleControlState["throttle"] = 1.0 else: self.vehicleControlState["throttle"] = 0.0 velocity = self.chassisNode.getLinearVelocity() speed = math.sqrt(sum(v ** 2 for v in velocity)) self.speed = speed # Update braking and reversing if inputState.isSet('brake'): if speed < 0.5 or self.vehicleControlState["reverse"]: # If we're stopped, then start reversing # Also keep reversing if we already were self.vehicleControlState["reverse"] = True self.vehicleControlState["throttle"] = 1.0 self.vehicleControlState["brake"] = 0.0 else: self.vehicleControlState["reverse"] = False self.vehicleControlState["brake"] = 1.0 else: self.vehicleControlState["reverse"] = False self.vehicleControlState["brake"] = 0.0 # steering is normalised from -1 to 1, corresponding # to the steering lock right and left steering = self.vehicleControlState["steering"] if inputState.isSet('left'): steering += dt * self.steeringRate steering = min(steering, 1.0) elif inputState.isSet('right'): steering -= dt * self.steeringRate steering = max(steering, -1.0) else: # gradually re-center the steering if steering > 0.0: steering -= dt * self.centreingRate if steering < 0.0: steering = 0.0 elif steering < 0.0: steering += dt * self.centreingRate if steering > 0.0: steering = 0.0 self.vehicleControlState["steering"] = steering # """Updates acceleration, braking and steering # These are all passed in through a controlState dictionary # """ # Update acceleration and braking self.reversing = self.vehicleControlState["reverse"] brakeForce = self.vehicleControlState["brake"] * self.specs["brakeForce"] if self.reversing and self.speed > self.specs["maxReverseSpeed"]: self.applyForcesAndSteering(steering, 0, brakeForce) return if not self.reversing and self.speed > self.specs["maxSpeed"]: self.applyForcesAndSteering(steering, 0, brakeForce) return wheelForce = self.vehicleControlState["throttle"] * self.specs["maxWheelForce"] if self.reversing: # Make reversing a bit slower than moving forward wheelForce *= -0.5 # Update steering # Steering control state is from -1 to 1 steering = self.vehicleControlState["steering"] * self.specs["steeringLock"] if self.boostActive: wheelForce *= self.boostFactor self.applyForcesAndSteering(steering, wheelForce, brakeForce) return [steering, wheelForce, brakeForce] def getSpeed(self): velocity = self.chassisNode.getLinearVelocity() speed = math.sqrt(sum(v ** 2 for v in velocity)) return speed, speed/self.specs["maxSpeed"] def getBoost(self): maxBoost = 3.0 currentScaledBoost = self.boostCount / maxBoost return currentScaledBoost def updateHealth(self, damage): self.vehicleControlState["health"] -= 0.25 if self.vehicleControlState["health"] <= 0.0: self.killVehicle("Lost health") def killVehicle(self, reason = ""): print "Sent request to server for killing this player because: ", reason def updateMovement(self, move, dt): """Use controls to update the player's car""" # For keyboard throttle and brake are either 0 or 1 if move == 'f': self.vehicleControlState["throttle"] = 1.0 else: self.vehicleControlState["throttle"] = 0.0 velocity = self.chassisNode.getLinearVelocity() speed = math.sqrt(sum(v ** 2 for v in velocity)) # Update braking and reversing if move == 'b': if speed < 0.5 or self.vehicleControlState["reverse"]: # If we're stopped, then start reversing # Also keep reversing if we already were self.vehicleControlState["reverse"] = True self.vehicleControlState["throttle"] = 1.0 self.vehicleControlState["brake"] = 0.0 else: self.vehicleControlState["reverse"] = False self.vehicleControlState["brake"] = 1.0 else: self.vehicleControlState["reverse"] = False self.vehicleControlState["brake"] = 0.0 # steering is normalised from -1 to 1, corresponding # to the steering lock right and left steering = self.vehicleControlState["steering"] if move == 'l': steering += dt * self.steeringRate steering = min(steering, 1.0) elif move == 'r': steering -= dt * self.steeringRate steering = max(steering, -1.0) else: # gradually re-center the steering if steering > 0.0: steering -= dt * self.centreingRate if steering < 0.0: steering = 0.0 elif steering < 0.0: steering += dt * self.centreingRate if steering > 0.0: steering = 0.0 self.vehicleControlState["steering"] = steering # """Updates acceleration, braking and steering # These are all passed in through a controlState dictionary # """ # Update acceleration and braking wheelForce = self.vehicleControlState["throttle"] * self.specs["maxWheelForce"] self.reversing = self.vehicleControlState["reverse"] if self.reversing: # Make reversing a bit slower than moving forward wheelForce *= -0.5 brakeForce = self.vehicleControlState["brake"] * self.specs["brakeForce"] # Update steering # Steering control state is from -1 to 1 steering = self.vehicleControlState["steering"] * self.specs["steeringLock"] self.applyForcesAndSteering(steering, wheelForce, brakeForce) return [steering, wheelForce, brakeForce] def setVehiclePos(self, x,y, z, h, p, r): #self.chassisNP.setX(x) #self.chassisNP.setY(y) #self.chassisNP.setP(p) #self.chassisNP.setR(r) self.chassisNP.setPosHpr(x, y, z, h, p, r) return def setupVehicle(self, main): scale = 0.5 # Chassis shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5)) ts = TransformState.makePos(Point3(0, 0, 0.5 * scale)) name = self.username self.chassisNode = BulletRigidBodyNode(name) self.chassisNode.setTag('username', str(name)) self.chassisNP = main.worldNP.attachNewNode(self.chassisNode) self.chassisNP.setName(str(name)) self.chassisNP.node().addShape(shape, ts) self.chassisNP.setScale(scale) self.chassisNP.setPos(self.pos) if self.isCurrentPlayer: self.chassisNP.node().notifyCollisions(True) self.chassisNP.node().setMass(800.0) else: self.chassisNP.node().notifyCollisions(True) self.chassisNP.node().setMass(400.0) self.chassisNP.node().setDeactivationEnabled(False) main.world.attachRigidBody(self.chassisNP.node()) #np.node().setCcdSweptSphereRadius(1.0) #np.node().setCcdMotionThreshold(1e-7) # Vehicle self.vehicle = BulletVehicle(main.world, self.chassisNP.node()) self.vehicle.setCoordinateSystem(ZUp) main.world.attachVehicle(self.vehicle) self.yugoNP = loader.loadModel('models/yugo/yugo.egg') self.yugoNP.reparentTo(self.chassisNP) #self.carNP = loader.loadModel('models/batmobile-chassis.egg') #self.yugoNP.setScale(.7) #self.carNP.reparentTo(self.chassisNP) # Right front wheel np = loader.loadModel('models/yugo/yugotireR.egg') np.reparentTo(main.worldNP) self.addWheel(Point3( 0.70 * scale, 1.05 * scale, 0.3), True, np) # Left front wheel np = loader.loadModel('models/yugo/yugotireL.egg') np.reparentTo(main.worldNP) self.addWheel(Point3(-0.70 * scale, 1.05 * scale, 0.3), True, np) # Right rear wheel np = loader.loadModel('models/yugo/yugotireR.egg') np.reparentTo(main.worldNP) self.addWheel(Point3( 0.70 * scale, -1.05 * scale, 0.3), False, np) # Left rear wheel np = loader.loadModel('models/yugo/yugotireL.egg') np.reparentTo(main.worldNP) self.addWheel(Point3(-0.70 * scale, -1.05 * scale, 0.3), False, np) def addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.25) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100.0); wheel.setRollInfluence(0.1) def reset(self): #self.chassisNP.setP(0) #self.chassisNP.setR(0) #print "kegwe", self.chassisNP.getX(),self.chassisNP.getY(),self.chassisNP.getZ(),self.chassisNP.getH(),0,0 self.chassisNP.setPosHpr(self.chassisNP.getX(),self.chassisNP.getY(),self.chassisNP.getZ(),self.chassisNP.getH(),0,0) def pickedPowerup(self, powerup): if not powerup.pickable: powerup.useAbility() else: if self.currentPowerups["powerup1"] is None: self.currentPowerups["powerup1"] = powerup elif self.currentPowerups["powerup2"] is None: self.currentPowerups["powerup2"] = powerup elif self.currentPowerups["powerup3"] is None: self.currentPowerups["powerup3"] = powerup def canPickUpPowerup(self): return (self.currentPowerups["powerup1"] is None or self.currentPowerups["powerup2"] is None or self.currentPowerups["powerup3"] is None) def usePowerup(self, powerupIndex): # Move usePowerupN to this function if powerupIndex == 0 and self.currentPowerups["powerup1"] is not None: self.currentPowerups["powerup1"].useAbility() self.currentPowerups["powerup1"] = None elif powerupIndex == 1 and self.currentPowerups["powerup2"] is not None: self.currentPowerups["powerup2"].useAbility() self.currentPowerups["powerup2"] = None elif powerupIndex == 2 and self.currentPowerups["powerup3"] is not None: self.currentPowerups["powerup3"].useAbility() self.currentPowerups["powerup3"] = None
class Game(DirectObject): def __init__(self): base.setBackgroundColor(0.1, 0.1, 0.8, 1) base.setFrameRateMeter(True) base.cam.setPos(0, -20, 4) base.cam.lookAt(0, 0, 0) # Light alight = AmbientLight('ambientLight') alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) alightNP = render.attachNewNode(alight) dlight = DirectionalLight('directionalLight') dlight.setDirection(Vec3(1, 1, -1)) dlight.setColor(Vec4(0.7, 0.7, 0.7, 1)) dlightNP = render.attachNewNode(dlight) render.clearLight() render.setLight(alightNP) render.setLight(dlightNP) # Input self.accept('escape', self.doExit) self.accept('r', self.doReset) self.accept('f1', self.toggleWireframe) self.accept('f2', self.toggleTexture) self.accept('f3', self.toggleDebug) self.accept('f5', self.doScreenshot) inputState.watchWithModifiers('forward', 'w') inputState.watchWithModifiers('left', 'a') inputState.watchWithModifiers('reverse', 's') inputState.watchWithModifiers('right', 'd') inputState.watchWithModifiers('turnLeft', 'q') inputState.watchWithModifiers('turnRight', 'e') # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() # _____HANDLER_____ def doExit(self): self.cleanup() sys.exit(1) def doReset(self): self.cleanup() self.setup() def toggleWireframe(self): base.toggleWireframe() def toggleTexture(self): base.toggleTexture() def toggleDebug(self): if self.debugNP.isHidden(): self.debugNP.show() else: self.debugNP.hide() def doScreenshot(self): base.screenshot('Bullet') # ____TASK___ def processInput(self, dt): engineForce = 0.0 brakeForce = 0.0 if inputState.isSet('forward'): engineForce = 1000.0 brakeForce = 0.0 if inputState.isSet('reverse'): engineForce = 0.0 brakeForce = 100.0 if inputState.isSet('turnLeft'): self.steering += dt * self.steeringIncrement self.steering = min(self.steering, self.steeringClamp) if inputState.isSet('turnRight'): self.steering -= dt * self.steeringIncrement self.steering = max(self.steering, -self.steeringClamp) # Apply steering to front wheels self.vehicle.setSteeringValue(self.steering, 0) self.vehicle.setSteeringValue(self.steering, 1) # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(engineForce, 2) self.vehicle.applyEngineForce(engineForce, 3) self.vehicle.setBrake(brakeForce, 2) self.vehicle.setBrake(brakeForce, 3) def update(self, task): dt = globalClock.getDt() self.processInput(dt) self.world.doPhysics(dt, 10, 0.008) #print self.vehicle.getWheel(0).getRaycastInfo().isInContact() #print self.vehicle.getWheel(0).getRaycastInfo().getContactPointWs() #print self.vehicle.getChassis().isKinematic() return task.cont def cleanup(self): self.world = None self.worldNP.removeNode() 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 addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.25) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100.0) wheel.setRollInfluence(0.1)
class Game(DirectObject): def __init__(self): base.setBackgroundColor(0.1, 0.1, 0.8, 1) base.setFrameRateMeter(True) base.cam.setPos(0, -20, 4) base.cam.lookAt(0, 0, 0) # Light alight = AmbientLight('ambientLight') alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) alightNP = render.attachNewNode(alight) dlight = DirectionalLight('directionalLight') dlight.setDirection(Vec3(1, 1, -1)) dlight.setColor(Vec4(0.7, 0.7, 0.7, 1)) dlightNP = render.attachNewNode(dlight) render.clearLight() render.setLight(alightNP) render.setLight(dlightNP) # Input self.accept('escape', self.doExit) self.accept('r', self.doReset) self.accept('f1', self.toggleWireframe) self.accept('f2', self.toggleTexture) self.accept('f3', self.toggleDebug) self.accept('f5', self.doScreenshot) inputState.watchWithModifiers('forward', 'w') inputState.watchWithModifiers('left', 'a') inputState.watchWithModifiers('reverse', 's') inputState.watchWithModifiers('right', 'd') inputState.watchWithModifiers('turnLeft', 'q') inputState.watchWithModifiers('turnRight', 'e') # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() # _____HANDLER_____ def doExit(self): self.cleanup() sys.exit(1) def doReset(self): self.cleanup() self.setup() def toggleWireframe(self): base.toggleWireframe() def toggleTexture(self): base.toggleTexture() def toggleDebug(self): if self.debugNP.isHidden(): self.debugNP.show() else: self.debugNP.hide() def doScreenshot(self): base.screenshot('Bullet') # ____TASK___ def processInput(self, dt): engineForce = 0.0 brakeForce = 0.0 if inputState.isSet('forward'): engineForce = 1000.0 brakeForce = 0.0 if inputState.isSet('reverse'): engineForce = 0.0 brakeForce = 100.0 if inputState.isSet('turnLeft'): self.steering += dt * self.steeringIncrement self.steering = min(self.steering, self.steeringClamp) if inputState.isSet('turnRight'): self.steering -= dt * self.steeringIncrement self.steering = max(self.steering, -self.steeringClamp) # Apply steering to front wheels self.vehicle.setSteeringValue(self.steering, 0); self.vehicle.setSteeringValue(self.steering, 1); # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(engineForce, 2); self.vehicle.applyEngineForce(engineForce, 3); self.vehicle.setBrake(brakeForce, 2); self.vehicle.setBrake(brakeForce, 3); def update(self, task): dt = globalClock.getDt() self.processInput(dt) self.world.doPhysics(dt, 10, 0.008) #print self.vehicle.getWheel(0).getRaycastInfo().isInContact() #print self.vehicle.getWheel(0).getRaycastInfo().getContactPointWs() #print self.vehicle.getChassis().isKinematic() return task.cont def cleanup(self): self.world = None self.worldNP.removeNode() 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('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) # Steering info self.steering = 0.0 # degree self.steeringClamp = 45.0 # degree self.steeringIncrement = 120.0 # degree per second def addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.25) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100.0); wheel.setRollInfluence(0.1)
