class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -40, 10)
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(5, 0, -2))
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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.004)
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())
# Box
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5) * 2.0)
boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
boxNP.node().setMass(150.0)
boxNP.node().addShape(shape)
boxNP.setPos(0, 0, 2)
boxNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(boxNP.node())
visualNP = loader.loadModel('models/box.egg')
visualNP.clearModelNodes()
visualNP.setScale(2.0)
visualNP.reparentTo(boxNP)
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
nx = 31
ny = 31
p00 = Point3(-8, -8, 0)
p10 = Point3(8, -8, 0)
p01 = Point3(-8, 8, 0)
p11 = Point3(8, 8, 0)
bodyNode = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, nx,
ny, 1 + 2 + 4 + 8, True)
material = bodyNode.appendMaterial()
material.setLinearStiffness(0.4)
bodyNode.generateBendingConstraints(2, material)
bodyNode.setTotalMass(50.0)
bodyNode.getShape(0).setMargin(0.5)
bodyNP = self.worldNP.attachNewNode(bodyNode)
self.world.attachSoftBody(bodyNode)
# Rendering with Geom:
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt, True)
bodyNode.linkGeom(geom)
visNode = GeomNode('')
visNode.addGeom(geom)
visNP = bodyNP.attachNewNode(visNode)
# Now we want to have a texture and texture coordinates.
# The geom's format has already a column for texcoords, so we just need
# to write texcoords using a GeomVertexRewriter.
tex = loader.loadTexture('models/panda.jpg')
visNP.setTexture(tex)
BulletHelper.makeTexcoordsForPatch(geom, nx, ny)
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -60, 20)
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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.008)
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.debugNP.showTightBounds()
#self.debugNP.showBounds()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Stair
origin = Point3(0, 0, 0)
size = Vec3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Stair%i' % i))
np.node().addShape(shape)
np.setPos(pos)
np.setCollideMask(BitMask32.allOn())
npV = loader.loadModel('models/box.egg')
npV.reparentTo(np)
npV.setScale(size)
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
center = Point3(0, 0, 0)
radius = Vec3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.makeEllipsoid(info, center, radius, 128)
node.setName('Ellipsoid')
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setDynamicFrictionCoefficient(1)
node.getCfg().setDampingCoefficient(0.001)
node.getCfg().setPressureCoefficient(1500)
node.setTotalMass(30, True)
node.setPose(True, False)
np = self.worldNP.attachNewNode(node)
np.setPos(15, 0, 12)
#np.setH(90.0)
#np.showBounds()
#np.showTightBounds()
self.world.attachSoftBody(np.node())
geom = BulletHelper.makeGeomFromFaces(node)
node.linkGeom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
class Game(ShowBase):
def __init__(self):
ShowBase.__init__(self)
base = self
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
#base.setFrameRateMeter(True)
self.mybase = NodePath("MyBase")
self.mybase.reparentTo(render)
self.camholder = NodePath("CamHolder")
self.camholder.reparentTo(render)
self.camera.reparentTo(self.camholder)
self.camholder.setPos(0, 0, 90)
self.camholder.lookAt(0, 0, 0)
self.camholder.setH(np.random.randint(0,360))
# Light
alight = AmbientLight('ambientLight')
alight.setColor(Vec4(0.6, 0.6, 0.6, 1))
alightNP = render.attachNewNode(alight)
dlight = DirectionalLight('directionalLight')
#dlight.setDirection(Vec3(5, 0, -2))
dlight.setColor(Vec4(0.7, 0.7, 0.7, 1))
dlightNP = render.attachNewNode(dlight)
dlightNP.lookAt(np.random.randint(-15,15), np.random.randint(-15,15), -2)
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('d', self.toggleDebug)
self.accept('f5', self.doScreenshot)
# Task
taskMgr.add(self.update, 'updateWorld')
# Physics
self.setup()
sky = loader.loadModel('smiley.egg')
sky.setColor(0,1,0)
sky.setTwoSided(True)
sky.reparentTo(self.mybase)
sky.setScale(100)
m = Material()
m.clearDiffuse()
sky.setMaterial(m)
self.flowgen = FlowGen()
self.flowgen.flow_cam.reparentTo(self.camholder)
setup_flow_shading_on_node(self.mybase)
# _____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___
tt = 0
def update(self, task):
dt = globalClock.getDt()
#dt *= 0.01
self.world.doPhysics(dt, 10, 0.008)
self.tt += 1
print self.tt
if int(self.tt) % 200 == 0:
gv = Vec3(np.random.randn()*3, np.random.randn()*3, 0)
print gv
print base.cam.getPos()
print base.cam.getHpr()
self.world.setGravity(gv)
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(np.random.randn()*3, np.random.randn()*3, 0))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
npp = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
npp.node().addShape(shape)
npp.setPos(0, 0, -2)
npp.setCollideMask(BitMask32.allOn())
self.ground = npp
self.world.attachRigidBody(npp.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
def makeSB(pos, hpr):
model = loader.loadModel('moleculemesh/smoothed/clathrinfixsmth%02d.obj' % np.random.randint(1,21))
geom = model.findAllMatches('**/+GeomNode').getPath(0).node().modifyGeom(0)
geomNode = GeomNode('')
geomNode.addGeom(geom)
