Type hintings added, fast step PID delta time fix

Bumped to v0.6.0
Lighting, shadow caster fix
InputState typed dict added
PStats conenction
Load scene modifications
Button input codee changes
Scene texture change to use CC0 texture
Added CREDITS.md
IDroneControllable abstract methods
Added some examples
DroneState and DroneAction module split
Other minor bug fixes

Author: nb-programmer

README.md

@@ -33,7 +33,7 @@ Or alternatively, execute the package using the Python interpreter:
 $ python -m dronesim
 ```
 
-Refer to the `examples/` folder for running the simulator with custom controllers
+Refer to the `examples/` folder for running the simulator with custom controllers. You will need to clone this repo in order to access the examples.
 
 ## Controls
 
@@ -48,6 +48,7 @@ Key|Action
 Esc|Unlock/Lock and Show/Hide mouse
 F1|Toggle visibility of HUD
 F3|Toggle visibility of debug view
+Shift+F3|Connect to Panda3D's PStats tool for profiling
 F5|Change camera mode from one of [Free, First Person or Third Person]
 F6|Toggle your control between camera and UAV
 F11|Toggle fullscreen

TODO.md

@@ -26,4 +26,4 @@ Pretty long at the moment. It is in no particular order
 - [x] Show crosshair
   - [ ] Crosshair blend mode (invert) with what's on screen below it
 - [ ] Allow sensor access to physics engine
-- [ ] Bump mapping on scene to make depth more realistic
+- [x] Bump mapping on scene to make depth more realistic

demo-old/scenes/simple_loop.bam

@@ -5,9 +5,10 @@
 
 #Import major classes
 from dronesim.simulator import DroneSimulator
-from dronesim.types import DroneState
-from dronesim.interface import IDroneControllable, DefaultDroneControl
+from dronesim.interface import IDroneControllable, DroneAction, DroneState
+from dronesim.interface.default import DefaultDroneControl
 from dronesim.actor import UAVDroneModel
+from dronesim.simapp import SimulatorApplication
 
 def make_uav() -> typing.Tuple[DroneSimulator, IDroneControllable, UAVDroneModel]:
     '''Simple method to create a UAV model with a simulator attached'''

dronesim/__init__.py

@@ -1,13 +1,10 @@
 
-#Simulated drone
-from dronesim import make_uav
+#Simulated drone and application
+from dronesim import SimulatorApplication, make_uav
 
 #Sensors
 from dronesim.sensor.panda3d.camera import Panda3DCameraSensor
 
-#App window
-from dronesim.simapp import SimulatorApplication
-
 import argparse
 
 def main():
@@ -19,23 +16,23 @@ def main():
     sim, controller, drone = make_uav()
 
     #Application window with the drone entity added
-    droneWindow = SimulatorApplication(drone)
+    simulator_window = SimulatorApplication(drone)
 
     # ** Configure the simulator by adding sensors **
 
     #Add a camera sensor facing down
     #NOTE: having texture of a power of 2 helps in memory optimization
-    downCam = Panda3DCameraSensor("downCameraRGB", size=(512,512))
-    sim.add_sensor(down_camera_rgb = downCam)
+    down_cam = Panda3DCameraSensor("downCameraRGB", size=(512,512))
+    sim.add_sensor(down_camera_rgb = down_cam)
     #Insert camera into main app window and attach to the scene
-    downCam.attach_to_env(droneWindow.render, droneWindow.graphicsEngine, droneWindow.win)
+    down_cam.attach_to_env(simulator_window.render, simulator_window.graphicsEngine, simulator_window.win)
     #Move and rotate camera with the UAV object
-    downCam.reparentTo(drone)
+    down_cam.reparentTo(drone)
     #Face down
-    downCam.setHpr(0, -90, 0)
+    down_cam.setHpr(0, -90, 0)
 
     #Start the app
-    droneWindow.run()
+    simulator_window.run()
 
 if __name__ == "__main__":
     main()

dronesim/__main__.py

@@ -72,7 +72,7 @@ def __init__(self,
             'modelRoot': shell_model,
