def setup(self, world):
world.clear()
efig = Utils().GetFigure()
efig.clearMesh()
shape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE,
halfExtents=(1, 0.2, 1))
self.body1 = igeBullet.rigidBody(shape, 0, (0, 5, -1.2), (0, 0, 0, 1))
world.add(self.body1)
Utils().AddShapeMesh(shape)
self.body2 = igeBullet.rigidBody(shape, 1, (0, 5, 1.2), (0, 0, 0, 1))
world.add(self.body2)
Utils().AddShapeMesh(shape)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 3.14 / 2, 0))
posA = vmath.vec3(0, 0, 1.2)
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 3.14 / 2, 0))
posB = vmath.vec3(0, 0, -1.2)
joint = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE,
self.body1,
self.body2,
frameA=(posA, rotA),
frameB=(posB, rotB))
world.add(joint)
efig.mergeSameMaterialMesh()
def setup(self, world):
world.clear()
efig = Utils().GetFigure()
efig.clearMesh()
#shape = igeBullet.shape(igeBullet.STATIC_PLANE_PROXYTYPE, normal=(0,1,0), constant=0)
shape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE,
halfExtents=(10, 1, 10))
self.body1 = igeBullet.rigidBody(shape, 0, (0, 0, 0), (0, 0, 0, 1))
world.add(self.body1)
Utils().AddShapeMesh(shape)
shape = igeBullet.shape(igeBullet.SPHERE_SHAPE_PROXYTYPE, radius=1)
self.body2 = igeBullet.rigidBody(shape, 5, (0, 15, 0), (0, 0, 0, 1))
world.add(self.body2)
Utils().AddShapeMesh(shape)
efig.mergeSameMaterialMesh()
def setup(self, world):
world.clear()
efig = Utils().GetFigure()
efig.clearMesh()
shape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE,
halfExtents=(10, 1, 10))
self.ground = igeBullet.rigidBody(shape, 0, (0, 0, 0), (0, 0, 0, 1))
world.add(self.ground)
Utils().AddShapeMesh(shape)
compound = igeBullet.shape(igeBullet.COMPOUND_SHAPE_PROXYTYPE)
box = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE,
halfExtents=(0.5, 0.5, 0.5))
compound.addChildShape(box, (0, 0, 0), (0, 0, 0, 1))
compound.addChildShape(box, (0, -1, 0), (0, 0, 0, 1))
compound.addChildShape(box, (0, 0, 1), (0, 0, 0, 1))
self.body1 = igeBullet.rigidBody(
compound, 1, (0, 20, 0),
vmath.quat(vmath.mat_rotationZYX(3, 0.4, 0, 0)))
world.add(self.body1)
Utils().AddShapeMesh(compound)
efig.mergeSameMaterialMesh()
def setup(self, world):
world.clear()
efig = Utils().GetFigure()
efig.clearMesh()
shape = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 1, 4)
self.body1 = igeBullet.rigidBody(shape,0,(-3,5,0),vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 3.14/2)))
world.add(self.body1)
Utils().AddShapeMesh(shape)
self.body2 = igeBullet.rigidBody(shape,1,(3,5,0),vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 3.14/2)))
world.add(self.body2)
Utils().AddShapeMesh(shape)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 3.14/2))
posA = vmath.vec3(0, -3.2, 0)
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 3.14/2))
posB = vmath.vec3(0, 3.2, 0)
joint = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.body1, self.body2,
frameA=(posA, rotA), frameB=(posB, rotB))
world.add(joint)
efig.mergeSameMaterialMesh()
def addObject(world, type, mass, position, size=(1,1,1), radius=1, height=3, name='body'):
if type == igeBullet.BOX_SHAPE_PROXYTYPE:
