def __drawShape(self, shape):
# you can comment out any of the specific cases, and use the default
# the benefit of 'default' is that it approximates the actual
# collision shape including collision margin
# int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape.getShapeType();
shapetype=shape.getShapeType();
if shapetype== bullet.SPHERE_SHAPE_PROXYTYPE:
print 'SPHERE_SHAPE_PROXYTYPE'
sphereShape = bullet.btSphereShape.downcast(shape);
# radius doesn't include the margin, so draw with margin
radius = sphereShape.getMargin();
drawSphere(radius,10,10);
useWireframeFallback = False;
elif shapetype== bullet.BOX_SHAPE_PROXYTYPE:
boxShape = bullet.btBoxShape.downcast(shape);
halfExtent = boxShape.getHalfExtentsWithMargin();
glPushMatrix()
glScalef(halfExtent[0], halfExtent[1], halfExtent[2])
gBox.draw()
glPopMatrix()
useWireframeFallback = False;
elif shapetype== bullet.STATIC_PLANE_PROXYTYPE:
print 'STATIC_PLANE_PROXYTYPE'
staticPlaneShape = bullet.btStaticPlaneShape.downcast(shape);
planeConst = staticPlaneShape.getPlaneConstant();
planeNormal = staticPlaneShape.getPlaneNormal();
planeOrigin = planeNormal * planeConst;
vec0, vec1=btPlaneSpace1(planeNormal);
vecLen = 100.0;
pt0 = planeOrigin + vec0*vecLen;
pt1 = planeOrigin - vec0*vecLen;
pt2 = planeOrigin + vec1*vecLen;
pt3 = planeOrigin - vec1*vecLen;
glBegin(GL_LINES);
glVertex3f(pt0[0], pt0[1], pt0[2]);
glVertex3f(pt1[0], pt1[1], pt1[2]);
glVertex3f(pt2[0], pt2[1], pt2[2]);
glVertex3f(pt3[0], pt3[1], pt3[2]);
glEnd();
elif shapetype== bullet.MULTI_SPHERE_SHAPE_PROXYTYPE:
print 'MULTI_SPHERE_SHAPE_PROXYTYPE'
multiSphereShape = bullet.btMultiSphereShape.downcast(shape);
childTransform=bullet.btTransform();
childTransform.setIdentity();
for i in range(multiSphereShape.getSphereCount()-1, -1, -1):
sc=bullet.btSphereShape (multiSphereShape.getSphereRadius(i));
childTransform.setOrigin(multiSphereShape.getSpherePosition(i));
childMat=childTransform.getOpenGLMatrix();
self.drawOpenGL(childMat,sc,color,debugMode,worldBoundsMin,worldBoundsMax);
else:
print 'other'
if (shape.isConvex()):
poly = (shape.isPolyhedral()
and bullet.btPolyhedralConvexShape.downcast(shape).getConvexPolyhedron()
or 0);
if (poly):
glBegin (GL_TRIANGLES);
for i in range(poly.m_faces.size()):
centroid=(0,0,0);
numVerts = poly.m_faces[i].m_indices.size();
if (numVerts>2):
v1 = poly.m_vertices[poly.m_faces[i].m_indices[0]];
for v in range(poly.m_faces[i].m_indices.size()-2):
v2 = poly.m_vertices[poly.m_faces[i].m_indices[v+1]];
v3 = poly.m_vertices[poly.m_faces[i].m_indices[v+2]];
normal = vector3.normalize(vector3.cross(
vector3.sub(v3, v1),
vector3.sub(v2, v1)
));
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1[0], v1[1], v1[2]);
glVertex3f (v2[0], v2[1], v2[2]);
glVertex3f (v3[0], v3[1], v3[2]);
glEnd ();
else:
sc=self.cache(bullet.btConvexShape.downcast(shape));
# glutSolidCube(1.0);
hull = sc.m_shapehull
if (hull.numTriangles () > 0):
index = 0;
idx = hull.getIndexPointer();
vtx = hull.getVertexPointer();
glBegin (GL_TRIANGLES);
for i in range(hull.numTriangles()):
i1 = index;
i2 = index+1;
i3 = index+2;
index+=3
assert(i1 < hull.numIndices () and
i2 < hull.numIndices () and
i3 < hull.numIndices ());
index1 = idx[i1];
index2 = idx[i2];
index3 = idx[i3];
assert(index1 < hull.numVertices () and
index2 < hull.numVertices () and
index3 < hull.numVertices ());
v1 = vtx[index1];
v2 = vtx[index2];
v3 = vtx[index3];
normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
glEnd ();
import swigbullet as bullet
if __name__ == "__main__":
broadphase = bullet.btDbvtBroadphase()
collisionConfiguration = bullet.btDefaultCollisionConfiguration()
dispatcher = bullet.btCollisionDispatcher(collisionConfiguration)
solver = bullet.btSequentialImpulseConstraintSolver()
dynamicsWorld = bullet.btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration)
dynamicsWorld.setGravity((0, -10, 0))
groundShape = bullet.btStaticPlaneShape((0, 1, 0), 1)
fallShape = bullet.btSphereShape(1)
groundMotionState = bullet.btDefaultMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), (0, -1, 0)))
groundRigidBodyCI = bullet.btRigidBodyConstructionInfo(0, groundMotionState, groundShape, (0, 0, 0))
groundRigidBody = bullet.btRigidBody(groundRigidBodyCI)
dynamicsWorld.addRigidBody(groundRigidBody)
fallMotionState = bullet.btDefaultMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), (0, 50, 0)))
mass = 1
fallInertia = (0, 0, 0)
fallShape.calculateLocalInertia(mass, fallInertia)
fallRigidBodyCI = bullet.btRigidBodyConstructionInfo(mass, fallMotionState, fallShape, fallInertia)
fallRigidBody = bullet.btRigidBody(fallRigidBodyCI)
dynamicsWorld.addRigidBody(fallRigidBody)
