214 lines
6.5 KiB
Python
214 lines
6.5 KiB
Python
#!/usr/bin/env python
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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 TransformState
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from panda3d.core import BitMask32
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from panda3d.bullet import BulletWorld
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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 BulletRigidBodyNode
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from panda3d.bullet import BulletDebugNode
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from panda3d.bullet import BulletVehicle
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from panda3d.bullet import ZUp
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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('reverse', 's')
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inputState.watchWithModifiers('turnLeft', 'a')
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inputState.watchWithModifiers('turnRight', 'd')
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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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engineForce = 0.0
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brakeForce = 0.0
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if inputState.isSet('forward'):
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engineForce = 1000.0
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brakeForce = 0.0
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if inputState.isSet('reverse'):
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engineForce = 0.0
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brakeForce = 100.0
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if inputState.isSet('turnLeft'):
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self.steering += dt * self.steeringIncrement
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self.steering = min(self.steering, self.steeringClamp)
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if inputState.isSet('turnRight'):
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self.steering -= dt * self.steeringIncrement
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self.steering = max(self.steering, -self.steeringClamp)
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# Apply steering to front wheels
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self.vehicle.setSteeringValue(self.steering, 0);
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self.vehicle.setSteeringValue(self.steering, 1);
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# Apply engine and brake to rear wheels
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self.vehicle.applyEngineForce(engineForce, 2);
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self.vehicle.applyEngineForce(engineForce, 3);
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self.vehicle.setBrake(brakeForce, 2);
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self.vehicle.setBrake(brakeForce, 3);
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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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#print self.vehicle.getWheel(0).getRaycastInfo().isInContact()
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#print self.vehicle.getWheel(0).getRaycastInfo().getContactPointWs()
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#print self.vehicle.getChassis().isKinematic()
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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 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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# Chassis
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shape = BulletBoxShape((0.6, 1.4, 0.5))
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ts = TransformState.make_pos((0, 0, 0.5))
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np = self.worldNP.attach_new_node(BulletRigidBodyNode('Vehicle'))
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np.node().add_shape(shape, ts)
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np.set_pos(0, 0, 1)
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np.node().set_mass(800.0)
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np.node().set_deactivation_enabled(False)
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self.world.attach(np.node())
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#np.node().set_ccd_swept_sphere_radius(1.0)
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#np.node().set_ccd_motion_threshold(1e-7)
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# Vehicle
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self.vehicle = BulletVehicle(self.world, np.node())
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self.vehicle.set_coordinate_system(ZUp)
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self.world.attach(self.vehicle)
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self.yugoNP = loader.load_model('models/yugo/yugo.egg')
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self.yugoNP.reparent_to(np)
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# Right front wheel
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np = loader.load_model('models/yugo/yugotireR.egg')
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np.reparent_to(self.worldNP)
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self.add_wheel(( 0.70, 1.05, 0.3), True, np)
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# Left front wheel
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np = loader.load_model('models/yugo/yugotireL.egg')
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np.reparent_to(self.worldNP)
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self.add_wheel((-0.70, 1.05, 0.3), True, np)
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# Right rear wheel
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np = loader.load_model('models/yugo/yugotireR.egg')
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np.reparent_to(self.worldNP)
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self.add_wheel(( 0.70, -1.05, 0.3), False, np)
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# Left rear wheel
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np = loader.load_model('models/yugo/yugotireL.egg')
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np.reparent_to(self.worldNP)
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self.add_wheel((-0.70, -1.05, 0.3), False, np)
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# Steering info
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self.steering = 0.0 # degree
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self.steeringClamp = 45.0 # degree
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self.steeringIncrement = 120.0 # degree per second
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def add_wheel(self, pos, front, np):
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wheel = self.vehicle.create_wheel()
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wheel.set_node(np.node())
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wheel.set_chassis_connection_point_cs(pos)
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wheel.set_front_wheel(front)
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wheel.set_wheel_direction_cs((0, 0, -1))
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wheel.set_wheel_axle_cs((1, 0, 0))
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wheel.set_wheel_radius(0.25)
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wheel.set_max_suspension_travel_cm(40.0)
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wheel.set_suspension_stiffness(40.0)
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wheel.set_wheels_damping_relaxation(2.3)
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wheel.set_wheels_damping_compression(4.4)
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wheel.set_friction_slip(100.0);
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wheel.set_roll_influence(0.1)
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game = Game()
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game.run()
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