def start(self):
for component in self.node.data:
if isinstance(component, Rigidbody):
# Check if parent has rigidbody, and use that node if it does
for p_component in self.node.parent.data:
if isinstance(p_component, Rigidbody):
self.parent_path = p_component.body_path
self.update_parent = False
if self.parent_path is None:
parent_node = BulletRigidBodyNode(self.node.parent.name +
"_node")
parent_node.set_mass(0)
self.parent_path = EComponent.panda_root_node.attach_new_node(
parent_node)
self.parent_path.setPos(
helper.np_vec3_to_panda(
self.node.parent.transform.get_world_translation()))
rot = np.degrees(
self.node.parent.transform.get_world_rotation())
self.parent_path.setHpr(LVector3f(rot[1], rot[0], rot[2]))
self.parent_path.setScale(
helper.np_vec3_to_panda(
self.node.parent.transform.get_world_scale()))
# Create constraint
node_pos = self.node.transform.get_translation(
) * self.node.transform.get_world_scale()
constraint = BulletSphericalConstraint(
component.body_path.node(), self.parent_path.node(),
LVector3f(0, 0, 0),
LVector3f(node_pos[0], node_pos[1], node_pos[2]))
EComponent.physics_world.attachConstraint(constraint)
def start(self):
for component in self.node.data:
if isinstance(component, Rigidbody):
# Check if parent has rigidbody, and use that node if it does
for p_component in self.node.parent.data:
if isinstance(p_component, Rigidbody):
self.parent_path = p_component.body_path
self.update_parent = False
if self.parent_path is None:
parent_node = BulletRigidBodyNode(self.node.parent.name + "_node")
parent_node.set_mass(0)
self.parent_path = EComponent.panda_root_node.attach_new_node(parent_node)
self.parent_path.setPos(helper.np_vec3_to_panda(self.node.parent.transform.get_world_translation()))
rot = np.degrees(self.node.parent.transform.get_world_rotation())
self.parent_path.setHpr(LVector3f(rot[1],
rot[0],
rot[2]))
self.parent_path.setScale(helper.np_vec3_to_panda(self.node.parent.transform.get_world_scale()))
# Create constraint
child_transform = TransformState.make_pos(LVector3f(0, 0, 0))
node_pos = self.node.transform.get_translation() * self.node.transform.get_world_scale()
parent_transform = TransformState.make_pos(helper.np_vec3_to_panda(node_pos))
constraint = BulletConeTwistConstraint(component.body_path.node(),
self.parent_path.node(),
child_transform,
parent_transform)
constraint.set_limit(float(self.property_vals["swing_1"]),
float(self.property_vals["swing_2"]),
float(self.property_vals["max_twist"]))
EComponent.physics_world.attachConstraint(constraint)
def handle_update(self):
# Update parent node
if self.update_parent:
self.parent_path.setPos(helper.np_vec3_to_panda(self.node.parent.transform.get_world_translation()))
rot = np.degrees(self.node.parent.transform.get_world_rotation())
self.parent_path.setHpr(LVector3f(rot[1],
rot[0],
rot[2]))
self.parent_path.setScale(helper.np_vec3_to_panda(self.node.parent.transform.get_world_scale()))
def on_gui_update(self):
gizmo_pos = self.node.transform.get_world_translation()
if self.x_arrow_gizmo is not None:
self.x_arrow_gizmo.get_geom().set_shader_input(
"gizmo_pos", helper.np_vec3_to_panda(gizmo_pos))
self.y_arrow_gizmo.get_geom().set_shader_input(
"gizmo_pos", helper.np_vec3_to_panda(gizmo_pos))
self.z_arrow_gizmo.get_geom().set_shader_input(
"gizmo_pos", helper.np_vec3_to_panda(gizmo_pos))
if self.x_ring_gizmo is not None:
