mirror of
https://github.com/panda3d/panda3d.git
synced 2025-10-03 10:22:45 -04:00
parent velocity
This commit is contained in:
Dave Schuyler
parent
435b705030
commit
e6dae1d0d3
@ -21,10 +21,15 @@ import DirectObject
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import PhysicsManager
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import math
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import LineStream
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class PhysicsWalker(DirectObject.DirectObject):
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notify = DirectNotifyGlobal.directNotify.newCategory("PhysicsWalker")
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wantAvatarPhysicsIndicator = base.config.GetBool('want-avatar-physics-indicator', 1)
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rotatePhysics = 1
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# special methods
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def __init__(self, gravity = -32.1740, standableGround=0.707,
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@ -35,9 +40,14 @@ class PhysicsWalker(DirectObject.DirectObject):
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self.__gravity=gravity
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self.__standableGround=standableGround
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self.__hardLandingForce=hardLandingForce
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self.needToDeltaPos = 0
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self.physVelocityIndicator=None
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self.__old_contact=None
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self.__oldAirborneHeight=None
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self.getAirborneHeight=None
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self.__oldContact=None
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self.__oldPosDelta=Vec3(0)
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self.__oldDt=0
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self.__forwardButton=0
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self.__reverseButton=0
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self.__jumpButton=0
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@ -49,6 +59,47 @@ class PhysicsWalker(DirectObject.DirectObject):
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self.__vel=Vec3(0.0)
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self.__slideButton = 0
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def spawnTest(self):
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assert(self.debugPrint("\n\nspawnTest()\n"))
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from PandaModules import *
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from IntervalGlobal import *
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import MovingPlatform
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if hasattr(self, "platform"):
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# Remove the prior instantiation:
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self.moveIval.pause()
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del self.moveIval
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self.platform.destroy()
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del self.platform
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model = loader.loadModelCopy('phase_7/models/cogHQ/platform1')
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fakeId = id(self)
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self.platform = MovingPlatform.MovingPlatform()
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self.platform.setupCopyModel(fakeId, model, 'platformcollision')
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self.platformRoot = render.attachNewNode("physicsWalker-spawnTest-%s"%fakeId)
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self.platformRoot.setPos(toonbase.localToon, Vec3(0.0, 3.0, 1.0))
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self.platformRoot.setHpr(toonbase.localToon, Vec3.zero())
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self.platform.reparentTo(self.platformRoot)
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startPos = Vec3(0.0, -15.0, 0.0)
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endPos = Vec3(0.0, 15.0, 0.0)
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distance = Vec3(startPos-endPos).length()
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duration = distance/4
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self.moveIval = Sequence(
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WaitInterval(0.3),
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LerpPosInterval(self.platform, duration,
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endPos, startPos=startPos,
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name='platformOut%s' % fakeId,
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fluid = 1),
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WaitInterval(0.3),
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LerpPosInterval(self.platform, duration,
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startPos, startPos=endPos,
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name='platformBack%s' % fakeId,
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fluid = 1),
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name='platformIval%s' % fakeId,
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)
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self.moveIval.loop()
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def setWalkSpeed(self, forward, jump, reverse, rotate):
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assert(self.debugPrint("setWalkSpeed()"))
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self.avatarControlForwardSpeed=forward
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@ -90,7 +141,7 @@ class PhysicsWalker(DirectObject.DirectObject):
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# Connect to Physics Manager:
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self.actorNode=ActorNode("physicsActor")
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self.actorNode.getPhysicsObject().setOriented(1)
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self.actorNode.getPhysicsObject().setOriented(self.rotatePhysics)
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self.actorNode.getPhysical(0).setViscosity(0.1)
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physicsActor=NodePath(self.actorNode)
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avatarNodePath.reparentTo(physicsActor)
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@ -104,6 +155,16 @@ class PhysicsWalker(DirectObject.DirectObject):
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gravity=LinearVectorForce(0.0, 0.0, self.__gravity)
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fn.addForce(gravity)
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self.phys.addLinearForce(gravity)
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self.gravity = gravity
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fn=ForceNode("priorParent")
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fnp=NodePath(fn)
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fnp.reparentTo(render)
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priorParent=LinearVectorForce(0.0, 0.0, 0.0)
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fn.addForce(priorParent)
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self.phys.addLinearForce(priorParent)
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self.priorParentNp = fnp
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self.priorParent = priorParent
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fn=ForceNode("viscosity")
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fnp=NodePath(fn)
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@ -132,6 +193,9 @@ class PhysicsWalker(DirectObject.DirectObject):
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self.avatarNodePath = avatarNodePath
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def setAirborneHeightFunc(self, getAirborneHeight):
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self.getAirborneHeight = getAirborneHeight
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def setAvatarPhysicsIndicator(self, indicator):
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"""
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indicator is a NodePath
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@ -224,9 +288,11 @@ class PhysicsWalker(DirectObject.DirectObject):
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"""
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Check on the arrow keys and update the avatar.