class CarPhys(Phys): def __init__(self, mdt, carphys_props): Phys.__init__(self, mdt) self.pnode = None self.vehicle = None self.curr_speed_factor = 1.0 self.__prev_speed = 0 self.__finds = {} # cache for find's results self.props = carphys_props self._load_phys() self.__set_collision_mesh() self.__set_phys_node() self.__set_vehicle() self.__set_wheels() eng.attach_obs(self.on_end_frame) def _load_phys(self): fpath = self.props.phys_file % self.mdt.name with open(fpath) as phys_file: # pass phys props as a class self.cfg = load(phys_file) self.cfg['max_speed'] = self.get_speed() self.cfg['friction_slip'] = self.get_friction() self.cfg['roll_influence'] = self.get_roll_influence() s_a = (self.mdt.name, round(self.cfg['max_speed'], 2), self.props.driver_engine) LogMgr().log('speed %s: %s (%s)' % s_a) fr_slip = round(self.cfg['friction_slip'], 2) f_a = (self.mdt.name, fr_slip, self.props.driver_tires) LogMgr().log('friction %s: %s (%s)' % f_a) r_a = (self.mdt.name, round(self.cfg['roll_influence'], 2), self.props.driver_suspensions) LogMgr().log('roll %s: %s (%s)' % r_a) s_a = lambda field: setattr(self, field, self.cfg[field]) map(s_a, self.cfg.keys()) def __set_collision_mesh(self): fpath = self.props.coll_path % self.mdt.name self.coll_mesh = loader.loadModel(fpath) chassis_shape = BulletConvexHullShape() for geom in PhysMgr().find_geoms(self.coll_mesh, self.props.coll_name): chassis_shape.addGeom(geom.node().getGeom(0), geom.getTransform()) self.mdt.gfx.nodepath.node().addShape(chassis_shape) self.mdt.gfx.nodepath.setCollideMask( BitMask32.bit(1) | BitMask32.bit(2 + self.props.cars.index(self.mdt.name))) #nodepath = self.mdt.gfx.nodepath.attachNewNode(BulletGhostNode('car ghost')) #nodepath.node().addShape(BulletCapsuleShape(4, 5, ZUp)) #eng.attach_ghost(nodepath.node()) #nodepath.node().notifyCollisions(False) def __set_phys_node(self): self.pnode = self.mdt.gfx.nodepath.node() self.pnode.setMass(self.mass) self.pnode.setDeactivationEnabled(False) PhysMgr().attach_rigid_body(self.pnode) PhysMgr().add_collision_obj(self.pnode) 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 __set_wheels(self): fwheel_bounds = self.mdt.gfx.wheels['fr'].get_tight_bounds() f_radius = (fwheel_bounds[1][2] - fwheel_bounds[0][2]) / 2.0 + .01 rwheel_bounds = self.mdt.gfx.wheels['rr'].get_tight_bounds() r_radius = (rwheel_bounds[1][2] - rwheel_bounds[0][2]) / 2.0 + .01 ffr = self.coll_mesh.find('**/' + self.props.wheel_names[0][0]) ffl = self.coll_mesh.find('**/' + self.props.wheel_names[0][1]) rrr = self.coll_mesh.find('**/' + self.props.wheel_names[0][2]) rrl = self.coll_mesh.find('**/' + self.props.wheel_names[0][3]) meth = self.coll_mesh.find fr_node = ffr if ffr else meth('**/' + self.props.wheel_names[1][0]) fl_node = ffl if ffl else meth('**/' + self.props.wheel_names[1][1]) rr_node = rrr if rrr else meth('**/' + self.props.wheel_names[1][2]) rl_node = rrl if rrl else meth('**/' + self.props.wheel_names[1][3]) wheel_fr_pos = fr_node.get_pos() + (0, 0, f_radius) wheel_fl_pos = fl_node.get_pos() + (0, 0, f_radius) wheel_rr_pos = rr_node.get_pos() + (0, 0, r_radius) wheel_rl_pos = rl_node.get_pos() + (0, 0, r_radius) frw = self.mdt.gfx.wheels['fr'] flw = self.mdt.gfx.wheels['fl'] rrw = self.mdt.gfx.wheels['rr'] rlw = self.mdt.gfx.wheels['rl'] wheels_info = [(wheel_fr_pos, True, frw, f_radius), (wheel_fl_pos, True, flw, f_radius), (wheel_rr_pos, False, rrw, r_radius), (wheel_rl_pos, False, rlw, r_radius)] for (pos, front, nodepath, radius) in wheels_info: self.__add_wheel(pos, front, nodepath.node(), radius) def __add_wheel(self, pos, front, node, radius): whl = self.vehicle.createWheel() whl.setNode(node) whl.setChassisConnectionPointCs(LPoint3f(*pos)) whl.setFrontWheel(front) whl.setWheelDirectionCs((0, 0, -1)) whl.setWheelAxleCs((1, 0, 0)) whl.setWheelRadius(radius) whl.setSuspensionStiffness(self.suspension_stiffness) whl.setWheelsDampingRelaxation(self.wheels_damping_relaxation) whl.setWheelsDampingCompression(self.wheels_damping_compression) whl.setFrictionSlip(self.friction_slip) # high -> more adherence whl.setRollInfluence(self.roll_influence) # low -> more stability whl.setMaxSuspensionForce(self.max_suspension_force) whl.setMaxSuspensionTravelCm(self.max_suspension_travel_cm) whl.setSkidInfo(self.skid_info) @property def lateral_force(self): vel = self.vehicle.get_chassis().get_linear_velocity() vel.normalize() dir = self.mdt.logic.car_vec lat = dir.dot(vel) lat_force = 0 if lat > .5: lat_force = min(1, (lat - 1.0) / -.2) return lat_force @property def is_flying(self): # no need to be cached rays = [whl.getRaycastInfo() for whl in self.vehicle.get_wheels()] return not any(ray.isInContact() for ray in rays) @property def prev_speed(self): return self.__prev_speed @property def prev_speed_ratio(self): return max(0, min(1.0, self.prev_speed / self.max_speed)) def on_end_frame(self): self.__prev_speed = self.speed @property def speed(self): if self.mdt.fsm.getCurrentOrNextState() == 'Countdown': return 0 # getCurrentSpeedKmHour returns odd values otherwise return self.vehicle.getCurrentSpeedKmHour() @property def speed_ratio(self): return max(0, min(1.0, self.speed / self.max_speed)) def set_forces(self, eng_frc, brake_frc, steering): self.vehicle.setSteeringValue(steering, 0) self.vehicle.setSteeringValue(steering, 1) self.vehicle.applyEngineForce(eng_frc, 2) self.vehicle.applyEngineForce(eng_frc, 3) self.vehicle.setBrake(brake_frc, 2) self.vehicle.setBrake(brake_frc, 3) def update_car_props(self): speeds = [] for whl in self.vehicle.get_wheels(): contact_pt = whl.get_raycast_info().getContactPointWs() gnd_name = self.gnd_name(contact_pt) if not gnd_name: continue if gnd_name not in self.__finds: gnd = self.props.track_phys.find('**/' + gnd_name) self.__finds[gnd_name] = gnd gfx_node = self.__finds[gnd_name] if gfx_node.has_tag('speed'): speeds += [float(gfx_node.get_tag('speed'))] if gfx_node.has_tag('friction'): fric = float(gfx_node.get_tag('friction')) whl.setFrictionSlip(self.friction_slip * fric) self.curr_speed_factor = (sum(speeds) / len(speeds)) if speeds else 1.0 @property def gnd_names(self): # no need to be cached whls = self.vehicle.get_wheels() pos = map(lambda whl: whl.get_raycast_info().getContactPointWs(), whls) return map(self.gnd_name, pos) @staticmethod def gnd_name(pos): top = pos + (0, 0, 20) bottom = pos + (0, 0, -20) result = PhysMgr().ray_test_closest(bottom, top) ground = result.get_node() return ground.get_name() if ground else '' def apply_damage(self, reset=False): if reset: self.max_speed = self.get_speed() self.friction_slip = self.get_friction() self.roll_influence = self.get_roll_influence() else: self.max_speed *= .95 self.friction_slip *= .95 self.roll_influence *= 1.05 fric = lambda whl: whl.setFrictionSlip(self.friction_slip) map(fric, self.vehicle.get_wheels()) roll = lambda whl: whl.setRollInfluence(self.roll_influence) map(roll, self.vehicle.get_wheels()) s_a = (str(round(self.max_speed, 2)), self.props.driver_engine) LogMgr().log('speed: %s (%s)' % s_a) f_a = (str(round(self.friction_slip, 2)), self.props.driver_tires) LogMgr().log('friction: %s (%s)' % f_a) r_a = (str(round(self.roll_influence, 2)), self.props.driver_suspensions) LogMgr().log('roll: %s (%s)' % r_a) def get_speed(self): return self.cfg['max_speed'] * (1 + .01 * self.props.driver_engine) def get_friction(self): return self.cfg['friction_slip'] * (1 + .01 * self.props.driver_tires) def get_roll_influence(self): return self.cfg['roll_influence'] * ( 1 + .01 * self.props.driver_suspensions) def destroy(self): eng.detach_obs(self.on_end_frame) eng.remove_vehicle(self.vehicle) self.pnode = self.vehicle = self.__finds = self.__track_phys = \ self.coll_mesh = None Phys.destroy(self)
class Game(DirectObject): def __init__(self, model): self.model = model base.setBackgroundColor(0.1, 0.1, 0.8, 1) base.setFrameRateMeter(True) base.cam.setPos(0, -20, 4) base.cam.lookAt(0, 0, 0) w = WindowProperties() w.setFullscreen(False) w.setOrigin(5, 20) w.setSize(865, 800) base.win.requestProperties(w) # Light alight = AmbientLight('ambientLight') alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) alightNP = render.attachNewNode(alight) dlight = DirectionalLight('directionalLight') dlight.setDirection(Vec3(1, 1, -1)) dlight.setColor(Vec4(0.7, 0.7, 0.7, 1)) dlightNP = render.attachNewNode(dlight) render.clearLight() render.setLight(alightNP) render.setLight(dlightNP) # Input self.accept('escape', self.doExit) self.accept('r', self.doReset) self.accept('f1', self.toggleWireframe) self.accept('f2', self.toggleTexture) self.accept('f3', self.toggleDebug) self.accept('f5', self.doScreenshot) inputState.watchWithModifiers('forward', 'w') inputState.watchWithModifiers('left', 'a') inputState.watchWithModifiers('reverse', 's') inputState.watchWithModifiers('right', 'd') inputState.watchWithModifiers('turnLeft', 'q') inputState.watchWithModifiers('turnRight', 'e') # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() # _____HANDLER_____ def doExit(self): self.cleanup() sys.exit(1) def endLoop(self): self.penalized_distance = self.distance * (numpy.exp( -self.time_max_steering / self.total_time)) pickle.dump(self.penalized_distance, open('distance.p', 'wb')) sys.exit() #quit() #print("Distance was: ",self.distance) #os.execv(sys.executable,['python']+[__file__]) #taskMgr.running = False def doReset(self): self.cleanup() self.setup() def toggleWireframe(self): base.toggleWireframe() def toggleTexture(self): base.toggleTexture() def toggleDebug(self): if self.debugNP.isHidden(): self.debugNP.show() else: self.debugNP.hide() def doScreenshot(self): base.screenshot('Bullet') # ____TASK___ def calculate_moves(self): self.y = self.model.predict(self.x) #print(self.y) self.moves = self.y > 0 #+ self.model_offset # 0.5 #self.moves[0] = True # FIXME test def processInput(self, dt): engineForce = 0.0 brakeForce = 0.0 if self.moves[ 0]: #inputState.isSet('forward'): FIXME maybe engine and brake can be linked to self.y, rectified, continuous engineForce = 2000.0 # 1000. brakeForce = 0.0 if not self.moves[0]: #inputState.isSet('reverse'): engineForce = 200.0 #0.0 brakeForce = 100.0 self.steering = self.y[1] if self.moves[1]: self.steering = min(self.steering, self.steeringClamp) if not self.moves[1]: self.steering = max(self.steering, -self.steeringClamp) """ # FIXME option may be better if self.steering is fed into self.y[3] for 4th element if not self.moves[2]: # enabled steering lock if self.moves[1]:#inputState.isSet('turnLeft'): self.steering += dt * self.steeringIncrement self.steering = min(self.steering, self.steeringClamp) if not self.moves[1]:#inputState.isSet('turnRight'): self.steering -= dt * self.steeringIncrement self.steering = max(self.steering, -self.steeringClamp) """ """ if inputState.isSet('forward'): engineForce = 1000.0 brakeForce = 0.0 if inputState.isSet('reverse'): engineForce = 0.0 brakeForce = 100.0 if inputState.isSet('turnLeft'): self.steering += dt * self.steeringIncrement self.steering = min(self.steering, self.steeringClamp) if inputState.isSet('turnRight'): self.steering -= dt * self.steeringIncrement self.steering = max(self.steering, -self.steeringClamp) """ # Apply steering to front wheels self.vehicle.setSteeringValue(self.steering, 0) self.vehicle.setSteeringValue(self.steering, 1) # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(engineForce, 2) self.vehicle.applyEngineForce(engineForce, 3) self.vehicle.setBrake(brakeForce, 2) self.vehicle.setBrake(brakeForce, 3) def check_collisions(self): """pFrom = render.getRelativePoint(self.yugoNP,Point3(0,0,0))#Point3(0,0,0) pFrom -= Point3(0,0,pFrom[2]) pRel = render.getRelativePoint(base.cam,self.yugoNP.getPos()) # FIXME THIS IS IT!! get rid of z component pRel -= Point3(0,0,pRel[2]) p45 = Point3(pRel[0] - pRel[1], pRel[1] + pRel[0],0) pn45 = Point3(pRel[0] + pRel[1], pRel[1] - pRel[0],0) #print(render.getRelativePoint(self.yugoNP,Point3(0,0,0))) #print(dir(self.yugoNP)) pTo = [pFrom + pn45, pFrom + pRel, pFrom + p45]#[pFrom + Vec3(-10,10,0)*999,pFrom + Vec3(0,10,0)*999,pFrom + Vec3(10,10,0)*999]# FIXME should be relative to front of car, getting cloe! #self.yugoNP.getPosDelta()*99999]#[Point3(-10,10,0) * 99999,Point3(0,10,0) * 99999,Point3(10,10,0) * 99999] #self.ray = CollisionRay(0,0,0,100,0,0) result = [self.world.rayTestClosest(pFrom,pt) for pt in pTo] #print(dir(self.yugoNP)) #print(result.getHitPos()) return tuple([res.getHitPos().length() for res in result]) """#queue = CollisionHandlerQueue() #traverser.addCollider(fromObject, queue) #traverser.traverse(render) #queue.sortEntries() #for entry in queue.getEntries(): #print(entry) #print(result.getHitPos()) #if result.getNode() != None: #print(self.yugoNP.getPos(result.getNode())) #print(self.cTrav) self.cTrav.traverse(render) entries = list(self.colHandler.getEntries()) #print(entries) entries.sort(key=lambda y: y.getSurfacePoint(render).getY()) #for entry in entries: print(entry.getFromNodePath().getName()) if entries: # and len(result) > 1: #print(entries) for r in entries: #print(r.getIntoNodePath().getName()) if r.getIntoNodePath().getName( ) == 'Plane' and r.getFromNodePath().getName() == 'yugo_box': self.endLoop() if r.getIntoNodePath().getName( ) == 'Plane' and r.getFromNodePath().getName() in [ 'ray%d' % i for i in range(self.n_rays) ]: #Box self.ray_col_vec_dict[ r.getFromNodePath().getName()].append( numpy.linalg.norm( list(r.getSurfacePoint( r.getFromNodePath()))[:-1])) self.ray_col_vec_dict = { k: (min(self.ray_col_vec_dict[k]) if len(self.ray_col_vec_dict[k]) >= 1 else 10000) for k in self.ray_col_vec_dict } self.x = numpy.array(list(self.ray_col_vec_dict.values())) #print(self.x) result = self.world.contactTest(self.yugoNP.node()) #print(result.getNumContacts()) #print(dir(self.yugoNP)) #return entries def check_prevPos(self): if len(self.prevPos) > 80: #print(self.prevPos) #print(numpy.linalg.norm(self.prevPos[-1] - self.prevPos[0])) if numpy.linalg.norm(self.prevPos[-1] - self.prevPos[0]) < 4.5: #print("ERROR") self.endLoop() del self.prevPos[0:len(self.prevPos) - 80] def update(self, task): self.prevPos.append(self.yugoNP.getPos(render)) dx = numpy.linalg.norm(self.prevPos[-1] - self.prevPos[-2]) self.distance += dx self.distance_text.setText('Distance=%.3f' % (self.distance)) #print(len(self.prevPos)) dt = globalClock.getDt() self.total_time += dt if abs(self.steering) == abs(self.steeringClamp): self.time_max_steering += dt self.time_text.setText('TotalTime=%.3f' % (self.total_time)) #self.time_maxsteer_text.setText('TotalTimeMaxSteer=%f'%(self.time_max_steering)) #self.penalized_distance = self.distance*(1.