Python BulletWorld.getWorldInfo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 getWorldInfo [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 getWorldInfo [as 别名]
class Game(DirectObject):

  def __init__(self):
    base.setBackgroundColor(0.1, 0.1, 0.8, 1)
    base.setFrameRateMeter(True)

    base.cam.setPos(0, -40, 10)
    base.cam.lookAt(0, 0, 0)

    # Light
    alight = AmbientLight('ambientLight')
    alight.setColor(Vec4(0.5, 0.5, 0.5, 1))
    alightNP = render.attachNewNode(alight)

    dlight = DirectionalLight('directionalLight')
    dlight.setDirection(Vec3(5, 0, -2))
    dlight.setColor(Vec4(0.7, 0.7, 0.7, 1))
    dlightNP = render.attachNewNode(dlight)

    render.clearLight()
    render.setLight(alightNP)
    render.setLight(dlightNP)

    # Input
    self.accept('escape', self.doExit)
    self.accept('r', self.doReset)
    self.accept('f1', self.toggleWireframe)
    self.accept('f2', self.toggleTexture)
    self.accept('f3', self.toggleDebug)
    self.accept('f5', self.doScreenshot)

    # Task
    taskMgr.add(self.update, 'updateWorld')

    # Physics
    self.setup()

  # _____HANDLER_____

  def doExit(self):
    self.cleanup()
    sys.exit(1)

  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())

    # 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)
#.........这里部分代码省略.........

# 需要导入模块: from panda3d.bullet import BulletWorld [as 别名]
# 或者: from panda3d.bullet.BulletWorld import getWorldInfo [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 getWorldInfo [as 别名]
class Application(ShowBase):
    def __init__(self):
        ShowBase.__init__(self)
        self.world = BulletWorld()
        self.world.setGravity(Vec3(0, 0, -9.81))
        
        self.height = 85.0
        self.img = PNMImage(Filename('height1.png'))
        self.shape = BulletHeightfieldShape(self.img, self.height, ZUp)
        self.offset = self.img.getXSize() / 2.0 - 0.5
        self.terrain = GeoMipTerrain('terrain')
        self.terrain.setHeightfield(self.img)
        self.terrain.setColorMap("grass.png")
        self.terrainNP = self.terrain.getRoot()
        self.terrainNP.setSz(self.height)
        self.terrainNP.setPos(-self.offset, -self.offset, -self.height / 2.0)   
        self.terrain.getRoot().reparentTo(render)
        self.terrain.generate()

        self.node = BulletRigidBodyNode('Ground')
        self.node.addShape(self.shape)
        self.np = render.attachNewNode(self.node)
        self.np.setPos(0, 0, 0)
        self.world.attachRigidBody(self.node)

        self.info = self.world.getWorldInfo()
        self.info.setAirDensity(1.2)
        self.info.setWaterDensity(0)
        self.info.setWaterOffset(0)
        self.info.setWaterNormal(Vec3(0, 0, 0))
        
        self.cam.setPos(20, 20, 20)
        self.cam.setHpr(0, 0, 0)
        
        self.model = loader.loadModel('out6.egg')
        #self.model.setPos(0.0, 0.0, 0.0)
        self.model.flattenLight()
        min, max = self.model.getTightBounds()
        size = max
        mmax = size[0]
        if size[1] > mmax:
            mmax = size[1]
        if size[2] > mmax:
            mmax = size[2]
        self.rocketScale = 20.0/mmax / 2
        
        shape = BulletBoxShape(Vec3(size[0]*self.rocketScale, size[1]*self.rocketScale, size[2]*self.rocketScale))
        
        
        self.ghostshape = BulletBoxShape(Vec3(size[0]*self.rocketScale, size[1]*self.rocketScale, size[2]*self.rocketScale))
 
        self.ghost = BulletRigidBodyNode('Ghost')
        self.ghost.addShape(self.ghostshape)
        self.ghostNP = render.attachNewNode(self.ghost)
        self.ghostNP.setPos(19.2220401046, 17.5158313723, 35.2665607047  )
        #self.ghostNP.setCollideMask(BitMask32(0x0f))
        self.model.setScale(self.rocketScale) 
        self.world.attachRigidBody(self.ghost)
        self.model.copyTo(self.ghostNP)
        