node = BulletSoftBodyNode.makeTriMesh(info, geom)
node.linkGeom(geomNode.modifyGeom(0))
node.generateBendingConstraints(2)
node.getCfg().setPositionsSolverIterations(6)
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFVertexFaceSoftSoft, True)
node.randomizeConstraints()
node.setTotalMass(50, True)
node.getMaterial(0).setLinearStiffness(0.2)
#node.getCfg().setDynamicFrictionCoefficient(1)
#node.getCfg().setDampingCoefficient(0.001)
node.getCfg().setPressureCoefficient(1500)
softNP = self.worldNP.attachNewNode(node)
softNP.setPos(pos)
softNP.setHpr(hpr)
self.world.attachSoftBody(node)
geomNP = softNP.attachNewNode(geomNode)
#softNP.node().appendAnchor(1, self.ground.node())
softNP.node().appendAnchor(1217, self.ground.node())
softNP.node().appendAnchor(1157, self.ground.node())
softNP.node().appendAnchor(2052, self.ground.node())
#softNP.node().appendAnchor(1800, self.ground.node())
softNP.reparentTo(self.mybase)
#makeSB(Point3(-3, 0, 4), (0, 0, 0))
#makeSB(Point3(0, 0, 4), (0, 90, 90))
makeSB(Point3(4+np.random.randn(), 2+np.random.randn(), 4), (0, 0, 0))
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -40, 10)
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(5, 0, -2))
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)
# 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 update(self, task):
dt = globalClock.getDt()
#dt *= 0.01
self.world.doPhysics(dt, 10, 0.008)
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())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
def makeSB(pos, hpr):
import torus
geom = torus.makeGeom()
#geom = loader.loadModel('models/torus.egg') \
# .findAllMatches('**/+GeomNode').getPath(0).node() \
# .modifyGeom(0)
geomNode = GeomNode('')
geomNode.addGeom(geom)
node = BulletSoftBodyNode.makeTriMesh(info, geom)
node.linkGeom(geomNode.modifyGeom(0))
node.generateBendingConstraints(2)
node.getCfg().setPositionsSolverIterations(2)
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFVertexFaceSoftSoft, True)
node.randomizeConstraints()
node.setTotalMass(50, True)
softNP = self.worldNP.attachNewNode(node)
softNP.setPos(pos)
softNP.setHpr(hpr)
self.world.attachSoftBody(node)
geomNP = softNP.attachNewNode(geomNode)
makeSB(Point3(-3, 0, 4), (0, 0, 0))
makeSB(Point3(0, 0, 4), (0, 90, 90))
makeSB(Point3(3, 0, 4), (0, 0, 0))
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -40, 10)
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(5, 0, -2))
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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.004)
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())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
def make(p1):
n = 8
p2 = p1 + Vec3(10, 0, 0)
bodyNode = BulletSoftBodyNode.makeRope(info, p1, p2, n, 1)
bodyNode.setTotalMass(50.0)
bodyNP = self.worldNP.attachNewNode(bodyNode)
self.world.attachSoftBody(bodyNode)
# Render option 1: Line geom
#geom = BulletSoftBodyNode.makeGeomFromLinks(bodyNode)
#bodyNode.linkGeom(geom)
#visNode = GeomNode('')
#visNode.addGeom(geom)
#visNP = bodyNP.attachNewNode(visNode)
# Render option 2: NURBS curve
curve = NurbsCurveEvaluator()
curve.reset(n + 2)
bodyNode.linkCurve(curve)
visNode = RopeNode('')
visNode.setCurve(curve)
visNode.setRenderMode(RopeNode.RMTube)
visNode.setUvMode(RopeNode.UVParametric)
visNode.setNumSubdiv(4)
visNode.setNumSlices(8)
visNode.setThickness(0.4)
visNP = self.worldNP.attachNewNode(visNode)
#visNP = bodyNP.attachNewNode(visNode) # --> renders with offset!!!
visNP.setTexture(loader.loadTexture('models/iron.jpg'))
#bodyNP.showBounds()
#visNP.showBounds()
return bodyNP
np1 = make(Point3(-2, -1, 8))
np2 = make(Point3(-2, 1, 8))
# Box
shape = BulletBoxShape(Vec3(2, 2, 6))
boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
boxNP.node().setMass(50.0)
boxNP.node().addShape(shape)
boxNP.setPos(10, 0, 8)
boxNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(boxNP.node())
np1.node().appendAnchor(np1.node().getNumNodes() - 1, boxNP.node())
np2.node().appendAnchor(np1.node().getNumNodes() - 1, boxNP.node())
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.setScale(4, 4, 12)
visNP.reparentTo(boxNP)
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -40, 10)
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(5, 0, -2))
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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.004)
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())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
def make(p1):
n = 8
p2 = p1 + Vec3(10, 0, 0)
bodyNode = BulletSoftBodyNode.makeRope(info, p1, p2, n, 1)
bodyNode.setTotalMass(50.0)
bodyNP = self.worldNP.attachNewNode(bodyNode)
self.world.attachSoftBody(bodyNode)
# Render option 1: Line geom
#geom = BulletSoftBodyNode.makeGeomFromLinks(bodyNode)
#bodyNode.linkGeom(geom)
#visNode = GeomNode('')
#visNode.addGeom(geom)
#visNP = bodyNP.attachNewNode(visNode)
# Render option 2: NURBS curve
curve = NurbsCurveEvaluator()
curve.reset(n + 2)
bodyNode.linkCurve(curve)
visNode = RopeNode('')
visNode.setCurve(curve)
visNode.setRenderMode(RopeNode.RMTube)
visNode.setUvMode(RopeNode.UVParametric)
visNode.setNumSubdiv(4)
visNode.setNumSlices(8)
visNode.setThickness(0.4)
visNP = self.worldNP.attachNewNode(visNode)
#visNP = bodyNP.attachNewNode(visNode) # --> renders with offset!!!
