Just a guide for doing ode simulation :
[1] create a body. Any types of simulation calculations is performed on a body, including position & orientation changes, and applied forces.
[2] create a geom. Geom is the shape on which the collision detection is performed. Dynamic objects have bodies, while static objects do not. Geom may be one of the basic ode primitives (box, sphere, cappedCylinder, etc.) or GeomTriMesh (polygonal custom shape, which is defined by passing vertices list and vertices index into ode).
[3] at runtime :
a. make the needed changes : change position, rotation, apply forces, etc.
b. run the simulation timestep
c. synchronize all visible geometries associated with the bodies
It sounds like a question for the devs.
If it’s for me, then I have a question for you : how easy do you want it to be ?
Alright, I’ve simplified it for more, but it’s just a quick & dirty one. I simply splitted the only one class into 2 classes : World and ODEsim. Class ODEsim consists of methods directly used for doing simulation (sim setting, collision detection & response, vertices passing, etc).
[EDIT]
enhanced setTriMesh :
- custom object’s transformation is set before calling setTriMesh, so in setTriMesh, everything is correctly transformed. Thus, it’s more “integrated” ??.
- more efficiency. No more space for unnecessary duplicated vertex data sent to ODE, compare the print out for yourself
[EDIT 3/18/07]
brought it to object oriented version
Here it is :
[code]from pandac.PandaModules import *
import direct.directbase.DirectStart
from direct.gui.DirectGui import OnscreenText
from direct.showbase.DirectObject import DirectObject
from direct.interval.IntervalGlobal import *
from direct.task import Task
import sys, random
from math import degrees, sin, cos, pi
from direct.showbase import PythonUtil as PU
import ode as ode
def genLabelText(text, i):
return OnscreenText(text = text, pos = (-1.3, .95-.05*i), fg=(1,1,1,1), align = TextNode.ALeft, scale = .05, mayChange=1)
class ODEobject:
‘’’ the base class of ODE boxes, spheres, and TriMeshes used here ‘’’
def storeProps(self, realObj, density, friction, noColl_ID=None):
self.realObj=realObj
self.density=density
self.geom.friction=friction
# randomize geom's collision ID, if not supplied
if noColl_ID==None:
if realObj:
noColl_ID=id(realObj)
else:
noColl_ID=random.random()*random.random()*1000
self.geom.noColl=noColl_ID
def destroy(self):
if hasattr(self,'body'):
del self.body
self.geom.getSpace().remove(self.geom)
del self.geom
if hasattr(self,'visualizer'):
self.visualizer.removeNode()
self.realObj.removeNode()
def getOBB(self,collObj):
''' get the Oriented Bounding Box '''
# save object's parent and transformation
parent=collObj.getParent()
trans=collObj.getTransform()
# ODE need everything in world's coordinate space,
# so bring the object directly under render, but keep the transformation
collObj.wrtReparentTo(render)
# get the tight bounds before any rotation
collObj.setHpr(0,0,0)
bounds=collObj.getTightBounds()
# bring object to it's parent and restore it's transformation
collObj.reparentTo(parent)
collObj.setTransform(trans)
# (max - min) bounds
box=bounds[1]-bounds[0]
return [box[0],box[1],box[2]]
class ODEbox(ODEobject):
‘’’ An easy setup for creating ode.GeomBox (based on the tight bounding box),
and it’s body.
If you have a geometry you'd like to use to define GeomBox size precisely,
pass it as "collObj", or otherwise
the "realObj" will be used to define GeomBox size.
You can also set the object's mass density and friction coefficient (mu),
set density=0 to set the object as a static object, or
setting it larger than 0 will automatically set the object as a dynamic one.
"noColl_ID" is an arbitrary number, use it when you need to build
a larger collision structure from several geoms, which might overlap each other.
Geoms with the same "noColl_ID" will NOT be tested for collision.
In such case, don't pass your "realObj" to every geoms, or else
your "realObj" transformation will be updated based on your every geoms.
Pass it only when creating the main geom.
