def __init__(self, sceneManager):
self.sceneManager = sceneManager
"""
bounds = ogre.AxisAlignedBox(-100.0, -100.0, -100.0, 100.0, 100.0, 100.0)
self.world = dynamics.DynamicsWorld(self.sceneManager, bounds, ogre.Vector3(0.0, -9.91, 0.0))
"""
self.collisionConfiguration = bullet.get_btDefaultCollisionConfiguration()
self.dispatcher = bullet.get_btCollisionDispatcher1(self.collisionConfiguration)
self.broadphase = bullet.btDbvtBroadphase()
self.solver = bullet.btSequentialImpulseConstraintSolver()
self.world = bullet.btDiscreteDynamicsWorld(self.dispatcher, self.broadphase, self.solver, self.collisionConfiguration)
self.world.setGravity(bullet.btVector3(0, 0, 0))
self.bodies = []
self.shapes = []
self.cubes = []
self.motionStates = []
self.elapsedTime = 0.0
self.duration = 10.0
self.curCubeIdx = 0
self.tangentBundle = None
return None
def initializePhysics():
"""Start the Bullet Physics engine."""
global bullet_world
global bullet_debug_drawer
global bullet_collision_configuration
global bullet_dispatcher
global bullet_broadphase
global bullet_solver
bullet_collision_configuration = bullet.get_btDefaultCollisionConfiguration()
bullet_dispatcher = bullet.get_btCollisionDispatcher1(bullet_collision_configuration)
#bullet_broadphase = bullet.btDbvtBroadphase()
bullet_broadphase = bullet.btAxisSweep3(
bullet.btVector3(-10000, -10000, -10000),
bullet.btVector3(10000, 10000, 10000),
1024)
bullet_solver = bullet.btSequentialImpulseConstraintSolver()
bullet_world = bullet.btDiscreteDynamicsWorld(
bullet_dispatcher,
bullet_broadphase,
bullet_solver,
bullet_collision_configuration)
bullet_world.setGravity(bullet.btVector3(0, -10, 0))
bullet_world.getDispatchInfo().m_enableSPU = True
bullet_debug_drawer = OgreBulletUtils.DebugDrawer(ogre_scene_manager)
bullet_world.setDebugDrawer(bullet_debug_drawer)
bullet_world.getDebugDrawer().setDebugMode(
bullet.btIDebugDraw.DBG_DrawWireframe |
bullet.btIDebugDraw.DBG_DrawAabb
#bullet.btIDebugDraw.DBG_DrawContactPoints
#bullet.btIDebugDraw.DBG_NoDebug
)
def load_level(self):
"""Setup the bullet world"""
logging.info("Loading dynamic world...")
self.collisionConfiguration = bullet.get_btDefaultCollisionConfiguration()
self.dispatcher = bullet.get_btCollisionDispatcher1(self.collisionConfiguration)
self.broadphase = bullet.btDbvtBroadphase()
self.solver = bullet.btSequentialImpulseConstraintSolver()
self.dynamics_world = bullet.btDiscreteDynamicsWorld(self.dispatcher,
self.broadphase,
self.solver,
self.collisionConfiguration)
logging.info("Dynamic world loaded!")
def getDeltaTimeMicroseconds():
dt = m_clock.getTimeMicroseconds()
m_clock.reset()
return dt
# t = bullet.btTransform()
# ms = bullet.btDefaultMotionState (t)
# s = bullet.btBoxShape(bullet.btVector3(10,10,10))
# body = bullet.btRigidBody(1, ms, s)
# print body
# collisionConfiguration = bullet.btDefaultCollisionConfiguration()
collisionConfiguration = bullet.get_btDefaultCollisionConfiguration()
dispatcher = bullet.get_btCollisionDispatcher1(collisionConfiguration)
# worldAabbMin = bullet.btVector3(-1000,-1000,-1000)
# worldAabbMax = bullet.btVector3(1000,1000,1000)
# maxProxies = 32766
# broadphase = bullet.btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies)
# solver = bullet.btSequentialImpulseConstraintSolver()
broadphase = bullet.btDbvtBroadphase()
solver = bullet.btSequentialImpulseConstraintSolver()
world = bullet.btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration)
world.setGravity(bullet.btVector3(0, -10, 0))
world.getDispatchInfo().m_enableSPU = True
print "WORLD:=", world
