188 lines
5.8 KiB
Python
188 lines
5.8 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 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 GeomNode
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from panda3d.core import GeomVertexFormat
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from panda3d.bullet import BulletWorld
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from panda3d.bullet import BulletHelper
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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 BulletTriangleMesh
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from panda3d.bullet import BulletTriangleMeshShape
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from panda3d.bullet import BulletSoftBodyNode
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from panda3d.bullet import BulletSoftBodyConfig
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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, -40, 10)
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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((5, 0, -2))
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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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# 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 update(self, task):
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dt = globalClock.get_dt()
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self.world.do_physics(dt, 10, 0.008)
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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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# Ground
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p0 = LPoint3(-20, -20, 0)
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p1 = LPoint3(-20, 20, 0)
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p2 = LPoint3(20, -20, 0)
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p3 = LPoint3(20, 20, 0)
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mesh = BulletTriangleMesh()
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mesh.add_triangle(p0, p1, p2)
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mesh.add_triangle(p1, p2, p3)
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shape = BulletTriangleMeshShape(mesh, dynamic=False)
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np = self.worldNP.attach_new_node(BulletRigidBodyNode('Mesh'))
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np.node().add_shape(shape)
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np.set_pos(0, 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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# Soft body world information
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info = self.world.get_world_info()
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info.set_air_density(1.2)
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info.set_water_density(0)
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info.set_water_offset(0)
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info.set_water_normal((0, 0, 0))
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## Softbody - From points/indices
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#import cube
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#points = [LPoint3(x,y,z) * 3 for x,y,z in cube.nodes]
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#indices = sum([list(x) for x in cube.elements], [])
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#node = BulletSoftBodyNode.make_tet_mesh(info, points, indices, True)
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#node.set_volume_mass(300);
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#node.get_shape(0).set_margin(0.01)
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#node.get_material(0).set_linear_stiffness(0.8)
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#node.get_cfg().set_positions_solver_iterations(1)
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#node.get_cfg().clear_all_collision_flags()
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#node.get_cfg().set_collision_flag(
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#BulletSoftBodyConfig.CF_cluster_soft_soft, True)
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#node.get_cfg().set_collision_flag(
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#BulletSoftBodyConfig.CF_cluster_rigid_soft, True)
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#node.generate_clusters(16)
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#softNP = self.worldNP.attach_new_node(node)
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#softNP.set_pos(0, 0, 8)
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#softNP.set_hpr(0, 0, 45)
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#self.world.attach(node)
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# Softbody - From tetgen data
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ele = open('models/cube/cube.1.ele', 'r').read()
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face = open('models/cube/cube.1.face', 'r').read()
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node = open('models/cube/cube.1.node', 'r').read()
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node = BulletSoftBodyNode.make_tet_mesh(info, ele, face, node)
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node.set_name('Tetra')
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node.set_volume_mass(300)
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node.get_shape(0).set_margin(0.01)
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node.get_material(0).set_linear_stiffness(0.1)
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node.get_cfg().set_positions_solver_iterations(1)
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node.get_cfg().clear_all_collision_flags()
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node.get_cfg().set_collision_flag(
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BulletSoftBodyConfig.CF_cluster_soft_soft, True)
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node.get_cfg().setCollisionFlag(
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BulletSoftBodyConfig.CF_cluster_rigid_soft, True)
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node.generate_clusters(6)
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softNP = self.worldNP.attach_new_node(node)
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softNP.set_pos(0, 0, 8)
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softNP.set_hpr(45, 0, 0)
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self.world.attach(node)
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# Option 1:
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visNP = loader.load_model('models/cube/cube.egg')
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visNP.reparent_to(softNP)
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geom = (visNP.findAllMatches('**/+GeomNode').
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getPath(0).node().modifyGeom(0))
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node.link_geom(geom)
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# Option 2:
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#geom = BulletHelper.make_geom_from_faces(node)
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#visNode = GeomNode('TetraVisual')
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#visNode.add_geom(geom)
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#visNP = softNP.attach_new_node(visNode)
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#node.link_geom(geom)
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game = Game()
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game.run()
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