def _addCube(self, pos, cubeBounds=ogre.Vector3(0.3, 0.3, 0.3), tangentBundle=None):
#cubeBounds=bullet.btVector3(0.3, 0.3, 0.3)):
ent = self.sceneManager.createEntity("Bulletbox.mesh")
ent.setMaterialName("GridNormalMap3")
node = self.sceneManager.getRootSceneNode().createChildSceneNode()
node.attachObject(ent)
node.scale(cubeBounds)
#node.scale(cubeBounds.getX(), cubeBounds.getY(), cubeBounds.getZ())
mass = 1.0
res = 0.01
bodyFriction = 0.2
fallInertia = bullet.btVector3(0, 0, 0)
cubeIdx = len(self.bodies)
cubeShape = bullet.btBoxShape(collisions.OgreBtConverter.to(cubeBounds))
cubeShape.calculateLocalInertia(mass, fallInertia)
cubeMotionState = OgreMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(pos.x, pos.y, pos.z)), node, tb=tangentBundle)
cubeBodyCI = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, cubeMotionState, cubeShape, fallInertia)
cubeBody = bullet.btRigidBody(cubeBodyCI)
cubeBody.setActivationState(4) #state is never deactivate
cubeMotionState.rb = cubeBody
self.world.addRigidBody(cubeBody)
self.motionStates.append(cubeMotionState)
"""
cubeShape = collisions.BoxCollisionShape(cubeBounds)
cubeBody = dynamics.RigidBody("cube" + str(cubeIdx), self.world)
cubeBody.setShape(node, cubeShape, res, bodyFriction, mass, pos)
cubeBody.getBulletRigidBody().setActivationState(4)
"""
self.bodies.append(cubeBody)
self.shapes.append(cubeShape)
return cubeBody
def createBody(self, mass, position):
position = bullet.btVector3(*position)
transform = bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), position)
if self.hasGhostObject:
body = bullet.btPairCachingGhostObject()
body.setCollisionShape(self.physShape)
body.setWorldTransform(transform)
self.world.physWorld.addCollisionObject(body, getTagBits(self.tags), getTagBits(self.collisionTags))
else:
self.motionState = self.MotionState(self, transform)
self.physMass = mass
localInertia = bullet.btVector3(0, 0, 0)
self.physShape.calculateLocalInertia(mass, localInertia)
construct = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, self.motionState, self.physShape, localInertia)
body = bullet.btRigidBody(construct)
self.world.physWorld.addRigidBody(body, getTagBits(self.tags), getTagBits(self.collisionTags))
body.setCollisionFlags(body.getCollisionFlags() | self.physFlags)
body.setUserData(self)
self.physBody = body
def createBoxes( self ):
print 2
ent = self.sceneManager.createEntity( "box", "cube.mesh" )
print 2
node = self.sceneManager.getRootSceneNode().createChildSceneNode()
print 2
node.attachObject( ent )
print 2
ent.setMaterialName( "Examples/RustySteel")
print 2
mass = 10
fallInertia = bullet.btVector3(0, 0, 0)
print 2
shape=bullet.btSphereShape(1)
print 2
shape.calculateLocalInertia(mass, fallInertia)
print "Creating motionState"
motionState=OgreMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(0, 50, 0)))
print "creating construct"
construct = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, motionState, shape, fallInertia)
print "creating object"
Object=bullet.btRigidBody(construct) # ...this should work in my eyes
print "adding rigidBody"
self.world.addRigidBody(Object)
print "completed"
self.world.stepSimulation(1)
def register_collision_object(self, size, x, y, z, rotation=bullet.btQuaternion(0, 0, 0, 1), mass=0, motion_state=bullet.btDefaultMotionState):
"""Register a simple collision object with bullet."""
