def _addCube(self, pos, cubeBounds=ogre.Vector3(0.3, 0.3, 0.3), tangentBundle=None):
#cubeBounds=bullet.btVector3(0.3, 0.3, 0.3)):
ent = self.sceneManager.createEntity("Bulletbox.mesh")
ent.setMaterialName("GridNormalMap3")
node = self.sceneManager.getRootSceneNode().createChildSceneNode()
node.attachObject(ent)
node.scale(cubeBounds)
#node.scale(cubeBounds.getX(), cubeBounds.getY(), cubeBounds.getZ())
mass = 1.0
res = 0.01
bodyFriction = 0.2
fallInertia = bullet.btVector3(0, 0, 0)
cubeIdx = len(self.bodies)
cubeShape = bullet.btBoxShape(collisions.OgreBtConverter.to(cubeBounds))
cubeShape.calculateLocalInertia(mass, fallInertia)
cubeMotionState = OgreMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(pos.x, pos.y, pos.z)), node, tb=tangentBundle)
cubeBodyCI = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, cubeMotionState, cubeShape, fallInertia)
cubeBody = bullet.btRigidBody(cubeBodyCI)
cubeBody.setActivationState(4) #state is never deactivate
cubeMotionState.rb = cubeBody
self.world.addRigidBody(cubeBody)
self.motionStates.append(cubeMotionState)
"""
cubeShape = collisions.BoxCollisionShape(cubeBounds)
cubeBody = dynamics.RigidBody("cube" + str(cubeIdx), self.world)
cubeBody.setShape(node, cubeShape, res, bodyFriction, mass, pos)
cubeBody.getBulletRigidBody().setActivationState(4)
"""
self.bodies.append(cubeBody)
self.shapes.append(cubeShape)
return cubeBody
def createBoxes( self ):
print 2
ent = self.sceneManager.createEntity( "box", "cube.mesh" )
print 2
node = self.sceneManager.getRootSceneNode().createChildSceneNode()
print 2
node.attachObject( ent )
print 2
ent.setMaterialName( "Examples/RustySteel")
print 2
mass = 10
fallInertia = bullet.btVector3(0, 0, 0)
print 2
shape=bullet.btSphereShape(1)
print 2
shape.calculateLocalInertia(mass, fallInertia)
print "Creating motionState"
motionState=OgreMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(0, 50, 0)))
print "creating construct"
construct = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, motionState, shape, fallInertia)
print "creating object"
Object=bullet.btRigidBody(construct) # ...this should work in my eyes
print "adding rigidBody"
self.world.addRigidBody(Object)
print "completed"
self.world.stepSimulation(1)
def createBody(self, mass, position):
position = bullet.btVector3(*position)
transform = bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), position)
if self.hasGhostObject:
body = bullet.btPairCachingGhostObject()
body.setCollisionShape(self.physShape)
body.setWorldTransform(transform)
self.world.physWorld.addCollisionObject(body, getTagBits(self.tags), getTagBits(self.collisionTags))
else:
self.motionState = self.MotionState(self, transform)
self.physMass = mass
localInertia = bullet.btVector3(0, 0, 0)
self.physShape.calculateLocalInertia(mass, localInertia)
construct = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, self.motionState, self.physShape, localInertia)
body = bullet.btRigidBody(construct)
self.world.physWorld.addRigidBody(body, getTagBits(self.tags), getTagBits(self.collisionTags))
body.setCollisionFlags(body.getCollisionFlags() | self.physFlags)
body.setUserData(self)
self.physBody = body
def add_block_without_rebuild(self, block, x, y, z):
transform = bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(x * Block.size,
y * Block.size,
z * Block.size))
self.collision_shape.addChildShape(transform, BOX_COLLISION_SHAPE)
self.collision_shape_indicies[(x, y, z)] = self.block_count
self._blocks[(x, y, z)] = block
self.block_count += 1
def create_compound_shape(self, x, y, z, mass=0):
"""Create a compound shape and register it with bullet."""
