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 setMotion(self, mParentNode):
if not self.isDynamic():
self.mMotionState = bullet.btDefaultMotionState(self.mTransform)
else:
self.mMotionState = OgreMotionState(self.mTransform, mParentNode)
rigidbody_info = bullet.btRigidBody.btRigidBodyConstructionInfo(
self.mMass, self.mMotionState, self.mShape, self.mInertia)
self.mRigidBody = bullet.btRigidBody(rigidbody_info)
self.dynamicsWorld.addRigidBody(self.mRigidBody)
self.mRigidBody.setUserData(mParentNode)
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 setMotion(self, mParentNode):
if not self.isDynamic():
self.mMotionState = bullet.btDefaultMotionState(self.mTransform)
else:
self.mMotionState = OgreMotionState(self.mTransform, mParentNode)
rigidbody_info = bullet.btRigidBody.btRigidBodyConstructionInfo(
self.mMass,
self.mMotionState,
self.mShape,
self.mInertia)
self.mRigidBody = bullet.btRigidBody(rigidbody_info)
self.dynamicsWorld.addRigidBody(self.mRigidBody)
self.mRigidBody.setUserData(mParentNode)
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)
import sys sys.path.insert(0,'..') import PythonOgreConfig import ogre.renderer.OGRE as ogre import ogre.physics.bullet as bullet 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() dispatcher = bullet.btCollisionDispatcher (collisionConfiguration) worldAabbMin = bullet.btVector3(-1000,-1000,-1000) worldAabbMax = bullet.btVector3(1000,1000,1000) maxProxies = 32766 broadphase = bullet.btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies) solver = bullet.btSequentialImpulseConstraintSolver() world = bullet.btDiscreteDynamicsWorld(dispatcher, broadphase , solver, collisionConfiguration) world.getDispatchInfo().m_enableSPU = True world.setGravity(bullet.btVector3(0,-10,0)) print world print dir(world) print solver