visNP.setTexture(loader.loadTexture('models/iron.jpg'))
#bodyNP.showBounds()
#visNP.showBounds()
return bodyNP
np1 = make(Point3(-2, -1, 8))
np2 = make(Point3(-2, 1, 8))
# Box
shape = BulletBoxShape(Vec3(2, 2, 6))
boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
boxNP.node().setMass(50.0)
boxNP.node().addShape(shape)
boxNP.setPos(10, 0, 8)
boxNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(boxNP.node())
np1.node().appendAnchor(np1.node().getNumNodes() - 1, boxNP.node())
np2.node().appendAnchor(np1.node().getNumNodes() - 1, boxNP.node())
visNP = loader.loadModel('models/box.egg')
visNP.clearModelNodes()
visNP.setScale(4, 4, 12)
visNP.reparentTo(boxNP)
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -40, 10)
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(5, 0, -2))
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)
# 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 update(self, task):
dt = globalClock.getDt()
#dt *= 0.01
self.world.doPhysics(dt, 10, 0.008)
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())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
def makeSB(pos, hpr):
import torus
geom = torus.makeGeom()
#geom = loader.loadModel('models/torus.egg') \
# .findAllMatches('**/+GeomNode').getPath(0).node() \
# .modifyGeom(0)
geomNode = GeomNode('')
geomNode.addGeom(geom)
node = BulletSoftBodyNode.makeTriMesh(info, geom)
node.linkGeom(geomNode.modifyGeom(0))
node.generateBendingConstraints(2)
node.getCfg().setPositionsSolverIterations(2)
node.getCfg().setCollisionFlag(
BulletSoftBodyConfig.CFVertexFaceSoftSoft, True)
node.randomizeConstraints()
node.setTotalMass(50, True)
softNP = self.worldNP.attachNewNode(node)
softNP.setPos(pos)
softNP.setHpr(hpr)
self.world.attachSoftBody(node)
geomNP = softNP.attachNewNode(geomNode)
makeSB(Point3(-3, 0, 4), (0, 0, 0))
makeSB(Point3(0, 0, 4), (0, 90, 90))
makeSB(Point3(3, 0, 4), (0, 0, 0))
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -80, 40)
base.cam.lookAt(0, 0, 10)
# Light
alight = AmbientLight('ambientLight')
alight.setColor(Vec4(0.5, 0.5, 0.5, 1))
alightNP = render.attachNewNode(alight)
dlight = DirectionalLight('directionalLight')
dlight.setDirection(Vec3(0, 0, -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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.008)
return task.cont
def cleanup(self):
self.world = None
self.worldNP.removeNode()
@staticmethod
def Vec3Rand():
x = 2 * random.random() - 1
y = 2 * random.random() - 1
z = 2 * random.random() - 1
return Vec3(x, y, z)
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())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
for i in range(50):
p00 = Point3(-2, -2, 0)
p10 = Point3( 2, -2, 0)
p01 = Point3(-2, 2, 0)
p11 = Point3( 2, 2, 0)
node = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, 6, 6, 0, True)
node.generateBendingConstraints(2)
node.getCfg().setLiftCoefficient(0.004)
node.getCfg().setDynamicFrictionCoefficient(0.0003)
node.getCfg().setAeroModel(BulletSoftBodyConfig.AMVertexTwoSided)
node.setTotalMass(0.1)
node.addForce(Vec3(0, 2, 0), 0)
np = self.worldNP.attachNewNode(node)
np.setPos(self.Vec3Rand() * 10 + Vec3(0, 0, 20))
np.setHpr(self.Vec3Rand() * 16)
self.world.attachSoftBody(node)
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(node, fmt, True)
node.linkGeom(geom)
nodeV = GeomNode('')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -40, 10)
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(5, 0, -2))
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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.008)
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())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody - From points/indices
#import cube
#points = [Point3(x,y,z) * 3 for x,y,z in cube.nodes]
#indices = sum([list(x) for x in cube.elements], [])
#node = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)
#node.setVolumeMass(300);
#node.getShape(0).setMargin(0.01)
#node.getMaterial(0).setLinearStiffness(0.8)
#node.getCfg().setPositionsSolverIterations(1)
#node.getCfg().clearAllCollisionFlags()
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
#node.generateClusters(16)
#softNP = self.worldNP.attachNewNode(node)
#softNP.setPos(0, 0, 8)
#softNP.setHpr(0, 0, 45)
#self.world.attachSoftBody(node)
# Softbody - From tetgen data
ele = file('models/cube/cube.1.ele', 'r').read()