'''
def __init__(self, world, space, realObj=None, collObj=None,
density=0, friction=0, noColl_ID=None):
if realObj==None:
obj=collObj
else:
obj=realObj
if collObj==None:
collObj=realObj
boundingBox=self.getOBB(collObj)
self.geom = ode.GeomBox(space, lengths=boundingBox)
if density: # create body if the object is dynamic, otherwise don't
self.body = ode.Body(world)
M = ode.Mass()
M.setBox(density, *boundingBox)
self.body.setMass(M)
self.geom.setBody(self.body)
# synchronize ODE geom's transformation according to the real object's
self.geom.setPosition(obj.getPos(render))
self.geom.setQuaternion(obj.getQuat(render))
# store object's properties
self.storeProps(realObj, density, friction, noColl_ID)
class ODEsphere(ODEobject):
‘’’ An easy setup for creating ode.GeomSphere (based on the tight bounding box),
and it’s body.
If you have a geometry you'd like to use to define GeomSphere size precisely,
pass it as "collObj", or otherwise
the "realObj" will be used to define GeomSphere size.
You can also set the object's mass density and friction coefficient (mu),
set density=0 to set the object as a static object, or
setting it larger than 0 will automatically set the object as a dynamic one.
"noColl_ID" is an arbitrary number, use it when you need to build
a larger collision structure from several geoms, which might overlap each other.
Geoms with the same "noColl_ID" will NOT be tested for collision.
In such case, don't pass your "realObj" to every geoms, or else
your "realObj" transformation will be updated based on your every geoms.
Pass it only when creating the main geom.
'''
def __init__(self, world, space, realObj=None, collObj=None,
density=0, friction=0, noColl_ID=None):
if realObj==None:
obj=collObj
else:
obj=realObj
if collObj==None:
collObj=realObj
boundingBox=self.getOBB(collObj)
radius=.5*max(*boundingBox)
self.geom = ode.GeomSphere(space, radius)
if density: # create body if the object is dynamic, otherwise don't
self.body = ode.Body(world)
M = ode.Mass()
M.setSphere(density, radius)
self.body.setMass(M)
self.geom.setBody(self.body)
# synchronize ODE geom's transformation according to the real object's
self.geom.setPosition(obj.getPos(render))
self.geom.setQuaternion(obj.getQuat(render))
# store object's properties
self.storeProps(realObj, density, friction, noColl_ID)
class ODEtrimesh(ODEobject):
‘’’ An easy setup for creating ode.GeomTriMesh and it’s body.
Pass any nodepath as "collObj", all geometries' polygons under that node will be sent to ODE,
including the current transformation (position, rotation, scale), except shear.
If not given, your "realObj" will be used.
You can also set the object's mass density and friction coefficient (mu),
set density=0 to set the object as a static object, or
setting it larger than 0 will automatically set the object as a dynamic one.
'''
def __init__(self, world, space, realObj, collObj=None, density=0, friction=0, showCollObj=0, noColl_ID=None):
if collObj==None:
collObj=realObj
# find any geomnode under the given node
geomList=collObj.findAllMatches('**/+GeomNode').asList()
if not geomList:
geomList.append(collObj)
# get the node's scale to preserve it
meshScale=collObj.getScale(render)
collNumVtx=0
collnumface=0
# dictionary to keep the overall vertex data length before appending the new data
vDataStart={}
# list for the vertices
collVertices=[]
# list for the vertices index
collFaces=[]
# append all vertex data into a complete list
for collGeom in geomList:
for gIdx in range(collGeom.node().getNumGeoms()):
currentGeom=collGeom.node().getGeom(gIdx)
collVtxData=currentGeom.getVertexData()
numVtx=collVtxData.getNumRows()
# append the current vertex data, IF it hasn't been added to the list,
# otherwise, don't add it again, to avoid duplicated vertex data,
# which may be shared by several geoms
if not vDataStart.has_key(collVtxData):
# store the number of the collected vertices so far,
# to mark the index start for the next vertex data
vDataStart[collVtxData]=collNumVtx
# create vertex reader
collvtxreader=GeomVertexReader(collVtxData)
# set the start position for reading the vertices,
# begin reading at column 0, which is the vertex position
collvtxreader.setColumn(0)
# begin reading at vertex 0
collvtxreader.setRow(0)
