Python BulletWorld.attachSoftBody方法代码示例

# 需要导入模块: from panda3d.bullet import BulletWorld [as 别名]
# 或者: from panda3d.bullet.BulletWorld import attachSoftBody [as 别名]

#.........这里部分代码省略.........
  def doReset(self):
    self.cleanup()
    self.setup()

  def toggleWireframe(self):
    base.toggleWireframe()

  def toggleTexture(self):
    base.toggleTexture()

  def toggleDebug(self):
    if self.debugNP.isHidden():
      self.debugNP.show()
    else:
      self.debugNP.hide()

  def doScreenshot(self):
    base.screenshot('Bullet')

  # ____TASK___

  def update(self, task):
    dt = globalClock.getDt()
    #dt *= 0.01

    self.world.doPhysics(dt, 10, 0.008)

    return task.cont

  def cleanup(self):
    self.world = None
    self.worldNP.removeNode()

  def setup(self):
    self.worldNP = render.attachNewNode('World')

    # World
    self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
    self.debugNP.show()

    self.world = BulletWorld()
    self.world.setGravity(Vec3(0, 0, -9.81))
    self.world.setDebugNode(self.debugNP.node())

    # Ground
    p0 = Point3(-20, -20, 0)
    p1 = Point3(-20, 20, 0)
    p2 = Point3(20, -20, 0)
    p3 = Point3(20, 20, 0)
    mesh = BulletTriangleMesh()
    mesh.addTriangle(p0, p1, p2)
    mesh.addTriangle(p1, p2, p3)
    shape = BulletTriangleMeshShape(mesh, dynamic=False)

    np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
    np.node().addShape(shape)
    np.setPos(0, 0, -2)
    np.setCollideMask(BitMask32.allOn())

    self.world.attachRigidBody(np.node())

    # Soft body world information
    info = self.world.getWorldInfo()
    info.setAirDensity(1.2)
    info.setWaterDensity(0)
    info.setWaterOffset(0)
    info.setWaterNormal(Vec3(0, 0, 0))

    # Softbody
    def makeSB(pos, hpr):

      import torus
      geom = torus.makeGeom()

      #geom = loader.loadModel('models/torus.egg') \
      #    .findAllMatches('**/+GeomNode').getPath(0).node() \
      #    .modifyGeom(0)

      geomNode = GeomNode('')
      geomNode.addGeom(geom)

      node = BulletSoftBodyNode.makeTriMesh(info, geom) 
      node.linkGeom(geomNode.modifyGeom(0))

      node.generateBendingConstraints(2)
      node.getCfg().setPositionsSolverIterations(2)
      node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFVertexFaceSoftSoft, True)
      node.randomizeConstraints()
      node.setTotalMass(50, True)

      softNP = self.worldNP.attachNewNode(node)
      softNP.setPos(pos)
      softNP.setHpr(hpr)
      self.world.attachSoftBody(node)

      geomNP = softNP.attachNewNode(geomNode)

    makeSB(Point3(-3, 0, 4), (0, 0, 0))
    makeSB(Point3(0, 0, 4), (0, 90, 90))
    makeSB(Point3(3, 0, 4), (0, 0, 0))

# 需要导入模块: from panda3d.bullet import BulletWorld [as 别名]
# 或者: from panda3d.bullet.BulletWorld import attachSoftBody [as 别名]

#.........这里部分代码省略.........
    else:
      self.debugNP.hide()

  def doScreenshot(self):
    base.screenshot('Bullet')

  # ____TASK___

  def update(self, task):
    dt = globalClock.getDt()

    self.world.doPhysics(dt, 10, 0.008)

    return task.cont

  def cleanup(self):
    self.world = None
    self.worldNP.removeNode()

  def setup(self):
    self.worldNP = render.attachNewNode('World')

    # World
    self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
    self.debugNP.show()

    #self.debugNP.showTightBounds()
    #self.debugNP.showBounds()

    self.world = BulletWorld()
    self.world.setGravity(Vec3(0, 0, -9.81))
    self.world.setDebugNode(self.debugNP.node())