shape = bullet.btCompoundShape()
transform = bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(x, y, z))
inertia = bullet.btVector3(0, 0, 0)
motion_state = bullet.btDefaultMotionState(transform)
construction = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, motion_state, shape, inertia)
rigid_body = bullet.btRigidBody(construction)
self.dynamics_world.addRigidBody(rigid_body, 1, 1)
return rigid_body, motion_state, shape
def register_collision_object(self, size, x, y, z, rotation=bullet.btQuaternion(0, 0, 0, 1), mass=0, motion_state=bullet.btDefaultMotionState):
"""Register a simple collision object with bullet."""
shape = bullet.btBoxShape(bullet.btVector3(size / 2, size / 2, size / 2))
transform = bullet.btTransform(rotation, bullet.btVector3(x, y, z))
inertia = bullet.btVector3(0, 0, 0)
motion_state = motion_state(transform)
construction = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, motion_state, shape, inertia)
rigid_body = bullet.btRigidBody(construction)
self.dynamics_world.addRigidBody(rigid_body, 1, 1)
return rigid_body, motion_state, shape
def createGround(self, sceneNode):
groundShape = bullet.btStaticPlaneShape(bullet.btVector3(0,1,0),0);
# Skapa motion state
motionState = bullet.btDefaultMotionState(bullet.btTransform(
bullet.btQuaternion(0,0,0,1), bullet.btVector3(0,-1,0)));
constructInfo = bullet.btRigidBody.btRigidBodyConstructionInfo(
0, motionState, groundShape, bullet.btVector3(0,0,0));
rigidBody = bullet.btRigidBody(constructInfo);
self.bodies.append(PhysicsWorld.Body(groundShape, motionState, constructInfo, rigidBody));
self.world.addRigidBody(rigidBody);
def register_entity(self, entity, mass, motion_state):
"""Register an entity that is moved by the engine. This allows the
physics system to work together with the engine in order to know
about the movement the engine produces, but also the movement that is
caused through the physics simulations"""
#logging.info("Registering %s with the physics system. kinematic=%s" % (str(entity), str(kinematic)))
entity.shape = self._create_collision_entity(entity)
transform = bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1),
bullet.btVector3(entity.position.x,
entity.position.y,
entity.position.z))
inertia = bullet.btVector3(0, 0, 0)
entity.motion_state = motion_state(transform)
construction = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, entity.motion_state, entity.shape, inertia)
entity.rigid_body = bullet.btRigidBody(construction)
self.dynamics_world.addRigidBody(entity.rigid_body, 1, 1)
return entity.rigid_body
def createCameraBody(self, camera, halfSize, mass):
pos = camera.getPosition();
rot = camera.getOrientation();
# Skapa motion state
motionState = bullet.btDefaultMotionState(bullet.btTransform(
bullet.btQuaternion(0,0,0,1), bullet.btVector3(pos.x,pos.y,pos.z)));
shape = bullet.btBoxShape(toBtVector3(halfSize));
inertia = bullet.btVector3(0,0,0);
shape.calculateLocalInertia(mass, inertia);
constructInfo = bullet.btRigidBody.btRigidBodyConstructionInfo(
mass, motionState, shape, inertia);
rigidBody = bullet.btRigidBody(constructInfo);
self.bodies.append(PhysicsWorld.Body(shape, motionState, constructInfo, rigidBody));
self.world.addRigidBody(rigidBody);
return rigidBody;
def __init__(self, app, pos, rot):
self.app = app
self.shape = bullet.btEmptyShape()
_tr = bullet.btTransform()
_tr.setIdentity()
_tr.setOrigin(bullet.btVector3(pos.x, pos.y, pos.z))