for i in range(numVtx):
# respect each geomNode's transformation which may be exist
vtx=collObj.getRelativePoint(collGeom,collvtxreader.getData3f())
# synchronize TriMesh to the current scale of the collision mesh
vtx1=vtx[0]*meshScale[0]
vtx2=vtx[1]*meshScale[1]
vtx3=vtx[2]*meshScale[2]
collVertices.append((vtx1,vtx2,vtx3))
# add the current collected vertices count
collNumVtx+=numVtx
# storing the vertices index
for collGeom in geomList:
for gIdx in range(collGeom.node().getNumGeoms()):
geom=collGeom.node().getGeom(gIdx)
collVtxData=geom.getVertexData()
vDataBegin=vDataStart[collVtxData]
for prim in range(geom.getNumPrimitives()):
# store the vertices index for each triangle
collFaceData=geom.getPrimitive(prim).decompose()
# get the triangle counts
numface=collFaceData.getNumFaces()
# get the start index of current primitive at geom's vertex data
s = collFaceData.getPrimitiveStart(prim)
for i in range(numface):
# refer to the vertex data length list created earlier
vtx1=vDataBegin+collFaceData.getVertex(s+i*3)
vtx2=vDataBegin+collFaceData.getVertex(s+i*3+1)
vtx3=vDataBegin+collFaceData.getVertex(s+i*3+2)
collFaces.append((vtx1,vtx2,vtx3))
collnumface+=numface
meshdata=ode.TriMeshData()
# create TriMesh data
meshdata.build(collVertices,collFaces)
# and pass it to ODE
self.geom = ode.GeomTriMesh(meshdata,space)
# create body if the object is dynamic, otherwise don't
if density:
M2 = ode.Mass()
M2.setBox(density, 1,1,1)
self.body = ode.Body(world)
self.body.setMass(M2)
self.body.setGravityMode(1)
self.geom.setBody(self.body)
# store object's properties
self.storeProps(realObj, density, friction, noColl_ID)
print '###############################'
print collObj
collObj.analyze()
print '--- sent to ODE ---'
print 'Vertices : ',collNumVtx
print 'Faces : ',collnumface
print '###############################\n'
# originally only to debug the transfer method
self.visualize(collnumface)
# synchronize TriMesh to the current transformation (position & rotation) of the collision mesh
self.geom.setPosition(collObj.getPos(render))
self.geom.setQuaternion(collObj.getQuat(render))
# hide the collision geometry, if it's not the visible object
if not showCollObj and collObj!=realObj:
collObj.hide()
def visualize(self,collnumface):
''' this method creates the actual geometry succesfully sent to ODE,
originally only to debug the transfer method '''
#(step.1) create GeomVertexData and add vertex information
format=GeomVertexFormat.getV3()
vdata=GeomVertexData('vertices', format, Geom.UHStatic)
vertexWriter=GeomVertexWriter(vdata, 'vertex')
tris=GeomTriangles(Geom.UHStatic)
for i in range(collnumface):
vtx1,vtx2,vtx3=self.geom.getTriangle(i)
vertexWriter.addData3f(*vtx1)
vertexWriter.addData3f(*vtx2)
vertexWriter.addData3f(*vtx3)
#(step.2) make primitives and assign vertices to them
tris.addConsecutiveVertices(i*3,3)
#indicates that we have finished adding vertices for the triangle
tris.closePrimitive()
#(step.3) make a Geom object to hold the primitives
collmeshGeom=Geom(vdata)
collmeshGeom.addPrimitive(tris)
#(step.4) now put geom in a GeomNode
collmeshGN=GeomNode('')
collmeshGN.addGeom(collmeshGeom)
self.visualizer = self.realObj.attachNewNode(collmeshGN)
self.visualizer.setRenderModeWireframe(1)
self.visualizer.setColor(1,1,1,1)
scale=self.realObj.getScale()
self.visualizer.setScale(1./scale[0],1./scale[1],1./scale[2])
self.visualizer.setLightOff()
# put the axis at object's origin (represents it's center of gravity)
axis = loader.loadModelCopy('zup-axis')
axis.reparentTo(self.visualizer)
axis.setScale(.25)
class ODEsim:
‘’’ this class consists of methods associated with
ODE simulation setting & loop ‘’’
def initODE(self):
self.ode_WORLD = ode.World()
self.ode_WORLD.setGravity((0, 0, -9.81))
self.ode_WORLD.setCFM(0)
self.ode_WORLD.setContactMaxCorrectingVel(1)
self.ode_WORLD.setERP(0.8)
self.ode_WORLD.setContactSurfaceLayer(.001)
self.ode_SPACE = ode.Space(type=1)
self.floor = ode.GeomPlane(self.ode_SPACE, (0, 0, 1),0)
self.ode_CONTACTgroup = ode.JointGroup()
self.ODEdt = 1.0 / 40.0
def scalp (self, vec, scal):
vec[0] *= scal
vec[1] *= scal
vec[2] *= scal
def near_callback(self, args, geom1, geom2):
'''Callback function for the collide() method.
