[color=red][LATEST CODE IS HERE filefront.com/15956649/marble.tar.gz]
I wrote these demos to help me understand the collision and physics system. The non-physics demo is heavily based on the Ball-in-a-Maze sample program but uses my own model for an arena (and doesn’t triggers). The second example does almost the same thing but uses the panda physics engine.
I also ripped off a routine which paints markers on the xyz axis from some google hosted code (apologies to the author, I didn’t write down the url).
I’m very new to panda so I’m sure there are much better ways to go about lots of this stuff but I expect it will be useful all the same.
ps. is there anyway to post the tar file with the program resources and blender sources in it?
Non-physics Version
===================
import sys, direct.directbase.DirectStart
from direct.showbase.DirectObject import DirectObject
from pandac.PandaModules import *
from direct.gui.DirectGui import OnscreenText
from direct.showbase.DirectObject import DirectObject
from pandac.PandaModules import CollisionHandlerFloor, CollisionNode, CollisionTraverser, BitMask32, CollisionRay
from direct.task.Task import Task
ACCEL = 70 # Acceleration in ft/sec/sec
MAX_SPEED = 5 # Max speed in ft/sec
MAX_SPEED_SQ = MAX_SPEED ** 2 # Squared to make it easier to use lengthSquared
# Instead of length
UP = Vec3(0,0,1) # We need this vector a lot, so its better to just have one
class World(DirectObject):
def __init__(self):
self.LoadTerrain()
self.LoadLight()
self.LoadCamera()
self.LoadAvatar()
self.markAxis()
self.ballV = Vec3(0,0,0) # Initial velocity is 0
self.accelV = Vec3(0,0,0) # Initial acceleration is 0
base.cTrav = self.cTrav
self.mainLoop = taskMgr.add(self.rollTask, "rollTask")
self.mainLoop.last = 0
def LoadTerrain(self):
self.board = loader.loadModel('models/board.egg')
self.board.reparentTo(render)
self.floor = self.board.find('**/floorc')
self.floor.setCollideMask(BitMask32.allOff())
self.floor.node().setIntoCollideMask(BitMask32.bit(1))
self.walls = self.board.find('**/walls')
self.walls.setCollideMask(BitMask32.allOff())
self.walls.node().setIntoCollideMask(BitMask32.bit(0))
self.cTrav=CollisionTraverser()
base.setBackgroundColor(0.0,0.3,0.0)
def LoadLight(self):
plight = AmbientLight('my plight')
plight.setColor(VBase4(0.12, 0.12, 0.12, 1))
plnp = render.attachNewNode(plight)
render.setLight(plnp)
light2 = PointLight('pointlight')
plnp2 = render.attachNewNode(light2)
plnp2.setPos(2,2,2)
render.setLight(plnp2)
def LoadCamera(self):
base.camera.setPos(-5,-30,30)
base.camera.lookAt(self.board)
mat=Mat4(camera.getMat())
mat.invertInPlace()
base.mouseInterfaceNode.setMat(mat)
def LoadAvatar(self):
self.ballRoot = render.attachNewNode("ballRoot")
self.ball = loader.loadModel("models/ball")
self.ball.reparentTo(self.ballRoot)
self.ballSphere = self.ball.find("**/ball")
self.ballSphere.node().setFromCollideMask(BitMask32.bit(0))
self.ballSphere.node().setIntoCollideMask(BitMask32.allOff())
self.ballGroundRay = CollisionRay() # Create the ray
self.ballGroundRay.setOrigin(0,0,10) # Set its origin
self.ballGroundRay.setDirection(0,0,-1) # And its direction
self.ballGroundCol = CollisionNode('floorRay') # Create and name the node
self.ballGroundCol.addSolid(self.ballGroundRay) # Add the ray
self.ballGroundCol.setFromCollideMask(BitMask32.bit(1)) # Set its bitmasks
self.ballGroundCol.setIntoCollideMask(BitMask32.allOff())
self.ballGroundColNp = self.ballRoot.attachNewNode(self.ballGroundCol)
self.cHandler = CollisionHandlerQueue()
self.cTrav.addCollider(self.ballSphere, self.cHandler)
self.cTrav.addCollider(self.ballGroundColNp, self.cHandler)
self.ballRoot.setPos(0,0,1)
def LoadControls(self):
base.disableMouse()
def groundCollideHandler(self, colEntry):
# Set the ball to the appropriate Z value for it to be exactly on the ground
newZ = colEntry.getSurfacePoint(render).getZ()