shape = igeBullet.shape(type, halfExtents=size)
elif type == igeBullet.SPHERE_SHAPE_PROXYTYPE:
shape = igeBullet.shape(type, radius=radius)
elif type ==igeBullet.CAPSULE_SHAPE_PROXYTYPE:
shape = igeBullet.shape(type, radius=radius, height=height)
elif type ==igeBullet.CONE_SHAPE_PROXYTYPE:
shape = igeBullet.shape(type, radius=radius, height=height)
elif type ==igeBullet.CYLINDER_SHAPE_PROXYTYPE:
shape = igeBullet.shape(type, halfExtents=size)
body = igeBullet.rigidBody(shape, mass, position, (0, 0, 0, 1))
body.name = name
world.add(body)
Utils().AddShapeMesh(shape)
return body
def __init__(self, world):
self.figure = core.figure('capeMan')
points = self.figure.getVertexElements('body',
core.ATTRIBUTE_ID_POSITION,
core.WorldSpace)
shape = igeBullet.shape(igeBullet.CONVEX_HULL_SHAPE_PROXYTYPE,
points=points)
min, max = shape.getAabb()
compound = igeBullet.shape(igeBullet.COMPOUND_SHAPE_PROXYTYPE)
compound.addChildShape(shape, (0, -min[1], 0), (0, 0, 0, 1))
self.body = igeBullet.rigidBody(compound, 5, (0, 0, 0), (0, 0, 0, 1))
self.body.angularFactor = (0, 1, 0)
world.add(self.body)
#utl = Utils()
#utl.AddShapeMesh(compound)
points = self.figure.getVertexElements('cape',
core.ATTRIBUTE_ID_POSITION,
space=core.WorldSpace)
triangles = self.figure.getTriangles('cape')
self.soft = igeBullet.softBody(world, points, triangles)
self.figure.killJointTransform('cape')
self.figure.setMaterialRenderState('phong1', 'cull_face_enable', False)
pos, _, _ = self.figure.getJoint('anchor1', core.WorldSpace)
no, pos = self.soft.findNearestNode(pos)
self.soft.appendDeformableAnchor(no, self.body)
pos, _, _ = self.figure.getJoint('anchor2', core.WorldSpace)
no, pos = self.soft.findNearestNode(pos)
self.soft.appendDeformableAnchor(no, self.body)
pos, _, _ = self.figure.getJoint('anchor3', core.WorldSpace)
no, pos = self.soft.findNearestNode(pos)
self.soft.appendDeformableAnchor(no, self.body)
pos, _, _ = self.figure.getJoint('anchor4', core.WorldSpace)
no, pos = self.soft.findNearestNode(pos)
self.soft.appendDeformableAnchor(no, self.body)
def setup(self, world):
world.clear()
efig = Utils().GetFigure()
efig.clearMesh()
shape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE,
halfExtents=(10, 1, 10))
self.ground = igeBullet.rigidBody(shape, 0, (0, 0, 0), (0, 0, 0, 1))
world.add(self.ground)
Utils().AddShapeMesh(shape)
compound = igeBullet.shape(igeBullet.COMPOUND_SHAPE_PROXYTYPE)
chassisShape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE,
halfExtents=(1.0, 0.5, 2.0))
compound.addChildShape(chassisShape, (0, 1, 0), (0, 0, 0, 1))
suppShape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE,
halfExtents=(0.5, 0.1, 0.5))
compound.addChildShape(suppShape, (0, 1.0, 2.5), (0, 0, 0, 1))
self.carChassis = igeBullet.rigidBody(compound, 10, (7, 1, 0),
(0, 0, 0, 1))
world.add(self.carChassis)
Utils().AddShapeMesh(compound)
wheelRadius = 0.5
wheelWidth = 0.4
wheelShape = igeBullet.shape(igeBullet.CYLINDER_SHAPE_PROXYTYPE,
halfExtents=(wheelWidth, wheelRadius,
wheelRadius),
axis=0)
Utils().AddShapeMesh(wheelShape)
Utils().AddShapeMesh(wheelShape)
Utils().AddShapeMesh(wheelShape)
Utils().AddShapeMesh(wheelShape)
