213 lines
6.2 KiB
Python
213 lines
6.2 KiB
Python
#!/usr/bin/env python
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#from panda3d.core import load_prc_file_data
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#load_prc_file_data('', 'bullet-enable-contact-events true')
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import sys
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from direct.showbase.ShowBase import ShowBase
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from direct.showbase.InputStateGlobal import inputState
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from panda3d.core import AmbientLight
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from panda3d.core import DirectionalLight
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from panda3d.core import LVector3
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from panda3d.core import LPoint3
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from panda3d.core import TransformState
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from panda3d.core import BitMask32
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from panda3d.core import NodePath
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from panda3d.bullet import BulletWorld
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from panda3d.bullet import BulletDebugNode
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from panda3d.bullet import BulletPlaneShape
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from panda3d.bullet import BulletBoxShape
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from panda3d.bullet import BulletSphereShape
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from panda3d.bullet import BulletRigidBodyNode
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class Game(ShowBase):
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def __init__(self):
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ShowBase.__init__(self)
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base.set_background_color(0.1, 0.1, 0.8, 1)
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base.set_frame_rate_meter(True)
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base.cam.set_pos(0, -20, 4)
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base.cam.look_at(0, 0, 0)
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# Light
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alight = AmbientLight('ambientLight')
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alight.set_color((0.5, 0.5, 0.5, 1))
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alightNP = render.attach_new_node(alight)
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dlight = DirectionalLight('directionalLight')
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dlight.set_direction((1, 1, -1))
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dlight.set_color((0.7, 0.7, 0.7, 1))
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dlightNP = render.attach_new_node(dlight)
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render.clear_light()
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render.set_light(alightNP)
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render.set_light(dlightNP)
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# Input
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self.accept('escape', self.do_exit)
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self.accept('r', self.do_reset)
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self.accept('f1', base.toggle_wireframe)
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self.accept('f2', base.toggle_texture)
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self.accept('f3', self.toggle_debug)
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self.accept('f5', self.do_screenshot)
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inputState.watchWithModifiers('forward', 'w')
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inputState.watchWithModifiers('left', 'a')
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inputState.watchWithModifiers('reverse', 's')
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inputState.watchWithModifiers('right', 'd')
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inputState.watchWithModifiers('turnLeft', 'q')
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inputState.watchWithModifiers('turnRight', 'e')
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# Task
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taskMgr.add(self.update, 'updateWorld')
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# Physics
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self.setup()
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def do_exit(self):
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self.cleanup()
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sys.exit(1)
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def do_reset(self):
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self.cleanup()
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self.setup()
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def toggle_debug(self):
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if self.debugNP.is_hidden():
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self.debugNP.show()
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else:
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self.debugNP.hide()
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def do_screenshot(self):
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base.screenshot('Bullet')
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def process_input(self, dt):
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if not self.box:
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return
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force = LVector3(0, 0, 0)
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torque = LVector3(0, 0, 0)
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if inputState.isSet('forward'): force.y = 1.0
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if inputState.isSet('reverse'): force.y = -1.0
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if inputState.isSet('left'): force.x = -1.0
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if inputState.isSet('right'): force.x = 1.0
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if inputState.isSet('turnLeft'): torque.z = 1.0
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if inputState.isSet('turnRight'): torque.z = -1.0
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force *= 30.0
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torque *= 10.0
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self.box.set_active(True)
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self.box.apply_central_force(force)
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self.box.apply_torque(torque)
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def process_contacts(self):
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if not self.box or not self.sphere:
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return
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result = self.world.contact_test_pair(self.box, self.sphere)
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#result = self.world.contact_test(self.box)
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#print '-->', result.get_num_contacts()
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for contact in result.get_contacts():
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cp = contact.get_manifold_point()
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node0 = contact.get_node0()
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node1 = contact.get_node1()
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print(node0.get_name(), node1.get_name(), cp.get_local_point_a())
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#print(contact.get_node0(), cp.get_position_world_on_a())
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#print(contact.get_idx0(), contact.get_idx1(), \
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# contact.get_part_id0(), contact.get_part_id1())
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self.remove_node(node1)
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def remove_node(self, node):
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self.world.remove(node)
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if node == self.sphere: self.sphere = None
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if node == self.box: self.box = None
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np = NodePath(node)
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np.remove_node()
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def update(self, task):
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dt = globalClock.get_dt()
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self.process_input(dt)
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self.world.do_physics(dt, 10, 0.008)
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self.process_contacts()
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return task.cont
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def cleanup(self):
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self.world = None
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self.worldNP.remove_node()
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#def on_contact_added(self, node1, node2):
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# print('contact added:', node1, node2)
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#def on_contact_destroyed(self, node1, node2):
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# print('contact destroyed:', node1, node2)
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def setup(self):
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self.worldNP = render.attach_new_node('World')
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# World
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self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug'))
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self.debugNP.show()
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self.world = BulletWorld()
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self.world.set_gravity((0, 0, -9.81))
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self.world.set_debug_node(self.debugNP.node())
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# Plane
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shape = BulletPlaneShape((0, 0, 1), 0)
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np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground'))
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np.node().add_shape(shape)
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np.set_pos(0, 0, -1)
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np.set_collide_mask(BitMask32.all_on())
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self.world.attach(np.node())
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# Box
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shape = BulletBoxShape((0.5, 0.5, 0.5))
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np = self.worldNP.attach_new_node(BulletRigidBodyNode('Box'))
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np.node().set_mass(1.0)
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np.node().add_shape(shape)
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np.node().set_deactivation_enabled(False)
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np.set_pos(2, 0, 4)
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np.set_collide_mask(BitMask32.all_on())
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self.world.attach(np.node())
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visualNP = loader.load_model('models/box.egg')
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visualNP.reparent_to(np)
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self.box = np.node()
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# Sphere
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shape = BulletSphereShape(0.6)
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np = self.worldNP.attach_new_node(BulletRigidBodyNode('Sphere'))
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np.node().set_mass(1.0)
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np.node().add_shape(shape)
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np.set_pos(-2, 0, 4)
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np.set_collide_mask(BitMask32.all_on())
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self.world.attach(np.node())
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self.sphere = np.node()
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## Enable contact reporting
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#self.accept('bullet-contact-added', self.on_contact_added)
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#self.accept('bullet-contact-destroyed', self.on_contact_destroyed)
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#self.box.notify_collisions(True)
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game = Game()
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game.run()
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