_tr.setRotation(bullet.btQuaternion(rot.x, rot.y, rot.z, rot.w))
_local_inertia = bullet.btVector3(0,0,0)
self.shape.calculateLocalInertia(self.MASS, _local_inertia)
self.motion_state = bullet.btDefaultMotionState(_tr)
self.rb_info = bullet.btRigidBody.btRigidBodyConstructionInfo(
self.MASS, self.motion_state, self.shape, _local_inertia)
self.body = bullet.btRigidBody(self.rb_info)
self.body.setCollisionFlags(self.body.getCollisionFlags() \
| bullet.btCollisionObject.CF_KINEMATIC_OBJECT)
self.app.world.getBulletDynamicsWorld().addRigidBody(self.body)
def createSphere(self, pos, radius, node):
mass = 1.0
res = 0.1
bodyFriction = 0.8
fallInertia = bullet.btVector3(0, 0, 0)
sphereId = len(self.bodies)
sphereShape = bullet.btSphereShape(radius)
sphereShape.calculateLocalInertia(mass, fallInertia)
sphereMotionState = OgreMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(pos.x, pos.y, pos.z)), node)
sphereBodyCI = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, sphereMotionState, sphereShape, fallInertia)
sphereBody = bullet.btRigidBody(sphereBodyCI)
sphereBody.setActivationState(4)
sphereBody.setCollisionFlags(bullet.btCollisionObject.CF_KINEMATIC_OBJECT)
self.world.addRigidBody(sphereBody)
self.motionStates.append(sphereMotionState)
self.bodies.append(sphereBody)
self.shapes.append(sphereShape)
return None
def _create_simple_tr():
_tr = bullet.btTransform()
_tr.setIdentity()
_tr.setOrigin(bullet.btVector3(0, 0, 0))
_tr.setRotation(bullet.btQuaternion(0, 0, 0, 1))
return _tr
def transform_zero():
return bullet.btTransform(bullet.btQuaternion(0, 0, 0, 0),
bullet.btVector3(0, 0, 0))
def ogre2bullet_quaternion(q):
return bullet.btQuaternion(q.w, q.x, q.y, q.z)
def multiplyQuat(quat, scalar):
from ogre.physics import bullet as bt
return bt.btQuaternion(quat.x() * scalar, quat.y() * scalar, quat.z() * scalar, quat.w() * scalar)
def rotate(self, x, y, z):
"""Rotate the entity"""
xform = self.entity.rigid_body.getWorldTransform()
new_rotation = xform.getRotation() * bullet.btQuaternion(x, y, z)
xform.setRotation(new_rotation)
self.entity.rigid_body.setWorldTransform(xform)
def toBtQuaternion(ogreRot):
return bullet.btQuaternion(ogreRot.x, ogreRot.y, ogreRot.z, ogreRot.w);
def setOrientation(self, rot):
_tr = bullet.btTransform()
self.body.getMotionState().getWorldTransform(_tr)
_tr.setRotation(bullet.btQuaternion(rot.x, rot.y, rot.z, rot.w))
self.body.getMotionState().setWorldTransform(_tr)
self.Position = ogre.Vector3(WorldTrans.getOrigin().x(), WorldTrans.getOrigin().y(), WorldTrans.getOrigin().z())
self.Quaternion = ogre.Quaternion(
WorldTrans.getRotation().w(),
WorldTrans.getRotation().x(),
WorldTrans.getRotation().y(),
WorldTrans.getRotation().z(),
)
# print "setWorldTrans", WorldTrans
mass = 10
fallInertia = bullet.btVector3(0, 0, 0)
shape = bullet.btSphereShape(1)
shape.calculateLocalInertia(mass, fallInertia)
print "Creating motionState"
motionState = OgreMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(0, 50, 0)))
print "1"
construct = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, motionState, shape, fallInertia)
print "1"
Object = bullet.btRigidBody(construct) # ...this should work in my eyes
print dir(Object)
print "1"
world.addRigidBody(Object)
print "1"
for x in range(90):
world.stepSimulation(x * 1 / 30)
print "OBJECT:",
print Object.getAabb(bullet.btVector3(0, 0, 0), bullet.btVector3(10, 10, 10))
print Object.getMotionState