From d8838fd7ed76ce783f8bd142a81bf1a04717787c Mon Sep 17 00:00:00 2001 From: enn0x Date: Tue, 7 Feb 2023 16:33:13 +0100 Subject: [PATCH] samples: Add Bullet Physics sample programs Closes #248 [skip ci] Co-authored-by: Sebastian Hoffmann --- samples/bullet-physics/01_basics.py | 179 + samples/bullet-physics/02_shapes.py | 298 + samples/bullet-physics/03_heightfield.py | 187 + samples/bullet-physics/04_filtering.py | 202 + .../bullet-physics/05_filtering_extended.py | 187 + samples/bullet-physics/06_filtering_python.py | 167 + samples/bullet-physics/07_raycast.py | 195 + samples/bullet-physics/08_contacts.py | 212 + samples/bullet-physics/09_ccd.py | 177 + samples/bullet-physics/10_hinge_constraint.py | 190 + .../bullet-physics/11_slider_constraint.py | 191 + .../bullet-physics/12_spherical_constraint.py | 189 + .../13_cone_twist_constraint.py | 188 + .../bullet-physics/14_generic_constraint.py | 194 + samples/bullet-physics/15_ghost.py | 168 + samples/bullet-physics/16_ghost_local.py | 172 + samples/bullet-physics/17_character.py | 201 + samples/bullet-physics/18_vehicle.py | 213 + samples/bullet-physics/19_ball_in_maze.py | 192 + samples/bullet-physics/20_bowl_and_eggs.py | 187 + samples/bullet-physics/21_softbody_rope.py | 172 + samples/bullet-physics/22_softbody_cloth.py | 179 + .../bullet-physics/23_softbody_pressure.py | 178 + samples/bullet-physics/24_softbody_tri.py | 162 + samples/bullet-physics/25_softbody_tetra.py | 187 + samples/bullet-physics/26_softbody_aero.py | 169 + samples/bullet-physics/models/ball.egg | 4424 + samples/bullet-physics/models/bowl.egg | 3393 + samples/bullet-physics/models/bowl.jpg | Bin 0 -> 44184 bytes samples/bullet-physics/models/box.egg | 137 + samples/bullet-physics/models/cube/cube.1.ele | 226 + .../bullet-physics/models/cube/cube.1.face | 194 + .../bullet-physics/models/cube/cube.1.node | 100 + samples/bullet-physics/models/cube/cube.egg | 3664 + samples/bullet-physics/models/cube/cube.poly | 493 + samples/bullet-physics/models/egg.egg | 2345 + samples/bullet-physics/models/egg.jpg | Bin 0 -> 375772 bytes samples/bullet-physics/models/elevation.png | Bin 0 -> 695 bytes samples/bullet-physics/models/iron.jpg | Bin 0 -> 62529 bytes samples/bullet-physics/models/limba.jpg | Bin 0 -> 40856 bytes samples/bullet-physics/models/maze.egg | 26316 ++++ samples/bullet-physics/models/panda.jpg | Bin 0 -> 20491 bytes samples/bullet-physics/models/pyramid.egg | 188 + samples/bullet-physics/models/softbox.egg | 3777 + samples/bullet-physics/models/torus.egg | 3304 + samples/bullet-physics/models/wood.png | Bin 0 -> 29670 bytes samples/bullet-physics/models/yugo/yugo.egg | 120376 +++++++++++++++ samples/bullet-physics/models/yugo/yugo.png | Bin 0 -> 455219 bytes .../bullet-physics/models/yugo/yugotire.png | Bin 0 -> 70299 bytes .../bullet-physics/models/yugo/yugotireL.egg | 6476 + .../bullet-physics/models/yugo/yugotireR.egg | 6476 + 51 files changed, 186825 insertions(+) create mode 100644 samples/bullet-physics/01_basics.py create mode 100644 samples/bullet-physics/02_shapes.py create mode 100644 samples/bullet-physics/03_heightfield.py create mode 100644 samples/bullet-physics/04_filtering.py create mode 100644 samples/bullet-physics/05_filtering_extended.py create mode 100644 samples/bullet-physics/06_filtering_python.py create mode 100644 samples/bullet-physics/07_raycast.py create mode 100644 samples/bullet-physics/08_contacts.py create mode 100644 samples/bullet-physics/09_ccd.py create mode 100644 samples/bullet-physics/10_hinge_constraint.py create mode 100644 samples/bullet-physics/11_slider_constraint.py create mode 100644 samples/bullet-physics/12_spherical_constraint.py create mode 100644 samples/bullet-physics/13_cone_twist_constraint.py create mode 100644 samples/bullet-physics/14_generic_constraint.py create mode 100644 samples/bullet-physics/15_ghost.py create mode 100644 samples/bullet-physics/16_ghost_local.py create mode 100644 samples/bullet-physics/17_character.py create mode 100644 samples/bullet-physics/18_vehicle.py create mode 100644 samples/bullet-physics/19_ball_in_maze.py create mode 100644 samples/bullet-physics/20_bowl_and_eggs.py create mode 100644 samples/bullet-physics/21_softbody_rope.py create mode 100644 samples/bullet-physics/22_softbody_cloth.py create mode 100644 samples/bullet-physics/23_softbody_pressure.py create mode 100644 samples/bullet-physics/24_softbody_tri.py create mode 100644 samples/bullet-physics/25_softbody_tetra.py create mode 100644 samples/bullet-physics/26_softbody_aero.py create mode 100644 samples/bullet-physics/models/ball.egg create mode 100644 samples/bullet-physics/models/bowl.egg create mode 100644 samples/bullet-physics/models/bowl.jpg create mode 100644 samples/bullet-physics/models/box.egg create mode 100644 samples/bullet-physics/models/cube/cube.1.ele create mode 100644 samples/bullet-physics/models/cube/cube.1.face create mode 100644 samples/bullet-physics/models/cube/cube.1.node create mode 100644 samples/bullet-physics/models/cube/cube.egg create mode 100644 samples/bullet-physics/models/cube/cube.poly create mode 100644 samples/bullet-physics/models/egg.egg create mode 100644 samples/bullet-physics/models/egg.jpg create mode 100644 samples/bullet-physics/models/elevation.png create mode 100644 samples/bullet-physics/models/iron.jpg create mode 100644 samples/bullet-physics/models/limba.jpg create mode 100644 samples/bullet-physics/models/maze.egg create mode 100644 samples/bullet-physics/models/panda.jpg create mode 100644 samples/bullet-physics/models/pyramid.egg create mode 100644 samples/bullet-physics/models/softbox.egg create mode 100644 samples/bullet-physics/models/torus.egg create mode 100644 samples/bullet-physics/models/wood.png create mode 100644 samples/bullet-physics/models/yugo/yugo.egg create mode 100644 samples/bullet-physics/models/yugo/yugo.png create mode 100644 samples/bullet-physics/models/yugo/yugotire.png create mode 100644 samples/bullet-physics/models/yugo/yugotireL.egg create mode 100644 samples/bullet-physics/models/yugo/yugotireR.egg diff --git a/samples/bullet-physics/01_basics.py b/samples/bullet-physics/01_basics.py new file mode 100644 index 0000000000..cc617183eb --- /dev/null +++ b/samples/bullet-physics/01_basics.py @@ -0,0 +1,179 @@ +#!/usr/bin/env python + +#from panda3d.core import load_prc_file_data +#load_prc_file_data('', 'bullet-additional-damping true') +#load_prc_file_data('', 'bullet-additional-damping-linear-factor 0.005') +#load_prc_file_data('', 'bullet-additional-damping-angular-factor 0.01') +#load_prc_file_data('', 'bullet-additional-damping-linear-threshold 0.01') +#load_prc_file_data('', 'bullet-additional-damping-angular-threshold 0.01') + + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(self, dt): + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + force = render.get_relative_vector(self.boxNP, force) + torque = render.get_relative_vector(self.boxNP, torque) + + self.boxNP.node().set_active(True) + self.boxNP.node().apply_central_force(force) + self.boxNP.node().apply_torque(torque) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + #self.world.doPhysics(dt) + self.world.do_physics(dt, 5, 1.0/180.0) + return task.cont + + def cleanup(self): + self.world.remove(self.groundNP.node()) + self.world.remove(self.boxNP.node()) + self.world = None + self.debugNP = None + self.groundNP = None + self.boxNP = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(False) + self.debugNP.node().show_normals(True) + + #self.debugNP.show_tight_bounds() + #self.debugNP.show_bounds() + + self.world = BulletWorld() + self.world.set_gravity(0, 0, -9.81) + self.world.set_debug_node(self.debugNP.node()) + + # Ground (static) + shape = BulletPlaneShape((0, 0, 1), 1) + + self.groundNP = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + self.groundNP.node().add_shape(shape) + self.groundNP.set_pos(0, 0, -2) + self.groundNP.set_collide_mask(BitMask32.all_on()) + + self.world.attach(self.groundNP.node()) + + # Box (dynamic) + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + self.boxNP = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + self.boxNP.node().set_mass(1.0) + self.boxNP.node().add_shape(shape) + self.boxNP.set_pos(0, 0, 2) + #self.boxNP.set_scale(2, 1, 0.5) + self.boxNP.set_collide_mask(BitMask32.all_on()) + #self.boxNP.node().set_deactivation_enabled(False) + + self.world.attach(self.boxNP.node()) + + visualNP = loader.load_model('models/box.egg') + visualNP.clear_model_nodes() + visualNP.reparent_to(self.boxNP) + + # Bullet nodes should survive a flatten operation! + #self.worldNP.flatten_strong() + #render.ls() + + +game = Game() +game.run() diff --git a/samples/bullet-physics/02_shapes.py b/samples/bullet-physics/02_shapes.py new file mode 100644 index 0000000000..e172738366 --- /dev/null +++ b/samples/bullet-physics/02_shapes.py @@ -0,0 +1,298 @@ +#!/usr/bin/env python + +#from panda3d.core import load_prc_file_data +#load_prc_file_data('', 'bullet-enable-contact-events true') + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletSphereShape +from panda3d.bullet import BulletCapsuleShape +from panda3d.bullet import BulletCylinderShape +from panda3d.bullet import BulletConeShape +from panda3d.bullet import BulletConvexHullShape +from panda3d.bullet import BulletTriangleMesh +from panda3d.bullet import BulletTriangleMeshShape +from panda3d.bullet import BulletMultiSphereShape +from panda3d.bullet import XUp +from panda3d.bullet import YUp +from panda3d.bullet import ZUp + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(self, dt): + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + self.boxNP.node().set_active(True) + self.boxNP.node().apply_central_force(force) + self.boxNP.node().apply_torque(torque) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt) + #pairs = [(mf.getNode0().getName(), + # mf.getNode1().getName()) + # for mf in self.world.getManifolds() if mf.getNumManifoldPoints() > 0] + #print pairs + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + #def do_added(self, node1, node2): + # print('added:', node1.getName(), node2.getName()) + + #def do_destroyed(self, node1, node2): + # print('destroyed:', node1.getName(), node2.getName()) + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(False) + self.debugNP.node().show_normals(True) + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Plane (static) + shape = BulletPlaneShape((0, 0, 1), 0) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + np.node().add_shape(shape) + np.set_pos(0, 0, -1) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Box (dynamic) + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(0, 0, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + self.boxNP = np # For applying force & torque + + #np.node().notifyCollisions(True) + #self.accept('bullet-contact-added', self.do_added) + #self.accept('bullet-contact-destroyed', self.do_destroyed) + + # Sphere (dynamic) + shape = BulletSphereShape(0.6) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Sphere')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(-4, 0, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Cone (dynamic) + shape = BulletConeShape(0.6, 1.2, ZUp) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Cone')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(4, 0, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Capsule (dynamic) + shape = BulletCapsuleShape(0.5, 1.0, ZUp) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Capsule')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(0, 4, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Cyliner (dynamic) + shape = BulletCylinderShape(0.7, 1.5, ZUp) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Cylinder')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(4, 4, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Convex (dynamic) + shape = BulletConvexHullShape() + shape.add_point(LPoint3(1, 1, 2)) + shape.add_point(LPoint3(0, 0, 0)) + shape.add_point(LPoint3(2, 0, 0)) + shape.add_point(LPoint3(0, 2, 0)) + shape.add_point(LPoint3(2, 2, 0)) + + # Another way to create the convex hull shape: + #shape = BulletConvexHullShape() + #shape.add_array([ + # LPoint3(1, 1, 2), + # LPoint3(0, 0, 0), + # LPoint3(2, 0, 0), + # LPoint3(0, 2, 0), + # LPoint3(2, 2, 0), + #]) + + # Yet another way to create the convex hull shape: + #geom = loader.load_model('models/box.egg')\ + # .find_all_matches('**/+GeomNode')\ + # .get_path(0)\ + # .node()\ + # .get_geom(0) + #shape = BulletConvexHullShape() + #shape.add_geom(geom) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Convex')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(-4, 4, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Mesh (static) + p0 = LPoint3(-10, -10, 0) + p1 = LPoint3(-10, 10, 0) + p2 = LPoint3(10, -10, 0) + p3 = LPoint3(10, 10, 0) + mesh = BulletTriangleMesh() + mesh.add_triangle(p0, p1, p2) + mesh.add_triangle(p1, p2, p3) + shape = BulletTriangleMeshShape(mesh, dynamic=False) + + # Another way to create the triangle mesh shape: + #geom = loader.load_model('models/box.egg')\ + # .find_all_matches('**/+GeomNode')\ + # .get_path(0)\ + # .node()\ + # .get_geom(0) + #mesh = BulletTriangleMesh() + #mesh.add_geom(geom) + #shape = BulletTriangleMeshShape(mesh, dynamic=False) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh')) + np.node().add_shape(shape) + np.set_pos(0, 0, 0.1) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # MultiSphere + points = [LPoint3(-1, 0, 0), LPoint3(0, 0, 0), LPoint3(1, 0, 0)] + radii = [.4, .8, .6] + shape = BulletMultiSphereShape(points, radii) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('MultiSphere')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(8, 0, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/03_heightfield.py b/samples/bullet-physics/03_heightfield.py new file mode 100644 index 0000000000..7c17de0597 --- /dev/null +++ b/samples/bullet-physics/03_heightfield.py @@ -0,0 +1,187 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import Filename +from panda3d.core import PNMImage +from panda3d.core import GeoMipTerrain + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletHeightfieldShape +from panda3d.bullet import ZUp + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + self.accept('x', self.toggle_heightfield) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def toggle_heightfield(self): + self.hf.set_debug_enabled(not self.hf.is_debug_enabled()) + + def process_input(self, dt): + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + self.boxNP.node().set_active(True) + self.boxNP.node().apply_central_force(force) + self.boxNP.node().apply_torque(torque) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt, 10, 0.008) + self.terrain.update() + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_normals(True) + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Box (dynamic) + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(0, 0, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + self.boxNP = np # For applying force & torque + + + visualNP = loader.load_model('models/box.egg') + visualNP.clear_model_nodes() + visualNP.reparent_to(self.boxNP) + + # Heightfield (static) + height = 8.0 + + img = PNMImage(Filename('models/elevation.png')) + shape = BulletHeightfieldShape(img, height, ZUp) + shape.set_use_diamond_subdivision(True) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Heightfield')) + np.node().add_shape(shape) + np.set_pos(0, 0, 0) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + self.hf = np.node() # To enable/disable debug visualisation + + self.terrain = GeoMipTerrain('terrain') + self.terrain.set_heightfield(img) + + self.terrain.set_block_size(32) + self.terrain.set_near(50) + self.terrain.set_far(100) + self.terrain.set_focal_point(base.camera) + + rootNP = self.terrain.get_root() + rootNP.reparent_to(render) + rootNP.set_sz(8.0) + + offset = img.get_x_size() / 2.0 - 0.5 + rootNP.set_pos(-offset, -offset, -height / 2.0) + + self.terrain.generate() + + +game = Game() +game.run() diff --git a/samples/bullet-physics/04_filtering.py b/samples/bullet-physics/04_filtering.py new file mode 100644 index 0000000000..b11c89a397 --- /dev/null +++ b/samples/bullet-physics/04_filtering.py @@ -0,0 +1,202 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(self, dt): + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + self.boxNP.node().set_active(True) + self.boxNP.node().apply_central_force(force) + self.boxNP.node().apply_torque(torque) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + shape = BulletPlaneShape((0, 0, 1), -1) + + mask = BitMask32(0x0f) + print('ground: ', mask) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + np.node().add_shape(shape) + np.set_pos(0, 0, -1) + np.set_collide_mask(mask) + + self.world.attach(np.node()) + + ## Box 1 + #shape = BulletBoxShape((0.5, 0.5, 0.5)) + + #mask = BitMask32.allOff() + #print('box-1: ', mask) + + #np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box-1')) + #np.node().set_mass(1.0) + #np.node().add_shape(shape) + #np.set_pos(-6, 0, 4) + #np.set_collide_mask(mask) + + #self.world.attach(np.node()) + + ## Box 2 + #shape = BulletBoxShape((0.5, 0.5, 0.5)) + + #mask = BitMask32.bit(0) + #print('box-2: ', mask) + + #np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box-2')) + #np.node().set_mass(1.0) + #np.node().add_shape(shape) + #np.set_pos(-2, 0, 4) + #np.set_collide_mask(mask) + + #self.world.attach(np.node()) + + ## Box 3 + #shape = BulletBoxShape((0.5, 0.5, 0.5)) + + #mask = BitMask32.bit(2) + #print('box-3: ', mask) + + #np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box-3')) + #np.node().set_mass(1.0) + #np.node().add_shape(shape) + #np.set_pos(2, 0, 4) + #np.set_collide_mask(mask) + + #self.world.attach(np.node()) + + # Box 4 + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + mask = BitMask32(0x3) + print('box-4: ', mask) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box-4')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(6, 0, 4) + np.set_collide_mask(mask) + + self.world.attach(np.node()) + + self.boxNP = np + + visualNP = loader.load_model('models/box.egg') + visualNP.reparent_to(self.boxNP) + + #self.boxNP.set_collide_mask(BitMask32.allOff()) + #self.world.remove(self.boxNP.node()) + #self.world.attach(self.boxNP.node()) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/05_filtering_extended.py b/samples/bullet-physics/05_filtering_extended.py new file mode 100644 index 0000000000..3af4da203f --- /dev/null +++ b/samples/bullet-physics/05_filtering_extended.py @@ -0,0 +1,187 @@ +#!/usr/bin/env python + +from panda3d.core import load_prc_file_data +load_prc_file_data('', 'bullet-filter-algorithm groups-mask') + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + self.accept('1', self.do_select, [0,]) + self.accept('2', self.do_select, [1,]) + self.accept('3', self.do_select, [2,]) + self.accept('4', self.do_select, [3,]) + self.accept('5', self.do_select, [4,]) + self.accept('6', self.do_select, [5,]) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def do_select(self, i): + self.boxNP = self.boxes[i] + + def process_input(self, dt): + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + self.boxNP.node().set_active(True) + self.boxNP.node().apply_central_force(force) + self.boxNP.node().apply_torque(torque) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + shape = BulletPlaneShape((0, 0, 1), -1) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + np.node().add_shape(shape) + np.set_pos(0, 0, -1) + np.set_collide_mask(BitMask32.bit(0)) + + self.world.attach(np.node()) + + # Boxes + self.boxes = [None,]*6 + + for i in range(6): + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box-1')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + + self.world.attach(np.node()) + + self.boxes[i] = np + + visualNP = loader.load_model('models/box.egg') + visualNP.reparent_to(np) + + self.boxes[0].set_pos(-3, -3, 0) + self.boxes[1].set_pos( 0, -3, 0) + self.boxes[2].set_pos( 3, -3, 0) + self.boxes[3].set_pos(-3, 3, 0) + self.boxes[4].set_pos( 0, 3, 0) + self.boxes[5].set_pos( 3, 3, 0) + + self.boxes[0].set_collide_mask(BitMask32.bit(1)) + self.boxes[1].set_collide_mask(BitMask32.bit(2)) + self.boxes[2].set_collide_mask(BitMask32.bit(3)) + self.boxes[3].set_collide_mask(BitMask32.bit(1)) + self.boxes[4].set_collide_mask(BitMask32.bit(2)) + self.boxes[5].set_collide_mask(BitMask32.bit(3)) + + self.boxNP = self.boxes[0] + + self.world.set_group_collision_flag(0, 1, True) + self.world.set_group_collision_flag(0, 2, True) + self.world.set_group_collision_flag(0, 3, True) + + self.world.set_group_collision_flag(1, 1, False) + self.world.set_group_collision_flag(1, 2, True) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/06_filtering_python.py b/samples/bullet-physics/06_filtering_python.py new file mode 100644 index 0000000000..4ff13e544b --- /dev/null +++ b/samples/bullet-physics/06_filtering_python.py @@ -0,0 +1,167 @@ +#!/usr/bin/env python + +from panda3d.core import load_prc_file_data +load_prc_file_data('', 'bullet-filter-algorithm callback') + +import sys +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import PythonCallbackObject + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(self, dt): + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + self.boxNP.node().set_active(True) + self.boxNP.node().apply_central_force(force) + self.boxNP.node().apply_torque(torque) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + self.world.set_filter_callback(PythonCallbackObject(self.filter)) + + # Ground + shape = BulletPlaneShape((0, 0, 1), -1) + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + np.node().add_shape(shape) + np.set_pos(0, 0, -1) + np.set_python_tag('foo', 2) + self.world.attach(np.node()) + + # Box 1 + shape = BulletBoxShape((0.5, 0.5, 0.5)) + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box-1')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(3, 0, 4) + np.set_python_tag('foo', 0) + self.world.attach(np.node()) + self.boxNP = np + + # Box 2 + shape = BulletBoxShape((0.5, 0.5, 0.5)) + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box-2')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(-3, 0, 4) + np.set_python_tag('foo', -1) + self.world.attach(np.node()) + + def filter(self, cb_data): + """ + cb_data is of type BulletFilterCallbackData. + A rather silly collision filtering algorithm. We assume every node + has the Python tag 'foo' set, and that the value of this tag is integer. + Then we add the values and if the result is greater than zero we want + the nodes to collide. + """ + x1 = cb_data.get_node_0().get_python_tag('foo') + x2 = cb_data.get_node_1().get_python_tag('foo') + cb_data.set_collide(x1 + x2 > 0) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/07_raycast.py b/samples/bullet-physics/07_raycast.py new file mode 100644 index 0000000000..20462937fc --- /dev/null +++ b/samples/bullet-physics/07_raycast.py @@ -0,0 +1,195 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletSphereShape +from panda3d.bullet import BulletConeShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import ZUp + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(self, dt): + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + self.boxNP.node().set_active(True) + self.boxNP.node().apply_central_force(force) + self.boxNP.node().apply_torque(torque) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt) + self.raycast() + return task.cont + + def raycast(self): + pFrom = LPoint3(-4, 0, 0.5) + pTo = LPoint3(4, 0, 0.5) + #pTo = pFrom + LVector3(1, 0, 0) * 99999 + + # Raycast for closest hit + result = self.world.ray_test_closest(pFrom, pTo) + print(result.has_hit(), \ + result.get_hit_fraction(), \ + result.get_node(), \ + result.get_hit_pos(), \ + result.get_hit_normal()) + + # Raycast for all hits + #result = self.world.ray_test_all(pFrom, pTo) + #print result.has_hits(), \ + # result.get_closest_hit_fraction(), \ + # result.get_num_hits() + #print [hit.get_hit_pos() for hit in result.get_hits()] + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + shape = BulletPlaneShape((0, 0, 1), 0) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + np.node().add_shape(shape) + np.set_pos(0, 0, 0) + np.set_collide_mask(BitMask32(0x0f)) + + self.world.attach(np.node()) + + # Box + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(0, 0, 4) + np.set_collide_mask(BitMask32(0x0f)) + + self.world.attach(np.node()) + + self.boxNP = np + visualNP = loader.load_model('models/box.egg') + visualNP.reparent_to(self.boxNP) + + # Sphere + shape = BulletSphereShape(0.6) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Sphere')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(3, 0, 4) + np.set_collide_mask(BitMask32(0x0f)) + + self.world.attach(np.node()) + + # Cone + shape = BulletConeShape(0.6, 1.0) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Cone')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(6, 0, 4) + np.set_collide_mask(BitMask32(0x0f)) + + self.world.attach(np.node()) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/08_contacts.py b/samples/bullet-physics/08_contacts.py new file mode 100644 index 0000000000..790c3d6c47 --- /dev/null +++ b/samples/bullet-physics/08_contacts.py @@ -0,0 +1,212 @@ +#!/usr/bin/env python + +#from panda3d.core import load_prc_file_data +#load_prc_file_data('', 'bullet-enable-contact-events true') + + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import NodePath + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletSphereShape +from panda3d.bullet import BulletRigidBodyNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(self, dt): + if not self.box: + return + + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + self.box.set_active(True) + self.box.apply_central_force(force) + self.box.apply_torque(torque) + + def process_contacts(self): + if not self.box or not self.sphere: + return + + result = self.world.contact_test_pair(self.box, self.sphere) + #result = self.world.contact_test(self.box) + + #print '-->', result.get_num_contacts() + for contact in result.get_contacts(): + cp = contact.get_manifold_point() + node0 = contact.get_node0() + node1 = contact.get_node1() + print(node0.get_name(), node1.get_name(), cp.get_local_point_a()) + + #print(contact.get_node0(), cp.get_position_world_on_a()) + #print(contact.get_idx0(), contact.get_idx1(), \ + # contact.get_part_id0(), contact.get_part_id1()) + + self.remove_node(node1) + + def remove_node(self, node): + self.world.remove(node) + if node == self.sphere: self.sphere = None + if node == self.box: self.box = None + np = NodePath(node) + np.remove_node() + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt, 10, 0.008) + self.process_contacts() + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + #def on_contact_added(self, node1, node2): + # print('contact added:', node1, node2) + + #def on_contact_destroyed(self, node1, node2): + # print('contact destroyed:', node1, node2) + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Plane + shape = BulletPlaneShape((0, 0, 1), 0) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + np.node().add_shape(shape) + np.set_pos(0, 0, -1) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Box + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.node().set_deactivation_enabled(False) + np.set_pos(2, 0, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + visualNP = loader.load_model('models/box.egg') + visualNP.reparent_to(np) + + self.box = np.node() + + # Sphere + shape = BulletSphereShape(0.6) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Sphere')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(-2, 0, 4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + self.sphere = np.node() + + ## Enable contact reporting + #self.accept('bullet-contact-added', self.on_contact_added) + #self.accept('bullet-contact-destroyed', self.on_contact_destroyed) + #self.box.notify_collisions(True) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/09_ccd.py b/samples/bullet-physics/09_ccd.py new file mode 100644 index 0000000000..2360d32941 --- /dev/null +++ b/samples/bullet-physics/09_ccd.py @@ -0,0 +1,177 @@ +#!/usr/bin/env python + +#from panda3d.core import load_prc_file_data +#load_prc_file_data('', 'bullet-solver-iterations 20') + + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import get_model_path + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -40, 10) + base.cam.look_at(0, 0, 5) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + self.accept('1', self.do_shoot, [True]) + self.accept('2', self.do_shoot, [False]) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def do_shoot(self, ccd): + # Get from/to points from mouse click + pMouse = base.mouseWatcherNode.get_mouse() + pFrom = LPoint3() + pTo = LPoint3() + base.camLens.extrude(pMouse, pFrom, pTo) + + pFrom = render.get_relative_point(base.cam, pFrom) + pTo = render.get_relative_point(base.cam, pTo) + + # Calculate initial velocity + v = pTo - pFrom + v.normalize() + v *= 10000.0 + + # Create bullet + shape = BulletBoxShape((0.5, 0.5, 0.5)) + body = BulletRigidBodyNode('Bullet') + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(2.0) + bodyNP.node().set_linear_velocity(v) + bodyNP.set_pos(pFrom) + bodyNP.set_collide_mask(BitMask32.all_on()) + + if ccd: + bodyNP.node().set_ccd_motion_threshold(1e-7) + bodyNP.node().set_ccd_swept_sphere_radius(0.50) + + self.world.attach(bodyNP.node()) + + # Remove the bullet again after 1 second + taskMgr.do_method_later(1, self.do_remove, 'doRemove', + extraArgs=[bodyNP], appendTask=True) + + def do_remove(self, bulletNP, task): + self.world.remove(bulletNP.node()) + return task.done + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 20, 1.0/180.0) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + self.worldNP = None + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + shape = BulletPlaneShape((0, 0, 1), 0) + body = BulletRigidBodyNode('Ground') + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.set_pos(0, 0, -1) + bodyNP.set_collide_mask(BitMask32.all_on()) + self.world.attach(bodyNP.node()) + + # Some boxes + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + for i in range(10): + for j in range(10): + x = i - 5.0 + y = 0.0 + z = j - 0.5 + + body = BulletRigidBodyNode('Box-{}-{}'.format(i, j)) + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_deactivation_enabled(False) + bodyNP.set_pos(x, y, z) + bodyNP.set_collide_mask(BitMask32.all_on()) + + self.world.attach(bodyNP.node()) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/10_hinge_constraint.py b/samples/bullet-physics/10_hinge_constraint.py new file mode 100644 index 0000000000..cf067b66a1 --- /dev/null +++ b/samples/bullet-physics/10_hinge_constraint.py @@ -0,0 +1,190 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletSphereShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletHingeConstraint +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 5) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + self.accept('enter', self.do_shoot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def do_shoot(self): + # Get from/to points from mouse click + pMouse = base.mouseWatcherNode.get_mouse() + pFrom = LPoint3() + pTo = LPoint3() + base.camLens.extrude(pMouse, pFrom, pTo) + + pFrom = render.get_relative_point(base.cam, pFrom) + pTo = render.get_relative_point(base.cam, pTo) + + # Calculate initial velocity + v = pTo - pFrom + v.normalize() + v *= 100.0 + + # Create bullet + shape = BulletSphereShape(0.3) + body = BulletRigidBodyNode('Bullet') + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_linear_velocity(v) + bodyNP.node().set_ccd_motion_threshold(1e-7); + bodyNP.node().set_ccd_swept_sphere_radius(0.50); + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(pFrom) + + visNP = loader.load_model('models/ball.egg') + visNP.set_scale(0.8) + visNP.reparent_to(bodyNP) + + self.world.attach(bodyNP.node()) + + # Remove the bullet again after 2 seconds + taskMgr.do_method_later(2, self.do_remove, 'doRemove', + extraArgs=[bodyNP], appendTask=True) + + def do_remove(self, bodyNP, task): + self.world.remove(bodyNP.node()) + bodyNP.remove_node() + return task.done + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 20, 1.0/180.0) + return task.cont + + def cleanup(self): + self.worldNP.remove_node() + self.worldNP = None + self.world = None + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(False) + self.debugNP.node().show_normals(False) + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Box A + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyA = BulletRigidBodyNode('Box A') + bodyNP = self.worldNP.attach_new_node(bodyA) + bodyNP.node().add_shape(shape) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(-2, 0, 1) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyA) + + # Box B + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyB = BulletRigidBodyNode('Box B') + bodyNP = self.worldNP.attach_new_node(bodyB) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_deactivation_enabled(False) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(2, 0, 1) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyB) + + # Hinge + pivotA = (2, 0, 0) + pivotB = (-4, 0, 0) + axisA = (0, 0, 1) + axisB = (0, 0, 1) + + hinge = BulletHingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA, axisB, True) + hinge.set_debug_draw_size(2.0) + hinge.set_limit(-90, 120, softness=0.9, bias=0.3, relaxation=1.0) + self.world.attach(hinge) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/11_slider_constraint.py b/samples/bullet-physics/11_slider_constraint.py new file mode 100644 index 0000000000..b83c89a870 --- /dev/null +++ b/samples/bullet-physics/11_slider_constraint.py @@ -0,0 +1,191 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletSphereShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletSliderConstraint +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 5) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + self.accept('enter', self.do_shoot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def