-numpy.exp(-self.time_max_steering/self.total_time)) if self.distance > 10000: self.endLoop() self.check_prevPos() self.speed = dx / dt self.speed_text.setText('Speed=%.3f' % (self.speed)) self.check_collisions() self.calculate_moves() self.model.plot_NN() #self.nn_image.setImage('neural_net_vis.png') self.ray_col_vec_dict = {k: [] for k in self.ray_col_vec_dict} self.processInput(dt) self.world.doPhysics(dt, 10, 0.008) # FIXME KEEP TRACK OF TOTAL DEGREES TURNED AND PENALIZE #self.doReset() #print(dir(result[1])) #print(numpy.linalg.norm(list(result[1].getSurfacePoint(result[1].getFromNodePath()))[:-1])) #base.camera.setPos(0,-40,10) #print self.vehicle.getWheel(0).getRaycastInfo().isInContact() #print self.vehicle.getWheel(0).getRaycastInfo().getContactPointWs() #print self.vehicle.getChassis().isKinematic() return task.cont def cleanup(self): self.world = None self.worldNP.removeNode() 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) """ MyEvent=CollisionHandlerFloor() MyEvent.setReach(100) MyEvent.setOffset(15.0) aNode = CollisionNode("TheRay") ray = CollisionRay() ray.setOrigin( self.boxNP.getPos() ) ray.setDirection( Vec3(10, 0, 0) ) aNode.addSolid(ray) aNodePath = MyModel.attachNewNode( aNode ) Collision = ( aNode, "TheRay" ) Collision[0].setFromCollideMask( BitMask32.bit( 1 ) ) """ def addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.25) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100.0) wheel.setRollInfluence(0.1)
class CarEnv(DirectObject): 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_only = self._params.get('collision_reward_only', False) self._collision_reward = self._params.get('collision_reward', -10.0) self._obs_shape = self._params.get('obs_shape', (64, 36)) self._steer_limits = params.get('steer_limits', (-30., 30.)) self._speed_limits = params.get('speed_limits', (-4.0, 4.0)) self._motor_limits = params.get('motor_limits', (-0.5, 0.5)) self._fixed_speed = (self._speed_limits[0] == self._speed_limits[1] and self._use_vel) 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', 120) 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._env_time_step = 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', 0.5) self._engineClamp = self._accelClamp * self._mass self._collision = False self._setup_spec() self.spec = EnvSpec(observation_im_space=self.observation_im_space, action_space=self.action_space, action_selection_space=self.action_selection_space, observation_vec_spec=self.observation_vec_spec, action_spec=self.action_spec, action_selection_spec=self.action_selection_spec, goal_spec=self.goal_spec) if self._run_as_task: self._mark_d = 0.0 taskMgr.add(self._update_task, 'updateWorld') base.run() def _setup_spec(self): self.action_spec = OrderedDict() self.action_selection_spec = OrderedDict() self.observation_vec_spec = OrderedDict() self.goal_spec = OrderedDict() self.action_spec['steer'] = Box(low=-45., high=45.) self.action_selection_spec['steer'] = Box(low=self._steer_limits[0], high=self._steer_limits[1]) if self._use_vel: self.action_spec['speed'] = Box(low=-4., high=4.) self.action_space = Box(low=np.array([ self.action_spec['steer'].low[0], self.action_spec['speed'].low[0] ]), high=np.array([ self.action_spec['steer'].high[0], self.action_spec['speed'].high[0] ])) self.action_selection_spec['speed'] = Box( low=self._speed_limits[0], high=self._speed_limits[1]) self.action_selection_space = Box( low=np.array([ self.action_selection_spec['steer'].low[0], self.action_selection_spec['speed'].low[0] ]), high=np.array([ self.action_selection_spec['steer'].high[0], self.action_selection_spec['speed'].high[0] ])) else: self.action_spec['motor'] = Box(low=-self._accelClamp, high=self._accelClamp) self.action_space = Box(low=np.array([ self.action_spec['steer'].low[0], self.action_spec['motor'].low[0] ]), high=np.array([ self.action_spec['steer'].high[0], self.action_spec['motor'].high[0] ])) self.action_selection_spec['motor'] = Box( low=self._motor_limits[0], high=self._motor_limits[1]) self.action_selection_space = Box( low=np.array([ self.action_selection_spec['steer'].low[0], self.action_selection_spec['motor'].low[0] ]), high=np.array([ self.action_selection_spec['steer'].high[0], self.action_selection_spec['motor'].high[0] ])) assert (np.logical_and( self.action_selection_space.low >= self.action_space.low - 1e-4, self.action_selection_space.high <= self.action_space.high + 1e-4).all()) self.observation_im_space = Box(low=0, high=255, shape=tuple( self._get_observation()[0].shape)) self.observation_vec_spec['coll'] = Discrete(1) self.observation_vec_spec['heading'] = Box(low=0, high=2 * 3.14) self.observation_vec_spec['speed'] = Box(low=-4.0, high=4.0) @property def _base_dir(self): return os.path.join(os.path.dirname(os.path.abspath(__file__)), 'models') @property def horizon(self): return np.inf @property def max_reward(self): return np.inf # _____HANDLER_____ def _doExit(self): sys.exit(1) def _toggleWireframe(self): base.toggleWireframe() def _toggleTexture(self): base.toggleTexture() def _doScreenshot(self): base.screenshot('Bullet') def _forward_0(self): self._des_vel = 1 self._brakeForce = 0.0 def _forward_1(self): self._des_vel = 2 self._brakeForce = 0.0 def _forward_2(self): self._des_vel = 4 self._brakeForce = 0.0 def _stop(self): self._des_vel = 0.0 self._brakeForce = 0.0 def _backward(self): self._des_vel = -4 self._brakeForce = 0.0 def _right(self): self._steering = np.min([np.max([-30, self._steering - 5]), 0.0]) def _left(self): self._steering = np.max([np.min([30, self._steering + 5]), 0.0]) def _view_image(self): from matplotlib import pyplot as plt image = self._camera_sensor.observe()[0] if self._use_depth: plt.imshow(image[:, :, 0], cmap='gray') else: def rgb2gray(rgb): return np.dot(rgb[..., :3], [0.299, 0.587, 0.114]) image = rgb2gray(image) im = cv2.resize(image, (64, 36), interpolation=cv2.INTER_AREA ) # TODO how does this deal with aspect ratio plt.imshow(im.astype(np.uint8), cmap='Greys_r') plt.show() def _mark(self): self._mark_d = 0.0 # Setup def _setup(self): self._setup_map() self._place_vehicle() self._setup_light() self._setup_restart_pos() def _setup_map(self): if hasattr(self, '_model_path'): # Collidable objects self._setup_collision_object(self._model_path) else: ground = self._worldNP.attachNewNode(BulletRigidBodyNode('Ground')) shape = BulletPlaneShape(Vec3(0, 0, 1), 0) ground.node().addShape(shape) ground.setCollideMask(BitMask32.allOn()) self._world.attachRigidBody(ground.node()) def _setup_collision_object(self, path, pos=(0.0, 0.0, 0.0), hpr=(0.0, 0.0, 0.0), scale=1): visNP = loader.loadModel(path) visNP.clearModelNodes() visNP.reparentTo(render) visNP.setPos(pos[0], pos[1], pos[2]) visNP.setHpr(hpr[0], hpr[1], hpr[2]) visNP.set_scale(scale, scale, scale) bodyNPs = BulletHelper.fromCollisionSolids(visNP, True) for bodyNP in bodyNPs: bodyNP.reparentTo(render) bodyNP.setPos(pos[0], pos[1], pos[2]) bodyNP.setHpr(hpr[0], hpr[1], hpr[2]) bodyNP.set_scale(scale, scale, scale) if isinstance(bodyNP.node(), BulletRigidBodyNode): bodyNP.node().setMass(0.0) bodyNP.node().setKinematic(True) bodyNP.setCollideMask(BitMask32.allOn()) self._world.attachRigidBody(bodyNP.node()) else: print("Issue") def _setup_restart_pos(self): self._restart_index = 0 self._restart_pos = self._default_restart_pos() def _next_restart_pos_hpr(self): num = len(self._restart_pos) if num == 0: return None, None else: pos_hpr = self._restart_pos[self._restart_index] self._restart_index = (self._restart_index + 1) % num return pos_hpr[:3], pos_hpr[3:] def _setup_light(self): # alight = AmbientLight('ambientLight') # alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) # alightNP = render.attachNewNode(alight) # render.clearLight() # render.setLight(alightNP) pass # Vehicle def _default_pos(self): return (0.0, 0.0, 0.3) def _default_hpr(self): return (0.0, 0.0, 0.0) def _default_restart_pos(self): return [self._default_pos() + self._default_hpr()] def _get_speed(self): vel = self._vehicle.getCurrentSpeedKmHour() / 3.6 return vel def _get_heading(self): h = np.array(self._vehicle_pointer.getHpr())[0] ori = h * (pi / 180.) while (ori > 2 * pi): ori -= 2 * pi while (ori < 0): ori += 2 * pi return ori def _update(self, dt=1.0, coll_check=True): self._vehicle.setSteeringValue(self._steering, 0) self._vehicle.setSteeringValue(self._steering, 1) self._vehicle.setBrake(self._brakeForce, 0) self._vehicle.setBrake(self._brakeForce, 1) self._vehicle.setBrake(self._brakeForce, 2) self._vehicle.setBrake(self._brakeForce, 3) if dt >= self._step: # TODO maybe change number of timesteps # for i in range(int(dt/self._step)): if self._des_vel is not None: vel = self._get_speed() err = self._des_vel - vel d_err = (err - self._last_err) / self._step self._last_err = err self._engineForce = np.clip(self._p * err + self._d * d_err, -self._accelClamp, self._accelClamp) * self._mass self._vehicle.applyEngineForce(self._engineForce, 0) self._vehicle.applyEngineForce(self._engineForce, 1) self._vehicle.applyEngineForce(self._engineForce, 2) self._vehicle.applyEngineForce(self._engineForce, 3) for _ in range(int(dt / self._step)): self._world.doPhysics(self._step, 1, self._step) self._collision = self._is_contact() elif self._run_as_task: self._curr_time += dt if self._curr_time > 0.05: if self._des_vel is not None: vel = self._get_speed() self._mark_d += vel * self._curr_time print(vel, self._mark_d, self._is_contact()) err = self._des_vel - vel d_err = (err - self._last_err) / 0.05 self._last_err = err self._engineForce = np.clip( self._p * err + self._d * d_err, -self._accelClamp, self._accelClamp) * self._mass self._curr_time = 0.0 self._vehicle.applyEngineForce(self._engineForce, 0) self._vehicle.applyEngineForce(self._engineForce, 1) self._vehicle.applyEngineForce(self._engineForce, 2) self._vehicle.applyEngineForce(self._engineForce, 3) self._world.doPhysics(dt, 1, dt) self._collision = self._is_contact() else: raise ValueError( "dt {0} s is too small for velocity control".format(dt)) def _stop_car(self): self._steering = 0.0 self._engineForce = 0.0 self._vehicle.setSteeringValue(0.0, 0) self._vehicle.setSteeringValue(0.0, 1) self._vehicle.applyEngineForce(0.0, 0) self._vehicle.applyEngineForce(0.0, 1) self._vehicle.applyEngineForce(0.0, 2) self._vehicle.applyEngineForce(0.0, 3) if self._des_vel is not None: self._des_vel = 0 self._vehicle_node.setLinearVelocity(Vec3(0.0, 0.0, 0.0)) self._vehicle_node.setAngularVelocity(Vec3(0.0, 0.0, 0.0)) for i in range(self._vehicle.getNumWheels()): wheel = self._vehicle.getWheel(i) wheel.setRotation(0.0) self._vehicle_node.clearForces() def _place_vehicle(self, pos=None, hpr=None): if pos is None: pos = self._default_pos() if hpr is None: hpr = self._default_hpr() self._vehicle_pointer.setPos(pos[0], pos[1], pos[2]) self._vehicle_pointer.setHpr(hpr[0], hpr[1], hpr[2]) self._stop_car() def _addWheel(self, pos, front, radius=0.25): wheel = self._vehicle.createWheel() wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(radius) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(1e2) wheel.setRollInfluence(0.1) # Task def _update_task(self, task): dt = globalClock.getDt() self._update(dt=dt) self._get_observation() return task.cont # Helper functions def _get_observation(self): self._obs = self._camera_sensor.observe() observation = [] observation.append(self.process(self._obs[0], self._obs_shape)) if self._use_back_cam: self._back_obs = self._back_camera_sensor.observe() observation.append(self.process(self._back_obs[0], self._obs_shape)) observation_im = np.concatenate(observation, axis=2) coll = self._collision heading = self._get_heading() speed = self._get_speed() observation_vec = np.array([coll, heading, speed]) return observation_im, observation_vec def _get_goal(self): return np.array([]) def process(self, image, obs_shape): if self._use_depth: im = np.reshape(image, (image.shape[0], image.shape[1])) if im.shape != obs_shape: im = cv2.resize(im, obs_shape, interpolation=cv2.INTER_AREA) return im.astype(np.uint8) else: image = np.dot(image[..., :3], [0.299, 0.587, 0.114]) im = cv2.resize(image, obs_shape, interpolation=cv2.INTER_AREA ) #TODO how does this deal with aspect ratio # TODO might not be necessary im = np.expand_dims(im, 2) return im.astype(np.uint8) def _get_reward(self): if self._collision_reward_only: if self._collision: reward = self._collision_reward else: reward = 0.0 else: if self._collision: reward = self._collision_reward else: reward = self._get_speed() assert (reward <= self.max_reward) return reward def _get_done(self): return self._collision def _get_info(self): info = {} info['pos'] = np.array(self._vehicle_pointer.getPos()) info['hpr'] = np.array(self._vehicle_pointer.getHpr()) info['vel'] = self._get_speed() info['coll'] = self._collision info['env_time_step'] = self._env_time_step return info def _back_up(self): assert (self._use_vel) # logger.debug('Backing up!') self._params['back_up'] = self._params.get('back_up', {}) back_up_vel = self._params['back_up'].get('vel', -1.0) self._des_vel = back_up_vel back_up_steer = self._params['back_up'].get('steer', (-5.0, 5.0)) self._steering = np.random.uniform(*back_up_steer) self._brakeForce = 0. duration = self._params['back_up'].get('duration', 3.0) self._update(dt=duration) self._des_vel = 0. self._steering = 0. self._update(dt=duration) self._brakeForce = 0. def _is_contact(self): result = self._world.contactTest(self._vehicle_node) return result.getNumContacts() > 0 # Environment functions def reset(self, pos=None, hpr=None, hard_reset=False): if self._do_back_up and not hard_reset and \ pos is None and hpr is None: if self._collision: self._back_up() else: if hard_reset: logger.debug('Hard resetting!') if pos is None and hpr is None: pos, hpr = self._next_restart_pos_hpr() self._place_vehicle(pos=pos, hpr=hpr) self._collision = False self._env_time_step = 0 return self._get_observation(), self._get_goal() def step(self, action): self._steering = action[0] if action[1] == 0.0: self._brakeForce = 1000. else: self._brakeForce = 0. if self._use_vel: # Convert from m/s to km/h self._des_vel = action[1] else: self._engineForce = self._mass * action[1] self._update(dt=self._dt) observation = self._get_observation() goal = self._get_goal() reward = self._get_reward() done = self._get_done() info = self._get_info() self._env_time_step += 1 return observation, goal, reward, done, info
class Character: playerId = 1 type = 0 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 addWheel(self, position, isFront, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(position) wheel.setFrontWheel(isFront) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.2) wheel.setMaxSuspensionTravelCm(0.4 * 100.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100) wheel.setRollInfluence(0.1) def getActor(self): return self.actor def get_speed(self): return self.speed def accelerate(self): # check how long you were accelerating time_elapsed = time.time() - self.a_timer_end if time_elapsed > 1: # in seconds last accelerated self.a_timer_start = time.time() if self.speed < self.max_speed: self.speed += self.acceleration * (time.time() - self.a_timer_start) # print(time_elapsed) else: self.speed = self.max_speed # reset timer self.a_timer_end = time.time() def friction(self, friction): if self.speed > 0: self.speed -= friction else: self.speed = 0 def brake(self): if self.speed > self.min_speed: self.speed -= self.brakes # reset acceleration timer self.a_timer_start = time.time() def reverse(self): if self.speed > self.reverse_limit: self.speed -= self.reverse_speed def walk(self): self.actor.stop() self.actor.pose("walk", 5) self.isMoving = False def run(self): self.actor.loop("run") self.isMoving = True
class Tank(DynamicWorldObject): '''Child of WorldObject, with all of the things that makes a Tank a tank. Includes a Weapon ''' def __init__(self, world, attach, name = '', position = Vec3(0,0,0), orientation = Vec3(0,0,0), turretPitch = 0): #Constant Relevant Instatiation Parameters self._tankSize = Vec3(1, 1.5, .5) # Actually a half-size self._tankSideLength = max(self._tankSize) friction = .3 tankMass = 800.0 # Rewrite constructor to include these? self._maxVel = 4 self._maxRotVel = 1 self._maxThrusterAccel = 5000 self._breakForce = 1000 turretRelPos = (0, 0, 0) #Relative to tank self._shape = BulletBoxShape(Vec3(1,1.5,.5)) #chassis self._transformState = TransformState.makePos(Point3(0, 0, 0)) #offset DynamicWorldObject.__init__(self, world, attach, name, position, self._shape, orientation, Vec3(0,0,0), mass = tankMass) #Initial velocity must be 0 self.__createVehicle(self._tankWorld.getPhysics()) self._collisionCounter = 0 self._taskTimer = 0 self._nodePath.node().setFriction(friction) self._nodePath.setPos(position) # Set up turret nodepath # (Nodepaths are how objects are managed in Panda3d) self.onTask = 0 # Make collide mask (What collides with what) self._nodePath.setCollideMask(0xFFFF0000) #self._nodePath.setCollideMask(BitMask32.allOff()) self.movementPoint = Point3(10,10,0) #print "Tank.__init__: " + name # Set up the def __createVehicle(self,bulletWorld): ''' Creates a vehicle, sets up wheels and does all the things ''' self._nodePath.node().setMass(800.0) # Chassis geometry np = loader.loadModel('media/tankBody.x') np.setHpr(90,0,0) np.reparentTo(self._nodePath) #np.setScale(self._tankSize*2) np.setPos(-self._tankSize+Vec3(1, 0, .5)) # Vehicle self.vehicle = BulletVehicle(bulletWorld, self._nodePath.node()) self.vehicle.setCoordinateSystem(2) bulletWorld.attachVehicle(self.vehicle) wheelNP = loader.loadModel('box') wheelNP.setScale(.01,.01,.01) wheelPos = [Point3(1, 1, 0),Point3(-1, 1, 0), Point3(1, -1, 0),Point3(-1, -1, 0)] for i in range(4): wheel = self.vehicle.createWheel() wheel.setWheelAxleCs(Vec3(-2*(i%2)+1, 0, 0)) wheel.setChassisConnectionPointCs(wheelPos[i]) self.__createWheel(wheel) self.vehicle.setSteeringValue(0,i) wheel.setRollInfluence((-2*(i%2)+1)*0.2) def __createWheel(self,wheel): ''' sets up properties for wheel. ''' wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setFrontWheel(False) wheel.setWheelRadius(0.15) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100.0) def getWheels(self): ''' returns a list of wheelPos ''' return self.vehicle.getWheels() def setWeaponHp(self, heading, pitch): ''' float heading float pitch ''' self._weapon.setHp(heading,pitch) def moveWeapon(self, heading = 0, pitch = 0): rot = self.getHpr() self.setWeaponHp(rot[0] + heading, rot[1] + pitch) def distanceScan(self): ''' This scan projects rays from the objects in the field toward the tank in question. This scan does not perform as well as scan when the objects are bunched together. When small objects are spread out reasonably (more than 5 at a viewing range of 50), this scan performs better. Using this scan, large objects can hide behind small objects This scan has the feature that it will pick up a lone object guaranteed at any distance. ''' self.wait(.1) potentialNPs = self._tankWorld.render.getChildren() found = [] for np in potentialNPs: if type(np.node()) == BulletRigidBodyNode and np != self and not np.isHidden(): pFrom = np.getPos(render) #Fix for cubeObjects (z = 0). They collide with the floor if pFrom[2] < 1: pFrom[2] = 1.1 pTo = self.getPos() + self.getPos() - pFrom #pTo is a Vec3, turned to a point for rayTest result = self._tankWorld.getPhysics().rayTestClosest( pFrom, Point3(pTo[0], pTo[1], pTo[2])) if result.hasHit() and result.getNode() == self._nodePath.node(): #found.append((np.node().getPrevTransform().getPos(), # np.node().getName())) found.append((np.getPos(render), np.node().getName())) elif result.hasHit(): #print "Tank.distanceScan: ", #print np, result.getNode(), pFrom, pTo #print "Neigh" x = 1 return found def __bulletRays(self, numPoints, relAngleRange, height): '''Helper function for scans and pings. Runs through the relAngleRange (two ints, in degrees) at the given numPoints and height. Runs a Bullet rayTestClosest to find the nearest hit. Returns a list of BulletClosestHitRayResult objects ''' distanceOfMap = 100000 results = [] #scanResolution = numPoints / 360.0 angleSweep = relAngleRange[1] - relAngleRange[0] + 0.0 pos = self._nodePath.getPos() heading = self._nodePath.getH() for i in range(numPoints): if angleSweep == 0: angle = (heading + relAngleRange[0]) * (math.pi / 180) else: angle = (i / angleSweep + heading + relAngleRange[0]) * (math.pi / 180) pFrom = Point3(math.sin(angle) * self._tankSideLength + pos[0], math.cos(angle) * self._tankSideLength + pos[1], height) pTo = Point3(math.sin(angle) * distanceOfMap + pos[0], math.cos(angle) * distanceOfMap + pos[1], height) result = self._tankWorld.getPhysics().rayTestClosest(pFrom, pTo) results.append((result, angle * 180 / math.pi - heading)) return results def scan(self, numPoints = 360, relAngleRange = (-180, 180), height = 1): ''' This function scans the map to find the other objects on it. The scan works iteratively, based on the angle range (given relative to the tank's current heading) and the number of points given. This is a more realistic scan, but does not work as well with smaller objects and larger distances ''' found = [] numFound = 0 results = self.__bulletRays(numPoints, relAngleRange, height) prevNodes = dict() for item in results: result = item[0] if result.hasHit(): newNode = result.getNode() if newNode not in prevNodes: found.append((newNode.getPrevTransform().getPos(), newNode.getName())) prevNodes[newNode] = 0 numFound = numFound + 1 return found def pingPointsAbs(self, numPoints = 360, relAngleRange = (-180, 180), height = 1): '''Returns a list of absolute coordinate points on each of the ''' found = [] results = self.__bulletRays(numPoints, relAngleRange, height) for item in results: result = item[0] if result.hasHit(): newNode = result.getNode() found.append((result.getHitPos(), item[1], newNode.getName())) return found def pingPoints(self, numPoints = 360, relAngleRange = (-180, 180), height = 1): found = self.pingPointsAbs(numPoints, relAngleRange, height) pos = self.getPos() for i in range(len(found)): hitPos = found[i][0] relPos = Point3(hitPos[0] - pos[0], hitPos[1] - pos[1], hitPos[2] - pos[2]) found[i] = (relPos, found[i][1], found[i][2]) return found def pingDistance(self, numPoints = 360, relAngleRange = (-180, 180), height = 1): found = self.pingPoints(numPoints, relAngleRange, height) for i in range(len(found)): relPos = found[i][0] distance = math.sqrt(relPos[0]**2 + relPos[1]**2) found[i] = (distance, found[i][1], found[i][2]) return found def applyThrusters(self, right = 1, left = 1): #set acceleration '''change acceleration to a percent of the maximum acceleration''' #if right > 1 or amt < 0: # raise ValueError("amt must be between 0 and 1") # tankNode = self._nodePath.node() # angle = self.nodePath.getH() #Apply force in current direction # magnitude = amt * (self._maxThrusterAccel) + (tankNode.getFriction() * # self._nodePath.node().getMass()) # force = Vec3(magnitude * math.cos(angle), # magnitude * math.sin(angle), 0) # self.nodePath.node().applyForce(force) self.vehicle.reset_suspension() self.applyBrakes(0) vel = self.vehicle.getChassis().getLinearVelocity() for i in range(4): self.vehicle.applyEngineForce(0,i) self.vehicle.setBrake(0,i) if vel.length() < self._maxVel: self.vehicle.applyEngineForce(-left*self._maxThrusterAccel,0) self.vehicle.applyEngineForce(right*self._maxThrusterAccel,1) self.vehicle.applyEngineForce(-left*self._maxThrusterAccel,2) self.vehicle.applyEngineForce(right*self._maxThrusterAccel,3) #for i in range(0,1): # self.vehicle.applyEngineForce((left*(i)%2+right*(i+1)%2)*self._maxThrusterAccel,i) #for i in range(2): # self.vehicle.applyEngineForce((left*(i)%2+right*(i+1)%2)*self._maxThrusterAccel,i+2) #self.vehicle.applyEngineForce((2*i%2-1)*engineForce,i) ## for 1 and 3useleft ## for 0 and 2 use right else: for i in range(4): #self.vehicle.applyEngineForce((2*i%2-1)*engineForce,i) self.vehicle.applyEngineForce(0,i) def applyBrakes(self, amt=1): for i in range(4): #self.vehicle.applyEngineForce((2*i%2-1)*engineForce,i) self.vehicle.applyEngineForce(0,i) self.vehicle.setBrake(amt*self._breakForce,i) def setVel(self, goal ): pass def move(self, dist): '''Moves using a distance. Adds an updateMoveLoc task to the taskMgr. ''' heading = self._nodePath.getH() * math.pi/180 pos = self.getPos() self._stop = False #Of the form (goalLoc, startLoc, distance) self._moveLoc = (Point3(pos[0] + math.sin(heading) * dist, pos[1] - math.cos(heading) * dist, pos[2]), pos, dist) self._tankWorld.taskMgr.add(self.updateMoveLoc,'userTank '+self.getName(),uponDeath=self.nextTask) def rotate(self, angle): '''Rotate function. All angles given between 0 and 360 Angle changes are between -180 and 180 ''' angle = angle % 360 if angle > 180: angle -= 360 heading = self.fixAngle(self._nodePath.getH()) newH = self.fixAngle(heading + angle) self._moveLoc = (newH, heading, angle) self._stop = False self._tankWorld.taskMgr.add(self.updateRotateLoc, 'userTank '+self.getName(), uponDeath=self.nextTask) def moveTime(self, moveTime): self._taskTimer = moveTime self._tankWorld.taskMgr.add(self.updateMove,'userTank '+self.getName(),uponDeath=self.nextTask) def rotateTime(self, rotateTime): self._taskTimer = rotateTime self._tankWorld.taskMgr.add(self.updateRotate,'userTank '+self.getName(),uponDeath=self.nextTask) def wait(self, waitTime): self._taskTimer = waitTime self._tankWorld.taskMgr.add(self.updateWait,'userTank '+self.getName(),uponDeath=self.nextTask) def updateWait(self, task): ''' Tasks called to wait ''' try: if self._tankWorld.isRealTime(): dt = globalClock.getDt() else: dt = 1.0/60.0 #print "Tank.updateWait: ", dt self._taskTimer -= dt if self._taskTimer < 0: return task.done return task.cont except: print "error, tank.wait" def updateRotateLoc(self, task): heading = self.fixAngle(self._nodePath.getH()) toHeading = self._moveLoc[0] w = self._nodePath.node().getAngularVelocity()[2] #Right wheel direction for rotating in the direction of goal rFor = self._moveLoc[2]/abs(self._moveLoc[2]) slowTheta = 1.5 * rFor brakePercent = w**2 / (2 * slowTheta * self._maxThrusterAccel) theta = self.fixAngle(toHeading - heading) if theta > 180: theta -= 360 thetaFromStart = heading - self._moveLoc[1] thetaFromStart = thetaFromStart % 360 if thetaFromStart > 180: thetaFromStart -= 360 if self._stop: if abs(w) < .1: self._nodePath.node().setAngularVelocity(Vec3(0,0,0)) self._nodePath.setH(self._moveLoc[0]) return task.done self.applyBrakes() return task.cont if abs(theta) < slowTheta - .25: self.applyThrusters(-rFor * brakePercent, rFor * brakePercent) elif abs(theta) > slowTheta - .25: if w < self._maxRotVel: self.applyThrusters(rFor, -1 * rFor) else: self.applyThrusters(0,0) else: self.applyBrakes(brakePercent) if abs(theta) < .1: self._stop = True if abs(thetaFromStart + .1) > abs(self._moveLoc[2]): self._stop = True #emergency stop based on a long time. if task.time > 3: #print "Tank.updateRotateLoc", "your rotate could not be completed, sorry" return task.done return task.cont def updateMoveLoc(self, task): '''Bases how much to slow down on a = v^2/2x. x is slowDist, chosen to play nice. Generally accurate to 5cm, rarely 20cm or worse Stops at an arbitrary low velocity because it will never exit at a lower minimum ''' pos = self.getPos() toLoc = self._moveLoc[0] distance = math.sqrt((pos[0] - toLoc[0])**2 + (pos[1] - toLoc[1])**2) v = self._nodePath.node().getLinearVelocity().length() slowAccel = 2 slowDist = v**2 / (2 * slowAccel * self._breakForce) brakePercent = slowAccel * self._nodePath.node().getMass() / self._breakForce deltaPos = (self.getPos() - self._moveLoc[1]) distFromStart = deltaPos.length() if self._stop: if v < .4: #self._nodePath.node().setLinearVelocity(Vec3(0,0,0)) #self._nodePath.setPos(self._moveLoc[0]) return task.done self.applyBrakes() return task.cont if distance < slowDist: self.applyBrakes(brakePercent * 1.1) elif distance > slowDist: if self._moveLoc[2] > 0: self.applyThrusters(1,1) else: self.applyThrusters(-1, -1) else: self.applyBrakes(brakePercent) if distance < .01: self._stop = True if abs(distFromStart) > abs(self._moveLoc[2]): self._stop = True return task.cont def nextTask(self,task): self._nodePath.node().setActive(True) self.onTask += 1 if(self._tankWorld.isDead or self._tankWorld.isOver): return #if self.onTask >= len(self.taskList): # return def getNumUserTask(): taskAmount = 0 for t in self._tankWorld.taskMgr.getTasks(): if t.getName() == 'userTank '+self.getName(): taskAmount +=1 return taskAmount pre = getNumUserTask() try: self.taskList.next() if(getNumUserTask() == pre): self.nextTask(task) except StopIteration: #print 'Tank.nextTask error' pass #self.taskList[self.onTask][0](self.taskList[self.onTask][1]) def runTasks(self): self.onTask = 0 self.nextTask(None) def setGenerator(self, gen): self.taskList = gen self.runTasks() def updateMove(self, task): ''' Task Called to do movement. This is called once perframe ''' try: #small hack to prevent the first frame from doing all the tasks. dt = globalClock.getDt() if dt > .1: return task.cont self._taskTimer -= dt if self._taskTimer < 0: self.applyBrakes(1) else: self.applyThrusters(1,1) if self._taskTimer < -1: #one second to stop return task.done except: print "ERROR in tank.updateMove" return task.cont def updateRotate(self, task): ''' called to do rotation. This is called once per frame ''' try: dt = globalClock.getDt() #small hack to prevent the first frame from doing all the tasks. if dt > .1: return task.cont self._taskTimer -= dt if self._taskTimer < 0: self.applyBrakes(1) else: self.applyThrusters(1,-1) if self._taskTimer < -1: #one second to stop return task.done except: print "ERROR in tank.updateRotate" return task.cont def update(self, task): pass def aimAt(self, point, amt = 1, aimLow = True): return self._weapon.aimAt(point, aimLow) def setWeapon(self, weopwn): self._weapon = weopwn def fire(self, amt = 1): x = self._weapon.fire(amt) self.wait(.1) return x def deleteAfter(self, task = None): if not self._nodePath.is_empty(): x = self._nodePath.node() self._tankWorld.removeRigidBody(x) self.hide() self._tankWorld.lose() #self._nodePath.detachNode() def handleCollision(self, collide, taskName): self._collisionCounter += 1 forReal = True hitBy = collide.getNode0() if hitBy.getName() == self._nodePath.node().getName(): hitBy = collide.getNode1() allowedNames = ['floor', 'wall', 'State'] for name in allowedNames: if name in hitBy.getName(): forReal = False if not self._nodePath.is_empty(): if forReal: print "Tank.handleCollision:(pos) ", self.getPos(), 'obj 1', collide.getNode0().getName(), 'obj 2', collide.getNode1().getName() self._tankWorld.taskMgr.remove(taskName) self._tankWorld.doMethodLater(.01, self.deleteAfter, 'deleteAfter') else: print "Tank.handleCollision Failed to have _nodepath" self._tankWorld.taskMgr.remove(taskName)
class RonnieRacer(DirectObject): gameState = 'INIT' gameLevel = 1 distanceTravelled = 0 speed = 0 score = 0 triesLeft = 3 count = 0 rot = 0 time = 0 pause = False def __init__(self): self.imageObject = OnscreenImage(image = 'media/images/splashscreen.png', pos=(0,0,0), scale=(1.4,1,1)) self.loseScreen = OnscreenImage(image = 'media/images/gameover.png', pos=(0,0,0), scale=(1,1,0.8)) self.loseScreen.hide() self.retryScreen = OnscreenImage(image = 'media/images/retry.png', pos=(0,0,0), scale=(1,1,0.8)) self.retryScreen.hide() self.congratScreen = OnscreenImage(image = 'media/images/congratulations.png', pos=(0,0,0), scale = (1,1,0.8)) self.congratScreen.hide() self.winScreen = OnscreenImage(image = 'media/images/victory.png', pos=(0,0,0), scale = (1,1,0.8)) self.winScreen.hide() self.pauseScreen = OnscreenImage(image = 'media/images/pause.png', pos=(0,0,0), scale = (1,1,0.8)) self.pauseScreen.hide() self.instructionScreen = OnscreenImage(image = 'media/images/instructions.png', pos=(0,0,0), scale = (1,1,0.8)) self.instructionScreen.hide() preloader = Preloader() base.setBackgroundColor(0, 0, 0, 1) base.setFrameRateMeter(True) # Audio self.loseSound = base.loader.loadSfx("media/audio/sfxboo.wav") self.winSound = base.loader.loadSfx("media/audio/cheer2.aif") self.menuMusic = base.loader.loadSfx("media/audio/Scattershot.mp3") self.gameMusic = base.loader.loadSfx("media/audio/Ghostpocalypse - 7 Master.mp3") self.menuMusic.setLoop(True) self.menuMusic.setLoopCount(0) self.gameMusic.setLoop(True) self.gameMusic.setLoopCount(0) #setup buttons self.retryBtn = DirectButton(text="Retry", scale = 0.1, pos = (0,0,0), command = self.doRetry) self.retryBtn.hide() self.menuBtn = DirectButton(text="Main Menu", scale = 0.1, pos = (0,0,0), command = self.doMenu) self.menuBtn.hide() self.nextBtn = DirectButton(text='Next', scale = 0.1, pos = (0,0,0), command = self.doNext) self.nextBtn.hide() self.backBtn = DirectButton(text='back', scale = 0.1, pos = (-0.7,0,-0.7), command = self.doBack) self.backBtn.hide() #setup font self.font = loader.loadFont('media/SHOWG.TTF') self.font.setPixelsPerUnit(60) #setup text self.text = OnscreenText(text = '', pos = (0, 0), scale = 0.07, font = self.font) self.rpmText = OnscreenText(text = '', pos = (-0.9, -0.9), scale = 0.07, font = self.font) self.speedText = OnscreenText(text = '', pos = (0, -0.9), scale = 0.07, font = self.font) self.distanceText = OnscreenText(text = '', pos = (0.9, -0.9), scale = 0.07, font = self.font) self.triesLeftText = OnscreenText(text = '', pos = (1.0, 0.9), scale = 0.07, font = self.font) self.gameLevelText = OnscreenText(text = '', pos = (-1.0, 0.9), scale = 0.07, font = self.font) self.timeText = OnscreenText(text = '', pos = (0, 0.9), scale = 0.07, font = self.font) self.scoreText = OnscreenText(text = '', pos = (1.0, 0.8), scale = 0.07, font = self.font) self.finalScoreText = OnscreenText(text = '', pos = (0, 0.2), scale = 0.07, font = self.font) # Light alight = AmbientLight('ambientLight') alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) alightNP = render.attachNewNode(alight) dlight = DirectionalLight('directionalLight') dlight.setDirection(Vec3(1, 1, -1)) dlight.setColor(Vec4(0.7, 0.7, 0.7, 1)) dlightNP = render.attachNewNode(dlight) render.clearLight() render.setLight(alightNP) render.setLight(dlightNP) # Input self.accept('escape', self.doExit) self.accept('r', self.doReset) self.accept('f1', self.toggleWireframe) self.accept('f2', self.toggleTexture) self.accept('f3', self.toggleDebug) self.accept('f5', self.doScreenshot) inputState.watchWithModifiers('forward', 'w') inputState.watchWithModifiers('left', 'a') inputState.watchWithModifiers('reverse', 's') inputState.watchWithModifiers('right', 'd') inputState.watchWithModifiers('turnLeft', 'a') inputState.watchWithModifiers('turnRight', 'd') # Task taskMgr.add(self.update, 'updateWorld') # _____HANDLER_____ def doExit(self): sys.exit(1) def doReset(self): self.cleanup() self.terrain.getRoot().removeNode() self.setup() def doBack(self): self.backBtn.hide() self.instructionScreen.hide() self.imageObject.show() self.helpBtn.show() self.startBtn.show() self.exitBtn.show() def toggleWireframe(self): base.toggleWireframe() def toggleTexture(self): base.toggleTexture() def toggleDebug(self): if self.debugNP.isHidden(): self.debugNP.show() else: self.debugNP.hide() def doScreenshot(self): base.screenshot('Bullet') # ____TASK___ def processInput(self, dt): # Process input engineForce = 0.0 brakeForce = 0.0 self.accept('p', self.doPause) if inputState.isSet('forward'): engineForce = 15.0 brakeForce = 0.0 if inputState.isSet('reverse'): engineForce = -25.0 brakeForce = 25.0 if inputState.isSet('turnLeft'): self.steering += dt * self.steeringIncrement self.steering = min(self.steering, self.steeringClamp) if inputState.isSet('turnRight'): self.steering -= dt * self.steeringIncrement self.steering = max(self.steering, -self.steeringClamp) # Apply steering to front wheels self.vehicle.setSteeringValue(self.steering, 0) self.vehicle.setSteeringValue(self.steering, 1) # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(engineForce, 2) self.vehicle.applyEngineForce(engineForce, 3) self.vehicle.setBrake(brakeForce, 2) self.vehicle.setBrake(brakeForce, 3) def processContacts(self, dt): result = self.world.contactTestPair(self.vehicleNP.node(), self.flagNP.node()) if(result.getNumContacts() > 0): self.gameState = 'WIN' self.doContinue() def doContinue(self): if(self.gameState == 'INIT'): self.gameState = 'MENU' self.menuMusic.play() self.text.hide() self.startBtn = DirectButton(text=("Play"), scale = 0.1, pos = (0.5,0,0),command=self.playGame) self.helpBtn = DirectButton(text=("Help"), scale = 0.1, pos = (0.5,0,-0.2),command=self.help) self.exitBtn = DirectButton(text=("Exit"), scale = 0.1, pos = (0.5,0,-0.4), command = self.doExit) return if(self.gameState == 'RETRY'): self.retryScreen.show() self.retryBtn.show() self.loseSound.play() return if(self.gameState == 'LOSE'): self.loseScreen.show() self.menuBtn.show() return if(self.gameState == 'WIN'): if(self.gameLevel < 3): self.congratScreen.show() self.nextBtn.show() elif(self.gameLevel >= 3): self.winScreen.show() self.menuBtn.show() self.finalScoreText.setText('Your Score: '+str(int(self.score))) self.finalScoreText.show() self.winSound.play() def help(self): self.gameState = 'HELP' self.startBtn.hide() self.exitBtn.hide() self.helpBtn.hide() self.imageObject.hide() self.instructionScreen.show() self.backBtn.show() def doNext(self): self.nextBtn.hide() self.finalScoreText.hide() self.congratScreen.hide() self.gameLevel += 1 if(self.gameLevel == 2): self.score += 2000 elif(self.gameLevel == 3): self.score += 3000 self.doReset() self.triesLeft = 3 self.gameState = 'PLAY' def doRetry(self): self.doReset() self.gameState = 'PLAY' self.retryScreen.hide() self.retryBtn.hide() self.triesLeft -= 1 def doMenu(self): self.cleanup() self.terrain.getRoot().removeNode() self.gameState = 'MENU' self.score = 0 self.imageObject.show() self.startBtn.show() self.exitBtn.show() self.helpBtn.show() self.loseScreen.hide() self.menuBtn.hide() self.winScreen.hide() self.finalScoreText.hide() self.speedText.hide() self.distanceText.hide() self.rpmText.hide() self.scoreText.hide() self.gameLevelText.hide() self.timeText.hide() self.triesLeftText.hide() self.gameMusic.stop() self.menuMusic.play() def doPause(self): self.pause = not self.pause if(self.pause): self.pauseScreen.show() else: self.pauseScreen.hide() def playGame(self): self.gameState = 'PLAY' self.triesLeft = 3 self.gameLevel = 1 self.imageObject.hide() self.startBtn.hide() self.exitBtn.hide() self.helpBtn.hide() self.menuMusic.stop() self.gameMusic.play() self.speedText.show() self.distanceText.show() self.rpmText.show() self.scoreText.show() self.gameLevelText.show() self.triesLeftText.show() self.timeText.show() # Physics self.setup() def update(self, task): dt = globalClock.getDt() if(not self.pause): if(self.gameState == 'RETRY'): return task.cont if (self.gameState == 'INIT'): self.accept('space', self.doContinue) self.text.setText('Press Space to Continue') if(self.gameState == 'PLAY'): if (self.steering > 0): self.steering -= dt * 50 if (self.steering < 0): self.steering += dt * 50 playerOldSpeed = self.vehicle.getCurrentSpeedKmHour() self.processInput(dt) self.processContacts(dt) self.world.doPhysics(dt, 10, 0.008) #calculate speed,rpm,distance and display text self.speed = self.vehicle.getCurrentSpeedKmHour() if(self.speed<0): self.speed = -self.speed self.speedText.setText('Speed: ' + str(int(self.speed)) + 'Km/h') self.distanceTravelled += self.speed*(dt/3600) self.distanceText.setText('Distance: '+str(float(int(self.distanceTravelled * 1000))/1000) + 'Km') playerNewSpeed = self.vehicle.getCurrentSpeedKmHour() playerAcceleration = (playerNewSpeed - playerOldSpeed) / (dt/60) #playerPosText = self.vehicleNP.getPos() #self.text.setText('Player position: %s'%playerPosText) self.rpmText.setText('Engine RPM: ' + str(int(((self.vehicle.getCurrentSpeedKmHour() / 60) * 1000) / (2 * 0.4 * 3.14159265))) + ' Rpm') self.triesLeftText.setText('Tries Left: ' + str(self.triesLeft)) self.gameLevelText.setText('Level: '+ str(self.gameLevel)) #update camera #position d = self.vehicleNP.getPos() - base.cam.getPos() if(d.length() > 8): base.cam.setX(base.cam.getX() + d.getX()*dt) base.cam.setY(base.cam.getY() + d.getY()*dt) base.cam.setZ(self.vehicleNP.getZ() + 4) #lookat base.cam.lookAt(self.vehicleNP.getPos()+Vec3(0,0,1)) if(self.gameLevel == 1): if(self.vehicleNP.getZ() < -17): if(self.triesLeft > 0): self.gameState = 'RETRY' else: self.gameState = 'LOSE' self.doContinue() elif(self.gameLevel == 2): if(self.vehicleNP.getZ() < -20): if(self.triesLeft > 0): self.gameState = 'RETRY' else: self.gameState = 'LOSE' self.doContinue() elif(self.gameLevel == 3): if(self.vehicleNP.getZ() < -17): if(self.triesLeft > 0): self.gameState = 'RETRY' else: self.gameState = 'LOSE' self.doContinue() if(self.speed < 5): self.steeringIncrement = 120 elif(self.speed >= 5 and self.speed < 10): self.steeringIncrement = 100 elif(self.speed >= 10 and self.speed < 15): self.steeringIncrement = 80 elif(self.speed >=15 and self.speed < 30): self.steeringIncrement = 60 #spin the flag self.rot += 1 self.flagNP.setHpr(self.rot,0,0) #time self.time += dt self.timeText.setText('Time: ' + str(int(self.time))) if(self.score > 0): self.score -= dt self.scoreText.setText('Score: '+str(int(self.score))) return task.cont def cleanup(self): self.world = None self.worldNP.removeNode() def setup(self): # Steering info self.steering = 0.0 # degree self.steeringClamp = 30.0 # degree self.steeringIncrement = 80.0 # degree per second 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()) if(self.gameLevel == 1): #set score print('GameLevel') self.score = 1000 self.distanceTravelled = 0 self.time = 0 # Plane img = PNMImage(Filename('media/terrain/SIMP_Assignment_2_Terrain_1.png')) shape = BulletHeightfieldShape(img, 50.0, ZUp) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground')) np.node().addShape(shape) np.setPos(0, 0, 0) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) #skybox skybox = loader.loadModel('media/models/skybox/skybox_01.X') skybox.reparentTo(render) # Chassis shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5)) ts = TransformState.makePos(Point3(0, 0, 1.0)) self.vehicleNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Vehicle')) self.vehicleNP.node().addShape(shape, ts) self.vehicleNP.setPos(-93, -88, -7)#-93, -88, -7) #(-82,65.8,-8) #(55,8.38,-6)#(45, -19, -8)#(-93, -88, -7) self.vehicleNP.setHpr(-90,0,0) self.vehicleNP.node().setMass(5.0) self.vehicleNP.node().setDeactivationEnabled(False) base.cam.setPos(self.vehicleNP.getPos().getX()+2,self.vehicleNP.getPos().getY()+2,self.vehicleNP.getPos().getZ()+2) self.world.attachRigidBody(self.vehicleNP.node()) # Vehicle self.vehicle = BulletVehicle(self.world, self.vehicleNP.node()) self.vehicle.setCoordinateSystem(ZUp) self.world.attachVehicle(self.vehicle) self.hummerNP = loader.loadModel('media/models/vehicle/body.X') self.hummerNP.reparentTo(self.vehicleNP) # Right front wheel np = loader.loadModel('media/models/vehicle/front_right.X') np.reparentTo(self.worldNP) self.addWheel(Point3( 0.8, 0.9, 0.8), True, np) # Left front wheel np = loader.loadModel('media/models/vehicle/front_left.X') np.reparentTo(self.worldNP) self.addWheel(Point3(-0.8, 0.9, 0.8), True, np) # Right rear wheel np = loader.loadModel('media/models/vehicle/back_right.X') np.reparentTo(self.worldNP) self.addWheel(Point3( 0.8, -0.7, 0.8), False, np) # Left rear wheel np = loader.loadModel('media/models/vehicle/back_left.X') np.reparentTo(self.worldNP) self.addWheel(Point3(-0.8, -0.7, 0.8), False, np) #Obstacles self.setupObstacleOne(Vec3(50, -5, -4), 1.8, Vec3(60, 0, 0)) self.setupObstacleFour(Vec3(63.3, 59.2, -10), 1.5, Vec3(0,0,0)) self.setupObstacleFour(Vec3(41, 57, -10), 1.5, Vec3(0,0,0)) self.setupObstacleFour(Vec3(7.5, 53.8, -10), 1.5, Vec3(0,0,0)) self.setupObstacleFour(Vec3(-28, 81.4, -10), 1.5, Vec3(0,0,0)) self.setupObstacleSix(Vec3(-91, 81 , -6), 1, Vec3(60,0,0)) #Goal self.setupGoal(Vec3(-101,90.6,-6.5)) #self.vehicleNP.setPos(Vec3(6,52,-6)) self.setupTerrain() elif(self.gameLevel == 2): self.distanceTravelled = 0 self.time = 0 # Plane img = PNMImage(Filename('media/terrain/SIMP_Assignment_2_Terrain_2.png')) shape = BulletHeightfieldShape(img, 50.0, ZUp) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground')) np.node().addShape(shape) np.setPos(0, 0, 0) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) #skybox skybox = loader.loadModel('media/models/skybox/skybox_01.X') skybox.reparentTo(render) # Chassis shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5)) ts = TransformState.makePos(Point3(0, 0, 1.0)) self.vehicleNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Vehicle')) self.vehicleNP.node().addShape(shape, ts) self.vehicleNP.setPos(-99.6,105,-11.8)#(88, 21, -11)#(34.3,8.4,-11.8)#(-99.6,105,-11.8)#(86.4,41.2,-12) self.vehicleNP.setHpr(-130,0,0) self.vehicleNP.node().setMass(5.0) self.vehicleNP.node().setDeactivationEnabled(False) base.cam.setPos(self.vehicleNP.getPos().getX()+2,self.vehicleNP.getPos().getY()+2,self.vehicleNP.getPos().getZ()+2) self.world.attachRigidBody(self.vehicleNP.node()) # Vehicle self.vehicle = BulletVehicle(self.world, self.vehicleNP.node()) self.vehicle.setCoordinateSystem(ZUp) self.world.attachVehicle(self.vehicle) self.hummerNP = loader.loadModel('media/models/vehicle/body.X') self.hummerNP.reparentTo(self.vehicleNP) # Right front wheel np = loader.loadModel('media/models/vehicle/front_right.X') np.reparentTo(self.worldNP) self.addWheel(Point3( 0.8, 0.9, 0.8), True, np) # Left front wheel np = loader.loadModel('media/models/vehicle/front_left.X') np.reparentTo(self.worldNP) self.addWheel(Point3(-0.8, 0.9, 0.8), True, np) # Right rear wheel np = loader.loadModel('media/models/vehicle/back_right.X') np.reparentTo(self.worldNP) self.addWheel(Point3( 0.8, -0.7, 0.8), False, np) # Left rear wheel np = loader.loadModel('media/models/vehicle/back_left.X') np.reparentTo(self.worldNP) self.addWheel(Point3(-0.8, -0.7, 0.8), False, np) self.setupObstacleFive(Vec3(91, 3, -9),1,Vec3(90,0,0)) self.setupObstacleFive(Vec3(94,-19, -10),0.9,Vec3(90,0,0)) self.setupObstacleFive(Vec3(85,-40, -10),1,Vec3(90,0,0)) self.setupObstacleFour(Vec3(-33.5, 23.4,-14.5),1,Vec3(0,0,0)) self.setupObstacleFour(Vec3(-43.3, 24.2,-14.5),1,Vec3(0,0,0)) self.setupObstacleTwo(Vec3(34.7,20.9,-8.5),1,Vec3(90,0,0)) self.setupObstacleTwo(Vec3(26.8,20.3,-8.5),1,Vec3(90,0,0)) self.setupObstacleTwo(Vec3(42.1,22.5,-8.5),1,Vec3(90,0,0)) #self.setupObstacleFive(Vec3(91,0.2, -8),2.1,Vec3(90,0,0)) #Goal self.setupGoal(Vec3(94,-89.7,-10)) self.setupTerrain() elif(self.gameLevel == 3): self.distanceTravelled = 0 self.time = 0 # Plane img = PNMImage(Filename('media/terrain/SIMP_Assignment_2_Terrain_3.png')) shape = BulletHeightfieldShape(img, 50.0, ZUp) np = self.worldNP.attachNewNode(BulletRigidBodyNode('Ground')) np.node().addShape(shape) np.setPos(0, 0, 0) np.setCollideMask(BitMask32.allOn()) self.world.attachRigidBody(np.node()) #skybox skybox = loader.loadModel('media/models/skybox/skybox_01.X') skybox.reparentTo(render) # Chassis shape = BulletBoxShape(Vec3(0.6, 1.4, 0.5)) ts = TransformState.makePos(Point3(0, 0, 1.0)) self.vehicleNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Vehicle')) self.vehicleNP.node().addShape(shape, ts) self.vehicleNP.setPos(-110, -110, 0) self.vehicleNP.setHpr(-40,0,0) self.vehicleNP.node().setMass(5.0) self.vehicleNP.node().setDeactivationEnabled(False) base.cam.setPos(self.vehicleNP.getPos().getX()+2,self.vehicleNP.getPos().getY()+2,self.vehicleNP.getPos().getZ()+2) self.world.attachRigidBody(self.vehicleNP.node()) # Vehicle self.vehicle = BulletVehicle(self.world, self.vehicleNP.node()) self.vehicle.setCoordinateSystem(ZUp) self.world.attachVehicle(self.vehicle) self.hummerNP = loader.loadModel('media/models/vehicle/body.X') self.hummerNP.reparentTo(self.vehicleNP) # Right front wheel np = loader.loadModel('media/models/vehicle/front_right.X') np.reparentTo(self.worldNP) self.addWheel(Point3( 0.8, 0.9, 0.8), True, np) # Left front wheel np = loader.loadModel('media/models/vehicle/front_left.X') np.reparentTo(self.worldNP) self.addWheel(Point3(-0.8, 0.9, 0.8), True, np) # Right rear wheel np = loader.loadModel('media/models/vehicle/back_right.X') np.reparentTo(self.worldNP) self.addWheel(Point3( 0.8, -0.7, 0.8), False, np) # Left rear wheel np = loader.loadModel('media/models/vehicle/back_left.X') np.reparentTo(self.worldNP) self.addWheel(Point3(-0.8, -0.7, 0.8), False, np) self.setupTerrain() #Goal self.setupGoal(Vec3(114,100,-13)) #Obstacles self.setupObstacleFour(Vec3(-60, -73, -9), 1, Vec3(0, 0, 0)) self.setupObstacleFour(Vec3(-63, -77, -9), 1, Vec3(0, 0, 0)) self.setupObstacleTwo(Vec3(-15, -40, -3), 1, Vec3(0, 0, 0)) self.setupObstacleFour(Vec3(-60, 12, -11), 1, Vec3(0, 0, 0)) self.setupObstacleSix(Vec3(-15, 90, -6), 1.5, Vec3(-30, 0, 0)) self.setupObstacleFour(Vec3(28, 87, -11), 1, Vec3(0, 0, 0)) self.setupObstacleFour(Vec3(32, 90, -11), 1, Vec3(0, 0, 0)) def addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.4) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100.0); wheel.setRollInfluence(0.1) def setupTerrain(self): if(self.gameLevel == 1): #terrain setting img = PNMImage(Filename('media/terrain/SIMP_Assignment_2_Terrain_1.png')) self.terrain = GeoMipTerrain("myTerrain") self.terrain.setHeightfield(img) self.terrain.getRoot().setSz(50) self.terrain.setBlockSize(4) #self.terrain.setFactor(10) #self.terrain.setMinLevel(0) self.terrain.setNear(50) self.terrain.setFar(1000) self.terrain.setFocalPoint(base.camera) self.terrain.getRoot().reparentTo(render) offset = img.getXSize() / 2.0 - 0.5 self.terrain.getRoot().setPos(-offset, -offset, -50 / 2.0) self.terrain.generate() #load textures tex0 = loader.loadTexture("media/terrain/SIMP_Assignment_2_Terrain_1_d.png") tex0.setMinfilter(Texture.FTLinearMipmapLinear) tex1 = loader.loadTexture("media/terrain/longGrass.png") tex1.setMinfilter(Texture.FTLinearMipmapLinear) tex2 = loader.loadTexture("media/terrain/bigRockFace.png") tex2.setMinfilter(Texture.FTLinearMipmapLinear) tex3 = loader.loadTexture("media/terrain/greenrough.png") tex3.setMinfilter(Texture.FTLinearMipmapLinear) tex4 = loader.loadTexture("media/terrain/grayRock.png") tex4.setMinfilter(Texture.FTLinearMipmapLinear) tex5 = loader.loadTexture("media/terrain/SIMP_Assignment_2_Terrain_1_c.png") tex5.setMinfilter(Texture.FTLinearMipmapLinear) tex6 = loader.loadTexture("media/terrain/SIMP_Assignment_2_Terrain_1_l.png") tex6.setMinfilter(Texture.FTLinearMipmapLinear) #set mutiltextures self.terrain.getRoot().setTexture( TextureStage('tex0'),tex0 ) self.terrain.getRoot().setTexture( TextureStage('tex1'),tex1 ) self.terrain.getRoot().setTexture( TextureStage('tex2'),tex2 ) self.terrain.getRoot().setTexture( TextureStage('tex3'),tex3 ) self.terrain.getRoot().setTexture( TextureStage('tex4'),tex4 ) self.terrain.getRoot().setTexture( TextureStage('tex5'),tex5 ) self.terrain.getRoot().setTexture( TextureStage('tex6'),tex6 ) #load shader self.terrain.getRoot().setShader(loader.loadShader('terraintexture.sha')) elif(self.gameLevel == 2): #terrain setting img = PNMImage(Filename('media/terrain/SIMP_Assignment_2_Terrain_2.png')) self.terrain = GeoMipTerrain("myTerrain") self.terrain.setHeightfield(img) self.terrain.getRoot().setSz(50) self.terrain.setBlockSize(4) #self.terrain.setFactor(10) #self.terrain.setMinLevel(0) self.terrain.setNear(50) self.terrain.setFar(100) self.terrain.setFocalPoint(base.camera) self.terrain.getRoot().reparentTo(render) offset = img.getXSize() / 2.0 - 0.5 self.terrain.getRoot().setPos(-offset, -offset, -50 / 2.0) self.terrain.generate() #load textures tex0 = loader.loadTexture("media/terrain/SIMP_Assignment_2_Terrain_2_d.png") tex0.setMinfilter(Texture.FTLinearMipmapLinear) tex1 = loader.loadTexture("media/terrain/sandripple.png") tex1.setMinfilter(Texture.FTLinearMipmapLinear) tex2 = loader.loadTexture("media/terrain/orangesand.png") tex2.setMinfilter(Texture.FTLinearMipmapLinear) tex3 = loader.loadTexture("media/terrain/grayRock.png") tex3.setMinfilter(Texture.FTLinearMipmapLinear) tex4 = loader.loadTexture("media/terrain/bigRockFace.png") tex4.setMinfilter(Texture.FTLinearMipmapLinear) tex5 = loader.loadTexture("media/terrain/SIMP_Assignment_2_Terrain_2_c.png") tex5.setMinfilter(Texture.FTLinearMipmapLinear) tex6 = loader.loadTexture("media/terrain/SIMP_Assignment_2_Terrain_2_l.png") tex6.setMinfilter(Texture.FTLinearMipmapLinear) #set mutiltextures self.terrain.getRoot().setTexture( TextureStage('tex0'),tex0 ) self.terrain.getRoot().setTexture( TextureStage('tex1'),tex1 ) self.terrain.getRoot().setTexture( TextureStage('tex2'),tex2 ) self.terrain.getRoot().setTexture( TextureStage('tex3'),tex3 ) self.terrain.getRoot().setTexture( TextureStage('tex4'),tex4 ) self.terrain.getRoot().setTexture( TextureStage('tex5'),tex5 ) self.terrain.getRoot().setTexture( TextureStage('tex6'),tex6 ) #load shader self.terrain.getRoot().setShader(loader.loadShader('terraintexture.sha')) elif(self.gameLevel == 3): #terrain setting img = PNMImage(Filename('media/terrain/SIMP_Assignment_2_Terrain_3.png')) self.terrain = GeoMipTerrain("myTerrain") self.terrain.setHeightfield(img) self.terrain.getRoot().setSz(50) self.terrain.setBlockSize(4) #self.terrain.setFactor(10) #self.terrain.setMinLevel(0) self.terrain.setNear(50) self.terrain.setFar(100) self.terrain.setFocalPoint(base.camera) self.terrain.getRoot().reparentTo(render) offset = img.getXSize() / 2.0 - 0.5 self.terrain.getRoot().setPos(-offset, -offset, -50 / 2.0) self.terrain.generate() #load textures tex0 = loader.loadTexture("media/terrain/SIMP_Assignment_2_Terrain_3_d.png") tex0.setMinfilter(Texture.FTLinearMipmapLinear) tex1 = loader.loadTexture("media/terrain/hardDirt.png") tex1.setMinfilter(Texture.FTLinearMipmapLinear) tex2 = loader.loadTexture("media/terrain/littlerocks.png") tex2.setMinfilter(Texture.FTLinearMipmapLinear) tex3 = loader.loadTexture("media/terrain/greenrough.png") tex3.setMinfilter(Texture.FTLinearMipmapLinear) tex4 = loader.loadTexture("media/terrain/bigRockFace.png") tex4.setMinfilter(Texture.FTLinearMipmapLinear) tex5 = loader.loadTexture("media/terrain/SIMP_Assignment_2_Terrain_3_c.png") tex5.setMinfilter(Texture.FTLinearMipmapLinear) tex6 = loader.loadTexture("media/terrain/SIMP_Assignment_2_Terrain_3_l.png") tex6.setMinfilter(Texture.FTLinearMipmapLinear) #set mutiltextures self.terrain.getRoot().setTexture( TextureStage('tex0'),tex0 ) self.terrain.getRoot().setTexture( TextureStage('tex1'),tex1 ) self.terrain.getRoot().setTexture( TextureStage('tex2'),tex2 ) self.terrain.getRoot().setTexture( TextureStage('tex3'),tex3 ) self.terrain.getRoot().setTexture( TextureStage('tex4'),tex4 ) self.terrain.getRoot().setTexture( TextureStage('tex5'),tex5 ) self.terrain.getRoot().setTexture( TextureStage('tex6'),tex6 ) #load shader self.terrain.getRoot().setShader(loader.loadShader('terraintexture.sha')) def setupObstacleOne(self, pos, scale, turn): #box A shape = BulletBoxShape(Vec3(3, 0.1, 0.1) * scale) bodyA = BulletRigidBodyNode('Box A') bodyNP= self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(3, 0.1, 0.1)*2 * scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyA) # Box C shape = BulletBoxShape(Vec3(0.1, 0.1, 0.9)*scale) bodyC = BulletRigidBodyNode('Box C') bodyNP = self.worldNP.attachNewNode(bodyC) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setLinearDamping(0.5) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(0.1, 0.1, 0.9)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyC) pivotA = Point3(0, 0, -0.1 * scale) pivotB = Point3(0, 0, 1 * scale) axisA = Vec3(1, 0, 0) axisB = Vec3(1, 0, 0) hinge = BulletHingeConstraint(bodyA, bodyC, pivotA, pivotB, axisA, axisB, True) hinge.setDebugDrawSize(2.0) hinge.setLimit(-90,90, softness=1.0, bias=0.3, relaxation=1.0) self.world.attachConstraint(hinge) # Box B shape = BulletBoxShape(Vec3(3, 2, 0.1)*scale) bodyB = BulletRigidBodyNode('Box B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setLinearDamping(0.5) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn); visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(3, 2, 0.1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) # Hinge pivotA = Point3(0, 0, 0) pivotB = Point3(0, 0, -1 * scale) hinge = BulletHingeConstraint(bodyB, bodyC, pivotA, pivotB, axisA, axisB, True) hinge.setLimit(0,360, softness=1.0, bias=0.3, relaxation=1.0) self.world.attachConstraint(hinge) def setupObstacleTwo(self,pos,scale,turn): #box A shape = BulletBoxShape(Vec3(3, 0.1, 0.1)*scale) bodyA = BulletRigidBodyNode('Box A') bodyNP= self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(3, 0.1, 0.1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyA) # Box B shape = BulletBoxShape(Vec3(0.1, 1, 1)*scale) bodyB = BulletRigidBodyNode('Box B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(100.0) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(0.1, 1, 1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) # Hinge pivotA = Point3(2, 0, 0) pivotB = Point3(0, 0, 2) axisA = Vec3(1, 0, 0) axisB = Vec3(1, 0, 0) hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA, axisB, True) hinge.setDebugDrawSize(2.0) hinge.setLimit(-90,90, softness=1.0, bias=0.3, relaxation=1.0) self.world.attachConstraint(hinge) # Box C shape = BulletBoxShape(Vec3(0.1, 1, 1)*scale) bodyC = BulletRigidBodyNode('Box C') bodyNP = self.worldNP.attachNewNode(bodyC) bodyNP.node().addShape(shape) bodyNP.node().setMass(100.0) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(0.1, 1, 1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyC) pivotA = Point3(-2, 0, 0) pivotB = Point3(0, 0, 2) hinge = BulletHingeConstraint(bodyA, bodyC, pivotA, pivotB, axisA, axisB, True) self.world.attachConstraint(hinge) def setupObstacleThree(self, pos, scale, turn): # Box A shape = BulletBoxShape(Vec3(0.1, 0.1, 0.1)) bodyA = BulletRigidBodyNode('Box A') bodyA.setRestitution(1.0) bodyNP = self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(0.1, 0.1, 0.1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyA) #Box B shape = BulletBoxShape(Vec3(0.1,0.1,0.1)) bodyB = BulletRigidBodyNode('Box B') bodyB.setRestitution(1.0) bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(0.1,0.1,0.1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) # Slider frameA = TransformState.makePosHpr(Point3(0, 0, 0), Vec3(0, 0, 0)) frameB = TransformState.makePosHpr(Point3(0, 0, 0), Vec3(0, 0, 0)) slider = BulletSliderConstraint(bodyA, bodyB, frameA, frameB, True) slider.setDebugDrawSize(2.0) slider.setLowerLinearLimit(0) slider.setUpperLinearLimit(12) slider.setLowerAngularLimit(-90) slider.setUpperAngularLimit(-85) self.world.attachConstraint(slider) # Box C shape = BulletBoxShape(Vec3(1, 3, 0.1)) bodyC = BulletRigidBodyNode('Box C') bodyC.setRestitution(1.0) bodyNP = self.worldNP.attachNewNode(bodyC) bodyNP.node().addShape(shape) bodyNP.node().setMass(0.1) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(Vec3(pos.getX() + 3, pos.getY() - 4, pos.getZ())) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(1, 3, 0.1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyC) bodyNP.node().setLinearVelocity(-100) # Slider frameA = TransformState.makePosHpr(Point3(0, 0, 0), Vec3(0, 0, 0)) frameB = TransformState.makePosHpr(Point3(0, 0, 0), Vec3(0, 0, 0)) slider = BulletSliderConstraint(bodyA, bodyC, frameA, frameB, True) slider.setDebugDrawSize(2.0) slider.setLowerLinearLimit(2) slider.setUpperLinearLimit(6) slider.setLowerAngularLimit(-90) slider.setUpperAngularLimit(-85) self.world.attachConstraint(slider) def setupObstacleFour(self, pos, scale, turn): #Start Here # Box A shape = BulletBoxShape(Vec3(0.01, 0.01, 0.01) * scale) bodyA = BulletRigidBodyNode('Box A') bodyNP = self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos.getX(), pos.getY(), pos.getZ() + 4) #(0, 0, 4) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(0.01, 0.01, 0.01)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyA) # Box B shape = BulletSphereShape(0.5*scale) bodyB = BulletRigidBodyNode('Sphere B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(10.0) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos.getX(), pos.getY(), pos.getZ() + 5) #(0, 0, 0.001) visNP = loader.loadModel('media/models/ball.egg') visNP.clearModelNodes() visNP.setScale(1.25*scale) visNP.reparentTo(bodyNP) bodyNP.node().setLinearVelocity(100) self.world.attachRigidBody(bodyB) # Cone frameA = TransformState.makePosHpr(Point3(0, 0, 0), Vec3(0, 0, 90)) frameB = TransformState.makePosHpr(Point3(2, 0, 0)*scale, Vec3(0, 0, 0)) cone = BulletConeTwistConstraint(bodyA, bodyB, frameA, frameB) cone.setDebugDrawSize(2.0) cone.setLimit(30, 90, 270, softness=1.0, bias=0.3, relaxation=10.0) self.world.attachConstraint(cone) # Box C shape = BulletBoxShape(Vec3(0.1, 0.1, 1)*scale) bodyC = BulletRigidBodyNode('Box C') bodyNP = self.worldNP.attachNewNode(bodyC) bodyNP.node().addShape(shape) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos.getX(), pos.getY(), pos.getZ() + 3) self.world.attachRigidBody(bodyC) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(0.1, 0.1, 1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) def setupObstacleSix(self, pos, scale, turn): #box A shape = BulletBoxShape(Vec3(0.1, 0.1, 0.1)*scale) bodyA = BulletRigidBodyNode('Box A') bodyNP= self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOff()) bodyNP.setPos(pos.getX()-2,pos.getY(),pos.getZ()+2.5)#-2,0,2.5) bodyNP.setHpr(turn) # Box B shape = BulletBoxShape(Vec3(2, 0.1, 3)*scale) bodyB = BulletRigidBodyNode('Box B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setLinearDamping(0.5) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos.getX()-3,pos.getY(), pos.getZ())#, 0, 0) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(2, 0.1, 3)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) # Hinge pivotA = Point3(-2, 0, -3) pivotB = Point3(-2, 0, -3) axisA = Vec3(0, 0, 1) axisB = Vec3(0, 0, 1) hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA, axisB, True) hinge.setDebugDrawSize(2.0) hinge.setLimit(0,90, softness=1.0, bias=0.3, relaxation=1.0) self.world.attachConstraint(hinge) #box A shape = BulletBoxShape(Vec3(0.1, 0.1, 0.1)*scale) bodyA = BulletRigidBodyNode('Box A') bodyNP= self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOff()) bodyNP.setPos(pos.getX()+2,pos.getY(),pos.getZ()+2.5)#2,0,2.5) bodyNP.setHpr(turn) # Box B shape = BulletBoxShape(Vec3(2, 0.1, 3)*scale) bodyB = BulletRigidBodyNode('Box B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setLinearDamping(0.5) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos.getX()+4, pos.getY(), pos.getZ())# 0, 0) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(2, 0.1, 3)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) pivotA = Point3(2, 0, -3) pivotB = Point3(2, 0, -3) hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA, axisB, True) hinge.setLimit(-90,0, softness=1.0, bias=0.3, relaxation=1.0) self.world.attachConstraint(hinge) def setupObstacleFive(self, pos, scale, turn): #box A shape = BulletBoxShape(Vec3(3, 0.1, 0.1)*scale) bodyA = BulletRigidBodyNode('Box A') bodyNP= self.worldNP.attachNewNode(bodyA) bodyNP.node().addShape(shape) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(3, 0.1, 0.1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyA) # Box B shape = BulletBoxShape(Vec3(3, 2, 0.1)*scale) bodyB = BulletRigidBodyNode('Box B') bodyNP = self.worldNP.attachNewNode(bodyB) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(3, 2, 0.1)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyB) # Hinge pivotA = Point3(0, 0, 0) pivotB = Point3(0, 0, 5) axisA = Vec3(1, 0, 0) axisB = Vec3(1, 0, 0) hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA, axisB, True) hinge.setDebugDrawSize(2.0) hinge.setLimit(-50,50, softness=0.5, bias=0.3, relaxation=0.6) self.world.attachConstraint(hinge) # Box C shape = BulletBoxShape(Vec3(0.1, 0.1, 0.9)*scale) bodyC = BulletRigidBodyNode('Box C') bodyNP = self.worldNP.attachNewNode(bodyC) bodyNP.node().addShape(shape) bodyNP.node().setMass(1.0) bodyNP.node().setDeactivationEnabled(False) bodyNP.setCollideMask(BitMask32.allOn()) bodyNP.setPos(pos) bodyNP.setHpr(turn) visNP = loader.loadModel('media/models/box.egg') visNP.setScale(Vec3(0.1, 0.1, 0.9)*2*scale) visNP.clearModelNodes() visNP.reparentTo(bodyNP) self.world.attachRigidBody(bodyC) pivotA = Point3(0, 0, -1.1) pivotB = Point3(0, 0, 1) hinge = BulletHingeConstraint(bodyA, bodyC, pivotA, pivotB, axisA, axisB, True) hinge.setLimit(-90,90, softness=1.0, bias=0.3, relaxation=1.0) self.world.attachConstraint(hinge) def setupGoal(self, pos): # Goal shape = BulletBoxShape(Vec3(1, 1, 1)) body = BulletRigidBodyNode('Flag') self.flagNP = self.worldNP.attachNewNode(body) self.flagNP.node().addShape(shape) self.flagNP.setCollideMask(BitMask32.allOn()) self.flagNP.setPos(pos) visNP = loader.loadModel('media/models/Flag.X') visNP.clearModelNodes() visNP.reparentTo(self.flagNP) self.world.attachRigidBody(body)