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"""
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onScreenDebug.append("localToon pos = %s\n"%(toonbase.localToon.getPos().pPrintValues(),))
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onScreenDebug.append("localToon hpr = %s\n"%(toonbase.localToon.getHpr().pPrintValues(),))
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#assert(self.debugPrint("handleAvatarControls(task=%s)"%(task,)))
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physObject=self.actorNode.getPhysicsObject()
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rotAvatarToPhys=Mat3.rotateMatNormaxis(-self.avatarNodePath.getH(), Vec3.up())
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#rotAvatarToPhys=Mat3.rotateMatNormaxis(-self.avatarNodePath.getH(), Vec3.up())
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#rotPhysToAvatar=Mat3.rotateMatNormaxis(self.avatarNodePath.getH(), Vec3.up())
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contact=self.actorNode.getContactVector()
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@ -239,7 +305,7 @@ class PhysicsWalker(DirectObject.DirectObject):
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# Determine what the speeds are based on the buttons:
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self.__speed=(self.__forwardButton and self.avatarControlForwardSpeed or
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self.__reverseButton and -self.avatarControlReverseSpeed)
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self.__reverseButton and -self.avatarControlReverseSpeed)
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self.__slideSpeed=self.__slideButton and (
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(self.__leftButton and -self.avatarControlForwardSpeed) or
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(self.__rightButton and self.avatarControlForwardSpeed))
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@ -249,16 +315,98 @@ class PhysicsWalker(DirectObject.DirectObject):
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# How far did we move based on the amount of time elapsed?
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dt=min(ClockObject.getGlobalClock().getDt(), 0.1)
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if self.needToDeltaPos:
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self.setPriorParentVector()
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self.needToDeltaPos = 0
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#self.__oldPosDelta = render.getRelativeVector(
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# self.avatarNodePath,
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# self.avatarNodePath.getPosDelta(render))
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#self.__oldPosDelta = self.avatarNodePath.getRelativeVector(
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# render,
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# self.avatarNodePath.getPosDelta(render))
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self.__oldPosDelta = self.avatarNodePath.getPosDelta(render)
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self.__oldDt = dt
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#posDelta = self.avatarNodePath.getPosDelta(render)
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#if posDelta==Vec3.zero():
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# self.priorParent.setVector(self.__oldPosDelta)
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#else:
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# self.priorParent.setVector(Vec3.zero())
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# # We must copy the vector to preserve it:
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# self.__oldPosDelta=Vec3(posDelta)
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if 1 and __debug__:
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if self.wantAvatarPhysicsIndicator:
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onScreenDebug.add("posDelta1",
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self.avatarNodePath.getPosDelta(render).pPrintValues())
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# is same as posDelta1:
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#onScreenDebug.add("posDelta2",
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# self.avatarNodePath.getPosDelta(self.priorParentNp).pPrintValues())
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# is always zero:
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#onScreenDebug.add("posDelta2.5",
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# self.avatarNodePath.getPosDelta(self.avatarNodePath).pPrintValues())
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if 0:
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onScreenDebug.add("posDelta3",
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render.getRelativeVector(
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self.avatarNodePath,
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self.avatarNodePath.getPosDelta(render)).pPrintValues())
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if 0:
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lines = LineStream.LineStream()
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self.phys.write(lines)
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phys = ""
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while lines.isTextAvailable():
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phys += lines.getLine()
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onScreenDebug.add("phys", phys)
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if 1:
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onScreenDebug.add("gravity",
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self.gravity.getLocalVector().pPrintValues())
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onScreenDebug.add("priorParent",
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self.priorParent.getLocalVector().pPrintValues())
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onScreenDebug.add("avatarViscosity",
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"% 10.4f"%(self.avatarViscosity.getCoef(),))
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onScreenDebug.add("physObject pos",
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physObject.getPosition().pPrintValues())
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onScreenDebug.add("physObject hpr",
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physObject.getOrientation().getHpr().pPrintValues())
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onScreenDebug.add("physObject orien",
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physObject.getOrientation().pPrintValues())
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if 0:
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onScreenDebug.add("posDelta4",
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self.priorParentNp.getRelativeVector(
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render,
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self.avatarNodePath.getPosDelta(render)).pPrintValues())
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if 0:
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onScreenDebug.add("priorParent",
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self.priorParent.getLocalVector().pPrintValues())
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if 0:
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onScreenDebug.add("priorParent po",
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self.priorParent.getVector(physObject).pPrintValues())
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if 0:
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onScreenDebug.add("__posDelta",
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self.__oldPosDelta.pPrintValues())
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if 1:
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onScreenDebug.add("airborneHeight", "% 10.4f"%(
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self.getAirborneHeight(),))
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airborneHeight=self.getAirborneHeight()
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#if airborneHeight < 0.1: #contact!=Vec3.zero():
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if contact!=Vec3.zero():
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contactLength = contact.length()
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contact.normalize()
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angle=contact.dot(Vec3.up())
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if angle>self.__standableGround:
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# ...avatar is on standable ground.
