mirror of
https://forge.apps.education.fr/blender-edutech/blender-edutech-tutoriels.git
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213 lines
8.0 KiB
Python
213 lines
8.0 KiB
Python
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import bge # Bibliothèque Blender Game Engine (BGE)
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import serial # Liaison série
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import time
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###############################################################################
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# 3-labyrinthe-imu.py
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# @title: Module (unique) de la scène 3D du labyrinthe à bille pilotable avec une centrale inertielle (capteur IMU)
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# @project: Blender-EduTech - Tutoriel : Tutoriel 3 Labyrinthe à bille - Interfacer avec une carte Arduino
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# @lang: fr
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# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
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# @copyright: Copyright (C) 2023 Philippe Roy
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# @license: GNU GPL
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#
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# Commandes déclenchées par UPBGE pour le scène du labyrinthe
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#
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###############################################################################
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# Récupérer la scène 3D
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scene = bge.logic.getCurrentScene()
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# print("Objets de la scene : ", scene.objects) # Lister les objets de la scène
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# Constantes
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JUST_ACTIVATED = bge.logic.KX_INPUT_JUST_ACTIVATED
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JUST_RELEASED = bge.logic.KX_INPUT_JUST_RELEASED
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ACTIVATE = bge.logic.KX_INPUT_ACTIVE
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###############################################################################
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# Communication avec la carte Arduino
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###############################################################################
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serial_baud=115200
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# serial_comm = serial.Serial('COM4',serial_baud, timeout=0.016) # Windows
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serial_comm = serial.Serial('/dev/ttyACM1',serial_baud, timeout=0.016) # GNU/Linux
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print (serial_comm)
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###############################################################################
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# Gestion de la centrale inertielle (capteur IMU (inertial measurement unit))
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###############################################################################
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# Extraction d'un texte compris entre deux bornes textuelles
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def txt_extrac(txt, borne_avant, borne_apres):
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if txt.find(borne_avant)>0 and txt.find(borne_apres)>0:
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txt1 = txt.split(borne_avant, 2)
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txt2 = txt1[1].split(borne_apres, 2)
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return (txt2[0])
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else:
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return ("")
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# Atteindre une orientation (bas niveau)
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def applyRotationTo(obj, rx=None, ry=None, rz=None, Local=True):
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rres=0.001 # resolution rotation
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# x
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if rx is not None:
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while (abs(rx-obj.worldOrientation.to_euler().x) > rres) :
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if obj.worldOrientation.to_euler().x-rx > rres:
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obj.applyRotation((-rres, 0, 0), Local)
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if rx-obj.worldOrientation.to_euler().x > rres:
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obj.applyRotation((rres, 0, 0), Local)
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# print ("delta x ",rx-obj.worldOrientation.to_euler().x)
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# y
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if ry is not None:
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while (abs(ry-obj.worldOrientation.to_euler().y) > rres) :
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if obj.worldOrientation.to_euler().y-ry > rres:
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obj.applyRotation((0, -rres, 0), Local)
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if ry-obj.worldOrientation.to_euler().y > rres:
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obj.applyRotation((0, rres, 0), Local)
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# print ("delta y ",ry-obj.worldOrientation.to_euler().y)
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# z
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if rz is not None:
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while (abs(rz-obj.worldOrientation.to_euler().z) > rres) :
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if obj.worldOrientation.to_euler().z-rz > rres:
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obj.applyRotation((0, 0, -rres), Local)
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if rz-obj.worldOrientation.to_euler().z > rres:
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obj.applyRotation((0, 0, rres), Local)
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# print ("delta z ",rz-obj.worldOrientation.to_euler().z)
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# Lecture du capteur IMU
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def capteur(cont):
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obj = cont.owner # obj est l'objet associé au contrôleur donc 'Plateau'
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resolution = 0.2
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# Touche ESC -> Quitter
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keyboard = bge.logic.keyboard
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if keyboard.inputs[bge.events.ESCKEY].status[0] == ACTIVATE:
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serial_comm.close()
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bge.logic.endGame()
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# Lecture de la liaison série : programme Arduino : 3-labyrinthe-imu.ino
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obj['Rx']=obj.worldOrientation.to_euler().x
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obj['Ry']=obj.worldOrientation.to_euler().y
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obj['Rz']=obj.worldOrientation.to_euler().z
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serial_msg = str(serial_comm.readline())
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if serial_msg.find(",")>0:
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txt = serial_msg.split(',',2)
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x_txt = txt[0][2:]
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y_txt = txt[1][:-5]
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x=-(float(x_txt)/57.3) * resolution # 1/ 360 / (2 * pi)
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y=-(float(y_txt)/57.3) * resolution # 1/ 360 / (2 * pi)
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# Roll et Pitch
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applyRotationTo(scene.objects['Plateau'], x,y, 0)
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###############################################################################
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# Gameplay
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###############################################################################
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# Initialisation de la scène
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def init(cont):
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obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille'
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# Mémorisation de la position de départ de la bille
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obj['init_x']=obj.worldPosition.x
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obj['init_y']=obj.worldPosition.y
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obj['init_z']=obj.worldPosition.z
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# Cacher le panneau de la victoire et suspendre la physique du panneau cliquable
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scene.objects['Panneau victoire'].setVisible(False,True)
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scene.objects['Panneau victoire - plan'].suspendPhysics (True)
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scene.objects['Bouton fermer'].color = (0, 0, 0, 1) # Noir
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# Cycle (boucle de contrôle de la bille)
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def cycle(cont):
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obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille'
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obj['z']=obj.worldPosition.z # la propriété z est mis à jour avec la position globale en z de la bille
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obj['vitesse z']=obj.worldLinearVelocity.z # la propriété z est mis à jour avec la position globale en z de la bille
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# Chute ?
