def add(self, obj, x, y, z=None):
if z is None:
t = Transform()
min = Vector3f()
max = Vector3f()
obj.physics.getAabb(min, max)
z = -min.z
self.temp = obj
if hasattr(obj, 'physics'):
t = Transform()
ms = obj.physics.motionState
ms.getWorldTransform(t)
m = Matrix4f()
t.getMatrix(m)
m.m03 = x
m.m13 = y
m.m23 = z
t.set(m)
ms.worldTransform = t
obj.physics.motionState = ms
self.physics.addRigidBody(obj.physics)
if hasattr(obj, 'wheels'):
tuning = VehicleTuning()
obj.vehicle = RaycastVehicle(
tuning, obj.physics, self.vehicle_raycaster)
obj.physics.setActivationState(
CollisionObject.DISABLE_DEACTIVATION)
self.physics.addVehicle(obj.vehicle)
obj.vehicle.setCoordinateSystem(1, 2, 0)
for w in obj.wheels:
wheel = obj.vehicle.addWheel(Vector3f(w.x, w.y, w.z),
Vector3f(w.dir),
Vector3f(w.axle),
w.suspension_rest_len,
w.radius,
tuning,
False)
wheel.suspensionStiffness = w.suspension_stiffness
wheel.maxSuspensionTravelCm = w.suspension_max_travel * 100
wheel.frictionSlip = w.friction
wheel.wheelsDampingRelaxation = w.damping_relaxation
wheel.wheelsDampingCompression = w.damping_compression
wheel.rollInfluence = w.roll_influence
self.objects.append(obj)
self.world.addObject(obj.shape)
def physics_dump(self):
d = {}
for obj in self.objects:
if hasattr(obj, 'physics'):
t = Transform()
obj.physics.getMotionState().getWorldTransform(t)
m = Matrix4f()
t.getMatrix(m)
trans = Matrix()
trans.set(3, 0, m.m03)
trans.set(3, 1, m.m13)
trans.set(3, 2, m.m23)
rot = Matrix()
for i in range(3):
for j in range(3):
rot.set(i, j, m.getElement(j, i))
d[obj] = (trans, rot)
return d