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if self.__old_contact==Vec3.zero():
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jumpTime = 0.0
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if self.__oldAirborneHeight > 0.1: #self.__oldContact==Vec3.zero():
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# ...avatar was airborne.
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if contactLength>self.__hardLandingForce:
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# ...avatar was airborne.
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messenger.send("jumpHardLand")
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else:
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messenger.send("jumpLand")
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@ -270,9 +418,10 @@ class PhysicsWalker(DirectObject.DirectObject):
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jump.normalize()
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jump*=self.avatarControlJumpForce
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physObject.addImpulse(Vec3(jump))
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if contact!=self.__old_contact:
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if contact!=self.__oldContact:
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# We must copy the vector to preserve it:
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self.__old_contact=Vec3(contact)
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self.__oldContact=Vec3(contact)
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self.__oldAirborneHeight=airborneHeight
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self.phys.doPhysics(dt)
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# Check to see if we're moving at all:
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if self.__speed or self.__slideSpeed or self.__rotationSpeed:
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@ -281,28 +430,52 @@ class PhysicsWalker(DirectObject.DirectObject):
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rotation = dt * self.__rotationSpeed
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#debugTempH=self.avatarNodePath.getH()
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assert self.avatarNodePath.getHpr().almostEqual(physObject.getOrientation().getHpr(), 0.0001)
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if self.rotatePhysics:
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assert self.avatarNodePath.getHpr().almostEqual(physObject.getOrientation().getHpr(), 0.0001)
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assert self.avatarNodePath.getPos().almostEqual(physObject.getPosition(), 0.0001)
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# update pos:
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# Take a step in the direction of our previous heading.
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self.__vel=Vec3(Vec3.forward() * distance +
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Vec3.right() * slideDistance)
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# rotMat is the rotation matrix corresponding to
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# our previous heading.
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rotMat=Mat3.rotateMatNormaxis(self.avatarNodePath.getH(), Vec3.up())
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step=rotMat.xform(self.__vel)
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physObject.setPosition(Point3(
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physObject.getPosition()+step))
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# update hpr:
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o=physObject.getOrientation()
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r=LOrientationf()
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r.setHpr(Vec3(rotation, 0.0, 0.0))
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physObject.setOrientation(o*r)
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# sync the change:
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self.actorNode.updateTransform()
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self.__vel=Vec3(
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Vec3.forward() * distance +
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Vec3.right() * slideDistance)
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if self.rotatePhysics:
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# rotMat is the rotation matrix corresponding to
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# our previous heading.
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rotMat=Mat3.rotateMatNormaxis(self.avatarNodePath.getH(), Vec3.up())
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step=rotMat.xform(self.__vel)
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physObject.setPosition(Point3(
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physObject.getPosition()+step))
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# update hpr:
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o=physObject.getOrientation()
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r=LOrientationf()
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r.setHpr(Vec3(rotation, 0.0, 0.0))
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physObject.setOrientation(o*r)
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assert self.avatarNodePath.getHpr().almostEqual(physObject.getOrientation().getHpr(), 0.0001)
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# sync the change:
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self.actorNode.updateTransform()
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else:
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#physObject.setPosition(Point3(
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# physObject.getPosition()+self.__vel))
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# rotMat is the rotation matrix corresponding to
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# our previous heading.
