textured_cubes_bullet_pyside2, Python 3

Language: Layout:

import sys
import numpy as np
from OpenGL import GL as gl
from PySide2.QtWidgets import QApplication, QOpenGLWidget
from PySide2.QtGui import QOpenGLShaderProgram, QOpenGLShader, QOpenGLBuffer
from PySide2.QtGui import QOpenGLTexture, QImage
from PySide2.QtGui import QMatrix4x4, QVector3D, QQuaternion
from PySide2.QtXml import QDomDocument, QDomElement
from PySide2.QtCore import Qt, QFile, QIODevice
from PySide2.QtCore import QTimer, QElapsedTimer

from panda3d.bullet import BulletWorld
from panda3d.core import TransformState, Vec3, Quat, Point3
from panda3d.bullet import BulletBoxShape
from panda3d.bullet import BulletRigidBodyNode

# Assets:
# Cube Texture: https://dl.dropboxusercontent.com/s/tply9ubx3n3ycvv/cube.png
# Cube Model: https://dl.dropboxusercontent.com/s/0aktc37c3nx9iq3/cube.dae
# Plane Texture: https://dl.dropboxusercontent.com/s/3iibsnvyw0vupby/plane.png
# Plane Model: https://dl.dropboxusercontent.com/s/e0wktg69ec3w8pq/plane.dae

class VertexBuffers:
    vertex_pos_buffer = None
    normal_buffer = None
    tex_coord_buffer = None
    amount_of_vertices = None

class Locations:
    mvp_matrix_location = None
    model_matrix_location = None
    normal_matrix_location = None

class Object3D:
    position = QVector3D(0, 0, 0)
    rotation = QVector3D(0, 0, 0)
    scale = QVector3D(1, 1, 1)
    mvp_matrix = QMatrix4x4()
    model_matrix = QMatrix4x4()
    normal_matrix = QMatrix4x4()

def __init__(self, vert_buffers, locations, texture, world, mass, pos):
        self.vert_pos_buffer = vert_buffers.vert_pos_buffer
        self.normal_buffer = vert_buffers.normal_buffer
        self.tex_coord_buffer = vert_buffers.tex_coord_buffer
        self.amount_of_vertices = vert_buffers.amount_of_vertices
        
        self.mvp_matrix_location = locations.mvp_matrix_location
        self.model_matrix_location = locations.model_matrix_location
        self.normal_matrix_location = locations.normal_matrix_location
        
        self.texture = texture

self.shape = BulletBoxShape(Vec3(0.5, 0.5, 0.5))
        self.node = BulletRigidBodyNode('Box')

self.position = pos
        self.mass = mass
        self.node.setMass(self.mass)

p = Point3(self.position.x(), self.position.y(), self.position.z())
        q = Quat.identQuat()
        s = Vec3(1, 1, 1)

self.transform = TransformState.make_pos_quat_scale(p, q, s)
        self.node.setTransform(self.transform)

self.node.addShape(self.shape)
        self.world = world
        self.world.attachRigidBody(self.node)

def draw(self, program, proj_view_matrix):
        program.bind()

self.vert_pos_buffer.bind()
        program.setAttributeBuffer(0, gl.GL_FLOAT, 0, 3)
        program.enableAttributeArray(0)

self.normal_buffer.bind()
        program.setAttributeBuffer(1, gl.GL_FLOAT, 0, 3)
        program.enableAttributeArray(1)

self.tex_coord_buffer.bind()
        program.setAttributeBuffer(2, gl.GL_FLOAT, 0, 2)
        program.enableAttributeArray(2)

self.position.setX(self.node.getTransform().pos.x)
        self.position.setY(self.node.getTransform().pos.y)
        self.position.setZ(self.node.getTransform().pos.z)
        hpr = self.node.getTransform().getHpr()
        pandaQuat = Quat()
        pandaQuat.setHpr(hpr)
        quat = QQuaternion(pandaQuat.getX(), pandaQuat.getY(), pandaQuat.getZ(), pandaQuat.getW())
        
        self.model_matrix.setToIdentity()
        self.model_matrix.translate(self.position)
        self.model_matrix.rotate(quat)
        self.model_matrix.scale(self.scale)
        self.mvp_matrix = proj_view_matrix * self.model_matrix
        
        self.normal_matrix = self.model_matrix.inverted()
        self.normal_matrix = self.normal_matrix[0].transposed()
        
        program.bind()
        program.setUniformValue(self.mvp_matrix_location, self.mvp_matrix)
        program.setUniformValue(self.model_matrix_location, self.model_matrix)
        program.setUniformValue(self.normal_matrix_location, self.normal_matrix)
        