self.x_ring_gizmo.get_geom().set_shader_input(
"gizmo_pos", helper.np_vec3_to_panda(gizmo_pos))
self.y_ring_gizmo.get_geom().set_shader_input(
"gizmo_pos", helper.np_vec3_to_panda(gizmo_pos))
self.z_ring_gizmo.get_geom().set_shader_input(
"gizmo_pos", helper.np_vec3_to_panda(gizmo_pos))
if self.x_handle_gizmo is not None:
self.x_handle_gizmo.get_geom().set_shader_input(
"gizmo_pos", helper.np_vec3_to_panda(gizmo_pos))
self.y_handle_gizmo.get_geom().set_shader_input(
"gizmo_pos", helper.np_vec3_to_panda(gizmo_pos))
self.z_handle_gizmo.get_geom().set_shader_input(
"gizmo_pos", helper.np_vec3_to_panda(gizmo_pos))
def raycast(self, ray_origin, ray_dir):
# Perform raycast
result = self.physics_world.rayTestClosest(
helper.np_vec3_to_panda(ray_origin),
helper.np_vec3_to_panda(ray_origin + ray_dir * 9999))
if not result.hasHit():
return None
# Return a RaycastResult object
raycast_obj = RaycastResult()
raycast_obj.hit_node_id = result.getNode().name[:-11]
raycast_obj.hit_point = helper.panda_vec3_to_np(result.getHitPos())
return raycast_obj
def start(self):
self.kinematic = self.property_vals["kinematic"].lower() == "true"
body_node = BulletRigidBodyNode(self.node.id + "_rigid_body")
body_node.set_mass(float(self.property_vals["mass"]))
self.body_path = EComponent.panda_root_node.attach_new_node(body_node)
self.body_path.setPos(
helper.np_vec3_to_panda(
self.node.transform.get_world_translation()))
rot = np.degrees(self.node.transform.get_world_rotation())
self.body_path.setHpr(LVector3f(rot[1], rot[0], rot[2]))
self.body_path.setScale(
helper.np_vec3_to_panda(self.node.transform.get_world_scale()))
EComponent.physics_world.attachRigidBody(body_node)
def handle_update(self):
if self.body_path is not None:
if self.kinematic:
self.body_path.setPos(
helper.np_vec3_to_panda(
self.node.transform.get_world_translation()))
rot = np.degrees(self.node.transform.get_world_rotation())
self.body_path.setHpr(LVector3f(rot[1], rot[0], rot[2]))
self.body_path.setScale(
helper.np_vec3_to_panda(
self.node.transform.get_world_scale()))
else:
self.node.transform.set_world_matrix(
helper.panda_mat4_to_np(self.body_path.getMat()))
def cam_ctrl_task(self, task):
# Update delta mouse
curr_mouse = self.last_mouse
if self.base.mouseWatcherNode.hasMouse():
curr_mouse = (self.base.mouseWatcherNode.getMouseX(),
self.base.mouseWatcherNode.getMouseY())
delta_mouse = (curr_mouse[0] - self.last_mouse[0],
curr_mouse[1] - self.last_mouse[1])
self.last_mouse = curr_mouse
if self.scroll_down:
# Translate camera if shift is down
if self.shift_down:
start_point = self.get_ray_plane_intersection(
self.start_mouse, np.array([0, 0, 0]), self.plane_normal)
plane_point = self.get_ray_plane_intersection(
curr_mouse, np.array([0, 0, 0]), self.plane_normal)
self.orbit_center = self.start_orbit - helper.np_vec3_to_panda(
plane_point - start_point)
# Recalculate camera position and direction
self.update_cam()
# Otherwise, just rotate
else:
# Adjust angles
self.left_angle += -delta_mouse[0]
self.up_angle += -delta_mouse[1]
if self.left_angle > math.pi * 2:
self.left_angle -= math.pi * 2
elif self.left_angle < 0:
self.left_angle += math.pi * 2
if self.up_angle > math.pi * 2:
self.up_angle -= math.pi * 2
elif self.up_angle < 0:
self.up_angle += math.pi * 2
# Recalculate camera position and direction
self.update_cam()
return Task.cont