        self.rocketnode = BulletRigidBodyNode('rocketBox')
        self.rocketnode.setMass(1.0)
        self.rocketnode.addShape(shape)

        self.rocketnp = render.attachNewNode(self.rocketnode)
        self.rocketnp.setPos(0.0, 0.0, 40.0)
        tex = loader.loadTexture('crate.jpg')
        self.model.find('**/Line001').setTexture(tex, 1)
        #self.rocketnp.setTexture(tex)

        self.model.setScale(self.rocketScale)
        self.world.attachRigidBody(self.rocketnode)
        self.model.copyTo(self.rocketnp)
        self.hh = 35.0
        
        print self.ghostNP.getPos()
        
        self.accept('w', self.eventKeyW)
        self.accept('r', self.eventKeyR)
        self.taskMgr.add(self.update, 'update')
        self.massive = self.getdata('data.txt')
        self.massiveResampled = self.resample(self.massive)
        self.posInArray = 0
        self.x = 0.0
        self.y = 0.0
        self.z = 0.0
        self.timerNow = 0.0
        self.taskMgr.add(self.timerTask, 'timerTask')
    
    def checkGhost(self):
        '''
        ghost = self.ghostNP.node()
        if ghost.getNumOverlappingNodes() > 1:
            print ghost.getNumOverlappingNodes()
            for node in ghost.getOverlappingNodes():
                print node
        '''
        result = self.world.contactTest(self.ghost)
        
        for contact in result.getContacts():
#.........这里部分代码省略.........

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

#.........这里部分代码省略.........
        vdata=GeomVertexData("vertices", format, Geom.UHStatic)
        
        vertexWriter=GeomVertexWriter(vdata, "vertex")
        [vertexWriter.addData3f(v[0],v[1],v[2]) for v in vertices]
        
        #step 2) make primitives and assign vertices to them
        tris=GeomTriangles(Geom.UHStatic)
        [self.setGeomFaces(tris,face) for face in faces]
        
        #step 3) make a Geom object to hold the primitives
        geom=Geom(vdata)
        geom.addPrimitive(tris)
        
        #step 4) create the bullet mesh and node
        mesh = BulletTriangleMesh()
        mesh.addGeom(geom)

        shape = BulletConvexHullShape(mesh, dynamic=not ghost)#
        if ghost :
            inodenp = self.worldNP.attachNewNode(BulletGhostNode('Mesh'))
        else :
            inodenp = self.worldNP.attachNewNode(BulletRigidBodyNode('Mesh'))
        inodenp.node().addShape(shape)
#        inodenp.setPos(0, 0, 0.1)
        self.setRB(inodenp,**kw)
        inodenp.setCollideMask(BitMask32.allOn())
   
        self.world.attachRigidBody(inodenp.node())
        return inodenp
        
    def addTriMeshSB(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(0.0)
        info.setWaterDensity(0)
        info.setWaterOffset(0)
        info.setWaterNormal(Vec3(0, 0, 0))
        
        format=GeomVertexFormat.getV3n3() #getV3()#http://www.panda3d.org/manual/index.php/Pre-defined_vertex_formats
#        vdata = GeomVertexData('name', format, Geom.UHStatic)
        vdata=GeomVertexData("Mesh", format, Geom.UHStatic)
        
        vertexWriter=GeomVertexWriter(vdata, "vertex")
        [vertexWriter.addData3f(v[0],v[1],v[2]) for v in vertices]

        if normals is not None :
            normalWriter = GeomVertexWriter(vdata, 'normal')
            [normalWriter.addData3f(n[0],n[1],n[2]) for n in normals] 
        else :
            print "we need normals to bind geom to SoftBody"
            return None
        
        #step 2) make primitives and assign vertices to them
        tris=GeomTriangles(Geom.UHStatic)
        [self.setGeomFaces(tris,face) for face in faces]
        
        #step 3) make a Geom object to hold the primitives
        geom=Geom(vdata)
        geom.addPrimitive(tris)
        
        vdata = geom.getVertexData()
#        print (vdata,vdata.hasColumn(InternalName.getVertex()))
        geomNode = GeomNode('')
        geomNode.addGeom(geom)

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