self.ballRoot.setZ(newZ+.4)
# Find the acceleration direction. First the surface normal is crossed with
# the up vector to get a vector perpendicular to the slope
norm = colEntry.getSurfaceNormal(render)
accelSide = norm.cross(UP)
# Then that vector is crossed with the surface normal to get a vector that
# points down the slope. By getting the acceleration in 3D like this rather
# than in 2D, we reduce the amount of error per-frame, reducing jitter
self.accelV = norm.cross(accelSide)
def wallsCollideHandler(self, colEntry):
# First we calculate some numbers we need to do a reflection
norm = colEntry.getSurfaceNormal(render) * -1 # The normal of the wall
curSpeed = self.ballV.length() # The current speed
inVec = self.ballV / curSpeed # The direction of travel
velAngle = norm.dot(inVec) # Angle of incidance
hitDir = colEntry.getSurfacePoint(render) - self.ballRoot.getPos()
hitDir.normalize()
hitAngle = norm.dot(hitDir) # The angle between the ball and the normal
# Ignore the collision if the ball is either moving away from the wall
# already (so that we don't accidentally send it back into the wall)
# and ignore it if the collision isn't dead-on (to avoid getting caught on
# corners)
if velAngle > 0 and hitAngle > .995:
# Standard reflection equation
reflectVec = (norm * norm.dot(inVec * -1) * 2) + inVec
# This makes the velocity half of what it was if the hit was dead-on
# and nearly exactly what it was if this is a glancing blow
self.ballV = reflectVec * (curSpeed * (((1-velAngle)*.5)+.5))
# Since we have a collision, the ball is already a little bit buried in
# the wall. This calculates a vector needed to move it so that it is
# exactly touching the wall
disp = (colEntry.getSurfacePoint(render) -
colEntry.getInteriorPoint(render))
newPos = self.ballRoot.getPos() + disp
self.ballRoot.setPos(newPos)
def rollTask(self, task):
dt = task.time - task.last
task.last = task.time
if dt > .2:
return Task.cont
for i in range(self.cHandler.getNumEntries()):
entry = self.cHandler.getEntry(i)
name = entry.getIntoNode().getName()
if name == "floorc": self.groundCollideHandler(entry)
elif name == "walls": self.wallsCollideHandler(entry)
if base.mouseWatcherNode.hasMouse():
mpos = base.mouseWatcherNode.getMouse() # get the mouse position
self.board.setP(mpos.getY() * -10)
self.board.setR(mpos.getX() * 10)
# Finally, we move the ball Update the velocity based on
# acceleration
self.ballV += self.accelV * dt * ACCEL
# Clamp the velocity to the maximum speed
if self.ballV.lengthSquared() > MAX_SPEED_SQ:
self.ballV.normalize()
self.ballV *= MAX_SPEED
# Update the position based on the velocity
self.ballRoot.setPos(self.ballRoot.getPos() + (self.ballV * dt))
# This block of code rotates the ball. It uses something called a
# quaternion to rotate the ball around an arbitrary axis. That axis
# perpendicular to the balls rotation, and the amount has to do with
# the size of the ball This is multiplied on the previous rotation
# to incrimentally turn it.
prevRot = LRotationf(self.ball.getQuat())
axis = UP.cross(self.ballV)
newRot = LRotationf(axis, 45.5 * dt * self.ballV.length())
self.ball.setQuat(prevRot * newRot)
return Task.cont # Continue the task indefinitely
def markAxis(self):
def printText(name, message, color):
text = TextNode(name)
text.setText(message)
x,y,z = color
text.setTextColor(x,y,z, 1)
text3d = NodePath(text)
text3d.reparentTo(render)
return text3d
for i in range(0,51):
printText("X", "|", (1,0,0)).setPos(i,0,0)
for i in range(0,51):
printText("Y", "|", (0,1,0)).setPos(0,i,0)
for i in range(0,51):
printText("Z", "-", (0,0,1)).setPos(0,0,i)
printText("XL", "X", (0,0,0)).setPos(5.5,0,0)
printText("YL", "Y", (0,0,0)).setPos(0,5.5,0)
printText("YL", "Z", (0,0,0)).setPos(0,0,5.5)