This function checks if the given geoms do collide and
creates contact joints if they do.
'''
# don't check for collision IF both geoms build a larger collision geom,
# because they probably overlap each other
noColl1=101010
noColl2=-noColl1
if hasattr(geom1, 'noColl'):
noColl1=geom1.noColl
if hasattr(geom2, 'noColl'):
noColl2=geom2.noColl
if noColl1==noColl2:
return
# Check if the objects do collide
contacts = ode.collide(geom1, geom2)
if not len(contacts):
return
# averaging the friction coefficient of the two colliding objects
friction1=friction2=0
if hasattr(geom1, 'friction'):
friction1=geom1.friction
if hasattr(geom2, 'friction'):
friction2=geom2.friction
averageFrictionCoef=PU.average(friction1, friction2)
print ‘AVG :’,geom1, geom2, averageFrictionCoef
# looking for TriMesh-anything collision
geom1_is_TriMesh=type(geom1).__name__=='GeomTriMesh'
geom2_is_TriMesh=type(geom2).__name__=='GeomTriMesh'
bothTriMesh=geom1_is_TriMesh and geom2_is_TriMesh
if bothTriMesh:
g1Vel=g2Vel=Vec3(0,0,0)
g1body=geom1.getBody()
if g1body:
g1Vel=Vec3(*g1body.getLinearVel())
g2body=geom2.getBody()
if g2body:
g2Vel=Vec3(*g2body.getLinearVel())
diff=40.0/(g1Vel-g2Vel).length()
diff=min(20.0,diff)
bouncePerContact=diff/len(contacts)
print diff,bouncePerContact
if ( geom1_is_TriMesh or geom2_is_TriMesh ) and self.contactVis:
LSpoint=LineSegs()
LSpoint.setColor(1,1,0)
LSpoint.setThickness(8)
LSnormal=LineSegs()
LSnormal.setColor(1,.5,.2)
LSnormal.setThickness(2)
TriMeshCollision=1
else:
TriMeshCollision=0
# Create contact joints
self.ode_WORLD, self.ode_CONTACTgroup = args
for c in contacts:
# if any TriMesh collision, collect the contact points
if TriMeshCollision:
pos, normal, depth, g1, g2 = c.getContactGeomParams()
# create a single point, call moveTo only
pos=Point3(pos[0],pos[1],pos[2])
LSpoint.moveTo(pos)
# create a line
LSnormal.moveTo(pos)
LSnormal.drawTo(pos+Point3(normal[0],normal[1],normal[2]))
# add more bounce if both objects are TriMesh
if bothTriMesh:
c.setBounce(bouncePerContact)
else:
c.setBounce(.2)
c.setMu(averageFrictionCoef)
j = ode.ContactJoint(self.ode_WORLD, self.ode_CONTACTgroup, c)
j.attach(geom1.getBody(), geom2.getBody())
# render TriMesh contacts
if TriMeshCollision:
contactVisualizer=render.attachNewNode('')
contactVisualizer.attachNewNode(LSpoint.create())
contactVisualizer.attachNewNode(LSnormal.create())
contactVisualizer.setLightOff()
# remove the visualized TriMesh contacts, after the given time
taskMgr.doMethodLater(.01,self.removeContactVis,'removeContact',[contactVisualizer])
def removeContactVis(self,vis):
vis.removeNode()
def simulate(self):
# synchronize the position and rotation of the visible object to it's body
for o in self.simObjects:
if o.density and o.realObj!=None:
body = o.body
o.realObj.setPos(render,*body.getPosition())
o.realObj.setQuat(render,Quat(*body.getQuaternion()))
self.ode_SPACE.collide((self.ode_WORLD,self.ode_CONTACTgroup), self.near_callback)
self.ode_WORLD.quickStep(self.ODEdt)
''' you can switch to standard world step, for more accuracy,
but on most cases, it causes simulation instability '''
#self.ode_WORLD.step(self.ODEdt)
self.ode_CONTACTgroup.empty()
class World(DirectObject,ODEsim):
‘’’ ODE demo main class ‘’’
def __init__(self):
'''
self.ode_WORLD and self.ode_SPACE are
ode.World and ode.Space , respectively