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rotMat=Mat3.rotateMatNormaxis(self.avatarNodePath.getH(), Vec3.up())
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step=rotMat.xform(self.__vel)
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physObject.setPosition(Point3(
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physObject.getPosition()+step))
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# sync the change:
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self.actorNode.updateTransform()
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self.avatarNodePath.setHpr(
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self.avatarNodePath.getHpr()+
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Vec3(rotation, 0.0, 0.0))
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if self.rotatePhysics:
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assert self.avatarNodePath.getHpr().almostEqual(physObject.getOrientation().getHpr(), 0.0001)
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assert self.avatarNodePath.getPos().almostEqual(physObject.getPosition(), 0.0001)
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#assert self.avatarNodePath.getH()==debugTempH-rotation
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messenger.send("avatarMoving")
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@ -318,7 +491,7 @@ class PhysicsWalker(DirectObject.DirectObject):
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"""
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#assert(self.debugPrint("handleAvatarControls(task=%s)"%(task,)))
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physObject=self.actorNode.getPhysicsObject()
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rotAvatarToPhys=Mat3.rotateMatNormaxis(-self.avatarNodePath.getH(), Vec3.up())
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#rotAvatarToPhys=Mat3.rotateMatNormaxis(-self.avatarNodePath.getH(), Vec3.up())
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#rotPhysToAvatar=Mat3.rotateMatNormaxis(self.avatarNodePath.getH(), Vec3.up())
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contact=self.actorNode.getContactVector()
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@ -347,8 +520,7 @@ class PhysicsWalker(DirectObject.DirectObject):
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if angle>self.__standableGround:
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# ...avatar is on standable ground.
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#print "standableGround"
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if self.__old_contact==Vec3.zero():
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jumpTime = 0.0
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if self.__oldContact==Vec3.zero():
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if contactLength>self.__hardLandingForce:
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# ...avatar was airborne.
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messenger.send("jumpHardLand")
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@ -366,9 +538,9 @@ class PhysicsWalker(DirectObject.DirectObject):
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physObject.setVelocity(Vec3(0.0))
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self.__vel.set(0.0, 0.0, 0.0)
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doPhysics=0
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if contact!=self.__old_contact:
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if contact!=self.__oldContact:
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# We must copy the vector to preserve it:
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self.__old_contact=Vec3(contact)
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self.__oldContact=Vec3(contact)
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#print "doPhysics", doPhysics
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#print "contact", contact
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if doPhysics:
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@ -411,9 +583,29 @@ class PhysicsWalker(DirectObject.DirectObject):
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self.actorNode.setContactVector(Vec3.zero())
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return Task.cont
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def doDeltaPos(self):
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assert(self.debugPrint("doDeltaPos()"))
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self.needToDeltaPos = 1
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def setPriorParentVector(self):
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assert(self.debugPrint("doDeltaPos()"))
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if 0:
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posDelta = self.avatarNodePath.getPosDelta(render)
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assert(self.debugPrint(" posDelta=%s"%(posDelta,)))
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self.priorParent.setVector(Vec3(posDelta))
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onScreenDebug.append("posDelta = %s\n"%(posDelta,))
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else:
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print "self.__oldDt", self.__oldDt, "self.__oldPosDelta", self.__oldPosDelta
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velocity = self.__oldPosDelta*(1/self.__oldDt)
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assert(self.debugPrint(" __oldPosDelta=%s"%(self.__oldPosDelta,)))
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assert(self.debugPrint(" velocity=%s"%(velocity,)))
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self.priorParent.setVector(Vec3(velocity))
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onScreenDebug.add("velocity", velocity.pPrintValues())
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def resetPhys(self):
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assert(self.debugPrint("resetPhys()"))
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self.actorNode.getPhysicsObject().resetPosition(self.avatarNodePath.getPos())
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self.priorParent.setVector(Vec3.zero())
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self.actorNode.setContactVector(Vec3.zero())
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def enableAvatarControls(self):
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@ -441,14 +633,15 @@ class PhysicsWalker(DirectObject.DirectObject):
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self.accept("arrow_down", self.moveInReverse, [1])
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self.accept("arrow_down-up", self.moveInReverse, [0])
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if 1:
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if __debug__:
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self.accept("control-f3", self.spawnTest) #*#
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self.accept("f3", self.resetPhys) # for debugging only.
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taskName = "AvatarControls%s"%(id(self),)
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# remove any old
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taskMgr.remove(taskName)
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# spawn the new task
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taskMgr.add(self.handleAvatarControls, taskName, 10)
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taskMgr.add(self.handleAvatarControls, taskName, 25)
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if self.physVelocityIndicator:
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taskMgr.add(self.avatarPhysicsIndicator, "AvatarControlsIndicator%s"%(id(self),), 35)
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@ -483,7 +676,10 @@ class PhysicsWalker(DirectObject.DirectObject):
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self.ignore("arrow_down")
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self.ignore("arrow_down-up")
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self.ignore("f3")
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if __debug__:
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self.ignore("control-f3") #*#
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self.ignore("f3")
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# reset state
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self.moveTurnLeft(0)
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