    # Ground
    p0 = Point3(-20, -20, 0)
    p1 = Point3(-20, 20, 0)
    p2 = Point3(20, -20, 0)
    p3 = Point3(20, 20, 0)
    mesh = BulletTriangleMesh()
    mesh.addTriangle(p0, p1, p2)
    mesh.addTriangle(p1, p2, p3)
    shape = BulletTriangleMeshShape(mesh, dynamic=False)

    np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
    np.node().addShape(shape)
    np.setPos(0, 0, -2)
    np.setCollideMask(BitMask32.allOn())

    self.world.attachRigidBody(np.node())

    # Stair
    origin = Point3(0, 0, 0)
    size = Vec3(2, 10, 1)
    shape = BulletBoxShape(size * 0.5)
    for i in range(10):
      pos = origin + size * i
      pos.setY(0)

      np = self.worldNP.attachNewNode(BulletRigidBodyNode('Stair%i' % i))
      np.node().addShape(shape)
      np.setPos(pos)
      np.setCollideMask(BitMask32.allOn())

      npV = loader.loadModel('models/box.egg')
      npV.reparentTo(np)
      npV.setScale(size)

      self.world.attachRigidBody(np.node())

    # Soft body world information
    info = self.world.getWorldInfo()
    info.setAirDensity(1.2)
    info.setWaterDensity(0)
    info.setWaterOffset(0)
    info.setWaterNormal(Vec3(0, 0, 0))

    # Softbody
    center = Point3(0, 0, 0)
    radius = Vec3(1, 1, 1) * 1.5
    node = BulletSoftBodyNode.makeEllipsoid(info, center, radius, 128)
    node.setName('Ellipsoid')
    node.getMaterial(0).setLinearStiffness(0.1)
    node.getCfg().setDynamicFrictionCoefficient(1)
    node.getCfg().setDampingCoefficient(0.001)
    node.getCfg().setPressureCoefficient(1500)
    node.setTotalMass(30, True)
    node.setPose(True, False)

    np = self.worldNP.attachNewNode(node)
    np.setPos(15, 0, 12)
    #np.setH(90.0)
    #np.showBounds()
    #np.showTightBounds()
    self.world.attachSoftBody(np.node())

    geom = BulletHelper.makeGeomFromFaces(node)
    node.linkGeom(geom)
    nodeV = GeomNode('EllipsoidVisual')
    nodeV.addGeom(geom)
    npV = np.attachNewNode(nodeV)

# 需要导入模块: from panda3d.bullet import BulletWorld [as 别名]
# 或者: from panda3d.bullet.BulletWorld import attachSoftBody [as 别名]

#.........这里部分代码省略.........

  def toggleDebug(self):
    if self.debugNP.isHidden():
      self.debugNP.show()
    else:
      self.debugNP.hide()

  def doScreenshot(self):
    base.screenshot('Bullet')

  # ____TASK___

  def update(self, task):
    dt = globalClock.getDt()

    self.world.doPhysics(dt, 10, 0.004)

    return task.cont

  def cleanup(self):
    self.world = None
    self.worldNP.removeNode()

  def setup(self):
    self.worldNP = render.attachNewNode('World')

    # World
    self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
    self.debugNP.show()

    self.world = BulletWorld()
    self.world.setGravity(Vec3(0, 0, -9.81))
    self.world.setDebugNode(self.debugNP.node())

    # Soft body world information
    info = self.world.getWorldInfo()
    info.setAirDensity(1.2)
    info.setWaterDensity(0)
    info.setWaterOffset(0)
    info.setWaterNormal(Vec3(0, 0, 0))

    # Softbody
    def make(p1):
      n = 8
      p2 = p1 + Vec3(10, 0, 0)

      bodyNode = BulletSoftBodyNode.makeRope(info, p1, p2, n, 1) 
      bodyNode.setTotalMass(50.0)
      bodyNP = self.worldNP.attachNewNode(bodyNode)
      self.world.attachSoftBody(bodyNode)

