| Both sides previous revisionPrevious revisionNext revision | Previous revision |
| public:t-vien-10-3:lab_4_materials [2010/10/06 21:33] – hannes | public:t-vien-10-3:lab_4_materials [2024/04/29 13:33] (current) – external edit 127.0.0.1 |
|---|
| ====== Lab 4 - Events, Collision and Movement ====== | ====== Lab 4 - Events, Collision and Movement ====== |
| |
| <note warning>Under Construction! Do not use yet!</note> | |
| |
| ==== Before You Start ==== | ==== Before You Start ==== |
| |
| * Download and unzip the [[http://www.ru.is/kennarar/hannes/classes/ve2008/Lab4Assets.zip|Lab 4 Asset File]] into your working directory | * Download and unzip the [[http://www.ru.is/kennarar/hannes/classes/ve2010/Lab4Assets.zip|Lab 4 Asset File]] into your working directory |
| | * (Optional) For working with PhysX (see last step below), you need to install [[http://www.ru.is/kennarar/hannes/share/PhysX_9.10.0513_SystemSoftware.exe|The PhysX Software System]] |
| |
| ==== Making a functional trap door ==== | ==== Making a functional trap door ==== |
| </code> You can call **show()** on your new collision node nodepaths to see your collision solids as semi-transparent objects when you view your scene. Verify that your solids are in the right place and then remove the calls to show(). | </code> You can call **show()** on your new collision node nodepaths to see your collision solids as semi-transparent objects when you view your scene. Verify that your solids are in the right place and then remove the calls to show(). |
| - **Making the Box Move:**\\ Create a new **LerpPosInterval** for the box and have it move to the location **(1,0,-1)**. Make the **World** accept a 'mouse1' event and call a method that starts this interval playing. A duration of **3.0 seconds** for this movement seems good and you might want to try different blend types. Verify that you can make the box move by clicking the left mouse button. Notice that the box goes right through the door. | - **Making the Box Move:**\\ Create a new **LerpPosInterval** for the box and have it move to the location **(1,0,-1)**. Make the **World** accept a 'mouse1' event and call a method that starts this interval playing. A duration of **3.0 seconds** for this movement seems good and you might want to try different blend types. Verify that you can make the box move by clicking the left mouse button. Notice that the box goes right through the door. |
| - **Making a Collision Happen:**\\ In the **World** constructor, create a new instance of a **CollisionHandlerEvent** and add the event pattern shown below:<code python> | - **Making a Collision Happen:**\\ In the **World** constructor, create a new instance of a **CollisionHandlerEvent** and add the event name pattern shown below:<code python> |
| collhandler = CollisionHandlerEvent() | collhandler = CollisionHandlerEvent() |
| collhandler.addInPattern('%fn-into-%in') # The event pattern | collhandler.addInPattern('%fn-into-%in') # The event name pattern: "<from name>-into-<into name>" |
| </code> Then initialize the global collision traverser as follows: <code python> | </code> Then initialize the global collision traverser as follows: <code python> |
| base.cTrav = CollisionTraverser('world traverser') | base.cTrav = CollisionTraverser('world traverser') |
| newinterval = Sequence(<interval1>, <interval2>, ... ) | newinterval = Sequence(<interval1>, <interval2>, ... ) |
| </code> | </code> |
| - **A Physics Based Version**:\\ In the version of the factory above, you were faking movement in a physical world by using interpolators to move objects around. You had to do everything by hand, and even so, not everything is looking right. For example, if the box hits the edge of the door, the box stops, even if physics tell us that the box should just tip over and fall off the edge. In fact, if it lands on the door, it doesn't even move with the door. All of these details can be taken care of with a good simulation of physics and rigid body dynamics. One such engine is the [[http://www.ode.org/|Open Dynamics Engine (ODE)]]. You can incorporate this engine into your Panda environments using the [[http://pyode.sourceforge.net/|open-source PyODE module]]. Start by downloading and installing this module (remember to get the version for Python 2.4 to match the version that Panda uses). Now all you have to do to use ODE in your Panda program is to add **''import ode''**. Follow these steps to