do_shoot(self): + # Get from/to points from mouse click + pMouse = base.mouseWatcherNode.get_mouse() + pFrom = LPoint3() + pTo = LPoint3() + base.camLens.extrude(pMouse, pFrom, pTo) + + pFrom = render.get_relative_point(base.cam, pFrom) + pTo = render.get_relative_point(base.cam, pTo) + + # Calculate initial velocity + v = pTo - pFrom + v.normalize() + v *= 100.0 + + # Create bullet + shape = BulletSphereShape(0.3) + body = BulletRigidBodyNode('Bullet') + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_linear_velocity(v) + bodyNP.node().set_ccd_motion_threshold(1e-7); + bodyNP.node().set_ccd_swept_sphere_radius(0.50); + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(pFrom) + + visNP = loader.load_model('models/ball.egg') + visNP.set_scale(0.8) + visNP.reparent_to(bodyNP) + + self.world.attach(bodyNP.node()) + + # Remove the bullet again after 2 seconds + taskMgr.do_method_later(2, self.do_remove, 'doRemove', + extraArgs=[bodyNP], appendTask=True) + + def do_remove(self, bodyNP, task): + self.world.remove(bodyNP.node()) + bodyNP.remove_node() + return task.done + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 20, 1.0/180.0) + return task.cont + + def cleanup(self): + self.worldNP.remove_node() + self.worldNP = None + self.world = None + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(False) + self.debugNP.node().show_normals(False) + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Box A + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyA = BulletRigidBodyNode('Box A') + bodyNP = self.worldNP.attach_new_node(bodyA) + bodyNP.node().add_shape(shape) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(-3, 0, 4) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyA) + + # Box B + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyB = BulletRigidBodyNode('Box B') + bodyNP = self.worldNP.attach_new_node(bodyB) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_deactivation_enabled(False) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(0, 0, 0) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyB) + + # Slider + frameA = TransformState.make_pos_hpr((2, 0, 0), (0, 0, 45)) + frameB = TransformState.make_pos_hpr((0, -3, 0), (0, 0, 0)) + + slider = BulletSliderConstraint(bodyA, bodyB, frameA, frameB, True) + slider.set_debug_draw_size(2.0) + slider.set_lower_linear_limit(0) + slider.set_upper_linear_limit(6) + slider.set_lower_angular_limit(-60) + slider.set_upper_angular_limit(60) + self.world.attach(slider) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/12_spherical_constraint.py b/samples/bullet-physics/12_spherical_constraint.py new file mode 100644 index 0000000000..2a9e3c3f0c --- /dev/null +++ b/samples/bullet-physics/12_spherical_constraint.py @@ -0,0 +1,189 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletSphereShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletSphericalConstraint +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 5) + base.cam.look_at(0, 0, 5) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + self.accept('enter', self.do_shoot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def do_shoot(self): + # Get from/to points from mouse click + pMouse = base.mouseWatcherNode.get_mouse() + pFrom = LPoint3() + pTo = LPoint3() + base.camLens.extrude(pMouse, pFrom, pTo) + + pFrom = render.get_relative_point(base.cam, pFrom) + pTo = render.get_relative_point(base.cam, pTo) + + # Calculate initial velocity + v = pTo - pFrom + v.normalize() + v *= 100.0 + + # Create bullet + shape = BulletSphereShape(0.3) + body = BulletRigidBodyNode('Bullet') + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_linear_velocity(v) + bodyNP.node().set_ccd_motion_threshold(1e-7); + bodyNP.node().set_ccd_swept_sphere_radius(0.50); + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(pFrom) + + visNP = loader.load_model('models/ball.egg') + visNP.set_scale(0.8) + visNP.reparent_to(bodyNP) + + self.world.attach(bodyNP.node()) + + # Remove the bullet again after 2 seconds + taskMgr.do_method_later(2, self.do_remove, 'doRemove', + extraArgs=[bodyNP], appendTask=True) + + def do_remove(self, bodyNP, task): + self.world.remove(bodyNP.node()) + bodyNP.remove_node() + return task.done + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 20, 1.0/180.0) + return task.cont + + def cleanup(self): + self.worldNP.remove_node() + self.worldNP = None + self.world = None + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(False) + self.debugNP.node().show_normals(False) + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Box A + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyA = BulletRigidBodyNode('Box A') + bodyNP = self.worldNP.attach_new_node(bodyA) + bodyNP.node().add_shape(shape) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(-1, 0, 4) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyA) + + # Box B + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyB = BulletRigidBodyNode('Box B') + bodyNP = self.worldNP.attach_new_node(bodyB) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_deactivation_enabled(False) + bodyNP.node().setLinearDamping(0.6) + bodyNP.node().setAngularDamping(0.6) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(2, 0, 0) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyB) + + # Spherical Constraint + pivotA = (2, 0, 0) + pivotB = (0, 0, 4) + + joint = BulletSphericalConstraint(bodyA, bodyB, pivotA, pivotB) + joint.set_debug_draw_size(2.0) + self.world.attach(joint) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/13_cone_twist_constraint.py b/samples/bullet-physics/13_cone_twist_constraint.py new file mode 100644 index 0000000000..31895e0e61 --- /dev/null +++ b/samples/bullet-physics/13_cone_twist_constraint.py @@ -0,0 +1,188 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletSphereShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletConeTwistConstraint +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 5) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + self.accept('enter', self.do_shoot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def do_shoot(self): + # Get from/to points from mouse click + pMouse = base.mouseWatcherNode.get_mouse() + pFrom = LPoint3() + pTo = LPoint3() + base.camLens.extrude(pMouse, pFrom, pTo) + + pFrom = render.get_relative_point(base.cam, pFrom) + pTo = render.get_relative_point(base.cam, pTo) + + # Calculate initial velocity + v = pTo - pFrom + v.normalize() + v *= 100.0 + + # Create bullet + shape = BulletSphereShape(0.3) + body = BulletRigidBodyNode('Bullet') + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_linear_velocity(v) + bodyNP.node().set_ccd_motion_threshold(1e-7); + bodyNP.node().set_ccd_swept_sphere_radius(0.50); + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(pFrom) + + visNP = loader.load_model('models/ball.egg') + visNP.set_scale(0.8) + visNP.reparent_to(bodyNP) + + self.world.attach(bodyNP.node()) + + # Remove the bullet again after 2 seconds + taskMgr.do_method_later(2, self.do_remove, 'doRemove', + extraArgs=[bodyNP], appendTask=True) + + def do_remove(self, bodyNP, task): + self.world.remove(bodyNP.node()) + bodyNP.remove_node() + return task.done + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 20, 1.0/180.0) + return task.cont + + def cleanup(self): + self.worldNP.remove_node() + self.worldNP = None + self.world = None + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(False) + self.debugNP.node().show_normals(False) + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Box A + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyA = BulletRigidBodyNode('Box A') + bodyNP = self.worldNP.attach_new_node(bodyA) + bodyNP.node().add_shape(shape) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(-2, 0, 4) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyA) + + # Box B + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyB = BulletRigidBodyNode('Box B') + bodyNP = self.worldNP.attach_new_node(bodyB) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_deactivation_enabled(False) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(0, 0, 0) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyB) + + # Cone + frameA = TransformState.make_pos_hpr((0, 0, -2), (0, 0, 90)) + frameB = TransformState.make_pos_hpr((-5, 0, 0), (0, 0, 0)) + + cone = BulletConeTwistConstraint(bodyA, bodyB, frameA, frameB) + cone.set_debug_draw_size(2.0) + cone.set_limit(30, 45, 170, softness=1.0, bias=0.3, relaxation=8.0) + self.world.attach(cone) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/14_generic_constraint.py b/samples/bullet-physics/14_generic_constraint.py new file mode 100644 index 0000000000..8316eb8600 --- /dev/null +++ b/samples/bullet-physics/14_generic_constraint.py @@ -0,0 +1,194 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletSphereShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletGenericConstraint +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 5) + base.cam.look_at(0, 0, 5) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + self.accept('enter', self.do_shoot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def do_shoot(self): + # Get from/to points from mouse click + pMouse = base.mouseWatcherNode.get_mouse() + pFrom = LPoint3() + pTo = LPoint3() + base.camLens.extrude(pMouse, pFrom, pTo) + + pFrom = render.get_relative_point(base.cam, pFrom) + pTo = render.get_relative_point(base.cam, pTo) + + # Calculate initial velocity + v = pTo - pFrom + v.normalize() + v *= 100.0 + + # Create bullet + shape = BulletSphereShape(0.3) + body = BulletRigidBodyNode('Bullet') + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_linear_velocity(v) + bodyNP.node().set_ccd_motion_threshold(1e-7); + bodyNP.node().set_ccd_swept_sphere_radius(0.50); + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(pFrom) + + visNP = loader.load_model('models/ball.egg') + visNP.set_scale(0.8) + visNP.reparent_to(bodyNP) + + self.world.attach(bodyNP.node()) + + # Remove the bullet again after 2 seconds + taskMgr.do_method_later(2, self.do_remove, 'doRemove', + extraArgs=[bodyNP], appendTask=True) + + def do_remove(self, bodyNP, task): + self.world.remove(bodyNP.node()) + bodyNP.remove_node() + return task.done + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 20, 1.0/180.0) + return task.cont + + def cleanup(self): + self.worldNP.remove_node() + self.worldNP = None + self.world = None + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(False) + self.debugNP.node().show_normals(False) + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Box A + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyA = BulletRigidBodyNode('Box A') + bodyNP = self.worldNP.attach_new_node(bodyA) + bodyNP.node().add_shape(shape) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(-4, 0, 4) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyA) + + # Box B + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + bodyB = BulletRigidBodyNode('Box B') + bodyNP = self.worldNP.attach_new_node(bodyB) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(1.0) + bodyNP.node().set_deactivation_enabled(False) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos(1, 0, 0) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.reparent_to(bodyNP) + + self.world.attach(bodyB) + + # Generic + frameA = TransformState.make_pos_hpr((4, 0, 0), (0, 0, 0)) + frameB = TransformState.make_pos_hpr((2, 0, 0), (0, 0, 0)) + + generic = BulletGenericConstraint(bodyA, bodyB, frameA, frameB, True) + generic.set_debug_draw_size(2.0) + generic.set_linear_limit(0, 0, 0) + generic.set_linear_limit(1, 0, 3) + generic.set_linear_limit(2, 0, 1) + generic.set_angular_limit(0, -60, 60) + generic.set_angular_limit(1, -30, 30) + generic.set_angular_limit(2, -120, 120) + + self.world.attach(generic) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/15_ghost.py b/samples/bullet-physics/15_ghost.py new file mode 100644 index 0000000000..c93223275b --- /dev/null +++ b/samples/bullet-physics/15_ghost.