self.vehicle = igeBullet.vehicle(world, self.carChassis)
world.add(self.vehicle)
connectionHeight = 1.2
CUBE_HALF_EXTENTS = 1.0
suspensionRestLength = 0.6
wheelDirectionCS0 = (0, -1, 0)
wheelAxleCS = (-1, 0, 0)
isFrontWheel = True
connectionPointCS0 = (CUBE_HALF_EXTENTS - (0.3 * wheelWidth),
connectionHeight,
2 * CUBE_HALF_EXTENTS - wheelRadius)
self.vehicle.addWheel(connectionPointCS0, wheelDirectionCS0,
wheelAxleCS, suspensionRestLength, wheelRadius,
isFrontWheel)
connectionPointCS0 = (-CUBE_HALF_EXTENTS + (0.3 * wheelWidth),
connectionHeight,
2 * CUBE_HALF_EXTENTS - wheelRadius)
self.vehicle.addWheel(connectionPointCS0, wheelDirectionCS0,
wheelAxleCS, suspensionRestLength, wheelRadius,
isFrontWheel)
isFrontWheel = False
connectionPointCS0 = (-CUBE_HALF_EXTENTS + (0.3 * wheelWidth),
connectionHeight,
-2 * CUBE_HALF_EXTENTS + wheelRadius)
self.vehicle.addWheel(connectionPointCS0, wheelDirectionCS0,
wheelAxleCS, suspensionRestLength, wheelRadius,
isFrontWheel)
connectionPointCS0 = (CUBE_HALF_EXTENTS - (0.3 * wheelWidth),
connectionHeight,
-2 * CUBE_HALF_EXTENTS + wheelRadius)
self.vehicle.addWheel(connectionPointCS0, wheelDirectionCS0,
wheelAxleCS, suspensionRestLength, wheelRadius,
isFrontWheel)
efig.mergeSameMaterialMesh()
"""
def setup(self, world):
world.clear()
efig = Utils().GetFigure()
efig.clearMesh()
#shape = igeBullet.shape(igeBullet.STATIC_PLANE_PROXYTYPE, normal=(0,1,0), constant=0)
shape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE, halfExtents=(10,1,10))
body = igeBullet.rigidBody(shape,0,(0,0,0),(0,0,0,1))
world.add(body)
Utils().AddShapeMesh(shape)
scale = 5.0
offset = vmath.vec3(0, 5, 0)
M_PI = 3.14159265358979323846
M_PI_2 = 1.57079632679489661923
M_PI_4 = 0.785398163397448309616
BODYPART_PELVIS = 0
BODYPART_SPINE = 1
BODYPART_HEAD = 2
BODYPART_LEFT_UPPER_LEG = 3
BODYPART_LEFT_LOWER_LEG = 4
BODYPART_RIGHT_UPPER_LEG = 5
BODYPART_RIGHT_LOWER_LEG = 6
BODYPART_LEFT_UPPER_ARM = 7
BODYPART_LEFT_LOWER_ARM = 8
BODYPART_RIGHT_UPPER_ARM = 9
BODYPART_RIGHT_LOWER_ARM = 10
self.BODYPART_COUNT = 11
JOINT_PELVIS_SPINE = 0
JOINT_SPINE_HEAD = 1
JOINT_LEFT_HIP = 2
JOINT_LEFT_KNEE = 3
JOINT_RIGHT_HIP = 4
JOINT_RIGHT_KNEE = 5
JOINT_LEFT_SHOULDER = 6
JOINT_LEFT_ELBOW = 7
JOINT_RIGHT_SHOULDER = 8
JOINT_RIGHT_ELBOW = 9
JOINT_COUNT = 10
m_shapes = [0] * self.BODYPART_COUNT
m_shapes[BODYPART_PELVIS] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.15 * scale, 0.20 * scale)
m_shapes[BODYPART_SPINE] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.15 * scale, 0.28 * scale)
m_shapes[BODYPART_HEAD] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.10 * scale, 0.05 * scale)
m_shapes[BODYPART_LEFT_UPPER_LEG] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.07 * scale, 0.45 * scale)
m_shapes[BODYPART_LEFT_LOWER_LEG] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.05 * scale, 0.37 * scale)
m_shapes[BODYPART_RIGHT_UPPER_LEG] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.07 * scale, 0.45 * scale)
m_shapes[BODYPART_RIGHT_LOWER_LEG] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.05 * scale, 0.37 * scale)
m_shapes[BODYPART_LEFT_UPPER_ARM] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.05 * scale, 0.33 * scale)