face = file('models/cube/cube.1.face', 'r').read()
node = file('models/cube/cube.1.node', 'r').read()
node = BulletSoftBodyNode.makeTetMesh(info, ele, face, node)
node.setName('Tetra')
node.setVolumeMass(300)
node.getShape(0).setMargin(0.01)
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setPositionsSolverIterations(1)
node.getCfg().clearAllCollisionFlags()
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
node.generateClusters(6)
softNP = self.worldNP.attachNewNode(node)
softNP.setPos(0, 0, 8)
softNP.setHpr(45, 0, 0)
self.world.attachSoftBody(node)
# Option 1:
visNP = loader.loadModel('models/cube/cube.egg')
visNP.reparentTo(softNP)
geom = visNP \
.findAllMatches('**/+GeomNode').getPath(0).node() \
.modifyGeom(0)
node.linkGeom(geom)
class PandaUtil:
def __init__(self,*args,**kw):
self.solver="bullet"
if "solver" in kw :
self.solver = kw["solver"]
self.rb_func_dic={"bullet":{
"SingleSphere":self.addSingleSphereRB,
"SingleCube":self.addSingleCubeRB,
"MultiSphere":self.addMultiSphereRB,
"MultiCylinder":self.addMultiCylinderRB,
"Mesh":self.addMeshRB,
},
"ode":{
"SingleSphere":self.addSingleSphereRBODE,
# "SingleCube":self.addSingleCubeRBODE,
# "MultiSphere":self.addMultiSphereRBODE,
# "MultiCylinder":self.addMultiCylinderRBODE,
# "Mesh":self.addMeshRBODE,
},
}
def setup(self):
if self.solver == "bullet":
self.setupPanda()
elif self.solver == "ode" :
self.setupODE()
def setupODE(self,*args,**kw):
if self.world is None :
if panda3d is None :
return
from panda3d.core import loadPrcFileData
loadPrcFileData("", "window-type none" )
# Make sure we don't need a graphics engine
#(Will also prevent X errors / Display errors when starting on linux without X server)
loadPrcFileData("", "audio-library-name null" ) # Prevent ALSA errors
# loadPrcFileData('', 'bullet-enable-contact-events true')
# loadPrcFileData('', 'bullet-max-objects 50')#10240
import direct.directbase.DirectStart
# bullet.bullet-max-objects = 1024 * 10#sum of all predicted n Ingredient ?
# self.worldNP = render.attachNewNode('World')
self.world = OdeWorld()
self.world.setGravity(Vec3(0, 0, 0))
self.static=[]
self.moving = None
self.rb_panda = []
return self.world
def addSingleSphereRBODE() :
pass
def setupPanda(self,*args,**kw):
if panda3d is None :
return
from panda3d.core import loadPrcFileData
loadPrcFileData("", "window-type none" )
# Make sure we don't need a graphics engine
#(Will also prevent X errors / Display errors when starting on linux without X server)
loadPrcFileData("", "audio-library-name null" ) # Prevent ALSA errors
loadPrcFileData('', 'bullet-max-objects 100240')#what number here ?
import direct.directbase.DirectStart
self.scale = 10.0
self.worldNP = render.attachNewNode('World')
self.world = BulletWorld()
if "gravity" in kw and kw["gravity"]:
self.world.setGravity(Vec3(0, -9.81, 0))
else :
self.world.setGravity(Vec3(0, 0, 0))
self.static=[]
self.moving = None
self.rb_panda = []
def delRB(self, node):
if panda3d is None :
return
self.world.removeRigidBody(node)
if node in self.rb_panda: self.rb_panda.pop(self.rb_panda.index(node))
if node in self.static: self.static.pop(self.static.index(node))
if node == self.moving: self.moving = None
np = NodePath(node)
np.removeNode()
def setRB(self,inodenp,**kw):
if "adamping" in kw :
inodenp.node().setAngularDamping(kw["adamping"])
if "ldamping" in kw :
inodenp.node().setLinearDamping(kw["ldamping"])
if "mass" in kw :
inodenp.node().setMass(kw["mass"])
if "pos" in kw :
inodenp.setPos(kw["pos"][0],kw["pos"][1],kw["pos"][2])
def addSinglePlaneRB(self,up,const,**kw):
pup = Vec3(up[0],up[1],up[2])
shape = BulletPlaneShape(pup,const)#nomal and constant
name = "plane"
if "name" in kw :
name = kw["name"]
inodenp = self.worldNP.attachNewNode(BulletRigidBodyNode(name))
# inodenp.node().setMass(1.0)
# inodenp.node().addShape(shape)
inodenp.node().addShape(shape)#rotation ? ,TransformState.makePos(Point3(0, 0, 0))
# spherenp.setPos(-2, 0, 4)
self.setRB(inodenp,**kw)
inodenp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(inodenp.node())
return inodenp
def addSingleSphereRB(self,rad,**kw):
shape = BulletSphereShape(rad)
name = "sphere"
if "name" in kw :
name = kw["name"]
inodenp = self.worldNP.attachNewNode(BulletRigidBodyNode(name))
inodenp.node().setMass(1.0)
# inodenp.node().addShape(shape)
inodenp.node().addShape(shape,TransformState.makePos(Point3(0, 0, 0)))#rotation ?
