def __init__(self, filename, view):
Model.__init__(self, filename, view)
TriangleMesh.__init__(self, filename)
# Create rigid body
tvia = TriangleIndexVertexArray()
tvia.addIndexedMesh(self.mesh)
shape = BvhTriangleMeshShape(tvia)
shape.buildOptimizedBvh()
transform = Transform()
transform.setIdentity()
transform.setOrigin(bVector3(0, 0, 0))
motion = DefaultMotionState()
motion.setWorldTransform(transform)
self.body = RigidBody.fromConstructionInfo(motion, # MotionState motion
shape, # CollisionShape shape
0.0, # btScalar mass
bVector3(0, 0, 0), # Vector3 inertia
transform, # Transform worldTransform
0.0, # btScalar linearDamping
0.0, # btScalar angularDamping
0.75, # btScalar friction
0.95, # btScalar restitution
0.0, # btScalar linearSleepingThreshold
0.0) # btScalar angularSleepingThreshold
self.motion = motion
self.body.setContactProcessingThreshold(0)
def __init__(self):
# Vertices are coordinates in three-space. These four will define two
# triangles, with two vertices shared between them.
self.groundVertices = array([
0, 0, 0,
10, 0, 0,
10, 0, 10,
0, 0, 10], 'f')
# These indices are used to find vertices in the groundVertices array.
# They index a vertex, not an individual float. So a value of 1 refers
# to the 2nd triple in groundVertices (ie 10, 0, 0). Three indices
# define one triangle, so this array defines two triangles.
self.groundIndices = array(
[0, 1, 2,
2, 3, 0],
'i')
# Create a single triangle mesh to use as part of the array of triangle
# meshes that will define the shape of the ground object.
groundMesh = IndexedMesh()
# Set the indices of this mesh. Specify the number of triangles it
# will define (2), the stride in bytes between the beginning of index
# triples, and the array actually containing the data. Since this
# index data is tightly packed, the stride is just the size of a single
# index times the number of indices per triangle (3).
groundMesh.setIndices(
2, 3 * self.groundIndices.itemsize, self.groundIndices)
# Set the vertex data of this mesh. Specify the number of vertices it
# will define (4), the stride in bytes between the beginning of vertex
# triples, and the array actually containing the data. Since the
# vertex data is tightly packed, the stride is just the size of a
# single vertex component (ie x, y, or z value) times the number of
# components per vertex (3).
groundMesh.setVertices(
4, 3 * self.groundVertices.itemsize, self.groundVertices)
# Create a container for the single IndexedMesh, but we could add more
# to this if we had any.
groundStuff = TriangleIndexVertexArray()
groundStuff.addIndexedMesh(groundMesh)
# Create a shape based on that array of IndexedMesh instances.
groundShape = BvhTriangleMeshShape(groundStuff)
# Since the data is completely specified at this point, tell the shape
# to build its optimized internal data structure. XXX This is somewhat
# bad, and forgetting to do it will cause problems like segfaults. It
# would be nice if it were not required.
groundShape.buildOptimizedBvh()
# Position the ground at an offset so that it's actually centered at
# the origin (we could also have used -5s and 5s in the vertex data,
# instead of 0s and 10s).
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(-5, -5, -5))
# Install a motion state object which we can inspect later to find out
# if the ground has moved (it won't, though).
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
# Create the actual collision object using the motion state and the
# shape.
self.body = RigidBody(groundMotion, groundShape)
self.motion = groundMotion
def __init__(self):
# Vertices are coordinates in three-space. These four will define two
# triangles, with two vertices shared between them.
self.groundVertices = array([0, 0, 0, 10, 0, 0, 10, 0, 10, 0, 0, 10],
'f')
# These indices are used to find vertices in the groundVertices array.
# They index a vertex, not an individual float. So a value of 1 refers
# to the 2nd triple in groundVertices (ie 10, 0, 0). Three indices
# define one triangle, so this array defines two triangles.
self.groundIndices = array([0, 1, 2, 2, 3, 0], 'i')
# Create a single triangle mesh to use as part of the array of triangle
# meshes that will define the shape of the ground object.
groundMesh = IndexedMesh()
# Set the indices of this mesh. Specify the number of triangles it
# will define (2), the stride in bytes between the beginning of index
# triples, and the array actually containing the data. Since this
# index data is tightly packed, the stride is just the size of a single
# index times the number of indices per triangle (3).
groundMesh.setIndices(2, 3 * self.groundIndices.itemsize,
self.groundIndices)
# Set the vertex data of this mesh. Specify the number of vertices it
# will define (4), the stride in bytes between the beginning of vertex
# triples, and the array actually containing the data. Since the
# vertex data is tightly packed, the stride is just the size of a
# single vertex component (ie x, y, or z value) times the number of
# components per vertex (3).
groundMesh.setVertices(4, 3 * self.groundVertices.itemsize,
self.groundVertices)
# Create a container for the single IndexedMesh, but we could add more
# to this if we had any.
groundStuff = TriangleIndexVertexArray()
groundStuff.addIndexedMesh(groundMesh)
# Create a shape based on that array of IndexedMesh instances.
groundShape = BvhTriangleMeshShape(groundStuff)
# Since the data is completely specified at this point, tell the shape
# to build its optimized internal data structure. XXX This is somewhat
# bad, and forgetting to do it will cause problems like segfaults. It
# would be nice if it were not required.
groundShape.buildOptimizedBvh()
# Position the ground at an offset so that it's actually centered at
# the origin (we could also have used -5s and 5s in the vertex data,
# instead of 0s and 10s).
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(-5, -5, -5))
# Install a motion state object which we can inspect later to find out
# if the ground has moved (it won't, though).
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
# Create the actual collision object using the motion state and the
# shape.
self.body = RigidBody(groundMotion, groundShape)
self.motion = groundMotion