'''
# initialize class ODEsim, to prepare ODE simulation,
# create world, space, and some simulation tuning) '''
self.initODE()
base.setFrameRateMeter(1)
render.setTransparency(TransparencyAttrib.MDual)
self.setupLights()
# list for ODE simulation objects
self.simObjects = []
# base scale for the primitive objects
self.scale = .2
# TriMesh object visualizer state (on/off)
self.trimeshVis=1
# TriMesh contacts visualizer state (on/off)
self.contactVis=0
OnscreenText(text='Panda3D: PyODE integration',style=1, fg=(1,1,1,1),pos=(0.8,-0.95), scale = .07)
genLabelText('the XYZ axis represents the center of gravity', 0)
genLabelText('[ w ] : BOOOM!', 2)
genLabelText('[ s ] : magnetism!', 3)
self.trimeshVisText='[ NUM + ] : toggle TRIMESH VISUALIZER '
self.contactVisText='[ NUM - ] : toggle CONTACTS VISUALIZER '
self.onOff=['OFF','ON']
self.trimeshVisLabel = genLabelText(self.trimeshVisText+'[%s]' %self.onOff[self.trimeshVis],4)
self.contactVisLabel = genLabelText(self.contactVisText+'[%s]' %self.onOff[self.contactVis],5)
genLabelText('[ 0 ] : scene 0', 7)
genLabelText('[ 1 ] : scene 1', 8)
genLabelText('[ 2 ] : scene 2', 9)
self.keys = {'explode' : 0, 'pull': 0}
self.accept('w', self.setKey, ['explode', 1])
self.accept('w-up', self.setKey, ['explode', 0])
self.accept('s', self.setKey, ['pull', 1])
self.accept('s-up', self.setKey, ['pull', 0])
self.accept('+', self.toggleVis)
self.accept('-', self.toggleContactsVis)
self.accept('0', self.startScene0)
self.accept('1', self.startScene1)
self.accept('2', self.startScene2)
self.accept('escape', sys.exit)
self.startScene1()
taskMgr.add(self.gameLoop, 'runSim')
def cameraLook(self, time,lookPoint=Point3(0,0,0)):
base.cam.lookAt(lookPoint)
def setKey(self, key, val):
self.keys[key] = val
def setupLights(self):
ambientLight = AmbientLight( 'ambientLight' )
ambientLight.setColor( Vec4(0.4, 0.4, 0.4, 1) )
self.ambientLight=render.attachNewNode( ambientLight.upcastToPandaNode() )
directionalLight = DirectionalLight( 'directionalLight1' )
directionalLight.setDirection( Vec3( 1, -.5,-1 ) )
directionalLight.setColor( Vec4( .6, .6, .6, 1 ) )
self.directionalLight=render.attachNewNode( directionalLight.upcastToPandaNode() )
render.setLight(self.ambientLight)
render.setLight(self.directionalLight)
def drawCage(self):
self.cage=render.attachNewNode('')
size=80
height=10
scale=Vec3(size,size,5)
obj = loader.loadModelCopy('misc/rgbCube')
obj.reparentTo(self.cage)
obj.setPos(0,0,-scale[2]*.5)
obj.setScale(scale)
obj.setColor(0,0,0,1)
self.simObjects.append( ODEbox( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=obj, density=0, friction=5) )
scale=Vec3(1,size,height)
for side in range(2):
obj = loader.loadModelCopy('misc/rgbCube')
obj.reparentTo(self.cage)
obj.setPos(size*(side-.5),0,height*.5)
obj.setScale(scale)
obj.setTransparency(1)
obj.setAlphaScale(.7)
self.simObjects.append( ODEbox( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=obj, density=0, friction=5) )
scale=Vec3(size,1,height)
for side in range(2):
obj = loader.loadModelCopy('misc/rgbCube')
obj.reparentTo(self.cage)
obj.setPos(0,size*(side-.5),height*.5)
obj.setScale(scale)
obj.setTransparency(1)
obj.setAlphaScale(.7)
self.simObjects.append( ODEbox( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=obj, density=0, friction=5) )
print 'drawCage done...'