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletGhostNode +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(self, dt): + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + self.boxNP.node().set_active(True) + self.boxNP.node().apply_central_force(force) + self.boxNP.node().apply_torque(torque) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt) + + # Get nodes overlapping with the ghost object + if self.ghostNP.node().get_num_overlapping_nodes() > 0: + print(self.ghostNP.node().get_num_overlapping_nodes(), + self.ghostNP.node().get_overlapping_nodes()) + + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + shape = BulletPlaneShape((0, 0, 1), 0) + + node = BulletRigidBodyNode('Ground') + np = self.worldNP.attach_new_node(node) + np.node().add_shape(shape) + np.set_pos(0, 0, 0) + np.set_collide_mask(BitMask32(0x0f)) + + self.world.attach(np.node()) + + # Box + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + np.node().set_mass(1.0) + np.node().add_shape(shape) + np.set_pos(0, 0, 4) + np.set_collide_mask(BitMask32(0x0f)) + + self.world.attach(np.node()) + + self.boxNP = np + visualNP = loader.load_model('models/box.egg') + visualNP.reparent_to(self.boxNP) + + # Trigger + shape = BulletBoxShape((1, 1, 2)) + + np = self.worldNP.attach_new_node(BulletGhostNode('Ghost')) + np.node().add_shape(shape) + np.set_pos(3, 0, 0) + np.set_collide_mask(BitMask32(0x0f)) + + self.world.attach(np.node()) + + self.ghostNP = np + + +game = Game() +game.run() diff --git a/samples/bullet-physics/16_ghost_local.py b/samples/bullet-physics/16_ghost_local.py new file mode 100644 index 0000000000..732ee18196 --- /dev/null +++ b/samples/bullet-physics/16_ghost_local.py @@ -0,0 +1,172 @@ +#!/usr/bin/env python + +""" +This sample is incomplete; do not expect to gain much insight from this. +""" + + +import sys +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletGhostNode +from panda3d.bullet import BulletDebugNode + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(self, dt): + force = LVector3(0, 0, 0) + torque = LVector3(0, 0, 0) + + if inputState.isSet('forward'): force.y = 1.0 + if inputState.isSet('reverse'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + if inputState.isSet('turnLeft'): torque.z = 1.0 + if inputState.isSet('turnRight'): torque.z = -1.0 + + force *= 30.0 + torque *= 10.0 + + self.boxNP.node().apply_central_force(force) + self.boxNP.node().apply_torque(torque) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt) + #self.world.do_physics(dt, 20, 1.0/180.0) + return task.cont + + def cleanup(self): + self.world.remove(self.groundNP.node()) + self.world.remove(self.boxNP.node()) + self.world = None + + self.debugNP = None + self.groundNP = None + self.boxNP = None + + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(False) + self.debugNP.node().show_normals(True) + + #self.debugNP.show_tight_bounds() + #self.debugNP.show_bounds() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground (static) + shape = BulletPlaneShape((0, 0, 1), 1) + + self.groundNP = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + self.groundNP.node().add_shape(shape) + self.groundNP.set_pos(0, 0, -2) + self.groundNP.set_collide_mask(BitMask32.all_on()) + + self.world.attach(self.groundNP.node()) + + # Box (dynamic) + shape = BulletBoxShape((0.5, 0.5, 0.5)) + + self.boxNP = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + self.boxNP.node().set_mass(1.0) + self.boxNP.node().add_shape(shape) + self.boxNP.set_pos(0, 0, 2) + self.boxNP.set_collide_mask(BitMask32.all_on()) + self.boxNP.node().set_deactivation_enabled(False) + + self.world.attach(self.boxNP.node()) + + visualNP = loader.load_model('models/box.egg') + visualNP.clear_model_nodes() + visualNP.reparent_to(self.boxNP) + + # TODO: + # self.ghostNP = self.worldNP.attach_new_node(BulletGhostNode('ghost')) + # self.ghostNP.reparent_to(self.boxNP) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/17_character.py b/samples/bullet-physics/17_character.py new file mode 100644 index 0000000000..cd719bd2f2 --- /dev/null +++ b/samples/bullet-physics/17_character.py @@ -0,0 +1,201 @@ +#!/usr/bin/env python + +import sys + +from direct.actor.Actor import Actor +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import load_prc_file_data +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import Filename +from panda3d.core import PNMImage + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletCapsuleShape +from panda3d.bullet import BulletCharacterControllerNode +from panda3d.bullet import BulletHeightfieldShape +from panda3d.bullet import BulletTriangleMesh +from panda3d.bullet import BulletTriangleMeshShape +from panda3d.bullet import ZUp + + +class Game(ShowBase): + def __init__(self): + """ + Load some configuration variables, it's important for this to happen + before the ShowBase is initialized + """ + load_prc_file_data("", """ + sync-video #t + ### add entries below if you are not running from an installation. + #model-path /path/to/panda3d + """) + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + self.accept('space', self.do_jump) + self.accept('c', self.do_crouch) + + 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() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def do_jump(self): + self.character.set_max_jump_height(5.0) + self.character.set_jump_speed(8.0) + self.character.do_jump() + self.actorNP.play("jump") + + def do_crouch(self): + self.crouching = not self.crouching + sz = self.crouching and 0.6 or 1.0 + self.characterNP.set_scale((1, 1, sz)) + #self.character.get_shape().set_local_scale(LVector3(1, 1, sz)) + #self.characterNP.set_scale(LVector3(1, 1, sz) * 0.3048) + #self.characterNP.set_pos(0, 0, -1 * sz) + + def process_input(self, dt): + speed = LVector3(0, 0, 0) + omega = 0.0 + + if inputState.isSet('forward'): speed.y = 2.0 + if inputState.isSet('reverse'): speed.y = -2.0 + if inputState.isSet('left'): speed.x = -2.0 + if inputState.isSet('right'): speed.x = 2.0 + if inputState.isSet('turnLeft'): omega = 120.0 + if inputState.isSet('turnRight'): omega = -120.0 + + self.character.set_angular_movement(omega) + self.character.set_linear_movement(speed, True) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt, 4, 1./240.) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + shape = BulletPlaneShape((0, 0, 1), 0) + + #img = PNMImage(Filename('models/elevation.png')) + #shape = BulletHeightfieldShape(img, 1.0, ZUp) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + np.node().add_shape(shape) + np.set_pos(0, 0, -1) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Box + shape = BulletBoxShape((1.0, 3.0, 0.3)) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + np.node().set_mass(10.0) + np.node().add_shape(shape) + np.set_pos(3, 0, 4) + np.setH(20.0) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Character + self.crouching = False + + h = 1.75 + w = 0.4 + shape = BulletCapsuleShape(w, h - 2 * w, ZUp) + self.character = BulletCharacterControllerNode(shape, 0.4, 'Player') + self.characterNP = self.worldNP.attach_new_node(self.character) + self.characterNP.set_pos(-2, 0, 14) + self.characterNP.set_h(45) + self.characterNP.set_collide_mask(BitMask32.all_on()) + self.world.attach(self.character) + + self.actorNP = Actor('../roaming-ralph/models/ralph.egg.pz', + {'run' : '../roaming-ralph/models/ralph-run.egg.pz', + 'walk' : '../roaming-ralph/models/ralph-walk.egg.pz'}) + self.actorNP.reparent_to(self.characterNP) + self.actorNP.set_scale(0.3048) # 1ft = 0.3048m + self.actorNP.setH(180) + self.actorNP.set_pos(0, 0, -1) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/18_vehicle.py b/samples/bullet-physics/18_vehicle.py new file mode 100644 index 0000000000..3d079c7023 --- /dev/null +++ b/samples/bullet-physics/18_vehicle.py @@ -0,0 +1,213 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletVehicle +from panda3d.bullet import ZUp + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -20, 4) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + inputState.watchWithModifiers('forward', 'w') + inputState.watchWithModifiers('reverse', 's') + inputState.watchWithModifiers('turnLeft', 'a') + inputState.watchWithModifiers('turnRight', 'd') + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(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.get_dt() + self.process_input(dt) + self.world.do_physics(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.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Plane + shape = BulletPlaneShape((0, 0, 1), 0) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) + np.node().add_shape(shape) + np.set_pos(0, 0, -1) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Chassis + shape = BulletBoxShape((0.6, 1.4, 0.5)) + ts = TransformState.make_pos((0, 0, 0.5)) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Vehicle')) + np.node().add_shape(shape, ts) + np.set_pos(0, 0, 1) + np.node().set_mass(800.0) + np.node().set_deactivation_enabled(False) + + self.world.attach(np.node()) + + #np.node().set_ccd_swept_sphere_radius(1.0) + #np.node().set_ccd_motion_threshold(1e-7) + + # Vehicle + self.vehicle = BulletVehicle(self.world, np.node()) + self.vehicle.set_coordinate_system(ZUp) + self.world.attach(self.vehicle) + + self.yugoNP = loader.load_model('models/yugo/yugo.egg') + self.yugoNP.reparent_to(np) + + # Right front wheel + np = loader.load_model('models/yugo/yugotireR.egg') + np.reparent_to(self.worldNP) + self.add_wheel(( 0.70, 1.05, 0.3), True, np) + + # Left front wheel + np = loader.load_model('models/yugo/yugotireL.egg') + np.reparent_to(self.worldNP) + self.add_wheel((-0.70, 1.05, 0.3), True, np) + + # Right rear wheel + np = loader.load_model('models/yugo/yugotireR.egg') + np.reparent_to(self.worldNP) + self.add_wheel(( 0.70, -1.05, 0.3), False, np) + + # Left rear wheel + np = loader.load_model('models/yugo/yugotireL.egg') + np.reparent_to(self.worldNP) + self.add_wheel((-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 add_wheel(self, pos, front, np): + wheel = self.vehicle.create_wheel() + + wheel.set_node(np.node()) + wheel.set_chassis_connection_point_cs(pos) + wheel.set_front_wheel(front) + + wheel.set_wheel_direction_cs((0, 0, -1)) + wheel.set_wheel_axle_cs((1, 0, 0)) + wheel.set_wheel_radius(0.25) + wheel.set_max_suspension_travel_cm(40.0) + + wheel.set_suspension_stiffness(40.0) + wheel.set_wheels_damping_relaxation(2.3) + wheel.set_wheels_damping_compression(4.4) + wheel.set_friction_slip(100.0); + wheel.set_roll_influence(0.1) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/19_ball_in_maze.py b/samples/bullet-physics/19_ball_in_maze.py new file mode 100644 index 0000000000..2b2ee26d23 --- /dev/null +++ b/samples/bullet-physics/19_ball_in_maze.py @@ -0,0 +1,192 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState +from direct.interval.MetaInterval import Sequence +from direct.interval.MetaInterval import Parallel +from direct.interval.LerpInterval import LerpFunc +from direct.interval.FunctionInterval import Func +from direct.interval.FunctionInterval import Wait + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import Material + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletGhostNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletHelper + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos_hpr(0, 0, 25, 0, -90, 0) + base.disable_mouse() + + # Input + self.accept('escape', self.exitGame) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + # Setup scene 1: World + self.debugNP = render.