# spherenp.setPos(-2, 0, 4)
self.setRB(inodenp,**kw)
inodenp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(inodenp.node())
return inodenp
def addMultiSphereRB(self,rads,centT,**kw):
inodenp = self.worldNP.attachNewNode(BulletRigidBodyNode("Sphere"))
inodenp.node().setMass(1.0)
for radc, posc in zip(rads, centT):
shape = BulletSphereShape(radc)#if radis the same can use the same shape for each node
inodenp.node().addShape(shape, TransformState.makePos(Point3(posc[0],posc[1],posc[2])))#
self.setRB(inodenp,**kw)
inodenp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(inodenp.node())
return inodenp
def addMultiSphereGhost(self,rads,centT,**kw):
inodenp = self.worldNP.attachNewNode(BulletGhostNode("Sphere"))
for radc, posc in zip(rads, centT):
shape = BulletSphereShape(radc)
inodenp.node().addShape(shape, TransformState.makePos(Point3(posc[0],posc[1],posc[2])))#
self.setRB(inodenp,**kw)
inodenp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(inodenp.node())
return inodenp
def addSingleCubeRB(self,halfextents,**kw):
shape = BulletBoxShape(Vec3(halfextents[0], halfextents[1], halfextents[2]))#halfExtents
inodenp = self.worldNP.attachNewNode(BulletRigidBodyNode("Box"))
# inodenp.node().setMass(1.0)
# inodenp.node().addShape(shape)
inodenp.node().addShape(shape,TransformState.makePos(Point3(0, 0, 0)))#, pMat)#TransformState.makePos(Point3(jtrans[0],jtrans[1],jtrans[2])))#rotation ?
# spherenp.setPos(-2, 0, 4)
self.setRB(inodenp,**kw)
inodenp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(inodenp.node())
return inodenp
def addMultiCylinderRB(self,rads,centT1,centT2,**kw):
inodenp = self.worldNP.attachNewNode(BulletRigidBodyNode("Cylinder"))
inodenp.node().setMass(1.0)
centT1 = ingr.positions[0]#ingr.transformPoints(jtrans, rotMat, ingr.positions[0])
centT2 = ingr.positions2[0]#ingr.transformPoints(jtrans, rotMat, ingr.positions2[0])
for radc, p1, p2 in zip(rads, centT1, centT2):
length, mat = helper.getTubePropertiesMatrix(p1,p2)
pMat = self.pandaMatrice(mat)
# d = numpy.array(p1) - numpy.array(p2)
# s = numpy.sum(d*d)
shape = BulletCylinderShape(radc, length,1)#math.sqrt(s), 1)# { XUp = 0, YUp = 1, ZUp = 2 } or LVector3f const half_extents
inodenp.node().addShape(shape, TransformState.makeMat(pMat))#
self.setRB(inodenp,**kw)
inodenp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(inodenp.node())
return inodenp
def setGeomFaces(self,tris,face):
#have to add vertices one by one since they are not in order
if len(face) == 2 :
face = numpy.array([face[0],face[1],face[1],face[1]],dtype='int')
for i in face :
tris.addVertex(i)
tris.closePrimitive()
def addMeshRB(self,vertices, faces,ghost=False,**kw):
#step 1) create GeomVertexData and add vertex information
format=GeomVertexFormat.getV3()
vdata=GeomVertexData("vertices", format, Geom.UHStatic)
vertexWriter=GeomVertexWriter(vdata, "vertex")
[vertexWriter.addData3f(v[0],v[1],v[2]) for v in vertices]
#step 2) make primitives and assign vertices to them
tris=GeomTriangles(Geom.UHStatic)
[self.setGeomFaces(tris,face) for face in faces]
#step 3) make a Geom object to hold the primitives
geom=Geom(vdata)
geom.addPrimitive(tris)
#step 4) create the bullet mesh and node
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletTriangleMeshShape(mesh, dynamic=not ghost)#BulletConvexHullShape
if ghost :
inodenp = self.worldNP.attachNewNode(BulletGhostNode('Mesh'))
else :
inodenp = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
inodenp.node().addShape(shape)
# inodenp.setPos(0, 0, 0.1)
self.setRB(inodenp,**kw)
inodenp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(inodenp.node())
return inodenp
def addMeshConvexRB(self,vertices, faces,ghost=False,**kw):
#step 1) create GeomVertexData and add vertex information
format=GeomVertexFormat.getV3()
vdata=GeomVertexData("vertices", format, Geom.UHStatic)
vertexWriter=GeomVertexWriter(vdata, "vertex")
[vertexWriter.addData3f(v[0],v[1],v[2]) for v in vertices]
#step 2) make primitives and assign vertices to them
tris=GeomTriangles(Geom.UHStatic)
[self.setGeomFaces(tris,face) for face in faces]