def drawBodies(self,numBodies):
for i in range(numBodies):
dynamic=i%2
if dynamic:
scale=self.scale*1.2
else:
scale=self.scale
theta = random.uniform(0, 2*pi)
rX=random.gauss(0,2)
rY=random.gauss(0,2)
rX += 2.*rX/abs(rX)
rY += 2.*rY/abs(rY)
pos=Point3(rX,rY,20*dynamic)
if random.randint(0,1): # sphere shape model
if dynamic:
model='smiley'
hpr=Vec3(theta,theta,theta)
else:
model='jack'
hpr=Vec3(180,0,0)
scale*=2.5
obj = loader.loadModelCopy(model)
obj.reparentTo(render)
obj.setPosHprScale(pos, hpr, Vec3(scale,scale,scale))
self.simObjects.append( ODEsphere( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=obj, density=250*dynamic, friction=1000) )
else: # box shape model
if dynamic:
hpr=Vec3(theta,theta,theta)
scale=Vec3(scale, scale, scale)
else:
hpr=Vec3(0,0,0)
scale=Vec3(scale*3, scale, scale*10)
obj = loader.loadModelCopy('misc/rgbCube')
obj.reparentTo(render)
obj.setPosHprScale(pos, hpr, scale)
self.simObjects.append( ODEbox( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=obj, density=1200*dynamic, friction=1000) )
print 'drawBodies done...'
def drawTriMesh(self):
self.realObject5=loader.loadModelCopy(‘camera’)
self.realObject5.reparentTo(render)
self.realObject5.setPos(-4,2,30)
self.realObject5.setScale(1.5)
self.simObjects.append( ODEtrimesh( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=self.realObject5, density=40, friction=10 ) )
self.realObject6=loader.loadModelCopy('misc/objectHandles')
self.realObject6.reparentTo(render)
self.realObject6.setPos(4,2,20)
self.realObject6.setScale(1.4)
self.simObjects.append( ODEtrimesh( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=self.realObject6, density=30, friction=20 ) )
self.realObject7=loader.loadModelCopy('misc/Pointlight')
self.realObject7.reparentTo(render)
self.realObject7.setPos(-4,-1,25)
self.realObject7.setScale(1.3)
self.simObjects.append( ODEtrimesh( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=self.realObject7, density=30, friction=10 ) )
self.realObject8=loader.loadModelCopy(‘misc/Dirlight’)
self.realObject8.reparentTo(render)
self.realObject8.setPos(-4,-5,20)
self.realObject8.setScale(.6)
self.simObjects.append( ODEtrimesh( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=self.realObject8, density=30, friction=15 ) )
self.realObject9=loader.loadModelCopy(‘misc/Spotlight’)
self.realObject9.reparentTo(render)
self.realObject9.setPos(4,3,25)
self.realObject9.setScale(.6)
self.simObjects.append( ODEtrimesh( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=self.realObject9, density=50, friction=15 ) )
self.realObject10=loader.loadModelCopy(‘panda-model’)
self.realObject10.reparentTo(render)
self.realObject10.setPos(-4,-4,25)
self.realObject10.setScale(.005)
self.simObjects.append( ODEtrimesh( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=self.realObject10, density=50, friction=10 ) )
self.realObject11=loader.loadModelCopy(‘panda’)
self.realObject11.reparentTo(render)
self.realObject11.setPos(5,-2,25)
self.realObject11.setScale(.3)
self.simObjects.append( ODEtrimesh( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=self.realObject11, density=30, friction=2 ) )