             **propeller_parts
         }, anims={'modelRoot': {}}) #To use the multipart w/o LOD loader (this is the way to do it)
-        
+
         for bone in propellers.keys():
             #Make node accessible
             self.exposeJoint(None, 'modelRoot', bone)

dronesim/actor/uav.py

@@ -7,7 +7,7 @@
 
 from direct.showbase.ShowBase import ShowBase
 from direct.actor.Actor import Actor
-from .types import Vec4Tuple
+from .types import InputState, StepRC
 import typing
 
 class CameraControlBase:
@@ -99,6 +99,8 @@ def _mouseModeUnlocked(self):
 class FreeCam(CameraControlBase):
     '''
     Implement Free camera (spectator view) movement
+
+    It controls like Blender fly mode or Counter Strike spectator mode
     '''
     def __init__(self, flySpeed : float = 15.0, *args, **kwargs):
         super().__init__(*args, **kwargs)
@@ -120,14 +122,64 @@ def update_scroll(self, dir : float):
     def update(self,
                dt : float,
                lookSensitivity : float = 2000.0,
-               mvVec : Vec4Tuple = None,
+               input_state : InputState = None,
                **kwargs):
 
         hprVec = self._app.camera.getHpr()
         xyzVec = self._app.camera.getPos()
+        mvVec : StepRC = None
+
+        if input_state is not None:
+            mvVec = input_state['movement_vec']
+
+        if mvVec is None:
+            mvVec = StepRC(0,0,0,0)
+
+        if self.mouseLocked:
+            mx, my = self._grabMouseLockRelative()
+            #Mouse relative pitch and yaw
+            hprVec[0] -= mx * lookSensitivity * dt
+            hprVec[1] -= my * lookSensitivity * dt
+
+        hprVec[0] -= mvVec.velr * lookSensitivity * 3e-2 * dt
+        hprVec[1] += mvVec.velz * lookSensitivity * 3e-2 * dt
+
+        hprVec = tuple(self.restrict_Hpr(hprVec))
+        self._app.camera.setHpr(hprVec)
+
+        #Get updated camera matrix
+        camRotVecFB = self._app.camera.getMat().getRow3(1)
+        camRotVecLR = self._app.camera.getMat().getRow3(0)
+        camRotVecFB.normalize()
+        camRotVecLR.normalize()
+
+        #New camera position based on user control and camera facing direction.
+        #This allows movement in any direction
+        flyVec = camRotVecLR * mvVec.velx * self._flySpeed * dt + camRotVecFB * mvVec.vely * self._flySpeed * dt
+        self._app.camera.setPos(xyzVec + flyVec)
+
+
+class FlyCam(CameraControlBase):
+    '''
+    Implement Free camera movement
+
+    It controls like Minecraft creative flying mode
+    '''
+    def update(self,
+               dt : float,
+               lookSensitivity : float = 2000.0,
+               input_state : InputState = None,
+               **kwargs):
+
+        hprVec = self._app.camera.getHpr()
+        xyzVec = self._app.camera.getPos()
+        mvVec : StepRC = None
+
+        if input_state is not None:
+            mvVec = input_state['movement_vec']
 
         if mvVec is None:
-            mvVec = (0,)*4
+            mvVec = StepRC(0,0,0,0)
 
         if self.mouseLocked:
             mx, my = self._grabMouseLockRelative()

dronesim/assets/scenes/simple_loop.glb

@@ -1,3 +1,4 @@
 
 from .control import IDroneControllable
-from .default import DefaultDroneControl
+from .action import DroneAction
+from .state import DroneState

dronesim/cameracontrol.py

@@ -0,0 +1,14 @@
+
+from enum import Enum, auto
+
+class DroneAction(Enum):
+    '''
+    Action or operation the UAV has to perform (takeoff, land, flip, etc.).
+
+    You can extend this class if your (custom) engine has a different set, but
+    make sure to use the correct enum class for that!
+    '''
+    TAKEOFF = auto()
+    LAND = auto()
+    STOP_IN_PLACE = auto()
+    MOTOROFF = auto()