redo the factory scene with ODE, simply by modifying the code you have so far. (This code is based on the excellent PyODE tutorials as well as on several Panda 3D forum posts) \\ | - **A Physics Based Version**:\\ In the version of the factory above, you were faking movement in a physical world by using interpolators to move objects around. You had to do everything by hand, and even so, not everything is looking right. For example, if the box hits the edge of the door, the box stops, even if physics tell us that the box should just tip over and fall off the edge. In fact, if it lands on the door, it doesn't even move with the door. All of these details can be taken care of with a good simulation of physics and rigid body dynamics. One such engine is the [[http://www.ode.org/|Open Dynamics Engine (ODE)]] and another such engine is [[http://developer.nvidia.com/object/physx.html|NVidia PhysX]]. Both of these engines are supported by Panda3D. ODE is an open source project, and therefore the whole source (which is in C++) is available for those that are interested. PhysX is a commercial product, and is somewhat more robust and precise (used in a number of high-end games), but you only get access to run-time binaries in addition to the API. In this part of the lab, you can choose to create the above scene with ODE or PhysX (or both if you wish). Simply follow the instructions for each below: |
| - The simulation actually takes place in two separate invisible simulation environments, one for the physics (called ''world'') and another for collision handling (called ''space''). So the first thing you do (you can do all of this in the constructor of your **World** class) is to instantiate and set up these two environments: <code python> | - [[public:t-vien-10-3:lab_4_materials:ode|Open Dynamics Engine (ODE) Instructions]] |
| self.world = ode.World() # Create a physics/dynamics environment | - [[public:t-vien-10-3:lab_4_materials:physx|NVidia PhysX Instructions (unfairly only for Windows)]] |
| self.world.setGravity((0,0,-9.81)) # Add earth gravity in the negative z-dimension | |
| self.space = ode.Space() # Create a collision environment | |
| </code> For each object you want to be part of the physics simulation, you have to create a physical body. Here is how the physical body of the box is created (note that you still need your original Panda model of the box, that's the //visible// version of the box): <code python> | |
| self.boxbody = ode.Body(self.world) # Instantiate a physical body in the physical environment | |
| self.boxbody.size = (0.3, 0.3, 0.3) # Store the size of the body | |
| self.boxbody.setPosition((1,0,2)) # Place the body in the same location as in the Panda environment | |
| self.boxbody.addForce((0,0,1000)) # This is just for fun: give the box an upward kick at the beginning | |
| self.boxmass = ode.Mass() # Define a physical mass for the box | |
| self.boxmass.setBox(500, *self.boxbody.size) # The mass is defined as density and size | |
| self.boxbody.setMass(self.boxmass) # Add the mass to the physical body of the box | |
| </code> Now that you have a physical representation of the box, you still need to make an ODE collision solid for it and put into the collision environment. This is how: <code python> | |
| self.boxsolid = ode.GeomBox(self.space, self.boxbody.size) | |
| self.boxsolid.setBody(self.boxbody) | |
| </code> To see the effect of gravity (and the kicking force) on the box, you will now have to start a task that copies the position of the physical box to the position of the visual box at every frame, and advances the physics simulation world by one step: <code python> | |
| taskMgr.add(self.simulate, 'ODE Simulation') | |
| def simulate(self, task): | |
| x,y,z = self.boxbody.getPosition() # Get position of the simulated physical box | |
| self.box.setPos(Vec3(x,y,z)) # Set the position of the visual box | |
| self.world.step(0.04) # Increment time in the physical simulation | |
| return Task.cont # Keep this task running forever | |
| </code> Test this and make sure gravity is working as expected. Make sure to comment out the LerpPosInterval for the box since you no longer need it! You should also change the left mouse button handler so that it sets the position of both the visual box and the physical box back to the original position (to maintain similar functionality as before). You will also want to set the linear velocity of the box to 0 like this **''self.boxbody.setLinearVel( (0,0,0) )''**, otherwise the box will keep going faster and faster\\ | |