def buildBoxesTower(self):
size=3
height=1.2
columnScale=(.55,.55,height)
floorThick=.15
floorScale=(size*1.12,size*1.12,floorThick)
deviation=.28
for floor in range(9):
pos=( 0,0,(height+floorThick)*(floor+1)-floorThick*.5 )
obj = loader.loadModelCopy('misc/rgbCube')
obj.reparentTo(render)
obj.setPos(*pos)
obj.setScale(floorScale[0]-floor*deviation,floorScale[1]-floor*deviation,floorScale[2])
obj.setLightOff()
obj.setPythonTag('posZ',pos[2])
# exclude object from receiving explode & pull forces
obj.setTag('excluded','')
self.simObjects.append( ODEbox( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=obj, density=75, friction=5000) )
for column in range(4):
pos=( (size-floor*deviation)*((column%2)-.5), .5*(size-floor*deviation)*(column-column%2-1),(height+floorThick)*floor+height*.5 )
scale=Vec3(columnScale[0]-floor*.02,columnScale[1]-floor*.02,columnScale[2])
obj = loader.loadModelCopy('misc/rgbCube')
obj.reparentTo(render)
obj.setPos(*pos)
obj.setScale(scale)
obj.setLightOff()
obj.setPythonTag('posZ',pos[2])
# exclude object from receiving explode & pull forces
obj.setTag('excluded','')
self.simObjects.append( ODEbox( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=obj, density=75, friction=5000) )
def buildChainReaction(self):
radius=10
center=(-radius,16.1)
height=3
objGap=.27
scale=Vec3(height*.5,.5,height)
for i in range(30):
rad=i*(objGap+i*i*.0002)
x=cos(rad)*(radius-i*objGap) + center[0]
y=sin(rad)*(radius-i*objGap) + center[1]
obj = loader.loadModelCopy('misc/rgbCube')
obj.reparentTo(render)
obj.setPosHprScale(Point3( x, y, height*.5), Vec3(degrees(rad),0,0), scale)
obj.setLightOff()
# exclude object from receiving explode & pull forces
obj.setTag('excluded','')
self.simObjects.append( ODEbox( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=obj, density=30, friction=200) )
for i in range(2):
height=8
pos=Point3(-2*(i-.5)*3,3.5,height*.5)
scale=Vec3(25,.2,height)
deg=2*(i-.5)*78
obj = loader.loadModelCopy('misc/rgbCube')
obj.reparentTo(render)
obj.setPosHprScale(pos,Vec3(deg,0,0),scale)
obj.setColor(1,1,1,.5)
obj.setLightOff()
# exclude object from receiving explode & pull forces
obj.setTag('excluded','')
self.simObjects.append( ODEbox( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=obj, density=0, friction=0) )
ramp = loader.loadModelCopy('misc/rgbCube')
ramp.reparentTo(render)
ramp.setPosHprScale(0,12.8,.5, 0,210,90, .2,7,2.5)
ramp.setLightOff()
self.simObjects.append( ODEbox( world=self.ode_WORLD, space=self.ode_SPACE,
realObj=ramp, density=0, friction=0) )
self.arrow = loader.loadModelCopy('misc/Dirlight')
self.arrow.reparentTo(ramp)
self.arrow.setH(180)
self.arrow.setScale(.2)
arrowBW=LerpPosInterval(self.arrow,.4,Point3(.5,1.5,0),startPos=Point3(.5,1.2,0),blendType='easeOut')
arrowFW=self.arrow.posInterval(.4,Point3(.5,1.2,0))
self.arrowAnim = Sequence(
Parallel(arrowBW,
LerpColorInterval(self.arrow,.4,Vec4(0,0,0,0),Vec4(0,0,0,1)) ),
Parallel(arrowFW,
LerpColorInterval(self.arrow,.4,Vec4(0,0,0,1)) ) )
self.arrowAnim.loop()
def explo(self):
