It seems that latest modifications made in panda from 2015-03-15 (commit 2212052) on, give some issues to BulletHeightfieldShape.
This code show them:
from pandac.PandaModules import loadPrcFileData, GeoMipTerrain, PNMImage, \
TextureStage, Vec3, NodePath, BitMask32, Point3
from panda3d.bullet import BulletSphereShape, BulletRigidBodyNode, \
BulletWorld, ZUp, BulletDebugNode, BulletHeightfieldShape
from direct.showbase.ShowBase import ShowBase
from direct.actor.Actor import Actor
loadPrcFileData("", "show-frame-rate-meter #t")
loadPrcFileData("", "win-size 1024 768")
if __name__ == '__main__':
app = ShowBase()
app.cam.setPos(0.0, -1000, 200.0)
app.cam.lookAt(0.0, -8.0, 0.0)
#scaling parameters
heightScale = 100.0
widthScale = 3.0
#update terrain
def update_terrain(task):
global globalClock, bulletWorld
#get time step
timeStep = globalClock.getDt()
#simulate
bulletWorld.doPhysics(timeStep, 1)
return task.cont
app.taskMgr.add(update_terrain, "update terrain")
#GeoMipTerrain
heightField = PNMImage("heightfield.png")
terrain = GeoMipTerrain("terrain")
terrain.setHeightfield(heightField)
#terrain properties
terrain.setBlockSize(64)
terrain.setBruteforce(True)
#GeoMipTerrain texturing
textureImage = app.loader.loadTexture("terrain.png")
terrain.getRoot().setTexScale(TextureStage.getDefault(), 1.0, 1.0)
terrain.getRoot().setTexture(TextureStage.getDefault(), textureImage, 1)
#Generate the terrain
terrain.generate();
#adjust position
terrain.getRoot().setPosHpr((-heightField.getXSize() / 2.0,
-heightField.getYSize() / 2.0,
-1 / 2.0),
Vec3.zero())
#Physics
bulletWorld = BulletWorld()
bulletWorld.setGravity(0.0, 0.0, -9.81)
#Debug
debugNode = BulletDebugNode("Debug")
debugNode.showWireframe(True)
debugNode.showConstraints(True)
debugNode.showBoundingBoxes(False)
debugNode.showNormals(False)
debugNP = app.render.attachNewNode(debugNode)
debugNP.hide()
bulletWorld.setDebugNode(debugNode)
def toggleDebug():
global debugNP
if debugNP.isHidden():
debugNP.show()
else:
debugNP.hide()
app.accept("d", toggleDebug)
#BulletHeightfieldShape
#Create RigidBodyNode
bulletNode = BulletRigidBodyNode("terrainBodyNode")
#create and add a Collision Shape
collisionShape = BulletHeightfieldShape(PNMImage("heightfield.png"), 1.0, ZUp)
bulletNode.addShape(collisionShape)
#set physical parameters
bulletNode.setFriction(0.8)
bulletNode.setRestitution(0.1)
bulletNode.setMass(0.0);
bulletNode.setKinematic(False)
bulletNode.setStatic(True)
bulletNode.setDeactivationEnabled(True)
bulletNode.setActive(False)
#attach to Bullet World
bulletWorld.attach(bulletNode)
#create a node path for the rigid body
bulletHeightfieldNP = NodePath(bulletNode)
#set collide mask
bulletHeightfieldNP.setCollideMask(BitMask32.allOn())
#reparent GeoMipTerrain::root to bulletHeightfieldNP
terrain.getRoot().reparentTo(bulletHeightfieldNP)
#scaling is applied to bulletHeightfield
bulletHeightfieldNP.setScale(
Vec3(widthScale, widthScale, heightScale))
#reparent bulletHeightfieldNP to render
bulletHeightfieldNP.reparentTo(app.render)
#Load the Actor model
actor = Actor("models/panda")
actor.setScale(4)
minP = Point3()
maxP = Point3()
actor.calcTightBounds(minP, maxP)
delta = maxP - minP
actorDims = Vec3(abs(delta.getX()), abs(delta.getY()),
abs(delta.getZ()))
actorRadius = max(max(actorDims.getX(), actorDims.getY()),
actorDims.getZ()) / 2.0
#
actorBody = BulletRigidBodyNode("actorBody")
actorBody.addShape(BulletSphereShape(actorRadius))
actorBody.setMass(10.0)
actorBody.setKinematic(False)
actorBody.setStatic(False)
actorBody.setDeactivationEnabled(True)
actorBody.setActive(True)
bulletWorld.attach(actorBody)
#attach to scene
actorBodyNP = NodePath(actorBody)
actorBodyNP.setCollideMask(BitMask32.allOn())
actorBodyNP.setPos(0, 0, 250.0)
actor.reparentTo(actorBodyNP)
actor.setZ(-actorRadius / 2.0)
actorBodyNP.reparentTo(app.render)
#
app.run()
It works fine with panda previous to that commit. After that, scaling has been modified (heightScale in the code should be reduced from 100.0 to about 1.0 or less to give quite the same terrain appearance), but the main problem is that bullet body with BulletHeightfieldShape doesn’t collide anymore.
I suspect these issues are related to PNMImage and other code modified in that commit and after.
I attached the files used by above code.
