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Tutoriel 3 : capteur imu achevé
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@ -1,5 +1,4 @@
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import bge # Bibliothèque Blender Game Engine (BGE)
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import bpy # Blender
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import serial # Liaison série
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import time
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@ -18,8 +17,6 @@ import time
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# Récupérer la scène 3D
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scene = bge.logic.getCurrentScene()
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eevee = bpy.context.scene.eevee
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fps_time=0.0
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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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@ -32,11 +29,9 @@ ACTIVATE = bge.logic.KX_INPUT_ACTIVE
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# Communication avec la carte Arduino
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###############################################################################
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serial_baud=115200 # 7 fps
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# serial_baud=38400 # 6 fps
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# serial_baud=9600 # 2 fps
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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/ttyACM0',serial_baud, timeout=0.016) # GNU/Linux
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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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@ -45,8 +40,6 @@ print (serial_comm)
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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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# print ("find sur (", txt ,") avec (",borne_avant,") -> ", txt.find(borne_avant))
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# print ("find sur (", txt ,") avec (",borne_apres,") -> ", txt.find(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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@ -85,9 +78,8 @@ def applyRotationTo(obj, rx=None, ry=None, rz=None, Local=True):
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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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# global fps_time
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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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@ -97,27 +89,20 @@ def capteur(cont):
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serial_comm.close()
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bge.logic.endGame()
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# Désactivation du capteur pendant la chute
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if scene.objects['Bille']['chute']:
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return
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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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# print (serial_msg)
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if serial_msg.find(",")>0:
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# if ("\r\n") in serial_msg:
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# print (serial_msg)
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txt = serial_msg.split(',',2)
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# print (txt)
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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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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,0, 0)
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applyRotationTo(scene.objects['Plateau'], x,y, 0)
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# obj.applyRotation((0,0,-obj.worldOrientation.to_euler().z), False)
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###############################################################################
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# Gameplay
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@ -126,7 +111,6 @@ def capteur(cont):
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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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# eevee_qualite(0)
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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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@ -146,28 +130,15 @@ def cycle(cont):
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# Chute ?
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if obj['z'] < -10 and scene.objects['Panneau victoire'].visible == False:
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obj['chute']=True
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scene.objects['Plateau']['chute']=True
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print ("Chuuuu.....te")
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# Redémarrer la partie
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def chute(cont):
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obj = cont.owner # obj est l'objet associé au contrôleur donc 'Bille'
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obj_plateau = scene.objects['Plateau'] # obj_plateau est l'objet 'Plateau'
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print ("Chuuuu.....te")
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# Replacement du plateau (tous les angles à 0 en plusieurs fois)
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# while obj_plateau.worldOrientation.to_euler().x != 0 and obj_plateau.worldOrientation.to_euler().y !=0 and obj_plateau.worldOrientation.to_euler().z !=0 :
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# obj_plateau.applyRotation((-obj_plateau.worldOrientation.to_euler().x, -obj_plateau.worldOrientation.to_euler().y, -obj_plateau.worldOrientation.to_euler().z), False)
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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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obj['chute']=False
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scene.objects['Plateau']['chute']=False
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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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@ -203,84 +174,6 @@ def victoire_fermer(cont):
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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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# Qualité du rendu EEVEE de 0 à 4
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###############################################################################
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def eevee_qualite(qualite):
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# Inconvenant
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if qualite== 0:
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eevee.use_eevee_smaa = False # Subpixel Morphological Antialiasing
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eevee.use_ssr = False # Screen space reflection
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eevee.use_gtao = False # Ambient occlusion
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eevee.taa_render_samples = 1
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eevee.taa_samples = 1
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eevee.use_volumetric_lights = False
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eevee.use_volumetric_shadows = False
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eevee.shadow_cascade_size='64'
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eevee.shadow_cube_size='64'
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# Basse
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if qualite== 1:
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eevee.use_eevee_smaa = True
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eevee.smaa_quality= 'LOW'
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eevee.use_ssr = True # Screen space reflection
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eevee.use_ssr_refraction = False # Screen space refractions
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eevee.use_ssr_halfres = True
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eevee.use_gtao = False
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eevee.taa_render_samples = 32
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eevee.taa_samples = 8
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eevee.use_volumetric_lights = True
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eevee.use_volumetric_shadows = False
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eevee.shadow_cascade_size='1024'
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eevee.shadow_cube_size='512'
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# Moyenne
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if qualite== 2:
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eevee.use_eevee_smaa = True
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eevee.smaa_quality= 'MEDIUM'
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eevee.use_ssr = True # Screen space reflection
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eevee.use_ssr_refraction = True # Screen space refractions
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eevee.use_ssr_halfres = True
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eevee.use_gtao = False
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eevee.taa_render_samples = 64
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eevee.taa_samples = 16
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eevee.use_volumetric_lights = True
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eevee.use_volumetric_shadows = False
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eevee.shadow_cascade_size='1024'
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eevee.shadow_cube_size='512'
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# Haute
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if qualite== 3:
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eevee.use_eevee_smaa = True
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eevee.smaa_quality= 'HIGH'
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eevee.use_ssr = True
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eevee.use_ssr_refraction = True
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eevee.use_ssr_halfres = False
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eevee.use_gtao = False
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eevee.taa_render_samples = 64
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eevee.taa_samples = 16
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eevee.use_volumetric_lights = True
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eevee.use_volumetric_shadows = False
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eevee.shadow_cascade_size='1024'
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eevee.shadow_cube_size='512'
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# Épique
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if qualite== 4:
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eevee.use_eevee_smaa = True
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eevee.smaa_quality= 'ULTRA'
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eevee.use_ssr = True
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eevee.use_ssr_refraction = True
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eevee.use_ssr_halfres = False
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eevee.use_gtao = True
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eevee.taa_render_samples = 64
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eevee.taa_samples = 16
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eevee.use_volumetric_lights = True
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eevee.use_volumetric_shadows = True
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eevee.shadow_cascade_size='4096'
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eevee.shadow_cube_size='4096'
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###############################################################################
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# Gestion du Joystick USB
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###############################################################################
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