Panda3D Manual: Event Example
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Here is a short example of using the Collision Handler Events

import direct.directbase.DirectStart
from direct.interval.IntervalGlobal import * #to make things flash on collisions
from pandac.PandaModules import *
from direct.showbase import DirectObject #so that we can accept messages


class World( DirectObject.DirectObject ):
	def __init__( self ):
		#initialize traverser
		base.cTrav = CollisionTraverser()

		#initialize handler
		self.collHandEvent=CollisionHandlerEvent()
                self.collHandEvent.addInPattern('into-%in')
		self.collHandEvent.addOutPattern('outof-%in')

		#initialize collision count (for unique collision strings)
		self.collCount=0

		#load a model.  reparent it to the camera so we can move it.
		s = loader.loadModel('smiley')	
		s.reparentTo(camera)
		s.setPos(0, 25,0)

		#setup a collision solid for this model
		sColl=self.initCollisionSphere(s, True)

		#add this object to the traverser
		base.cTrav .addCollider(sColl[0] , self.collHandEvent)

		#accept the events sent by the collisions
                self.accept( 'into-' + sColl[1], self.collide3)
                self.accept( 'outof-' + sColl[1], self.collide4)
                print sColl[1]
		
		#load a model.  
		t = loader.loadModel('smiley')	
		t.reparentTo(render)
		t.setPos(5, 25,0)

		#setup a collision solid for this model
		tColl=self.initCollisionSphere(t, True)

		#add this object to the traverser
                base.cTrav .addCollider(tColl[0], self.collHandEvent)

                #accept the events sent by the collisions
                self.accept( 'into-' + tColl[1], self.collide)
                self.accept( 'outof-' + tColl[1], self.collide2)
                print tColl[1]

                print "WERT"

                
	def collide(self, collEntry):
		print "WERT: object has collided into another object"
		Sequence(Func(collEntry.getFromNodePath().getParent().setColor, VBase4(1,0,0,1)),
			     Wait(.2),
			     Func(collEntry.getFromNodePath().getParent().setColor, VBase4(0,1,0,1)),
			     Wait(.2),
			     Func(collEntry.getFromNodePath().getParent().setColor, VBase4(1,1,1,1))).start()			     
				

	def collide2(self, collEntry):
		#collEntry.getFromNodePath().getParent().remove()
		print "WERT.: object is no longer colliding with another object"
		
	def collide3(self, collEntry):
		#collEntry.getFromNodePath().getParent().remove()
		print "WERT2: object has collided into another object"

	def collide4(self, collEntry):
		#collEntry.getFromNodePath().getParent().remove()
		print "WERT2: object is no longer colliding with another object"
		

	def initCollisionSphere( self, obj, show=False):
		#get the size of the object for the collision sphere
		bounds = obj.getChild(0).getBounds()
 		center = bounds.getCenter()
     		radius = bounds.getRadius()*1.1

		#create a collision sphere and name it something understandable
		collSphereStr = 'CollisionHull' +str(self.collCount)+"_"+obj.getName()
		self.collCount+=1
		cNode=CollisionNode(collSphereStr)
		cNode.addSolid(CollisionSphere(center, radius ) )

		cNodepath=obj.attachNewNode(cNode)
		if show:
			cNodepath.show()
	
		# return a tuple with the collision node and its corrsponding string
		# return the collison node so that the bitmask can be set
		return (cNodepath,collSphereStr )



#run the world.  move around with the mouse to create collisions
w= World()
run()

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