      # Render option 1: Line geom
      #geom = BulletSoftBodyNode.makeGeomFromLinks(bodyNode)
      #bodyNode.linkGeom(geom)
      #visNode = GeomNode('')
      #visNode.addGeom(geom)
      #visNP = bodyNP.attachNewNode(visNode)

      # Render option 2: NURBS curve
      curve = NurbsCurveEvaluator()
      curve.reset(n + 2)
      bodyNode.linkCurve(curve)

      visNode = RopeNode('')
      visNode.setCurve(curve)
      visNode.setRenderMode(RopeNode.RMTube)
      visNode.setUvMode(RopeNode.UVParametric)
      visNode.setNumSubdiv(4)
      visNode.setNumSlices(8)
      visNode.setThickness(0.4)
      visNP = self.worldNP.attachNewNode(visNode)
      #visNP = bodyNP.attachNewNode(visNode) # --> renders with offset!!!
      visNP.setTexture(loader.loadTexture('models/iron.jpg'))

      #bodyNP.showBounds()
      #visNP.showBounds()

      return bodyNP

    np1 = make(Point3(-2, -1, 8))
    np2 = make(Point3(-2,  1, 8))

    # Box
    shape = BulletBoxShape(Vec3(2, 2, 6))

    boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
    boxNP.node().setMass(50.0)
    boxNP.node().addShape(shape)
    boxNP.setPos(10, 0, 8)
    boxNP.setCollideMask(BitMask32.allOn())

    self.world.attachRigidBody(boxNP.node())

    np1.node().appendAnchor(np1.node().getNumNodes() - 1, boxNP.node())
    np2.node().appendAnchor(np1.node().getNumNodes() - 1, boxNP.node())

    visNP = loader.loadModel('models/box.egg')
    visNP.clearModelNodes()
    visNP.setScale(4, 4, 12)
    visNP.reparentTo(boxNP)

# 需要导入模块: from panda3d.bullet import BulletWorld [as 别名]
# 或者: from panda3d.bullet.BulletWorld import attachSoftBody [as 别名]

#.........这里部分代码省略.........
  def doScreenshot(self):
    base.screenshot('Bullet')

  # ____TASK___

  def update(self, task):
    dt = globalClock.getDt()

    self.world.doPhysics(dt, 10, 0.008)

    return task.cont

  def cleanup(self):
    self.world = None
    self.worldNP.removeNode()

  def setup(self):
    self.worldNP = render.attachNewNode('World')

    # World
    self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
    self.debugNP.show()

    self.world = BulletWorld()
    self.world.setGravity(Vec3(0, 0, -9.81))
    self.world.setDebugNode(self.debugNP.node())

    # Ground
    p0 = Point3(-20, -20, 0)
    p1 = Point3(-20, 20, 0)
    p2 = Point3(20, -20, 0)
    p3 = Point3(20, 20, 0)
    mesh = BulletTriangleMesh()
    mesh.addTriangle(p0, p1, p2)
    mesh.addTriangle(p1, p2, p3)
    shape = BulletTriangleMeshShape(mesh, dynamic=False)

    np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
    np.node().addShape(shape)
    np.setPos(0, 0, -4)
    np.setCollideMask(BitMask32.allOn())

    self.world.attachRigidBody(np.node())

    # Soft body world information
    info = self.world.getWorldInfo()
    info.setAirDensity(1.2)
    info.setWaterDensity(0)
    info.setWaterOffset(0)
    info.setWaterNormal(Vec3(0, 0, 0))

    # Softbody - From points/indices
    #import cube
    #points = [Point3(x,y,z) * 3 for x,y,z in cube.nodes]
    #indices = sum([list(x) for x in cube.elements], [])

