#!/usr/bin/env python import sys from direct.showbase.ShowBase import ShowBase from direct.showbase.InputStateGlobal import inputState from panda3d.core import AmbientLight from panda3d.core import DirectionalLight from panda3d.core import TransformState from panda3d.core import BitMask32 from panda3d.bullet import BulletWorld from panda3d.bullet import BulletPlaneShape from panda3d.bullet import BulletBoxShape from panda3d.bullet import BulletRigidBodyNode from panda3d.bullet import BulletDebugNode from panda3d.bullet import BulletVehicle from panda3d.bullet import ZUp class Game(ShowBase): def __init__(self): ShowBase.__init__(self) base.set_background_color(0.1, 0.1, 0.8, 1) base.set_frame_rate_meter(True) base.cam.set_pos(0, -20, 4) base.cam.look_at(0, 0, 0) # Light alight = AmbientLight('ambientLight') alight.set_color((0.5, 0.5, 0.5, 1)) alightNP = render.attach_new_node(alight) dlight = DirectionalLight('directionalLight') dlight.set_direction((1, 1, -1)) dlight.set_color((0.7, 0.7, 0.7, 1)) dlightNP = render.attach_new_node(dlight) render.clear_light() render.set_light(alightNP) render.set_light(dlightNP) # Input self.accept('escape', self.do_exit) self.accept('r', self.do_reset) self.accept('f1', base.toggle_wireframe) self.accept('f2', base.toggle_texture) self.accept('f3', self.toggle_debug) self.accept('f5', self.do_screenshot) inputState.watchWithModifiers('forward', 'w') inputState.watchWithModifiers('reverse', 's') inputState.watchWithModifiers('turnLeft', 'a') inputState.watchWithModifiers('turnRight', 'd') # Task taskMgr.add(self.update, 'updateWorld') # Physics self.setup() def do_exit(self): self.cleanup() sys.exit(1) def do_reset(self): self.cleanup() self.setup() def toggle_debug(self): if self.debugNP.is_hidden(): self.debugNP.show() else: self.debugNP.hide() def do_screenshot(self): base.screenshot('Bullet') def process_input(self, dt): engineForce = 0.0 brakeForce = 0.0 if inputState.isSet('forward'): engineForce = 1000.0 brakeForce = 0.0 if inputState.isSet('reverse'): engineForce = 0.0 brakeForce = 100.0 if inputState.isSet('turnLeft'): self.steering += dt * self.steeringIncrement self.steering = min(self.steering, self.steeringClamp) if inputState.isSet('turnRight'): self.steering -= dt * self.steeringIncrement self.steering = max(self.steering, -self.steeringClamp) # Apply steering to front wheels self.vehicle.setSteeringValue(self.steering, 0); self.vehicle.setSteeringValue(self.steering, 1); # Apply engine and brake to rear wheels self.vehicle.applyEngineForce(engineForce, 2); self.vehicle.applyEngineForce(engineForce, 3); self.vehicle.setBrake(brakeForce, 2); self.vehicle.setBrake(brakeForce, 3); def update(self, task): dt = globalClock.get_dt() self.process_input(dt) self.world.do_physics(dt, 10, 0.008) #print self.vehicle.getWheel(0).getRaycastInfo().isInContact() #print self.vehicle.getWheel(0).getRaycastInfo().getContactPointWs() #print self.vehicle.getChassis().isKinematic() return task.cont def cleanup(self): self.world = None self.worldNP.remove_node() def setup(self): self.worldNP = render.attach_new_node('World') # World self.debugNP = self.worldNP.attach_new_node(BulletDebugNode('Debug')) self.debugNP.show() self.world = BulletWorld() self.world.set_gravity((0, 0, -9.81)) self.world.set_debug_node(self.debugNP.node()) # Plane shape = BulletPlaneShape((0, 0, 1), 0) np = self.worldNP.attach_new_node(BulletRigidBodyNode('Ground')) np.node().add_shape(shape) np.set_pos(0, 0, -1) np.set_collide_mask(BitMask32.all_on()) self.world.attach(np.node()) # Chassis shape = BulletBoxShape((0.6, 1.4, 0.5)) ts = TransformState.make_pos((0, 0, 0.5)) np = self.worldNP.attach_new_node(BulletRigidBodyNode('Vehicle')) np.node().add_shape(shape, ts) np.set_pos(0, 0, 1) np.node().set_mass(800.0) np.node().set_deactivation_enabled(False) self.world.attach(np.node()) #np.node().set_ccd_swept_sphere_radius(1.0) #np.node().set_ccd_motion_threshold(1e-7) # Vehicle self.vehicle = BulletVehicle(self.world, np.node()) self.vehicle.set_coordinate_system(ZUp) self.world.attach(self.vehicle) self.yugoNP = loader.load_model('models/yugo/yugo.egg') self.yugoNP.reparent_to(np) # Right front wheel np = loader.load_model('models/yugo/yugotireR.egg') np.reparent_to(self.worldNP) self.add_wheel(( 0.70, 1.05, 0.3), True, np) # Left front wheel np = loader.load_model('models/yugo/yugotireL.egg') np.reparent_to(self.worldNP) self.add_wheel((-0.70, 1.05, 0.3), True, np) # Right rear wheel np = loader.load_model('models/yugo/yugotireR.egg') np.reparent_to(self.worldNP) self.add_wheel(( 0.70, -1.05, 0.3), False, np) # Left rear wheel np = loader.load_model('models/yugo/yugotireL.egg') np.reparent_to(self.worldNP) self.add_wheel((-0.70, -1.05, 0.3), False, np) # Steering info self.steering = 0.0 # degree self.steeringClamp = 45.0 # degree self.steeringIncrement = 120.0 # degree per second def add_wheel(self, pos, front, np): wheel = self.vehicle.create_wheel() wheel.set_node(np.node()) wheel.set_chassis_connection_point_cs(pos) wheel.set_front_wheel(front) wheel.set_wheel_direction_cs((0, 0, -1)) wheel.set_wheel_axle_cs((1, 0, 0)) wheel.set_wheel_radius(0.25) wheel.set_max_suspension_travel_cm(40.0) wheel.set_suspension_stiffness(40.0) wheel.set_wheels_damping_relaxation(2.3) wheel.set_wheels_damping_compression(4.4) wheel.set_friction_slip(100.0); wheel.set_roll_influence(0.1) game = Game() game.run()