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(True) + self.debugNP.node().show_normals(True) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Setup scene 2: Ball + #visNP = loader.load_model('models/ball.egg') + visNP = loader.load_model('../ball-in-maze/models/ball.egg.pz') + visNP.clear_model_nodes() + + bodyNPs = BulletHelper.from_collision_solids(visNP, True) + self.ballNP = bodyNPs[0] + self.ballNP.reparent_to(render) + self.ballNP.node().set_mass(1.0) + self.ballNP.set_pos(4, -4, 1) + self.ballNP.node().set_deactivation_enabled(False) + + visNP.reparent_to(self.ballNP) + + # Setup scene 3: Maze + visNP = loader.load_model('models/maze.egg') + #visNP = loader.load_model('samples/ball-in-maze/models/maze.egg.pz') + visNP.clear_model_nodes() + visNP.reparent_to(render) + + self.holes = [] + self.maze = [] + self.mazeNP = visNP + + bodyNPs = BulletHelper.from_collision_solids(visNP, True); + for bodyNP in bodyNPs: + bodyNP.reparent_to(render) + + if isinstance(bodyNP.node(), BulletRigidBodyNode): + bodyNP.node().set_mass(0.0) + bodyNP.node().set_kinematic(True) + self.maze.append(bodyNP) + + elif isinstance(bodyNP.node(), BulletGhostNode): + self.holes.append(bodyNP) + + # Lighting and material for the ball + ambientLight = AmbientLight('ambientLight') + ambientLight.set_color((0.55, 0.55, 0.55, 1)) + directionalLight = DirectionalLight('directionalLight') + directionalLight.set_direction((0, 0, -1)) + directionalLight.set_color((0.375, 0.375, 0.375, 1)) + directionalLight.set_specular_color((1, 1, 1, 1)) + self.ballNP.set_light(render.attach_new_node(ambientLight)) + self.ballNP.set_light(render.attach_new_node(directionalLight)) + + m = Material() + m.set_specular((1,1,1,1)) + m.set_shininess(96) + self.ballNP.set_material(m, 1) + + # Startup + self.start_game() + + def exitGame(self): + sys.exit() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def start_game(self): + self.ballNP.set_pos(4, -4, 1) + self.ballNP.node().set_linear_velocity((0, 0, 0)) + self.ballNP.node().set_angular_velocity((0, 0, 0)) + + # Mouse + p = base.win.get_properties() + base.win.move_pointer(0, int(p.get_x_size()/2), int(p.get_y_size()/2)) + + # Add bodies and ghosts + self.world.attach(self.ballNP.node()) + for bodyNP in self.maze: + self.world.attach(bodyNP.node()) + for ghostNP in self.holes: + self.world.attach(ghostNP.node()) + + # Simulation task + taskMgr.add(self.update_game, 'updateGame') + + def stop_game(self): + + # Remove bodies and ghosts + self.world.remove(self.ballNP.node()) + for bodyNP in self.maze: + self.world.remove(bodyNP.node()) + for ghostNP in self.holes: + self.world.remove(ghostNP.node()) + + # Simulation task + taskMgr.remove('updateGame') + + def update_game(self, task): + dt = globalClock.get_dt() + + # Get mouse position and tilt maze + if base.mouseWatcherNode.hasMouse(): + mpos = base.mouseWatcherNode.get_mouse() + hpr = (0, mpos.y * -10, mpos.x * 10) + + # Maze visual node + self.mazeNP.set_hpr(hpr) + + # Maze body nodes + for bodyNP in self.maze: + bodyNP.set_hpr(hpr) + + # Update simulation + self.world.do_physics(dt) + + # Check if ball is touching a hole + for holeNP in self.holes: + if holeNP.node().get_num_overlapping_nodes() > 2: + if self.ballNP.node() in holeNP.node().get_overlapping_nodes(): + self.lose_game(holeNP) + + return task.cont + + def lose_game(self, holeNP): + toPos = holeNP.node().get_shape_pos(0) + self.stop_game() + + Sequence( + Parallel( + LerpFunc(self.ballNP.set_x, fromData = self.ballNP.get_x(), + toData = toPos.get_x(), duration = .1), + LerpFunc(self.ballNP.set_y, fromData = self.ballNP.get_y(), + toData = toPos.get_y(), duration = .1), + LerpFunc(self.ballNP.set_z, fromData = self.ballNP.get_z(), + toData = self.ballNP.get_z() - .9, duration = .2)), + Wait(1), + Func(self.start_game)).start() + + +game = Game() +game.run() diff --git a/samples/bullet-physics/20_bowl_and_eggs.py b/samples/bullet-physics/20_bowl_and_eggs.py new file mode 100644 index 0000000000..4a20bf6c51 --- /dev/null +++ b/samples/bullet-physics/20_bowl_and_eggs.py @@ -0,0 +1,187 @@ +#!/usr/bin/env python + +import sys +import random + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletConvexHullShape +from panda3d.bullet import BulletTriangleMesh +from panda3d.bullet import BulletTriangleMeshShape +from panda3d.bullet import ZUp + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -10, 5) + base.cam.look_at(0, 0, 0.2) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + inputState.watchWithModifiers('up', 'w') + inputState.watchWithModifiers('left', 'a') + inputState.watchWithModifiers('down', 's') + inputState.watchWithModifiers('right', 'd') + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def process_input(self, dt): + force = LVector3(0, 0, 0) + + if inputState.isSet('up'): force.y = 1.0 + if inputState.isSet('down'): force.y = -1.0 + if inputState.isSet('left'): force.x = -1.0 + if inputState.isSet('right'): force.x = 1.0 + + force *= 300.0 + + self.bowlNP.node().set_active(True) + self.bowlNP.node().apply_central_force(force) + + def update(self, task): + dt = globalClock.get_dt() + self.process_input(dt) + self.world.do_physics(dt) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + self.debugNP.node().show_wireframe(True) + self.debugNP.node().show_constraints(True) + self.debugNP.node().show_bounding_boxes(False) + self.debugNP.node().show_normals(False) + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + shape = BulletPlaneShape((0, 0, 1), 0) + + body = BulletRigidBodyNode('Ground') + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.set_pos(0, 0, 0) + bodyNP.set_collide_mask(BitMask32.all_on()) + self.world.attach(bodyNP.node()) + + # Bowl + visNP = loader.load_model('models/bowl.egg') + + geom = (visNP.findAllMatches('**/+GeomNode') + .get_path(0).node().get_geom(0)) + mesh = BulletTriangleMesh() + mesh.addGeom(geom) + shape = BulletTriangleMeshShape(mesh, dynamic=True) + + body = BulletRigidBodyNode('Bowl') + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().add_shape(shape) + bodyNP.node().set_mass(10.0) + bodyNP.set_pos(0, 0, 0) + bodyNP.set_collide_mask(BitMask32.all_on()) + self.world.attach(bodyNP.node()) + + visNP.reparent_to(bodyNP) + + self.bowlNP = bodyNP + self.bowlNP.set_scale(2) + + # Eggs + self.eggNPs = [] + for i in range(5): + x = random.gauss(0, 0.1) + y = random.gauss(0, 0.1) + z = random.gauss(0, 0.1) + 1 + h = random.random() * 360 + p = random.random() * 360 + r = random.random() * 360 + + visNP = loader.load_model('models/egg.egg') + + geom = (visNP.find_all_matches('**/+GeomNode') + .get_path(0).node().get_geom(0)) + shape = BulletConvexHullShape() + shape.addGeom(geom) + + body = BulletRigidBodyNode('Egg-%i' % i) + bodyNP = self.worldNP.attach_new_node(body) + bodyNP.node().set_mass(1.0) + bodyNP.node().add_shape(shape) + bodyNP.node().set_deactivation_enabled(False) + bodyNP.set_collide_mask(BitMask32.all_on()) + bodyNP.set_pos_hpr(x, y, z, h, p, r) + #bodyNP.set_scale(1.5) + self.world.attach(bodyNP.node()) + + visNP.reparent_to(bodyNP) + + self.eggNPs.append(bodyNP) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/21_softbody_rope.py b/samples/bullet-physics/21_softbody_rope.py new file mode 100644 index 0000000000..68d9501b7f --- /dev/null +++ b/samples/bullet-physics/21_softbody_rope.py @@ -0,0 +1,172 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import GeomNode +from panda3d.core import RopeNode +from panda3d.core import NurbsCurveEvaluator + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletSoftBodyNode +from panda3d.bullet import BulletSoftBodyConfig + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -40, 10) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((5, 0, -2)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 10, 0.004) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Soft body world information + info = self.world.get_world_info() + info.set_air_density(1.2) + info.set_water_density(0) + info.set_water_offset(0) + info.set_water_normal((0, 0, 0)) + + # Softbody + def make(p1): + n = 8 + p2 = p1 + LVector3(10, 0, 0) + + bodyNode = BulletSoftBodyNode.makeRope(info, p1, p2, n, 1) + bodyNode.set_total_mass(50.0) + bodyNP = self.worldNP.attach_new_node(bodyNode) + self.world.attach(bodyNode) + + # Render option 1: Line geom + #geom = BulletSoftBodyNode.make_geom_from_links(bodyNode) + #bodyNode.link_geom(geom) + #visNode = GeomNode('') + #visNode.add_geom(geom) + #visNP = bodyNP.attach_new_node(visNode) + + # Render option 2: NURBS curve + curve = NurbsCurveEvaluator() + curve.reset(n + 2) + bodyNode.link_curve(curve) + + visNode = RopeNode('') + visNode.set_curve(curve) + visNode.set_render_mode(RopeNode.RM_tube) + visNode.set_uv_mode(RopeNode.UV_parametric) + visNode.set_num_subdiv(4) + visNode.set_num_slices(8) + visNode.set_thickness(0.4) + visNP = self.worldNP.attach_new_node(visNode) + #visNP = bodyNP.attach_new_node(visNode) # --> renders with offset!!! + visNP.set_texture(loader.load_texture('models/maps/color-grid.rgb')) + + #bodyNP.show_bounds() + #visNP.show_bounds() + + return bodyNP + + np1 = make(LPoint3(-2, -1, 8)) + np2 = make(LPoint3(-2, 1, 8)) + + # Box + shape = BulletBoxShape((2, 2, 6)) + + boxNP = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + boxNP.node().set_mass(50.0) + boxNP.node().add_shape(shape) + boxNP.set_pos(10, 0, 8) + boxNP.set_collide_mask(BitMask32.all_on()) + + self.world.attach(boxNP.node()) + + np1.node().append_anchor(np1.node().get_num_nodes() - 1, boxNP.node()) + np2.node().append_anchor(np1.node().get_num_nodes() - 1, boxNP.node()) + + visNP = loader.load_model('models/box.egg') + visNP.clear_model_nodes() + visNP.set_scale(4, 4, 12) + visNP.reparent_to(boxNP) + + #render.ls() + + +game = Game() +game.run() diff --git a/samples/bullet-physics/22_softbody_cloth.py b/samples/bullet-physics/22_softbody_cloth.py new file mode 100644 index 0000000000..4af4ef47ed --- /dev/null +++ b/samples/bullet-physics/22_softbody_cloth.py @@ -0,0 +1,179 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import GeomNode +from panda3d.core import GeomVertexFormat +from panda3d.core import GeomVertexRewriter +from panda3d.core import InternalName +from panda3d.core import NurbsSurfaceEvaluator +from panda3d.core import SheetNode + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletHelper +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletTriangleMesh +from panda3d.bullet import BulletTriangleMeshShape +from panda3d.bullet import BulletSoftBodyNode +from panda3d.bullet import BulletSoftBodyConfig + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -40, 10) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((5, 0, -2)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 10, 0.004) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Box + shape = BulletBoxShape((1.0, 1.0, 1.0)) + + boxNP = self.worldNP.attach_new_node(BulletRigidBodyNode('Box')) + boxNP.node().set_mass(150.0) + boxNP.node().add_shape(shape) + boxNP.set_pos(0, 0, 2) + boxNP.set_collide_mask(BitMask32.all_on()) + + self.world.attach(boxNP.node()) + + visualNP = loader.load_model('models/box.egg') + visualNP.clear_model_nodes() + visualNP.set_scale(2.0) + visualNP.reparent_to(boxNP) + + # Soft body world information + info = self.world.get_world_info() + info.set_air_density(1.2) + info.set_water_density(0) + info.set_water_offset(0) + info.set_water_normal((0, 0, 0)) + + # Softbody + nx = 31 + ny = 31 + + p00 = LPoint3(-8, -8, 0) + p10 = LPoint3( 8, -8, 0) + p01 = LPoint3(-8, 8, 0) + p11 = LPoint3( 8, 8, 0) + bodyNode = BulletSoftBodyNode.make_patch( + info, p00, p10, p01, p11, nx, ny, 1+2+4+8, True) + + material = bodyNode.append_material() + material.set_linear_stiffness(0.4) + #material.set_angular_stiffness(2.) + bodyNode.generate_bending_constraints(2, material); + bodyNode.set_total_mass(50.0) + bodyNode.get_shape(0).set_margin(0.5) + + bodyNP = self.worldNP.attach_new_node(bodyNode) + self.world.attach(bodyNode) + + # Rendering with Geom: + fmt = GeomVertexFormat.get_v3n3t2() + geom = BulletHelper.make_geom_from_faces(bodyNode, fmt, True) + bodyNode.link_geom(geom) + visNode = GeomNode('') + visNode.add_geom(geom) + visNP = bodyNP.attach_new_node(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.load_texture('models/panda.jpg') + visNP.set_texture(tex) + BulletHelper.make_texcoords_for_patch(geom, nx, ny) + + # Rendering with NURBS (please reduce nx & ny to 12): + #surface = NurbsSurfaceEvaluator() + #surface.reset(nx, ny) + #bodyNode.link_surface(surface) + + #visNode = SheetNode('') + #visNode.set_surface(surface) + #visNode.set_num_u_subdiv(2) + #visNode.set_num_v_subdiv(2) + #visNP = self.worldNP.attach_new_node(visNode) + #visNP.setTwoSided(True) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/23_softbody_pressure.py b/samples/bullet-physics/23_softbody_pressure.py new file mode 100644 index 0000000000..f65357a801 --- /dev/null +++ b/samples/bullet-physics/23_softbody_pressure.py @@ -0,0 +1,178 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import GeomNode + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletHelper +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletTriangleMesh +from panda3d.bullet import BulletTriangleMeshShape +from panda3d.bullet import BulletSoftBodyNode +from panda3d.bullet import BulletSoftBodyConfig + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -60, 20) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((1, 1, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 10, 0.008) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + #self.debugNP.show_tight_bounds() + #self.debugNP.show_bounds() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + p0 = LPoint3(-20, -20, 0) + p1 = LPoint3(-20, 20, 0) + p2 = LPoint3(20, -20, 0) + p3 = LPoint3(20, 20, 0) + mesh = BulletTriangleMesh() + mesh.add_triangle(p0, p1, p2) + mesh.add_triangle(p1, p2, p3) + shape = BulletTriangleMeshShape(mesh, dynamic=False) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh')) + np.node().add_shape(shape) + np.set_pos(0, 0, -2) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Stair + origin = LPoint3(0, 0, 0) + size = LVector3(2, 10, 1) + shape = BulletBoxShape(size * 0.5) + for i in range(10): + pos = origin + size * i + pos.setY(0) + + np = self.worldNP.attach_new_node( + BulletRigidBodyNode('Stair{}'.format(i))) + np.node().add_shape(shape) + np.set_pos(pos) + np.set_collide_mask(BitMask32.all_on()) + + npV = loader.load_model('models/box.egg') + npV.reparent_to(np) + npV.set_scale(size) + + self.world.attach(np.node()) + + # Soft body world information + info = self.world.get_world_info() + info.set_air_density(1.2) + info.set_water_density(0) + info.set_water_offset(0) + info.set_water_normal((0, 0, 0)) + + # Softbody + center = LPoint3(0, 0, 0) + radius = LVector3(1, 1, 1) * 1.5 + node = BulletSoftBodyNode.make_ellipsoid(info, center, radius, 128) + node.set_name('Ellipsoid') + node.get_material(0).set_linear_stiffness(0.1) + node.get_cfg().set_dynamic_friction_coefficient(1) + node.get_cfg().set_damping_coefficient(0.001) + node.get_cfg().set_pressure_coefficient(1500) + node.set_total_mass(30, True) + node.set_pose(True, False) + + np = self.worldNP.attach_new_node(node) + np.set_pos(15, 0, 12) + #np.setH(90.0) + #np.show_bounds() + #np.show_tight_bounds() + self.world.attach(np.node()) + + geom = BulletHelper.make_geom_from_faces(node) + node.link_geom(geom) + nodeV = GeomNode('EllipsoidVisual') + nodeV.add_geom(geom) + npV = np.attach_new_node(nodeV) + + #npV.show_bounds() + + +game = Game() +game.run() diff --git a/samples/bullet-physics/24_softbody_tri.py b/samples/bullet-physics/24_softbody_tri.py new file mode 100644 index 0000000000..cb05f1edd7 --- /dev/null +++ b/samples/bullet-physics/24_softbody_tri.py @@ -0,0 +1,162 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import GeomNode + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletTriangleMesh +from panda3d.bullet import BulletTriangleMeshShape +from panda3d.bullet import BulletSoftBodyNode +from panda3d.bullet import BulletSoftBodyConfig + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -40, 10) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((5, 0, -2)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def update(self, task): + dt = globalClock.get_dt() + #dt *= 0.01 + self.world.do_physics(dt, 10, 0.008) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + p0 = LPoint3(-20, -20, 0) + p1 = LPoint3(-20, 20, 0) + p2 = LPoint3(20, -20, 0) + p3 = LPoint3(20, 20, 0) + mesh = BulletTriangleMesh() + mesh.add_triangle(p0, p1, p2) + mesh.add_triangle(p1, p2, p3) + shape = BulletTriangleMeshShape(mesh, dynamic=False) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh')) + np.node().add_shape(shape) + np.set_pos(0, 0, -2) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Soft body world information + info = self.world.get_world_info() + info.set_air_density(1.2) + info.set_water_density(0) + info.set_water_offset(0) + info.set_water_normal((0, 0, 0)) + + # Softbody + def make_SB(pos, hpr): + + #use this to construct a torus geom. + #import torus + #geom = torus.make_geom() + + geom = (loader.load_model('models/torus.egg') + .find_all_matches('**/+GeomNode').get_path(0).node() + .modify_geom(0)) + + geomNode = GeomNode('') + geomNode.add_geom(geom) + + node = BulletSoftBodyNode.make_tri_mesh(info, geom) + node.link_geom(geomNode.modify_geom(0)) + + node.generate_bending_constraints(2) + node.get_cfg().set_positions_solver_iterations(2) + node.get_cfg().set_collision_flag( + BulletSoftBodyConfig.CF_vertex_face_soft_soft, True) + node.randomize_constraints() + node.set_total_mass(50, True) + + softNP = self.worldNP.attach_new_node(node) + softNP.set_pos(pos) + softNP.set_hpr(hpr) + self.world.attach(node) + + geomNP = softNP.attach_new_node(geomNode) + + make_SB(LPoint3(-3, 0, 4), (0, 0, 0)) + make_SB(LPoint3(0, 0, 4), (0, 90, 90)) + make_SB(LPoint3(3, 0, 4), (0, 0, 0)) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/25_softbody_tetra.py b/samples/bullet-physics/25_softbody_tetra.py new file mode 100644 index 0000000000..ba5713775e --- /dev/null +++ b/samples/bullet-physics/25_softbody_tetra.py @@ -0,0 +1,187 @@ +#!/usr/bin/env python + +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import GeomNode +from panda3d.core import GeomVertexFormat + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletHelper +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletTriangleMesh +from panda3d.bullet import BulletTriangleMeshShape +from panda3d.bullet import BulletSoftBodyNode +from panda3d.bullet import BulletSoftBodyConfig + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -40, 10) + base.cam.look_at(0, 0, 0) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((5, 0, -2)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 10, 0.008) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + p0 = LPoint3(-20, -20, 0) + p1 = LPoint3(-20, 20, 0) + p2 = LPoint3(20, -20, 0) + p3 = LPoint3(20, 20, 0) + mesh = BulletTriangleMesh() + mesh.add_triangle(p0, p1, p2) + mesh.add_triangle(p1, p2, p3) + shape = BulletTriangleMeshShape(mesh, dynamic=False) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh')) + np.node().add_shape(shape) + np.set_pos(0, 0, -4) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Soft body world information + info = self.world.get_world_info() + info.set_air_density(1.2) + info.set_water_density(0) + info.set_water_offset(0) + info.set_water_normal((0, 0, 0)) + + ## Softbody - From points/indices + #import cube + #points = [LPoint3(x,y,z) * 3 for x,y,z in cube.nodes] + #indices = sum([list(x) for x in cube.elements], []) + + #node = BulletSoftBodyNode.make_tet_mesh(info, points, indices, True) + #node.set_volume_mass(300); + #node.get_shape(0).set_margin(0.01) + #node.get_material(0).set_linear_stiffness(0.8) + #node.get_cfg().set_positions_solver_iterations(1) + #node.get_cfg().clear_all_collision_flags() + #node.get_cfg().set_collision_flag( + #BulletSoftBodyConfig.CF_cluster_soft_soft, True) + #node.get_cfg().set_collision_flag( + #BulletSoftBodyConfig.CF_cluster_rigid_soft, True) + #node.generate_clusters(16) + + #softNP = self.worldNP.attach_new_node(node) + #softNP.set_pos(0, 0, 8) + #softNP.set_hpr(0, 0, 45) + #self.world.attach(node) + + # Softbody - From tetgen data + ele = open('models/cube/cube.1.ele', 'r').read() + face = open('models/cube/cube.1.face', 'r').read() + node = open('models/cube/cube.1.node', 'r').read() + + node = BulletSoftBodyNode.make_tet_mesh(info, ele, face, node) + node.set_name('Tetra') + node.set_volume_mass(300) + node.get_shape(0).set_margin(0.01) + node.get_material(0).set_linear_stiffness(0.1) + node.get_cfg().set_positions_solver_iterations(1) + node.get_cfg().clear_all_collision_flags() + node.get_cfg().set_collision_flag( + BulletSoftBodyConfig.CF_cluster_soft_soft, True) + node.get_cfg().setCollisionFlag( + BulletSoftBodyConfig.CF_cluster_rigid_soft, True) + node.generate_clusters(6) + + softNP = self.worldNP.attach_new_node(node) + softNP.set_pos(0, 0, 8) + softNP.set_hpr(45, 0, 0) + self.world.attach(node) + + # Option 1: + visNP = loader.load_model('models/cube/cube.egg') + visNP.reparent_to(softNP) + geom = (visNP.findAllMatches('**/+GeomNode'). + getPath(0).node().modifyGeom(0)) + node.link_geom(geom) + + # Option 2: + #geom = BulletHelper.make_geom_from_faces(node) + #visNode = GeomNode('TetraVisual') + #visNode.add_geom(geom) + #visNP = softNP.attach_new_node(visNode) + #node.link_geom(geom) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/26_softbody_aero.py b/samples/bullet-physics/26_softbody_aero.py new file mode 100644 index 0000000000..31cea478df --- /dev/null +++ b/samples/bullet-physics/26_softbody_aero.py @@ -0,0 +1,169 @@ +#!