shape = bullet.btBoxShape(bullet.btVector3(size / 2, size / 2, size / 2))
transform = bullet.btTransform(rotation, bullet.btVector3(x, y, z))
inertia = bullet.btVector3(0, 0, 0)
motion_state = motion_state(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 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 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 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 createCylinder(self, sceneNode, width, height, depth, mass):
pos = sceneNode.getPosition();
rot = sceneNode.getOrientation();
# Skapa motion state
motionState = NodeMotionState(sceneNode);
shape = bullet.btCylinderShape(bullet.btVector3(width/2.0, height/2.0, depth/2.0));
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);
def register_entity(self, entity, mass, motion_state):
"""Register an entity that is moved by the engine. This allows the
physics system to work together with the engine in order to know
about the movement the engine produces, but also the movement that is
caused through the physics simulations"""
#logging.info("Registering %s with the physics system. kinematic=%s" % (str(entity), str(kinematic)))
entity.shape = self._create_collision_entity(entity)
transform = bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1),
bullet.btVector3(entity.position.x,
entity.position.y,
entity.position.z))
inertia = bullet.btVector3(0, 0, 0)
entity.motion_state = motion_state(transform)
construction = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, entity.motion_state, entity.shape, inertia)
entity.rigid_body = bullet.btRigidBody(construction)
self.dynamics_world.addRigidBody(entity.rigid_body, 1, 1)
return entity.rigid_body
def createSphere(self, sceneNode, radius, mass):
pos = sceneNode.getPosition();
rot = sceneNode.getOrientation();
# Skapa motion state
motionState = NodeMotionState(sceneNode);
sphereShape = bullet.btSphereShape(radius);
inertia = bullet.btVector3(0,0,0);
sphereShape.calculateLocalInertia(mass, inertia);
constructInfo = bullet.btRigidBody.btRigidBodyConstructionInfo(
mass, motionState, sphereShape, inertia);
rigidBody = bullet.btRigidBody(constructInfo);
self.bodies.append(PhysicsWorld.Body(sphereShape, motionState, constructInfo, rigidBody));
self.world.addRigidBody(rigidBody);
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)
def createSphere(self, pos, radius, node):
mass = 1.0
res = 0.1
bodyFriction = 0.8
fallInertia = bullet.btVector3(0, 0, 0)
sphereId = len(self.bodies)
sphereShape = bullet.btSphereShape(radius)
sphereShape.calculateLocalInertia(mass, fallInertia)
sphereMotionState = OgreMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(pos.x, pos.y, pos.z)), node)
sphereBodyCI = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, sphereMotionState, sphereShape, fallInertia)
sphereBody = bullet.btRigidBody(sphereBodyCI)
sphereBody.setActivationState(4)
sphereBody.setCollisionFlags(bullet.btCollisionObject.CF_KINEMATIC_OBJECT)
self.world.addRigidBody(sphereBody)
self.motionStates.append(sphereMotionState)
self.bodies.append(sphereBody)
self.shapes.append(sphereShape)
return None
WorldTrans.getRotation().y(),
WorldTrans.getRotation().z(),
)
# print "setWorldTrans", WorldTrans
mass = 10
fallInertia = bullet.btVector3(0, 0, 0)
shape = bullet.btSphereShape(1)
shape.calculateLocalInertia(mass, fallInertia)
print "Creating motionState"
motionState = OgreMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(0, 50, 0)))
print "1"
construct = bullet.btRigidBody.btRigidBodyConstructionInfo(mass, motionState, shape, fallInertia)
print "1"
Object = bullet.btRigidBody(construct) # ...this should work in my eyes
print dir(Object)
print "1"
world.addRigidBody(Object)
print "1"
for x in range(90):
world.stepSimulation(x * 1 / 30)
print "OBJECT:",
print Object.getAabb(bullet.btVector3(0, 0, 0), bullet.btVector3(10, 10, 10))
print Object.getMotionState
pos = Object.getMotionState().Position
print x, "height: " + str(pos.y)
v = bullet.btVector3(1.0, 2.0, 3)
import ogre.renderer.OGRE as ogre
from ogre.physics import bullet
# Set up bullet
collisionConfiguration = bullet.get_btDefaultCollisionConfiguration()
dispatcher = bullet.get_btCollisionDispatcher1(collisionConfiguration)
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
store = []
for i in range(200):
print(i)
mass = 10
shape = bullet.btBoxShape(bullet.btVector3(10, 10, 10))
mots = bullet.btDefaultMotionState()
o = bullet.btRigidBody(mass, mots, shape)
world.addRigidBody(o)
store.append(shape)
store.append(o)
store.append(mots)
for i in range(90):
world.stepSimulation(0.0001)
# note we need to delete the world before the Object as there are issues with the destructor on Objects causing
# virtual functions being called errors
del world
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