        self.texture.bind()

gl.glDrawArrays(gl.GL_TRIANGLES, 0, self.amount_of_vertices)

class Window(QOpenGLWidget):

def __init__(self):
        super().__init__()
        self.setWindowTitle("Bullet Physics")
        self.resize(268, 268)

def initializeGL(self):
        gl.glClearColor(0.2, 0.2, 0.2, 1)
        gl.glEnable(gl.GL_DEPTH_TEST)
        vertShaderSrc = """
            #version 330 core

in vec4 aPosition;
            in vec4 aNormal;
            in vec2 aTexCoord;

uniform mat4 uMvpMatrix;
            uniform mat4 uModelMatrix;
            uniform mat4 uNormalMatrix;

out vec3 vPosition;
            out vec3 vNormal;
            out vec2 vTexCoord;

void main()
            {
                gl_Position = uMvpMatrix * aPosition;
                vPosition = vec3(uModelMatrix * aPosition);
                vNormal = normalize(vec3(uNormalMatrix * aNormal));
                vTexCoord = aTexCoord;
            }
        """
        fragShaderSrc = """
            #version 330 core

const vec3 lightColor = vec3(0.8, 0.8, 0.8);
            const vec3 lightPosition = vec3(5.0, 7.0, 2.0);
            const vec3 ambientLight = vec3(0.3, 0.3, 0.3);

uniform sampler2D uSampler;

in vec3 vPosition;
            in vec3 vNormal;
            in vec2 vTexCoord;

void main()
            {
                vec4 color = texture2D(uSampler, vTexCoord);
                vec3 normal = normalize(vNormal);
                vec3 lightDirection = normalize(lightPosition - vPosition);
                float nDotL = max(dot(lightDirection, normal), 0.0);
                vec3 diffuse = lightColor * color.rgb * nDotL;
                vec3 ambient = ambientLight * color.rgb;
                gl_FragColor = vec4(diffuse + ambient, color.a);
            }
        """
        self.program = QOpenGLShaderProgram()
        self.program.addShaderFromSourceCode(QOpenGLShader.Vertex, vertShaderSrc)
        self.program.addShaderFromSourceCode(QOpenGLShader.Fragment, fragShaderSrc)
        self.program.link()
        self.program.bind()
        self.program.bindAttributeLocation("aPosition", 0)
        self.program.bindAttributeLocation("aNormal", 1)
        self.program.bindAttributeLocation("aTexCoord", 2)
        locations = Locations()
        self.program.bind()
        locations.mvp_matrix_location = self.program.uniformLocation("uMvpMatrix")
        locations.model_matrix_location = self.program.uniformLocation("uModelMatrix")
        locations.normal_matrix_location = self.program.uniformLocation("uNormalMatrix")
        self.vert_buffers = self.initVertexBuffers("assets/cube.dae")
        self.proj_view_matrix = QMatrix4x4()
        self.proj_matrix = QMatrix4x4()
        self.view_matrix = QMatrix4x4()
        self.view_matrix.lookAt(
            QVector3D(2, 3, 5),
            QVector3D(0, 0, 0),
            QVector3D(0, 1, 0))
        
        self.texture = QOpenGLTexture(QOpenGLTexture.Target2D)
        self.texture.create()
        self.texture.setData(QImage("assets/cube.png"))
        self.texture.setMinMagFilters(QOpenGLTexture.Linear, QOpenGLTexture.Linear)
        self.texture.setWrapMode(QOpenGLTexture.ClampToEdge)

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

self.obj = Object3D(self.vert_buffers, locations, self.texture, self.world, mass=0, pos=QVector3D(0, -3, 0))
        self.obj2 = Object3D(self.vert_buffers, locations, self.texture, self.world, mass=1, pos=QVector3D(0.8, 3, 0))
        
        #self.move_dir = 1 # move direction: 1 - up, -1 - down
        #self.move_speed = 0.002
        
        self.timer = QTimer()
        self.timer.timeout.connect(self.animationLoop)
        self.elapsed_timer = QElapsedTimer()
        self.elapsed_timer.start()
        self.delta_time = 0
        self.timer.start(1000/60)
        
    def animationLoop(self):
        self.delta_time = self.elapsed_timer.elapsed()
        self.elapsed_timer.restart()
        self.world.doPhysics(self.delta_time / 1000)
        self.update()
        
    def paintGL(self):
        gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
        self.proj_view_matrix = self.proj_matrix * self.view_matrix
        self.obj.draw(self.program, self.proj_view_matrix)
        self.obj2.draw(self.program, self.proj_view_matrix)