m_shapes[BODYPART_LEFT_LOWER_ARM] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.04 * scale, 0.25 * scale)
m_shapes[BODYPART_RIGHT_UPPER_ARM] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.05 * scale, 0.33 * scale)
m_shapes[BODYPART_RIGHT_LOWER_ARM] = igeBullet.shape(igeBullet.CAPSULE_SHAPE_PROXYTYPE, 0.04 * scale, 0.25 * scale)
for i in range(self.BODYPART_COUNT):
Utils().AddShapeMesh(m_shapes[i])
self.m_bodies = [0] * self.BODYPART_COUNT
pos = vmath.vec3(0, 1, 0) * scale + offset
rot = vmath.quat()
self.m_bodies[BODYPART_PELVIS] = igeBullet.rigidBody(m_shapes[BODYPART_PELVIS], 1, pos, rot)
world.add(self.m_bodies[BODYPART_PELVIS])
pos = vmath.vec3(0, 1.2, 0) * scale + offset
self.m_bodies[BODYPART_SPINE] = igeBullet.rigidBody(m_shapes[BODYPART_SPINE], 1, pos, rot)
world.add(self.m_bodies[BODYPART_SPINE])
pos = vmath.vec3(0, 1.6, 0) * scale + offset
self.m_bodies[BODYPART_HEAD] = igeBullet.rigidBody(m_shapes[BODYPART_HEAD], 1, pos, rot)
world.add(self.m_bodies[BODYPART_HEAD])
pos = vmath.vec3(-0.18, 0.65, 0) * scale + offset
self.m_bodies[BODYPART_LEFT_UPPER_LEG] = igeBullet.rigidBody(m_shapes[BODYPART_LEFT_UPPER_LEG], 1, pos, rot)
world.add(self.m_bodies[BODYPART_LEFT_UPPER_LEG])
pos = vmath.vec3(-0.18, 0.2, 0) * scale + offset
self.m_bodies[BODYPART_LEFT_LOWER_LEG] = igeBullet.rigidBody(m_shapes[BODYPART_LEFT_LOWER_LEG], 1, pos, rot)
world.add(self.m_bodies[BODYPART_LEFT_LOWER_LEG])
pos = vmath.vec3(0.18, 0.65, 0) * scale + offset
self.m_bodies[BODYPART_RIGHT_UPPER_LEG] = igeBullet.rigidBody(m_shapes[BODYPART_RIGHT_UPPER_LEG], 1, pos, rot)
world.add(self.m_bodies[BODYPART_RIGHT_UPPER_LEG])
pos = vmath.vec3(0.18, 0.2, 0) * scale + offset
self.m_bodies[BODYPART_RIGHT_LOWER_LEG] = igeBullet.rigidBody(m_shapes[BODYPART_RIGHT_LOWER_LEG], 1, pos, rot)
world.add(self.m_bodies[BODYPART_RIGHT_LOWER_LEG])
pos = vmath.vec3(-0.35, 1.45, 0) * scale + offset
rot = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
self.m_bodies[BODYPART_LEFT_UPPER_ARM] = igeBullet.rigidBody(m_shapes[BODYPART_LEFT_UPPER_ARM], 1, pos, rot)
world.add(self.m_bodies[BODYPART_LEFT_UPPER_ARM])
pos = vmath.vec3(-0.7, 1.45, 0) * scale + offset
rot = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
self.m_bodies[BODYPART_LEFT_LOWER_ARM] = igeBullet.rigidBody(m_shapes[BODYPART_LEFT_LOWER_ARM], 1, pos, rot)
world.add(self.m_bodies[BODYPART_LEFT_LOWER_ARM])
pos = vmath.vec3(0.35, 1.45, 0) * scale + offset
rot = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, -M_PI_2))
self.m_bodies[BODYPART_RIGHT_UPPER_ARM] = igeBullet.rigidBody(m_shapes[BODYPART_RIGHT_UPPER_ARM], 1, pos, rot)
world.add(self.m_bodies[BODYPART_RIGHT_UPPER_ARM])
pos = vmath.vec3(0.7, 1.45, 0) * scale + offset
rot = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, -M_PI_2))
self.m_bodies[BODYPART_RIGHT_LOWER_ARM] = igeBullet.rigidBody(m_shapes[BODYPART_RIGHT_LOWER_ARM], 1, pos, rot)
world.add(self.m_bodies[BODYPART_RIGHT_LOWER_ARM])
for i in range(self.BODYPART_COUNT):
self.m_bodies[i].linearDamping = 0.05
self.m_bodies[i].angularDamping = 0.85
self.m_bodies[i].deactivationTime = 0.8