class Game(DirectObject): def __init__(self): base.setBackgroundColor(0.1, 0.1, 0.8, 1) base.setFrameRateMeter(True) # Light alight = AmbientLight('ambientLight') alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) alightNP = render.attachNewNode(alight) dlight = DirectionalLight('directionalLight') dlight.setDirection(Vec3(1, 1, -1)) dlight.setColor(Vec4(0.7, 0.7, 0.7, 1)) dlightNP = render.attachNewNode(dlight) render.clearLight() render.setLight(alightNP) render.setLight(dlightNP) # Input self.accept('escape', self.doExit) self.accept('r', self.doReset) self.accept('f1', self.toggleWireframe) self.accept('f2', self.toggleTexture) self.accept('f3', self.toggleDebug) self.accept('f5', self.doScreenshot) # ROS self.crash_pub = rospy.Publisher('crash', std_msgs.msg.Empty, queue_size=100) ### subscribers (info sent to Arduino) self.cmd_steer_sub = rospy.Subscriber( 'cmd/steer', std_msgs.msg.Float32, callback=self._cmd_steer_callback) self.cmd_motor_sub = rospy.Subscriber( 'cmd/motor', std_msgs.msg.Float32, callback=self._cmd_motor_callback) self.cmd_vel_sub = rospy.Subscriber('cmd/vel', std_msgs.msg.Float32, callback=self._cmd_vel_callback) self.reset_sub = rospy.Subscriber('reset', std_msgs.msg.Empty, callback=self._reset_callback) self.cmd_steer_queue = Queue.Queue(maxsize=1) self.cmd_motor_queue = Queue.Queue(maxsize=1) # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() print('Starting ROS thread') threading.Thread(target=self._ros_servos_thread).start() threading.Thread(target=self._ros_crash_thread).start() threading.Thread(target=self._ros_image_thread).start() # Callbacks def _cmd_steer_callback(self, msg): if msg.data >= 0 and msg.data <= 99.0: self.cmd_steer_queue.put(msg.data) def _cmd_motor_callback(self, msg): if msg.data >= 0 and msg.data <= 99.0: self.cmd_motor_queue.put(msg.data) def _cmd_vel_callback(self, msg): data = numpy.clip(msg.data * 3 + 49.5, 0, 99.0) self.cmd_motor_queue.put(data) def _reset_callback(self, msg): self.doReset() # ROS thread def _ros_servos_thread(self): """ Publishes/subscribes to Ros. """ self.steering = 0.0 # degree self.steeringClamp = rospy.get_param('~steeringClamp') self.engineForce = 0.0 self.engineClamp = rospy.get_param('~engineClamp') r = rospy.Rate(60) while not rospy.is_shutdown(): r.sleep() for var, queue in (('steer', self.cmd_steer_queue), ('motor', self.cmd_motor_queue)): if not queue.empty(): try: if var == 'steer': self.steering = self.steeringClamp * ( (queue.get() - 49.5) / 49.5) self.vehicle.setSteeringValue(self.steering, 0) self.vehicle.setSteeringValue(self.steering, 1) elif var == 'motor': self.vehicle.setBrake(100.0, 2) self.vehicle.setBrake(100.0, 3) self.engineForce = self.engineClamp * ( (queue.get() - 49.5) / 49.5) self.vehicle.applyEngineForce(self.engineForce, 2) self.vehicle.applyEngineForce(self.engineForce, 3) except Exception as e: print(e) def _ros_crash_thread(self): crash = 0 r = rospy.Rate(30) while not rospy.is_shutdown(): r.sleep() try: result = self.world.contactTest(self.vehicle_node) if result.getNumContacts() > 0: self.crash_pub.publish(std_msgs.msg.Empty()) except Exception as e: print(e) def _ros_image_thread(self): camera_pub = ImageROSPublisher("image") depth_pub = ImageROSPublisher("depth") r = rospy.Rate(30) i = 0 while not rospy.is_shutdown(): r.sleep() # sometimes fails to observe try: obs = self.camera_sensor.observe() camera_pub.publish_image(obs[0]) depth_pub.publish_image(obs[1], image_format="passthrough") except: pass # _____HANDLER_____ def doExit(self): self.cleanup() sys.exit(1) def doReset(self): self.cleanup() self.setup() def toggleWireframe(self): base.toggleWireframe() def toggleTexture(self): base.toggleTexture() def toggleDebug(self): if self.debugNP.isHidden(): self.debugNP.show() else: self.debugNP.hide() def doScreenshot(self): base.screenshot('Bullet') # ____TASK___ def update(self, task): dt = globalClock.getDt() self.world.doPhysics(dt, 10, 0.008) #print self.vehicle.getWheel(0).getRaycastInfo().isInContact() #print self.vehicle.getWheel(0).getRaycastInfo().getContactPointWs() #print self.vehicle.getChassis().isKinematic() return task.cont def cleanup(self): self.world = None self.worldNP.removeNode() 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) # Collision handle #base.cTrav = CollisionTraverser() #self.notifier = CollisionHandlerEvent() #self.notifier.addInPattern("%fn") #self.accept("Vehicle", self.onCollision) def onCollision(self): print("crash") def addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.25) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(1e3) wheel.setRollInfluence(0.0)
class CarSrv(DirectObject): def __init__(self): base.setBackgroundColor(0.1, 0.1, 0.8, 1) assert ("offscreen" == base.config.GetString("window-type", "offscreen")) # Light alight = AmbientLight('ambientLight') alight.setColor(Vec4(0.5, 0.5, 0.5, 1)) alightNP = render.attachNewNode(alight) dlight = DirectionalLight('directionalLight') dlight.setDirection(Vec3(1, 1, -1)) dlight.setColor(Vec4(0.7, 0.7, 0.7, 1)) dlightNP = render.attachNewNode(dlight) render.clearLight() render.setLight(alightNP) render.setLight(dlightNP) # Input self.accept('escape', self.doExit) self.accept('r', self.doReset) self.accept('f1', self.toggleWireframe) self.accept('f2', self.toggleTexture) self.accept('f3', self.toggleDebug) self.accept('f5', self.doScreenshot) self.params = rospy.get_param('~sim') # Car Simulator self.dt = rospy.get_param('~dt') self.setup() self.load_vehicle() # ROS self.crash_pub = rospy.Publisher('crash', std_msgs.msg.Empty, queue_size=1) self.bridge = cv_bridge.CvBridge() # taskMgr.add(self.update, 'updateWorld') self.start_update_server() # _____HANDLER_____ def doExit(self): self.cleanup() sys.exit(1) def doReset(self, pos=None, quat=None): self.cleanup() self.setup() if pos is None or quat is None: self.load_vehicle() else: self.load_vehicle(pos=pos, quat=quat) def toggleWireframe(self): base.toggleWireframe() def toggleTexture(self): base.toggleTexture() def toggleDebug(self): if self.debugNP.isHidden(): self.debugNP.show() else: self.debugNP.hide() def doScreenshot(self): base.screenshot('Bullet') def get_ros_image(self, cv_image, image_format="rgb8"): return self.bridge.cv2_to_imgmsg(cv_image, image_format) def get_handler(self): def sim_env_handler(req): start_time = time.time() cmd_steer = req.steer motor = req.motor vel = req.vel reset = req.reset pose = req.pose # If motor is default then use velocity if motor == 0.0: cmd_motor = numpy.clip(vel * 3 + 49.5, 0., 99.) else: cmd_motor = numpy.clip(motor, 0., 99.) self.steering = self.steeringClamp * \ ((cmd_steer - 49.5) / 49.5) self.engineForce = self.engineClamp * \ ((cmd_motor - 49.5) / 49.5) if reset: self.steering = 0.0 # degree self.engineForce = 0.0 pos = pose.position.x, pose.position.y, pose.position.z quat = pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w if numpy.all(numpy.array(pos) == 0.): self.doReset() else: self.doReset(pos=pos, quat=quat) self.vehicle.setSteeringValue(self.steering, 0) self.vehicle.setSteeringValue(self.steering, 1) self.vehicle.setBrake(100.0, 2) self.vehicle.setBrake(100.0, 3) self.vehicle.applyEngineForce(self.engineForce, 2) self.vehicle.applyEngineForce(self.engineForce, 3) pos = numpy.array(self.vehicle_pointer.getPos()) np_quat = self.vehicle_pointer.getQuat() quat = numpy.array(np_quat) self.previous_pos = pos self.previous_quat = np_quat # TODO maybe change number of timesteps self.world.doPhysics(self.dt, 10, 0.05) # Collision detection result = self.world.contactTest(self.vehicle_node) collision = result.getNumContacts() > 0 if collision: # TODO figure out why this causes problems # self.crash_pub.publish(std_msgs.msg.Empty()) self.doReset(pos=self.previous_pos, quat=self.previous_quat) state = geometry_msgs.msg.Pose() pos = numpy.array(self.vehicle_pointer.getPos()) np_quat = self.vehicle_pointer.getQuat() quat = numpy.array(np_quat) self.previous_pos = pos self.previous_quat = np_quat state.position.x, state.position.y, state.position.z = pos state.orientation.x, state.orientation.y, \ state.orientation.z, state.orientation.w = quat # Get observation obs = self.camera_sensor.observe() back_obs = self.back_camera_sensor.observe() cam_image = self.get_ros_image(obs[0]) cam_depth = self.get_ros_image(obs[1], image_format="passthrough") self.camera_pub.publish_image(obs[0]) self.depth_pub.publish_image(obs[1], image_format="passthrough") back_cam_image = self.get_ros_image(back_obs[0]) back_cam_depth = self.get_ros_image(back_obs[1], image_format="passthrough") self.back_camera_pub.publish_image(back_obs[0]) self.back_depth_pub.publish_image(back_obs[1], image_format="passthrough") return [ collision, cam_image, cam_depth, back_cam_image, back_cam_depth, state ] return sim_env_handler 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 addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.25) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(1e3) wheel.setRollInfluence(0.0) self._wheels.append(np.node()) def start_update_server(self): self.steering = 0.0 # degree self.steeringClamp = self.params['steeringClamp'] self.engineForce = 0.0 self.engineClamp = self.params['engineClamp'] self.camera_pub = ImageROSPublisher("image") self.depth_pub = ImageROSPublisher("depth") self.back_camera_pub = ImageROSPublisher("back_image") self.back_depth_pub = ImageROSPublisher("back_depth") s = rospy.Service('sim_env', bair_car.srv.sim_env, self.get_handler()) rospy.spin() def update(self, task): dt = globalClock.getDt() self.world.doPhysics(dt, 10, 0.008) obs = self.camera_sensor.observe() obs = self.back_camera_sensor.observe() return task.cont def cleanup(self): self.world = None self.worldNP.removeNode() @abc.abstractmethod def setup(self): pass
class Vehicle(object): COUNT = 0 def __init__(self, bulletWorld, pos, username): self.world = bulletWorld self.acceleration = 1.5 self.brakeForce = 100.0 self.mass = 800 self.max_speed = 150 self.reverse_limit = -40 self.mass = 800.0 # kg self.max_speed = 150 # km self.armor = 100 self.health = 100 self.friction = 0.2 #slows the car when not accelerating (based on the brakes) self.maxWheelForce = 2000.0 self.maxWheelForce = 2000.0 # acceleration self.power_ups = [0, 0, 0] self.specs = {"mass": self.mass, "maxWheelForce": self.maxWheelForce, "brakeForce": self.brakeForce, "steeringLock": 20.0} self.vehicleControlState = {"throttle": 0, "reverse": False, "brake": 0.0, "steering": 0.0} self.username = username # Steering change per second, normalised to steering lock # Eg. 45 degrees lock and 1.0 rate means 45 degrees per second self.steeringRate = 0.7 self.centreingRate = 5.0 self.pos = pos self.currentPowerups = {"powerup1": None, "powerup2": None, "powerup3": None} self.setupVehicle(bulletWorld) COUNT = 1 def processInput(self, inputState, dt): # print self.chassisNP.getPos() # print self.chassisNP.getH() """Use controls to update the player's car""" # For keyboard throttle and brake are either 0 or 1 if inputState.isSet('forward') and self.vehicle.getCurrentSpeedKmHour() <= self.max_speed: self.vehicleControlState["throttle"] = 1.0 else: self.vehicleControlState["throttle"] = 0.0 velocity = self.chassisNode.getLinearVelocity() speed = math.sqrt(sum(v ** 2 for v in velocity)) # Update braking and reversing if inputState.isSet('brake'): if speed < 0.5 or self.vehicleControlState["reverse"]: # If we're stopped, then start reversing # Also keep reversing if we already were self.vehicleControlState["reverse"] = True self.vehicleControlState["throttle"] = 1.0 self.vehicleControlState["brake"] = 0.0 else: self.vehicleControlState["reverse"] = False self.vehicleControlState["brake"] = 1.0 else: self.vehicleControlState["reverse"] = False self.vehicleControlState["brake"] = 0.0 # steering is normalised from -1 to 1, corresponding # to the steering lock right and left steering = self.vehicleControlState["steering"] if inputState.isSet('left'): steering += dt * self.steeringRate steering = min(steering, 1.0) elif inputState.isSet('right'): steering -= dt * self.steeringRate steering = max(steering, -1.0) else: # gradually re-center the steering if steering > 0.0: steering -= dt * self.centreingRate if steering < 0.0: steering = 0.0 elif steering < 0.0: steering += dt * self.centreingRate if steering > 0.0: steering = 0.0 self.vehicleControlState["steering"] = steering # """Updates acceleration, braking and steering # These are all passed in through a controlState dictionary # """ # Update acceleration and braking wheelForce = self.vehicleControlState["throttle"] * self.specs["maxWheelForce"] self.reversing = self.vehicleControlState["reverse"] if self.reversing: # Make reversing a bit slower than moving forward wheelForce *= -0.5 brakeForce = self.vehicleControlState["brake"] * self.specs["brakeForce"] #slows down vehicle when no key pressed if self.vehicleControlState["throttle"] != 1.0 and self.vehicleControlState["reverse"] != 1.0 and self.vehicleControlState["brake"] != 1.0: brakeForce = self.friction * self.specs["brakeForce"] # Update steering # Steering control state is from -1 to 1 steering = self.vehicleControlState["steering"] * self.specs["steeringLock"] # Apply steering to front wheels self.vehicle.setSteeringValue(steering, 0); self.vehicle.setSteeringValue(steering, 1); # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(wheelForce, 2); self.vehicle.applyEngineForce(wheelForce, 3); self.vehicle.setBrake(brakeForce, 2); self.vehicle.setBrake(brakeForce, 3); def setupVehicle(self, bulletWorld): # Chassis shape = BulletBoxShape(Vec3(1, 2.2, 0.5)) ts = TransformState.makePos(Point3(0, 0, .7)) self.chassisNode = BulletRigidBodyNode('Vehicle') self.chassisNP = render.attachNewNode(self.chassisNode) self.chassisNP.node().addShape(shape, ts) self.chassisNP.node().notifyCollisions(True) self.chassisNP.setPosHpr(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 addWheel(self, pos, front, np): wheel = self.vehicle.createWheel() wheel.setNode(np.node()) wheel.setChassisConnectionPointCs(pos) wheel.setFrontWheel(front) wheel.setWheelDirectionCs(Vec3(0, 0, -1)) wheel.setWheelAxleCs(Vec3(1, 0, 0)) wheel.setWheelRadius(0.33) wheel.setMaxSuspensionTravelCm(40.0) wheel.setSuspensionStiffness(40.0) wheel.setWheelsDampingRelaxation(2.3) wheel.setWheelsDampingCompression(4.4) wheel.setFrictionSlip(100.0); wheel.setRollInfluence(0.1) def reset(self): self.chassisNP.setP(0) self.chassisNP.setR(0) def pickedPowerup(self, powerup): if not powerup.pickable: powerup.useAbility() else: if self.currentPowerups["powerup1"] is None: self.currentPowerups["powerup1"] = powerup elif self.currentPowerups["powerup2"] is None: self.currentPowerups["powerup2"] = powerup elif self.currentPowerups["powerup3"] is None: self.currentPowerups["powerup3"] = powerup def canPickUpPowerup(self): return (self.currentPowerups["powerup1"] is None or self.currentPowerups["powerup2"] is None or self.currentPowerups["powerup3"] is None) def usePowerup(self, powerupIndex): # Move usePowerupN to this function if powerupIndex == 0 and self.currentPowerups["powerup1"] is not None: self.currentPowerups["powerup1"].useAbility() self.currentPowerups["powerup1"] = None elif powerupIndex == 1 and self.currentPowerups["powerup2"] is not None: self.currentPowerups["powerup2"].useAbility() self.currentPowerups["powerup2"] = None elif powerupIndex == 2 and self.currentPowerups["powerup3"] is not None: self.currentPowerups["powerup3"].useAbility() self.currentPowerups["powerup3"] = None
class RoadRally(ShowBase): 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")