#step 3) make a Geom object to hold the primitives
geom=Geom(vdata)
geom.addPrimitive(tris)
#step 4) create the bullet mesh and node
mesh = BulletTriangleMesh()
mesh.addGeom(geom)
shape = BulletConvexHullShape(mesh, dynamic=not ghost)#
if ghost :
inodenp = self.worldNP.attachNewNode(BulletGhostNode('Mesh'))
else :
inodenp = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
inodenp.node().addShape(shape)
# inodenp.setPos(0, 0, 0.1)
self.setRB(inodenp,**kw)
inodenp.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(inodenp.node())
return inodenp
def addTriMeshSB(self,vertices, faces,normals = None,ghost=False,**kw):
#step 1) create GeomVertexData and add vertex information
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(0.0)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
format=GeomVertexFormat.getV3n3() #getV3()#http://www.panda3d.org/manual/index.php/Pre-defined_vertex_formats
# vdata = GeomVertexData('name', format, Geom.UHStatic)
vdata=GeomVertexData("Mesh", format, Geom.UHStatic)
vertexWriter=GeomVertexWriter(vdata, "vertex")
[vertexWriter.addData3f(v[0],v[1],v[2]) for v in vertices]
if normals is not None :
normalWriter = GeomVertexWriter(vdata, 'normal')
[normalWriter.addData3f(n[0],n[1],n[2]) for n in normals]
else :
print "we need normals to bind geom to SoftBody"
return None
#step 2) make primitives and assign vertices to them
tris=GeomTriangles(Geom.UHStatic)
[self.setGeomFaces(tris,face) for face in faces]
#step 3) make a Geom object to hold the primitives
geom=Geom(vdata)
geom.addPrimitive(tris)
vdata = geom.getVertexData()
# print (vdata,vdata.hasColumn(InternalName.getVertex()))
geomNode = GeomNode('')
geomNode.addGeom(geom)
#step 4) create the bullet softbody and node
bodyNode = BulletSoftBodyNode.makeTriMesh(info, geom)
# bodyNode.linkGeom(geomNode.modifyGeom(0))
bodyNode.setName('Tri')
bodyNode.linkGeom(geom)
bodyNode.generateBendingConstraints(1)#???
#bodyNode.getMaterial(0).setLinearStiffness(0.8)
bodyNode.getCfg().setPositionsSolverIterations(4)
# bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFVertexFaceSoftSoft, True)
bodyNode.getCfg().setDynamicFrictionCoefficient(1)
bodyNode.getCfg().setDampingCoefficient(0.001)
bodyNode.getCfg().setPressureCoefficient(15000*10.0)
bodyNode.getCfg().setPoseMatchingCoefficient(0.2)
bodyNode.setPose(True, True)
# bodyNode.randomizeConstraints()
bodyNode.setTotalMass(50000*10, True)
bodyNP = self.worldNP.attachNewNode(bodyNode)
# fmt = GeomVertexFormat.getV3n3t2()
# geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt,True)
# bodyNode.linkGeom(geomNode.modifyGeom(0))
# geomNode = GeomNode('')
# geomNode.addGeom(geom)
# world.attachSoftBody(bodyNode)
# inodenp.setPos(0, 0, 0.1)
# self.setRB(bodyNP,**kw)#set po
# inodenp.setCollideMask(BitMask32.allOn())
self.world.attachSoftBody(bodyNode)
geomNP = bodyNP.attachNewNode(geomNode)
return bodyNP,geomNP
def addTetraMeshSB(self,vertices, faces,normals = None,ghost=False,**kw):
#step 1) create GeomVertexData and add vertex information
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
points = [Point3(x,y,z) * 3 for x,y,z in vertices]
indices = sum([list(x) for x in faces], [])
#step 4) create the bullet softbody and node
bodyNode = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)
bodyNode.setName('Tetra')
bodyNode.setVolumeMass(150000)
bodyNode.getShape(0).setMargin(0.01)
bodyNode.getMaterial(0).setLinearStiffness(0.9)
bodyNode.getCfg().setPositionsSolverIterations(4)
bodyNode.getCfg().clearAllCollisionFlags()
bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
bodyNode.generateClusters(12)
bodyNode.setPose(True, True)
bodyNP = self.worldNP.attachNewNode(bodyNode)
geom = BulletHelper.makeGeomFromFaces(bodyNode)
geomNode = GeomNode('vtetra')
geomNode.addGeom(geom)
# self.setRB(bodyNP,**kw)#set po
# inodenp.setCollideMask(BitMask32.allOn())
self.world.attachSoftBody(bodyNode)
geomNP = bodyNP.attachNewNode(geomNode)
bodyNode.linkGeom(geom)
return bodyNP,geomNP
def getVertices(self,node,gnode):
geomNode = gnode.node()
ts = node.getTransform()
m = ts.getMat().getUpper3()