self.m_bodies[i].linearSleepingThreshold = 1.6
self.m_bodies[i].angularSleepingThreshold = 2.5
m_joints = [0] * JOINT_COUNT
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, 0.15, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0, -0.15, 0) * scale
m_joints[JOINT_PELVIS_SPINE] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE, self.m_bodies[BODYPART_PELVIS],
self.m_bodies[BODYPART_SPINE], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_PELVIS_SPINE].setLimit(-M_PI_4, M_PI_2)
world.add(m_joints[JOINT_PELVIS_SPINE], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
posA = vmath.vec3(0, 0.3, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
posB = vmath.vec3(0, -0.14, 0) * scale
m_joints[JOINT_SPINE_HEAD] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_SPINE],
self.m_bodies[BODYPART_HEAD], frameA=(posA, rotA), frameB=(posB, rotB))
m_joints[JOINT_SPINE_HEAD].setLimit(M_PI_4, M_PI_4, M_PI_2)
world.add(m_joints[JOINT_SPINE_HEAD], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, -M_PI_4 * 5))
posA = vmath.vec3(-0.18, -0.10, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, -M_PI_4 * 5))
posB = vmath.vec3(0, 0.225, 0) * scale
m_joints[JOINT_LEFT_HIP] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_PELVIS],
self.m_bodies[BODYPART_LEFT_UPPER_LEG], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_LEFT_HIP].setLimit(M_PI_4, M_PI_4, 0)
world.add(m_joints[JOINT_LEFT_HIP], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, -0.225, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0, 0.185, 0) * scale
m_joints[JOINT_LEFT_KNEE] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE, self.m_bodies[BODYPART_LEFT_UPPER_LEG],
self.m_bodies[BODYPART_LEFT_LOWER_LEG], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_LEFT_KNEE].setLimit(0, M_PI_2)
world.add(m_joints[JOINT_LEFT_KNEE], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_4))
posA = vmath.vec3(0.18, -0.10, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_4))
posB = vmath.vec3(0, 0.225, 0) * scale
m_joints[JOINT_RIGHT_HIP] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_PELVIS],
self.m_bodies[BODYPART_RIGHT_UPPER_LEG], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_RIGHT_HIP].setLimit(M_PI_4, M_PI_4, 0)
world.add(m_joints[JOINT_RIGHT_HIP], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, -0.225, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0., 0.185, 0) * scale
m_joints[JOINT_RIGHT_KNEE] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE,
self.m_bodies[BODYPART_RIGHT_UPPER_LEG],
self.m_bodies[BODYPART_RIGHT_LOWER_LEG], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_RIGHT_KNEE].setLimit(0, M_PI_2)
world.add(m_joints[JOINT_RIGHT_KNEE], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI))
posA = vmath.vec3(-0.2, 0.15, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI))
posB = vmath.vec3(0, -0.18, 0) * scale
m_joints[JOINT_LEFT_SHOULDER] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_SPINE],
self.m_bodies[BODYPART_LEFT_UPPER_ARM], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_LEFT_SHOULDER].setLimit(M_PI_2, M_PI_2, 0)