/usr/bin/env python + +import random +import sys + +from direct.showbase.ShowBase import ShowBase +from direct.showbase.InputStateGlobal import inputState + +from panda3d.core import AmbientLight +from panda3d.core import DirectionalLight +from panda3d.core import LVector3 +from panda3d.core import LPoint3 +from panda3d.core import TransformState +from panda3d.core import BitMask32 +from panda3d.core import GeomNode +from panda3d.core import GeomVertexFormat + +from panda3d.bullet import BulletWorld +from panda3d.bullet import BulletHelper +from panda3d.bullet import BulletPlaneShape +from panda3d.bullet import BulletBoxShape +from panda3d.bullet import BulletRigidBodyNode +from panda3d.bullet import BulletDebugNode +from panda3d.bullet import BulletTriangleMesh +from panda3d.bullet import BulletTriangleMeshShape +from panda3d.bullet import BulletSoftBodyNode +from panda3d.bullet import BulletSoftBodyConfig + + +class Game(ShowBase): + def __init__(self): + ShowBase.__init__(self) + base.set_background_color(0.1, 0.1, 0.8, 1) + base.set_frame_rate_meter(True) + + base.cam.set_pos(0, -80, 40) + base.cam.look_at(0, 0, 10) + + # Light + alight = AmbientLight('ambientLight') + alight.set_color((0.5, 0.5, 0.5, 1)) + alightNP = render.attach_new_node(alight) + + dlight = DirectionalLight('directionalLight') + dlight.set_direction((0, 0, -1)) + dlight.set_color((0.7, 0.7, 0.7, 1)) + dlightNP = render.attach_new_node(dlight) + + render.clear_light() + render.set_light(alightNP) + render.set_light(dlightNP) + + # Input + self.accept('escape', self.do_exit) + self.accept('r', self.do_reset) + self.accept('f1', base.toggle_wireframe) + self.accept('f2', base.toggle_texture) + self.accept('f3', self.toggle_debug) + self.accept('f5', self.do_screenshot) + + # Task + taskMgr.add(self.update, 'updateWorld') + + # Physics + self.setup() + + def do_exit(self): + self.cleanup() + sys.exit(1) + + def do_reset(self): + self.cleanup() + self.setup() + + def toggle_debug(self): + if self.debugNP.is_hidden(): + self.debugNP.show() + else: + self.debugNP.hide() + + def do_screenshot(self): + base.screenshot('Bullet') + + def update(self, task): + dt = globalClock.get_dt() + self.world.do_physics(dt, 10, 0.008) + return task.cont + + def cleanup(self): + self.world = None + self.worldNP.remove_node() + + @staticmethod + def LVector3_rand(): + x = 2 * random.random() - 1 + y = 2 * random.random() - 1 + z = 2 * random.random() - 1 + return LVector3(x, y, z) + + def setup(self): + self.worldNP = render.attach_new_node('World') + + # World + self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) + self.debugNP.show() + + self.world = BulletWorld() + self.world.set_gravity((0, 0, -9.81)) + self.world.set_debug_node(self.debugNP.node()) + + # Ground + p0 = LPoint3(-20, -20, 0) + p1 = LPoint3(-20, 20, 0) + p2 = LPoint3(20, -20, 0) + p3 = LPoint3(20, 20, 0) + mesh = BulletTriangleMesh() + mesh.add_triangle(p0, p1, p2) + mesh.add_triangle(p1, p2, p3) + shape = BulletTriangleMeshShape(mesh, dynamic=False) + + np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh')) + np.node().add_shape(shape) + np.set_pos(0, 0, -2) + np.set_collide_mask(BitMask32.all_on()) + + self.world.attach(np.node()) + + # Soft body world information + info = self.world.get_world_info() + info.set_air_density(1.2) + info.set_water_density(0) + info.set_water_offset(0) + info.set_water_normal((0, 0, 0)) + + # Softbody + for i in range(50): + p00 = LPoint3(-2, -2, 0) + p10 = LPoint3( 2, -2, 0) + p01 = LPoint3(-2, 2, 0) + p11 = LPoint3( 2, 2, 0) + node = BulletSoftBodyNode.make_patch( + info, p00, p10, p01, p11, 6, 6, 0, True) + node.generate_bending_constraints(2) + node.get_cfg().set_lift_coefficient(0.004) + node.get_cfg().set_dynamic_friction_coefficient(0.0003) + node.get_cfg().set_aero_model( + BulletSoftBodyConfig.AM_vertex_two_sided) + node.set_total_mass(0.1) + node.add_force((0, 2, 0), 0) + + np = self.worldNP.attach_new_node(node) + np.set_pos(self.LVector3_rand() * 10 + LVector3(0, 0, 20)) + np.set_hpr(self.LVector3_rand() * 16) + self.world.attach(node) + + fmt = GeomVertexFormat.get_v3n3t2() + geom = BulletHelper.make_geom_from_faces(node, fmt, True) + node.link_geom(geom) + nodeV = GeomNode('') + nodeV.add_geom(geom) + npV = np.attach_new_node(nodeV) + + tex = loader.load_texture('models/panda.jpg') + npV.set_texture(tex) + BulletHelper.make_texcoords_for_patch(geom, 6, 6) + + +game = Game() +game.run() diff --git a/samples/bullet-physics/models/ball.egg b/samples/bullet-physics/models/ball.egg new file mode 100644 index 0000000000..bbcbc07e4f --- /dev/null +++ b/samples/bullet-physics/models/ball.egg @@ -0,0 +1,4424 @@ + { Y-Up } + + { + "maya2egg5 ball2.mb -o ball.egg" +} + initialShadingGroup { + iron.jpg + format { rgb } + wrapu { repeat } + wrapv { repeat } + minfilter { linear_mipmap_linear } + magfilter { linear } +} + ball { + ball { Sphere keep descend } + pSphereShape1.verts { + 1 { + 0.0595112 -0.395075 -0.0193364 + { 0 0.05 } + { 0.148756 -0.987692 -0.0483331 } + { 1 1 1 1 } + } + 2 { + 0.0506233 -0.395075 -0.03678 + { 0.05 0.05 } + { 0.126539 -0.987692 -0.0919359 } + { 1 1 1 1 } + } + 3 { + 0.1 -0.380423 -0.0726543 + { 0.05 0.1 } + { 0.249965 -0.95107 -0.181611 } + { 1 1 1 1 } + } + 4 { + 0.117557 -0.380423 -0.0381966 + { 0 0.1 } + { 0.293852 -0.95107 -0.0954782 } + { 1 1 1 1 } + } + 5 { + 0.03678 -0.395075 -0.0506233 + { 0.1 0.05 } + { 0.0919359 -0.987692 -0.126539 } + { 1 1 1 1 } 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82 8 17 + 178 7 16 82 17 + 179 32 72 67 71 + 180 97 25 83 28 + 181 97 83 96 28 + 182 13 95 14 22 + 183 21 23 88 24 + 184 17 82 87 20 + 185 81 16 7 75 + 186 77 73 78 71 + 187 6 16 15 75 + 188 7 75 68 72 + 189 83 27 79 28 + 190 85 83 25 26 + 191 32 71 67 41 + 192 25 27 83 28 + 193 79 31 77 32 + 194 80 28 79 32 + 195 30 25 94 28 + 196 33 28 80 32 + 197 85 83 97 25 + 198 7 16 6 75 + 199 29 94 30 25 + 200 33 80 68 32 + 201 94 25 97 28 + 202 96 83 84 28 + 203 84 79 80 28 + 204 30 92 33 28 + 205 92 80 33 28 + 206 97 96 92 28 + 207 30 94 92 28 + 208 92 94 97 28 + 209 84 80 96 28 + 210 96 80 92 28 + 211 80 78 68 32 + 212 67 33 68 32 + 213 78 73 74 71 + 214 73 71 77 40 + 215 7 78 81 72 + 216 81 75 7 72 + 217 76 75 81 72 + 218 81 74 76 72 + 219 78 72 32 71 + 220 73 43 71 40 + 221 44 41 71 40 + 222 42 67 45 41 + 223 67 44 45 41 +# Generated by tetgen -p cube.poly diff --git a/samples/bullet-physics/models/cube/cube.1.face b/samples/bullet-physics/models/cube/cube.1.face new file mode 100644 index 0000000000..e5766e0b2d --- /dev/null +++ b/samples/bullet-physics/models/cube/cube.1.face @@ -0,0 +1,194 @@ +192 0 + 0 2 0 3 + 1 1 0 2 + 2 7 2 3 + 3 6 2 7 + 4 7 16 6 + 5 6 16 15 + 6 16 19 15 + 7 15 19 18 + 8 5 0 4 + 9 3 0 5 + 10 8 3 5 + 11 7 3 8 + 12 8 17 7 + 13 7 17 16 + 14 17 20 16 + 15 16 20 19 + 16 10 4 9 + 17 5 4 10 + 18 13 5 10 + 19 8 5 13 + 20 13 21 8 + 21 8 21 17 + 22 21 23 17 + 23 17 23 20 + 24 12 9 11 + 25 10 9 12 + 26 14 10 12 + 27 13 10 14 + 28 14 22 13 + 29 13 22 21 + 30 22 24 21 + 31 21 24 23 + 32 25 27 26 + 33 25 28 27 + 34 28 32 27 + 35 27 32 31 + 36 32 41 31 + 37 41 40 31 + 38 44 40 41 + 39 43 40 44 + 40 30 25 29 + 41 30 28 25 + 42 33 28 30 + 43 33 32 28 + 44 42 32 33 + 45 42 41 32 + 46 45 41 42 + 47 44 41 45 + 48 35 29 34 + 49 30 29 35 + 50 38 30 35 + 51 33 30 38 + 52 46 33 38 + 53 42 33 46 + 54 46 48 42 + 55 42 48 45 + 56 37 34 36 + 57 35 34 37 + 58 39 35 37 + 59 38 35 39 + 60 39 47 38 + 61 38 47 46 + 62 47 49 46 + 63 46 49 48 + 64 56 57 52 + 65 52 57 53 + 66 57 58 53 + 67 53 58 55 + 68 58 63 55 + 69 55 63 60 + 70 63 64 60 + 71 60 64 62 + 72 11 9 56 + 73 56 9 57 + 74 9 4 57 + 75 57 4 58 + 76 4 0 58 + 77 58 0 63 + 78 64 0 1 + 79 63 0 64 + 80 61 65 48 + 81 49 61 48 + 82 65 67 45 + 83 48 65 45 + 84 71 44 67 + 85 67 44 45 + 86 73 43 71 + 87 71 43 44 + 88 62 66 61 + 89 61 66 65 + 90 66 68 65 + 91 65 68 67 + 92 68 72 67 + 93 72 71 67 + 94 74 71 72 + 95 73 71 74 + 96 64 69 62 + 97 62 69 66 + 98 69 70 66 + 99 66 70 68 + 100 70 75 68 + 101 75 72 68 + 102 76 72 75 + 103 74 72 76 + 104 64 1 69 + 105 69 1 2 + 106 69 2 70 + 107 70 2 6 + 108 6 75 70 + 109 15 75 6 + 110 18 76 15 + 111 76 75 15 + 112 73 40 43 + 113 77 40 73 + 114 79 31 77 + 115 31 40 77 + 116 83 27 79 + 117 27 31 79 + 118 85 26 83 + 119 26 27 83 + 120 78 73 74 + 121 77 73 78 + 122 80 77 78 + 123 79 77 80 + 124 84 79 80 + 125 83 79 84 + 126 86 83 84 + 127 85 83 86 + 128 81 74 76 + 129 78 74 81 + 130 82 78 81 + 131 80 78 82 + 132 87 80 82 + 133 84 80 87 + 134 88 84 87 + 135 86 84 88 + 136 81 76 18 + 137 18 19 81 + 138 81 19 82 + 139 19 20 82 + 140 82 20 87 + 141 20 23 87 + 142 87 23 88 + 143 23 24 88 + 144 56 89 11 + 145 11 89 12 + 146 89 91 12 + 147 12 91 14 + 148 91 95 14 + 149 95 22 14 + 150 88 22 95 + 151 88 24 22 + 152 52 89 56 + 153 52 90 89 + 154 50 90 52 + 155 50 93 90 + 156 36 34 50 + 157 34 93 50 + 158 90 92 89 + 159 89 92 91 + 160 92 96 91 + 161 96 95 91 + 162 96 86 95 + 163 95 86 88 + 164 93 94 90 + 165 90 94 92 + 166 92 94 97 + 167 97 96 92 + 168 97 85 96 + 169 96 85 86 + 170 29 93 34 + 171 29 94 93 + 172 29 25 94 + 173 94 25 97 + 174 25 26 85 + 175 97 25 85 + 176 51 36 50 + 177 37 36 51 + 178 51 54 37 + 179 37 54 39 + 180 54 59 39 + 181 39 59 47 + 182 59 61 47 + 183 47 61 49 + 184 52 53 50 + 185 50 53 51 + 186 53 55 51 + 187 51 55 54 + 188 55 60 54 + 189 54 60 59 + 190 60 62 59 + 191 59 62 61 +# Generated by tetgen.exe -pq cube.poly diff --git a/samples/bullet-physics/models/cube/cube.1.node b/samples/bullet-physics/models/cube/cube.1.node new file mode 100644 index 0000000000..f4399f7525 --- /dev/null +++ b/samples/bullet-physics/models/cube/cube.1.node @@ -0,0 +1,100 @@ +98 3 0 0 + 0 2 -1 -2 + 1 2 -2 -2 + 2 1 -2 -2 + 3 1 -1 -2 + 4 2 0 -2 + 5 1 0 -2 + 6 -0 -2 -2 + 7 0 -1 -2 + 8 0 0 -2 + 9 2 1 -2 + 10 1 1 -2 + 11 2 2 -2 + 12 1 2 -2 + 13 0 1 -2 + 14 0 2 -2 + 15 -1 -2 -2 + 16 -1 -1 -2 + 17 -1 0 -2 + 18 -2 -2 -2 + 19 -2 -1 -2 + 20 -2 0 -2 + 21 -1 1 -2 + 22 -1 2 -2 + 23 -2 1 -2 + 24 -2 2 -2 + 25 -1 2 2 + 26 -2 2 2 + 27 -2 1 2 + 28 -1 1 2 + 29 0 2 2 + 30 0 1 2 + 31 -2 0 2 + 32 -1 0 2 + 33 -0 -0 2 + 34 1 2 2 + 35 1 1 2 + 36 2 2 2 + 37 2 1 2 + 38 1 -0 2 + 39 2 -0 2 + 40 -2 -1 2 + 41 -1 -1 2 + 42 -0 -1 2 + 43 -2 -2 2 + 44 -1 -2 2 + 45 -0 -2 2 + 46 1 -1 2 + 47 2 -1 2 + 48 1 -2 2 + 49 2 -2 2 + 50 2 2 1 + 51 2 1 1 + 52 2 2 0 + 53 2 1 0 + 54 2 -0 1 + 55 2 -0 0 + 56 2 2 -1 + 57 2 1 -1 + 58 2 -0 -1 + 59 2 -1 1 + 60 2 -1 0 + 61 2 -2 1 + 62 2 -2 0 + 63 2 -1 -1 + 64 2 -2 -1 + 65 1 -2 1 + 66 1 -2 0 + 67 -0 -2 1 + 68 -0 -2 0 + 69 1 -2 -1 + 70 -0 -2 -1 + 71 -1 -2 1 + 72 -1 -2 0 + 73 -2 -2 1 + 74 -2 -2 0 + 75 -1 -2 -1 + 76 -2 -2 -1 + 77 -2 -1 1 + 78 -2 -1 0 + 79 -2 0 1 + 80 -2 0 0 + 81 -2 -1 -1 + 82 -2 0 -1 + 83 -2 1 1 + 84 -2 1 0 + 85 -2 2 1 + 86 -2 2 0 + 87 -2 1 -1 + 88 -2 2 -1 + 89 1 2 -1 + 90 1 2 0 + 91 0 2 -1 + 92 0 2 0 + 93 1 2 1 + 94 0 2 1 + 95 -1 2 -1 + 96 -1 2 0 + 97 -1 2 1 +# Generated by tetgen -p cube.poly diff --git a/samples/bullet-physics/models/cube/cube.egg b/samples/bullet-physics/models/cube/cube.egg new file mode 100644 index 0000000000..041417453d --- /dev/null +++ b/samples/bullet-physics/models/cube/cube.egg @@ -0,0 +1,3664 @@ + { Z-up } + + { "Egg laid by Chicken for Blender, version R91" } + + wood.png { + "../wood.png" + saved-result { 1 } + envtype { MODULATE } + minfilter { LINEAR } + magfilter { LINEAR } + wrap { REPEAT } +} + Cube { + Cube { + 0 { + 2.0 -1.0 -2.0 + { + 1.000000 0.250000 + { 1.000000 -0.000000 0.000000 } + { 0.000000 1.000000 0.000000 } + } + } + 1 { + 2.0 -2.0 -2.0 + { + 1.000000 0.000000 + { 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