    #node = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)
    #node.setVolumeMass(300);
    #node.getShape(0).setMargin(0.01)
    #node.getMaterial(0).setLinearStiffness(0.8)
    #node.getCfg().setPositionsSolverIterations(1)
    #node.getCfg().clearAllCollisionFlags()
    #node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
    #node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
    #node.generateClusters(16)

    #softNP = self.worldNP.attachNewNode(node)
    #softNP.setPos(0, 0, 8)
    #softNP.setHpr(0, 0, 45)
    #self.world.attachSoftBody(node)

    # Softbody - From tetgen data
    ele = file('models/cube/cube.1.ele', 'r').read()
    face = file('models/cube/cube.1.face', 'r').read()
    node = file('models/cube/cube.1.node', 'r').read()

    node = BulletSoftBodyNode.makeTetMesh(info, ele, face, node)
    node.setName('Tetra')
    node.setVolumeMass(300)
    node.getShape(0).setMargin(0.01)
    node.getMaterial(0).setLinearStiffness(0.1)
    node.getCfg().setPositionsSolverIterations(1)
    node.getCfg().clearAllCollisionFlags()
    node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
    node.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
    node.generateClusters(6)

    softNP = self.worldNP.attachNewNode(node)
    softNP.setPos(0, 0, 8)
    softNP.setHpr(45, 0, 0)
    self.world.attachSoftBody(node)

    # Option 1:
    visNP = loader.loadModel('models/cube/cube.egg')
    visNP.reparentTo(softNP)

    geom = visNP \
        .findAllMatches('**/+GeomNode').getPath(0).node() \
        .modifyGeom(0)
    node.linkGeom(geom)

# 需要导入模块: from panda3d.bullet import BulletWorld [as 别名]
# 或者: from panda3d.bullet.BulletWorld import attachSoftBody [as 别名]

#.........这里部分代码省略.........

  def doReset(self):
    self.cleanup()
    self.setup()

  def toggleWireframe(self):
    base.toggleWireframe()

  def toggleTexture(self):
    base.toggleTexture()

  def toggleDebug(self):
    if self.debugNP.isHidden():
      self.debugNP.show()
    else:
      self.debugNP.hide()

  def doScreenshot(self):
    base.screenshot('Bullet')

  # ____TASK___

  def update(self, task):
    dt = globalClock.getDt()

    self.world.doPhysics(dt, 10, 0.008)

    return task.cont

  def cleanup(self):
    self.world = None
    self.worldNP.removeNode()

  @staticmethod
  def Vec3Rand():
    x = 2 * random.random() - 1
    y = 2 * random.random() - 1
    z = 2 * random.random() - 1
    return Vec3(x, y, z)

  def setup(self):
    self.worldNP = render.attachNewNode('World')

    # World
    self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
    self.debugNP.show()

    self.world = BulletWorld()
    self.world.setGravity(Vec3(0, 0, -9.81))
    self.world.setDebugNode(self.debugNP.node())

    # Ground
    p0 = Point3(-20, -20, 0)
    p1 = Point3(-20, 20, 0)
    p2 = Point3(20, -20, 0)
    p3 = Point3(20, 20, 0)
    mesh = BulletTriangleMesh()
    mesh.addTriangle(p0, p1, p2)
    mesh.addTriangle(p1, p2, p3)
    shape = BulletTriangleMeshShape(mesh, dynamic=False)

    np = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
    np.node().addShape(shape)
    np.setPos(0, 0, -2)
    np.setCollideMask(BitMask32.allOn())

    self.world.attachRigidBody(np.node())

    # Soft body world information
    info = self.world.getWorldInfo()
    info.setAirDensity(1.2)
    info.setWaterDensity(0)
    info.setWaterOffset(0)
    info.setWaterNormal(Vec3(0, 0, 0))