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if obj['z'] < -10 and scene.objects['Panneau victoire'].visible == False:
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print ("Chuuuu.....te")
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# Mettre la bille à la position de départ avec une vitesse nulle
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obj.worldLinearVelocity=(0, 0, 0)
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obj.worldAngularVelocity=(0, 0, 0)
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obj.worldPosition.x = obj['init_x']
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obj.worldPosition.y = obj['init_y']
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obj.worldPosition.z = obj['init_z']+0.5 # On repose la bille
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time.sleep(0.1)
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# Victoire (colision de la bille avec l'arrivée)
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def victoire(cont):
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scene.objects['Panneau victoire'].setVisible(True,True) # Afficher le panneau de la victoire
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scene.objects['Panneau victoire - plan'].restorePhysics() # Restaurer la physique du panneau cliquable
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start = 1
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end = 100
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layer = 0
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priority = 1
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blendin = 1.0
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mode = bge.logic.KX_ACTION_MODE_PLAY
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layerWeight = 0.0
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ipoFlags = 0
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speed = 1
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scene.objects['Panneau victoire'].playAction('Panneau victoireAction', start, end, layer, priority, blendin, mode, layerWeight, ipoFlags, speed)
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# Highlight du bouton Fermer
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def victoire_fermer_hl(cont):
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obj = cont.owner
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# Activation
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if cont.sensors['MO'].status == JUST_ACTIVATED:
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obj.color = (1, 1, 1, 1) # Blanc
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# Désactivation
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if cont.sensors['MO'].status == JUST_RELEASED:
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obj.color = (0, 0, 0, 1) # Noir
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# Fermer le panneau de la victoire (clic)
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def victoire_fermer(cont):
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if cont.sensors['Click'].status == JUST_ACTIVATED and cont.sensors['MO'].positive:
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scene.objects['Panneau victoire'].setVisible(False,True) # Cacher le panneau de la victoire
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scene.objects['Panneau victoire - plan'].suspendPhysics (True) # Suspendre la physique du panneau cliquable
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scene.objects['Bille']['z']= -21 # On provoque le redémarrage si la bille est ressortie
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###############################################################################
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# Gestion du Joystick USB
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###############################################################################
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def joystick(cont):
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obj = cont.owner
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joystickIndex = 0 #int from 0 to 6
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joy = bge.logic.joysticks[joystickIndex]
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events = joy.activeButtons
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axis = joy.axisValues[0:4]
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resolution = 0.01
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leftStick_x = axis[0]; leftStick_y = axis[1]
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rightStick_x = axis[2]; rightStick_y = axis[3]
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#if any button is pressed
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# if events:
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# print(events) #spit out integer index of pressed buttons
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# if 0 in events:
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# doSomething()
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# Up
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if leftStick_y <-0.1 :
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obj.applyRotation((-resolution,0,0), False)
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# Down
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if leftStick_y >0.1 :
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obj.applyRotation((resolution,0,0), False)
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# Left
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if leftStick_x <-0.1 :
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obj.applyRotation((0, -resolution,0), False)
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# Right
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if leftStick_x >0.1 :
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obj.applyRotation((0, resolution,0), False)
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