for o in self.simObjects:
if o.density and not o.realObj.hasTag('excluded'):
l=o.body.getPosition ()
d=Vec3(*l).length()
if not d: d=1
a = max(0, 2000*(1.0-0.2*d*d))
l = [l[0] / 10, l[1]/10, l[2]/1.5]
self.scalp (l, a / d)
o.body.addForce(l)
def pull(self):
for o in self.simObjects:
if o.density and not o.realObj.hasTag('excluded'):
l=list (o.body.getPosition ())
d=Vec3(*l).length()
if not d: d=1
self.scalp (l, -300 / d)
o.body.addForce(l)
def gameLoop(self, task):
if self.keys['explode']:
self.explo()
if self.keys['pull']:
self.pull()
self.simulate()
# check if each object is already collapsed (structurally failed),
# degrade it's color if it does
self.isCollapsed()
return Task.cont
def isCollapsed(self):
if self.scene==1:
for o in self.simObjects:
if o.realObj.hasTag('excluded'):
z=o.realObj.getPythonTag('posZ')
if ( Vec3(*o.body.getLinearVel()).length() > z*.7 or
Vec3(*o.body.getAngularVel()).length() > z*.7 ):
o.realObj.setColorScale(.2,.2,.2,1)
o.realObj.clearTag('excluded')
elif self.scene==2:
numExclusion=0
for o in self.simObjects:
if o.realObj.hasTag('excluded'):
numExclusion+=1
if abs(o.realObj.getP()) > 60 :
o.realObj.setColorScale(.2,.2,.2,1)
o.realObj.clearTag('excluded')
if numExclusion==2 and self.arrowAnim:
self.arrowAnim.pause()
self.arrowAnim=None
self.arrow.removeNode()
def toggleVis(self):
self.trimeshVis=not self.trimeshVis
self.trimeshVisLabel.setText(self.trimeshVisText+'[%s]' %self.onOff[self.trimeshVis])
for o in self.simObjects:
if hasattr(o,'visualizer'):
if self.trimeshVis:
o.visualizer.show()
else:
o.visualizer.hide()
def toggleContactsVis(self):
self.contactVis=not self.contactVis
self.contactVisLabel.setText(self.contactVisText+'[%s]' %self.onOff[self.contactVis])
def sceneSetup(self,numBodies=60):
if self.ode_SPACE.getNumGeoms()>1:
for o in self.simObjects:
o.destroy()
if self.cameraInterval:
self.cameraInterval.pause()
self.cameraInterval=None
self.simObjects = []
self.drawCage()
self.drawBodies(numBodies)
self.drawTriMesh()
for o in self.simObjects:
if not self.trimeshVis and hasattr(o,'visualizer'):
o.visualizer.hide()
def startScene0(self):
self.scene=0
self.sceneSetup(numBodies=60)
base.mouseInterfaceNode.reset()
self.cameraInterval=Parallel(
LerpPosInterval(base.cam, 3, Point3(0,-20,8), startPos=Point3(0,0,90), blendType='easeOut'),
LerpFunc(self.cameraLook, duration=3) )
self.cameraInterval.start()
def startScene1(self):
self.scene=1
self.sceneSetup(numBodies=40)
self.buildBoxesTower()
base.mouseInterfaceNode.reset()
self.cameraInterval=Parallel(
LerpPosInterval(base.cam, 3, Point3(0,-28,10), startPos=Point3(60,20,90), blendType='easeOut'),
LerpFunc(self.cameraLook, duration=3, extraArgs=[Point3(0,10,4)]) )
self.cameraInterval.start()
def startScene2(self):
self.scene=2
self.sceneSetup(numBodies=40)
self.buildChainReaction()
base.mouseInterfaceNode.reset()
self.cameraInterval=Parallel(
LerpPosInterval(base.cam, 4, Point3(0,-40,30), startPos=Point3(60,20,90), blendType='easeOut'),
LerpFunc(self.cameraLook, duration=4, extraArgs=[Point3(0,10,0)]) )
self.cameraInterval.start()
World()
run()[/code]