    # Softbody
    for i in range(50):
      p00 = Point3(-2, -2, 0)
      p10 = Point3( 2, -2, 0)
      p01 = Point3(-2,  2, 0)
      p11 = Point3( 2,  2, 0)
      node = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, 6, 6, 0, True)
      node.generateBendingConstraints(2)
      node.getCfg().setLiftCoefficient(0.004)
      node.getCfg().setDynamicFrictionCoefficient(0.0003)
      node.getCfg().setAeroModel(BulletSoftBodyConfig.AMVertexTwoSided)
      node.setTotalMass(0.1)
      node.addForce(Vec3(0, 2, 0), 0)

      np = self.worldNP.attachNewNode(node)
      np.setPos(self.Vec3Rand() * 10 + Vec3(0, 0, 20))
      np.setHpr(self.Vec3Rand() * 16)
      self.world.attachSoftBody(node)

      fmt = GeomVertexFormat.getV3n3t2()
      geom = BulletHelper.makeGeomFromFaces(node, fmt, True)
      node.linkGeom(geom)
      nodeV = GeomNode('')
      nodeV.addGeom(geom)
      npV = np.attachNewNode(nodeV)

# 需要导入模块: from panda3d.bullet import BulletWorld [as 别名]
# 或者: from panda3d.bullet.BulletWorld import attachSoftBody [as 别名]

#.........这里部分代码省略.........
#        print (vdata,vdata.hasColumn(InternalName.getVertex()))
        geomNode = GeomNode('')
        geomNode.addGeom(geom)

        #step 4) create the bullet softbody and node
        bodyNode = BulletSoftBodyNode.makeTriMesh(info, geom)
#        bodyNode.linkGeom(geomNode.modifyGeom(0))
        bodyNode.setName('Tri')
        bodyNode.linkGeom(geom)  
        bodyNode.generateBendingConstraints(1)#???
        #bodyNode.getMaterial(0).setLinearStiffness(0.8)
        bodyNode.getCfg().setPositionsSolverIterations(4)
#        bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFVertexFaceSoftSoft, True)
        bodyNode.getCfg().setDynamicFrictionCoefficient(1)
        bodyNode.getCfg().setDampingCoefficient(0.001)
        bodyNode.getCfg().setPressureCoefficient(15000*10.0)  
        bodyNode.getCfg().setPoseMatchingCoefficient(0.2)
        bodyNode.setPose(True, True)
#        bodyNode.randomizeConstraints()
        bodyNode.setTotalMass(50000*10, True)
        
        bodyNP = self.worldNP.attachNewNode(bodyNode)
#        fmt = GeomVertexFormat.getV3n3t2()
#        geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt,True)

#        bodyNode.linkGeom(geomNode.modifyGeom(0))
#        geomNode = GeomNode('')
#        geomNode.addGeom(geom)
        
#        world.attachSoftBody(bodyNode)
#        inodenp.setPos(0, 0, 0.1)
#        self.setRB(bodyNP,**kw)#set po
#        inodenp.setCollideMask(BitMask32.allOn())
        self.world.attachSoftBody(bodyNode)
        geomNP = bodyNP.attachNewNode(geomNode)
        return bodyNP,geomNP

    def addTetraMeshSB(self,vertices, faces,normals = None,ghost=False,**kw):
        #step 1) create GeomVertexData and add vertex information
        # Soft body world information
        info = self.world.getWorldInfo()
        info.setAirDensity(1.2)
        info.setWaterDensity(0)
        info.setWaterOffset(0)
        info.setWaterNormal(Vec3(0, 0, 0))
    
        points = [Point3(x,y,z) * 3 for x,y,z in vertices]
        indices = sum([list(x) for x in faces], [])
        #step 4) create the bullet softbody and node
        bodyNode = BulletSoftBodyNode.makeTetMesh(info, points, indices, True)

        bodyNode.setName('Tetra')
        bodyNode.setVolumeMass(150000)
        bodyNode.getShape(0).setMargin(0.01)
        bodyNode.getMaterial(0).setLinearStiffness(0.9)
        bodyNode.getCfg().setPositionsSolverIterations(4)
        bodyNode.getCfg().clearAllCollisionFlags()
        bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterSoftSoft, True)
        bodyNode.getCfg().setCollisionFlag(BulletSoftBodyConfig.CFClusterRigidSoft, True)
        bodyNode.generateClusters(12)
        bodyNode.setPose(True, True)
        bodyNP = self.worldNP.attachNewNode(bodyNode)
        
        geom = BulletHelper.makeGeomFromFaces(bodyNode)
        geomNode = GeomNode('vtetra')
        geomNode.addGeom(geom)