def resizeGL(self, w, h):
        gl.glViewport(0, 0, w, h)
        self.proj_matrix.setToIdentity()
        self.proj_matrix.perspective(50, float(w) / float(h), 0.1, 100)
        
    def initVertexBuffers(self, path):
        xml_doc = QDomDocument()
        file = QFile(path)
        if not file.open(QIODevice.ReadOnly):
            print("Failed to open the file: " + path)
        xml_doc.setContent(file)
        file.close()
        
        vert_pos_array = []
        normal_array = []
        tex_coord_array = []
        index_array = []
        
        root = xml_doc.documentElement()
        dae_elem = root.firstChildElement()
        while not dae_elem.isNull():
            if dae_elem.tagName() == "library_geometries":
                geom_elem = dae_elem.firstChildElement()
                if geom_elem.tagName() == "geometry":
                    mesh_elem = geom_elem.firstChildElement()
                    if mesh_elem.tagName() == "mesh":
                        mesh_child_elem = mesh_elem.firstChildElement()
                        while not mesh_child_elem.isNull():
                            float_array_elem = mesh_child_elem.firstChildElement()
                            str_array = float_array_elem.firstChild().toText().data().split(" ")
                            if mesh_child_elem.attribute("id").endswith("-mesh-positions"):
                                vert_pos_array = list(map(float, str_array))
                            if mesh_child_elem.attribute("id").endswith("-mesh-normals"):
                                normal_array = list(map(float, str_array))
                            if mesh_child_elem.attribute("id").endswith("-mesh-map-0"):
                                tex_coord_array = list(map(float, str_array))
                            if mesh_child_elem.tagName() == "triangles" or mesh_child_elem.tagName() == "polylist":
                                p_child_elem = mesh_child_elem.firstChildElement()
                                while not p_child_elem.isNull():
                                    if p_child_elem.tagName() == "p":
                                        str_indices = p_child_elem.firstChild().toText().data().split(" ")
                                        index_array = list(map(int, str_indices))
                                    p_child_elem = p_child_elem.nextSiblingElement()
                            mesh_child_elem = mesh_child_elem.nextSiblingElement()
            dae_elem = dae_elem.nextSiblingElement()
        # print(vert_pos_array)
        # print(normal_array)
        # print(tex_coord_array)
        # print(index_array)
        
        num_of_attributes = 3
        vert_positions = []
        normals = []
        tex_coords = []
        for i in range(0, len(index_array), num_of_attributes):
            vert_pos_index = index_array[i + 0]
            vert_positions.append(vert_pos_array[vert_pos_index * 3 + 0])
            vert_positions.append(vert_pos_array[vert_pos_index * 3 + 1])
            vert_positions.append(vert_pos_array[vert_pos_index * 3 + 2])
            
            normal_index = index_array[i + 1]
            normals.append(normal_array[normal_index * 3 + 0])
            normals.append(normal_array[normal_index * 3 + 1])
            normals.append(normal_array[normal_index * 3 + 2])
            
            tex_coord_index = index_array[i + 2]
            tex_coords.append(tex_coord_array[tex_coord_index * 2 + 0])
            tex_coords.append(tex_coord_array[tex_coord_index * 2 + 1])
        # print(vert_positions)
        # print(normals)
        # print(tex_coords)
        
        output = {}

vert_positions = np.array(vert_positions, dtype=np.float32)
        vert_pos_buffer = QOpenGLBuffer()
        vert_pos_buffer.create()
        vert_pos_buffer.bind()
        vert_pos_buffer.allocate(vert_positions, len(vert_positions) * 4)
        
        normals = np.array(normals, dtype=np.float32)
        normal_buffer = QOpenGLBuffer()
        normal_buffer.create()
        normal_buffer.bind()
        normal_buffer.allocate(normals, len(normals) * 4)
        
        tex_coords = np.array(tex_coords, dtype=np.float32)
        tex_coord_buffer = QOpenGLBuffer()
        tex_coord_buffer.create()
        tex_coord_buffer.bind()
        tex_coord_buffer.allocate(tex_coords, len(tex_coords) * 4)

vert_buffers = VertexBuffers()
        vert_buffers.vert_pos_buffer = vert_pos_buffer
        vert_buffers.normal_buffer = normal_buffer
        vert_buffers.tex_coord_buffer = tex_coord_buffer
        vert_buffers.amount_of_vertices = int(len(index_array) / 3)
        
        return vert_buffers

def main():
    QApplication.setAttribute(Qt.AA_UseDesktopOpenGL)
    app = QApplication(sys.argv)
    w = Window()
    w.show()
    sys.exit(app.exec_())

if __name__ == "__main__":
    main()

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