printText("OL", "@", (0,0,0)).setPos(0,0,0)
DO=DirectObject()
DO.accept('q',sys.exit)
w = World()
run()
Physics Version
===============
import sys, direct.directbase.DirectStart
from direct.showbase.DirectObject import DirectObject
from pandac.PandaModules import *
from direct.task.Task import Task
class MarbleOnTray(object):
def __init__(self):
base.cTrav=CollisionTraverser()
base.cTrav.setRespectPrevTransform(True)
base.enableParticles()
#base.cTrav.showCollisions (base.render)
gravity = ForceNode('globalGravityForce')
gravityNP = render.attachNewNode(gravity)
gravityForce = LinearVectorForce (0, 0, -9.8) # 9.8 m/s gravity
gravityForce.setMassDependent(False) # constant acceleration (set true if you think Galileo was wrong)
gravity.addForce(gravityForce)
base.physicsMgr.addLinearForce(gravityForce)
self.floorBit = 1
self.wallBit = 0
self.drawLines()
self.loadWorld()
self.loadAvatar()
self.loadLight()
self.loadCamera()
def loadLight(self):
plight = AmbientLight('my plight')
plight.setColor(VBase4(0.12, 0.12, 0.12, 1))
plnp = render.attachNewNode(plight)
render.setLight(plnp)
light2 = PointLight('pointlight')
plnp2 = render.attachNewNode(light2)
plnp2.setPos(2,2,2)
render.setLight(plnp2)
def loadCamera(self):
base.camera.setPos(-5,-30,30)
base.camera.lookAt(self.board)
mat=Mat4(camera.getMat())
mat.invertInPlace()
base.mouseInterfaceNode.setMat(mat)
def loadWorld(self):
base.disableMouse()
base.setBackgroundColor(0.0,0.3,0.0)
self.board = loader.loadModel('models/board.egg')
self.board.reparentTo(render)
self.floor = self.board.find('**/floorc')
self.floor.setCollideMask(BitMask32.allOff())
self.floor.node().setCollideMask(BitMask32.bit(self.floorBit))
self.walls = self.board.find('**/walls')
self.walls.setCollideMask(BitMask32.allOff())
self.walls.node().setCollideMask(BitMask32.bit(self.wallBit))
self.tiltTaski = taskMgr.add(self.tiltTask, "tiltTask")
self.tiltTaski.last = 0
def loadAvatar(self):
self.ballActor = render.attachNewNode(ActorNode("ballActor"))
self.ballActor.setPos(0,0,25)
self.ball = loader.loadModel('smiley')
self.ball.setScale(0.7)
self.ball.reparentTo(self.ballActor)
base.physicsMgr.attachPhysicalNode(self.ballActor.node())
self.ballActor.node().getPhysicsObject().setMass(10)
self.collisionh = PhysicsCollisionHandler()
self.collisionh.setStaticFrictionCoef(0.0)
self.collisionh.setDynamicFrictionCoef(0.0)
minp, maxp = self.ball.getTightBounds()
dims = Point3(maxp - minp)
diameter = max([dims.getX(), dims.getY(), dims.getZ()])
ballCNPath = self.ballActor.attachNewNode(CollisionNode('ballCN'))
ballCNPath.node().addSolid(CollisionSphere(0, 0, 0, diameter/2))
cmask = BitMask32()
cmask.setBit(self.floorBit)
cmask.setBit(self.wallBit)
ballCNPath.node().setFromCollideMask(cmask)
self.collisionh.addCollider(ballCNPath, self.ballActor)
base.cTrav.addCollider(ballCNPath, self.collisionh)
def tiltTask(self, task):
dt = task.time - task.last
task.last = task.time
if dt > .2:
return Task.cont
if base.mouseWatcherNode.hasMouse():
mpos = base.mouseWatcherNode.getMouse() # get the mouse position
self.board.setP(mpos.getY() * -10)
self.board.setR(mpos.getX() * 10)
return Task.cont # Continue the task indefinitely
def drawLines(self):
def printText(name, message, color):
text = TextNode(name)
text.setText(message)
x,y,z = color
text.setTextColor(x,y,z, 1)
text3d = NodePath(text)
text3d.reparentTo(render)
return text3d
for i in range(0,51):
printText("X", "|", (1,0,0)).setPos(i,0,0)
for i in range(0,51):
printText("Y", "|", (0,1,0)).setPos(0,i,0)
for i in range(0,51):
printText("Z", "-", (0,0,1)).setPos(0,0,i)
printText("XL", "X", (0,0,0)).setPos(5.5,0,0)
printText("YL", "Y", (0,0,0)).setPos(0,5.5,0)
printText("YL", "Z", (0,0,0)).setPos(0,0,5.5)
printText("OL", "@", (0,0,0)).setPos(0,0,0)
DO=DirectObject()
DO.accept('q',sys.exit)
w = MarbleOnTray()
run()[/b]