| - To introduce collision with the door, you will need to create both a physical body for the door and a ODE collision solid for the door, just like you did for the box. Try using **size** of **(2,2,0.1)** and **density** of **1000**. Don't forget to update the door's visual position based on the physical position in the simulation task! In fact, this time, let's update both the position and the rotation of both objects. The problem is that ODE uses a matrix representation for rotation, so it needs to be converted into a format that Panda understands, which happens to be the quaternion format. Here is a function that will set the position and rotation of a Panda model, given position and rotation in ODE format (just add this as a utility function near the top of your program): <code python> | |
| def set_model_odeposrot(model, body): | |
| pos = body.getPosition() | |
| quat = body.getQuaternion() | |
| model.setPosQuat (VBase3(pos[0],pos[1],pos[2]), Quat(quat[0],quat[1],quat[2],quat[3])) | |
| </code> Your **''simulate''** task should now look like this: <code python> | |
| def simulate(self, task): | |
| set_model_odeposrot(self.box, self.boxbody.getPosition(), self.boxbody.getRotation()) | |
| set_model_odeposrot(self.door, self.doorbody.getPosition(), self.doorbody.getRotation()) | |
| self.world.step(0.04) | |
| return Task.cont | |
| </code> You may notice that the door naturally falls down along with the box since there is nothing holding it up! We'll fix that next. \\ | |
| - You need to attach the door to the environment so that it doesn't fall. In fact, the door is attached to the environment with a so-called **slider joint** because it can slide from side-to-side. ODE provides a number of [[http://opende.sourceforge.net/mediawiki-1.6.10/index.php/Manual_%28Joint_Types_and_Functions%29|joints]] for attaching objects to each other or to the environment. You create and attach the slider joint like this: <code python> | |
| self.doorslider = ode.SliderJoint(self.world) # Instantiating a new slider joint | |
| self.doorslider.attach(self.doorbody, ode.environment) # Using the joint to attach door body to environment | |
| self.doorslider.setAxis((1,0,0)) # Slides along the x-axis | |
| self.doorslider.setParam(ode.paramFMax, 100) # Sets the force of a motor attached to this joint | |
| </code> The last line here actually attaches a little motor to the joint, which we can give a certain velocity whenever we want to move the joint autonomously. Try replacing the LerpPosInterval calls for opening and closing the door, with calls like this: **''self.doorslider.setParam(ode.paramVel, 0.3)''**, where **0.3** is the velocity (can also be negative to go in the other direction). \\ | |
| - Finally, let's add actual ODE collision handling. Comment out all of the previous collision handling code, since this will completely replace it. In **''World''** constructor, create the following member variable:<code python> | |
| self.contactgroup = ode.JointGroup() # Holds a set of joints | |
| </code> Inside the **''simulate''** task, you now have to ask the collision environment to check for near collisions like this:<code python> | |
| self.space.collide((self.world, self.contactgroup), self.near_callback) | |
| </code> Where you then have a new member function called **''near_callback''** that looks like this: <code python> | |
| def near_callback(self, args, solid1, solid2): | |
| contacts = ode.collide(solid1, solid2) # Returns the actual collisions between two solids | |
| world, contactgroup = args | |
| for c in contacts: | |
| c.setBounce(0.2) # How much bounce should happen from this collision | |
| c.setMu(5000) # How much friction there should be between the solids | |
| j = ode.ContactJoint(world, contactgroup, c) # A temporary joint joins the solids together | |
| j.attach(solid1.getBody(), solid2.getBody()) | |
| </code> The very last thing to do is to call **''self.contactgroup.empty()''** right after you have called **''self.world.step(0.04)''** in order to start looking for fresh collisions after each iteration. Test to see if everything is working. \\ | |
| - Play with various simulation values to see what effect they have on the object behavior. You could also try adding more boxes and have them pile on top of each other! | |
| |
| |
| |
| |