p = ts.getMat().getRow3(3)
points=[]
geom = geomNode.getGeoms()[0]
vdata = geom.getVertexData()
reader = GeomVertexReader(vdata, 'vertex')
while not reader.isAtEnd():
v = reader.getData3f()
v = m.xform(v) + p
points.append(Point3(v))
return numpy.array(points,dtype=numpy.float32)
def pandaMatrice(self,mat):
mat = mat.transpose().reshape((16,))
# print mat,len(mat),mat.shape
pMat = Mat4(mat[0],mat[1],mat[2],mat[3],
mat[4],mat[5],mat[6],mat[7],
mat[8],mat[9],mat[10],mat[11],
mat[12],mat[13],mat[14],mat[15],)
return pMat
#
# def addRB(self,rtype,static,**kw):
# # Sphere
# if panda3d is None :
# return None
# if rotMatis not None and trans is not None:
# mat = rotMat.copy()
# mat = mat.transpose().reshape((16,))
#
# pMat = TransformState.makeMat(Mat4(mat[0],mat[1],mat[2],mat[3],
# mat[4],mat[5],mat[6],mat[7],
# mat[8],mat[9],mat[10],mat[11],
# trans[0],trans[1],trans[2],mat[15],))
# shape = None
# inodenp = None
## print (pMat)
# inodenp = self.rb_func_dic[rtype](ingr,pMat,trans,rotMat)
# inodenp.setCollideMask(BitMask32.allOn())
# self.world.attachRigidBody(inodenp.node())
# if static :
# self.static.append(inodenp.node())
# else :
# self.moving = inodenp.node()
# self.rb_panda.append(inodenp.node())
# return inodenp.node()
def moveRBnode(self,node, trans, rotMat):
mat = rotMat.copy()
# mat[:3, 3] = trans
# mat = mat.transpose()
mat = mat.transpose().reshape((16,))
# print mat,len(mat),mat.shape
pMat = Mat4(mat[0],mat[1],mat[2],mat[3],
mat[4],mat[5],mat[6],mat[7],
mat[8],mat[9],mat[10],mat[11],
trans[0],trans[1],trans[2],mat[15],)
pTrans = TransformState.makeMat(pMat)
nodenp = NodePath(node)
nodenp.setMat(pMat)
# nodenp.setPos(trans[0],trans[1],trans[2])
# print nodenp.getPos()
def applyForce(self,node,F):
F*=self.scale
node.node().applyCentralForce(Vec3(F[0],F[1],F[2]))
# node.node().applyForce(Vec3(F[0],F[1],F[2]),Point3(0, 0, 0))
# print F
def rayCast(self, startp,endp,closest=False):
start=Point3(startp[0],startp[1],startp[2])
end=Point3(endp[0],endp[1],endp[2])
if closest :
res = self.world.rayTestClosest(start, end)
else :
res = self.world.rayTestAll(start, end)
return res
def sweepRay(self, startp,endp):
tsFrom = TransformState.makePos(Point3(0, 0, 0))
tsTo = TransformState.makePos(Point3(10, 0, 0))
shape = BulletSphereShape(0.5)
penetration = 0.0
result = self.world.sweepTestClosest(shape, tsFrom, tsTo, penetration)
return result
def update(self,task,cb=None):
# print "update"
dt = globalClock.getDt()
# print dt
self.world.doPhysics(dt, 10, 0.008)#,100,1.0/500.0)#world.doPhysics(dt, 10, 1.0/180.0)
#this may be different for relaxing ?
# print task.time
if cb is not None :
cb()
if task is not None:
return task.cont
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -40, 10)
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(5, 0, -2))
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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.004)
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())
# Box
shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5) * 2.0)
boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
boxNP.node().setMass(150.0)
boxNP.node().addShape(shape)
boxNP.setPos(0, 0, 2)
boxNP.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(boxNP.node())
visualNP = loader.loadModel('models/box.egg')
visualNP.clearModelNodes()
visualNP.setScale(2.0)
visualNP.reparentTo(boxNP)
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
nx = 31
ny = 31
p00 = Point3(-8, -8, 0)
p10 = Point3( 8, -8, 0)
p01 = Point3(-8, 8, 0)
p11 = Point3( 8, 8, 0)
bodyNode = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, nx, ny, 1+2+4+8, True)
material = bodyNode.appendMaterial()
material.setLinearStiffness(0.4)
bodyNode.generateBendingConstraints(2, material);
bodyNode.setTotalMass(50.0)
bodyNode.getShape(0).setMargin(0.5)
bodyNP = self.worldNP.attachNewNode(bodyNode)
self.world.attachSoftBody(bodyNode)
# Rendering with Geom:
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt, True)
bodyNode.linkGeom(geom)
visNode = GeomNode('')
visNode.addGeom(geom)
visNP = bodyNP.attachNewNode(visNode)