world.add(m_joints[JOINT_LEFT_SHOULDER], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, 0.18, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0, -0.14, 0) * scale
m_joints[JOINT_LEFT_ELBOW] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE,
self.m_bodies[BODYPART_LEFT_UPPER_ARM],
self.m_bodies[BODYPART_LEFT_LOWER_ARM], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_LEFT_ELBOW].setLimit(-M_PI_2, 0)
world.add(m_joints[JOINT_LEFT_ELBOW], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, 0))
posA = vmath.vec3(0.2, 0.15, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, 0, M_PI_2))
posB = vmath.vec3(0, -0.18, 0) * scale
m_joints[JOINT_RIGHT_SHOULDER] = igeBullet.constraint(igeBullet.CONETWIST_CONSTRAINT_TYPE, self.m_bodies[BODYPART_SPINE],
self.m_bodies[BODYPART_RIGHT_UPPER_ARM], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_RIGHT_SHOULDER].setLimit(M_PI_2, M_PI_2, 0)
world.add(m_joints[JOINT_RIGHT_SHOULDER], True)
rotA = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posA = vmath.vec3(0, 0.18, 0) * scale
rotB = vmath.quat(vmath.mat_rotationZYX(3, 0, M_PI_2, 0))
posB = vmath.vec3(0, -0.14, 0) * scale
m_joints[JOINT_RIGHT_ELBOW] = igeBullet.constraint(igeBullet.HINGE_CONSTRAINT_TYPE,
self.m_bodies[BODYPART_RIGHT_UPPER_ARM],
self.m_bodies[BODYPART_RIGHT_LOWER_ARM], frameA=(posA, rotA),
frameB=(posB, rotB))
m_joints[JOINT_RIGHT_ELBOW].setLimit(-M_PI_2, 0)
world.add(m_joints[JOINT_RIGHT_ELBOW], True)
efig.mergeSameMaterialMesh()
utl = Utils()
devtool.convertAssets('.', '.', core.TARGET_PLATFORM_PC)
core.window(True, 480, 640)
world = igeBullet.world(True)
ground = graphicsHelper.createSprite(20.0,
20.0,
texture='images/Dirt-2290',
normal=(0, 1, 0))
ground_shape = igeBullet.shape(igeBullet.STATIC_PLANE_PROXYTYPE,
normal=(0, 1, 0),
constant=0)
ground_body = igeBullet.rigidBody(ground_shape, 0, (0, 0, 0), (0, 0, 0, 1))
world.add(ground_body)
efig = utl.GetFigure()
efig.clearMesh()
shape = igeBullet.shape(igeBullet.SPHERE_SHAPE_PROXYTYPE, radius=1)
body2 = igeBullet.rigidBody(shape, 5, (0, 10, 0), (0, 0, 0, 1))
world.add(body2)
utl.AddShapeMesh(shape)
char = Character(world)
cam = TargetCamera()
controller = Controller()
# sphere = core.figure('sphere')
# sphere.position = (0,10,0)
import os
from utils import Utils
import igeVmath as vmath
from igeCore import devtool
devtool.convertAssets('.', '.', core.TARGET_PLATFORM_MOBILE)
utl = Utils()
core.window(True, 480, 640)
world = igeBullet.world(True)
efig = utl.GetFigure()
efig.clearMesh()
shape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE, halfExtents=(15, 2, 15))
body1 = igeBullet.rigidBody(shape, 0, (0, 0, 0), (0, 0, 0, 1))
world.add(body1)
utl.AddShapeMesh(shape)
shape = igeBullet.shape(igeBullet.BOX_SHAPE_PROXYTYPE, halfExtents=(3, 3, 3))
body2 = igeBullet.rigidBody(shape, 5, (5, 8, 0), (0, 0, 0, 1))
world.add(body2)
utl.AddShapeMesh(shape)
sphere = core.figure('box')
poss = sphere.getVertexElements(0, core.ATTRIBUTE_ID_POSITION)
tris = sphere.getTriangles(0)
soft = igeBullet.softBody(world, poss, tris, mass=5.5, springStiffness=50.0)
soft.transform = ((0, 30, 0), (0, 0, 0, 1))
print(soft.transform)