# 需要导入模块: from panda3d.bullet import BulletWorld [as 别名]
# 或者: from panda3d.bullet.BulletWorld import attachSoftBody [as 别名]

#.........这里部分代码省略.........

  def doReset(self):
    self.cleanup()
    self.setup()

  def toggleWireframe(self):
    base.toggleWireframe()

  def toggleTexture(self):
    base.toggleTexture()

  def toggleDebug(self):
    if self.debugNP.isHidden():
      self.debugNP.show()
    else:
      self.debugNP.hide()

  def doScreenshot(self):
    base.screenshot('Bullet')

  # ____TASK___

  def update(self, task):
    dt = globalClock.getDt()

    self.world.doPhysics(dt, 10, 0.004)

    return task.cont

  def cleanup(self):
    self.world = None
    self.worldNP.removeNode()

  def setup(self):
    self.worldNP = render.attachNewNode('World')

    # World
    self.debugNP = self.worldNP.attachNewNode(BulletDebugNode('Debug'))
    self.debugNP.show()

    self.world = BulletWorld()
    self.world.setGravity(Vec3(0, 0, -9.81))
    self.world.setDebugNode(self.debugNP.node())

    # Box
    shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5) * 2.0)

    boxNP = self.worldNP.attachNewNode(BulletRigidBodyNode('Box'))
    boxNP.node().setMass(150.0)
    boxNP.node().addShape(shape)
    boxNP.setPos(0, 0, 2)
    boxNP.setCollideMask(BitMask32.allOn())

    self.world.attachRigidBody(boxNP.node())

    visualNP = loader.loadModel('models/box.egg')
    visualNP.clearModelNodes()
    visualNP.setScale(2.0)
    visualNP.reparentTo(boxNP)

    # Soft body world information
    info = self.world.getWorldInfo()
    info.setAirDensity(1.2)
    info.setWaterDensity(0)
    info.setWaterOffset(0)
    info.setWaterNormal(Vec3(0, 0, 0))

    # Softbody
    nx = 31
    ny = 31

    p00 = Point3(-8, -8, 0)
    p10 = Point3( 8, -8, 0)
    p01 = Point3(-8,  8, 0)
    p11 = Point3( 8,  8, 0)
    bodyNode = BulletSoftBodyNode.makePatch(info, p00, p10, p01, p11, nx, ny, 1+2+4+8, True) 

    material = bodyNode.appendMaterial()
    material.setLinearStiffness(0.4)
    bodyNode.generateBendingConstraints(2, material);
    bodyNode.setTotalMass(50.0)
    bodyNode.getShape(0).setMargin(0.5)

    bodyNP = self.worldNP.attachNewNode(bodyNode)
    self.world.attachSoftBody(bodyNode)

    # Rendering with Geom:
    fmt = GeomVertexFormat.getV3n3t2()
    geom = BulletHelper.makeGeomFromFaces(bodyNode, fmt, True)
    bodyNode.linkGeom(geom)
    visNode = GeomNode('')
    visNode.addGeom(geom)
    visNP = bodyNP.attachNewNode(visNode)

    # Now we want to have a texture and texture coordinates.
    # The geom's format has already a column for texcoords, so we just need
    # to write texcoords using a GeomVertexRewriter.
    tex = loader.loadTexture('models/panda.jpg')
    visNP.setTexture(tex)
    BulletHelper.makeTexcoordsForPatch(geom, nx, ny)