# Now we want to have a texture and texture coordinates.
# The geom's format has already a column for texcoords, so we just need
# to write texcoords using a GeomVertexRewriter.
tex = loader.loadTexture('models/panda.jpg')
visNP.setTexture(tex)
BulletHelper.makeTexcoordsForPatch(geom, nx, ny)
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -60, 20)
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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.008)
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.debugNP.showTightBounds()
#self.debugNP.showBounds()
self.world = BulletWorld()
self.world.setGravity(Vec3(0, 0, -9.81))
self.world.setDebugNode(self.debugNP.node())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Stair
origin = Point3(0, 0, 0)
size = Vec3(2, 10, 1)
shape = BulletBoxShape(size * 0.5)
for i in range(10):
pos = origin + size * i
pos.setY(0)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Stair%i' % i))
np.node().addShape(shape)
np.setPos(pos)
np.setCollideMask(BitMask32.allOn())
npV = loader.loadModel('models/box.egg')
npV.reparentTo(np)
npV.setScale(size)
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
center = Point3(0, 0, 0)
radius = Vec3(1, 1, 1) * 1.5
node = BulletSoftBodyNode.makeEllipsoid(info, center, radius, 128)
node.setName('Ellipsoid')
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setDynamicFrictionCoefficient(1)
node.getCfg().setDampingCoefficient(0.001)
node.getCfg().setPressureCoefficient(1500)
node.setTotalMass(30, True)
node.setPose(True, False)
np = self.worldNP.attachNewNode(node)
np.setPos(15, 0, 12)
#np.setH(90.0)
#np.showBounds()
#np.showTightBounds()
self.world.attachSoftBody(np.node())
geom = BulletHelper.makeGeomFromFaces(node)
node.linkGeom(geom)
nodeV = GeomNode('EllipsoidVisual')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -40, 10)
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(5, 0, -2))
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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.008)
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())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -4)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody - From points/indices
#import cube
#points = [Point3(x,y,z) * 3 for x,y,z in cube.nodes]
#indices = sum([list(x) for x in cube.elements], [])
#node = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)
#node.setVolumeMass(300);
#node.getShape(0).setMargin(0.01)
#node.getMaterial(0).setLinearStiffness(0.8)
#node.getCfg().setPositionsSolverIterations(1)
#node.getCfg().clearAllCollisionFlags()
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
#node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
#node.generateClusters(16)
#softNP = self.worldNP.attachNewNode(node)
#softNP.setPos(0, 0, 8)
#softNP.setHpr(0, 0, 45)
#self.world.attachSoftBody(node)
# Softbody - From tetgen data
ele = open('models/cube/cube.1.ele', 'r').read()
face = open('models/cube/cube.1.face', 'r').read()
node = open('models/cube/cube.1.node', 'r').read()
node = BulletSoftBodyNode.makeTetMesh(info, ele, face, node)
node.setName('Tetra')
node.setVolumeMass(300)
node.getShape(0).setMargin(0.01)
node.getMaterial(0).setLinearStiffness(0.1)
node.getCfg().setPositionsSolverIterations(1)
node.getCfg().clearAllCollisionFlags()
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft,
True)
node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft,
True)
node.generateClusters(6)
softNP = self.worldNP.attachNewNode(node)
softNP.setPos(0, 0, 8)
softNP.setHpr(45, 0, 0)
self.world.attachSoftBody(node)
# Option 1:
visNP = loader.loadModel('models/cube/cube.egg')
visNP.reparentTo(softNP)
geom = visNP \
.findAllMatches('**/+GeomNode').getPath(0).node() \
.modifyGeom(0)
node.linkGeom(geom)
class Game(DirectObject):
def __init__(self):
base.setBackgroundColor(0.1, 0.1, 0.8, 1)
base.setFrameRateMeter(True)
base.cam.setPos(0, -80, 40)
base.cam.lookAt(0, 0, 10)
# Light
alight = AmbientLight('ambientLight')
alight.setColor(Vec4(0.5, 0.5, 0.5, 1))
alightNP = render.attachNewNode(alight)
dlight = DirectionalLight('directionalLight')
dlight.setDirection(Vec3(0, 0, -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)
# 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 update(self, task):
dt = globalClock.getDt()
self.world.doPhysics(dt, 10, 0.008)
return task.cont
def cleanup(self):
self.world = None
self.worldNP.removeNode()
@staticmethod
def Vec3Rand():
x = 2 * random.random() - 1
y = 2 * random.random() - 1
z = 2 * random.random() - 1
return Vec3(x, y, z)
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())
# Ground
p0 = Point3(-20, -20, 0)
p1 = Point3(-20, 20, 0)
p2 = Point3(20, -20, 0)
p3 = Point3(20, 20, 0)
mesh = BulletTriangleMesh()
mesh.addTriangle(p0, p1, p2)
mesh.addTriangle(p1, p2, p3)
shape = BulletTriangleMeshShape(mesh, dynamic=False)
np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
np.node().addShape(shape)
np.setPos(0, 0, -2)
np.setCollideMask(BitMask32.allOn())
self.world.attachRigidBody(np.node())
# Soft body world information
info = self.world.getWorldInfo()
info.setAirDensity(1.2)
info.setWaterDensity(0)
info.setWaterOffset(0)
info.setWaterNormal(Vec3(0, 0, 0))
# Softbody
for i in range(50):
p00 = Point3(-2, -2, 0)
p10 = Point3(2, -2, 0)
p01 = Point3(-2, 2, 0)
p11 = Point3(2, 2, 0)
node = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, 6, 6,
0, True)
node.generateBendingConstraints(2)
node.getCfg().setLiftCoefficient(0.004)
node.getCfg().setDynamicFrictionCoefficient(0.0003)
node.getCfg().setAeroModel(BulletSoftBodyConfig.AMVertexTwoSided)
node.setTotalMass(0.1)
node.addForce(Vec3(0, 2, 0), 0)
np = self.worldNP.attachNewNode(node)
np.setPos(self.Vec3Rand() * 10 + Vec3(0, 0, 20))
np.setHpr(self.Vec3Rand() * 16)
self.world.attachSoftBody(node)
fmt = GeomVertexFormat.getV3n3t2()
geom = BulletHelper.makeGeomFromFaces(node, fmt, True)
node.linkGeom(geom)
nodeV = GeomNode('')
nodeV.addGeom(geom)
npV = np.attachNewNode(nodeV)