def __init__(self):
sf.Application.__init__(self)
patchDecl = ogre.VertexDeclaration()
self.patchCtlPoints = 0
# Create the global log manager instance
self.logMgr = ogre.LogManager()
# create the instance of our log listener
self.myLog = MyLog()
# create a "log"
self.currentLog = ogre.LogManager.getSingletonPtr().createLog(
"dummy.log",
True, # it's the default log
False, # I don't want it sent to the debug window
True, # it's a virtual log, so you need a listener :)
)
# register our listener
self.currentLog.addListener(self.myLog)
self.collisionConfiguration = bullet.btDefaultCollisionConfiguration()
self.dispatcher = bullet.btCollisionDispatcher(self.collisionConfiguration)
worldAabbMin = bullet.btVector3(-1000, -1000, -1000)
worldAabbMax = bullet.btVector3(1000, 1000, 1000)
maxProxies = 32766
self.broadphase = bullet.btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies)
self.solver = bullet.btSequentialImpulseConstraintSolver()
self.world = bullet.btDiscreteDynamicsWorld(
self.dispatcher, self.broadphase, self.solver, self.collisionConfiguration
)
self.world.stepSimulation(0.1)
self.world.stepSimulation(1)
print "INIT OK"
def initializePhysics():
"""Start the Bullet Physics engine."""
global bullet_world
global bullet_debug_drawer
global bullet_collision_configuration
global bullet_dispatcher
global bullet_broadphase
global bullet_solver
bullet_collision_configuration = bullet.get_btDefaultCollisionConfiguration()
bullet_dispatcher = bullet.get_btCollisionDispatcher1(bullet_collision_configuration)
#bullet_broadphase = bullet.btDbvtBroadphase()
bullet_broadphase = bullet.btAxisSweep3(
bullet.btVector3(-10000, -10000, -10000),
bullet.btVector3(10000, 10000, 10000),
1024)
bullet_solver = bullet.btSequentialImpulseConstraintSolver()
bullet_world = bullet.btDiscreteDynamicsWorld(
bullet_dispatcher,
bullet_broadphase,
bullet_solver,
bullet_collision_configuration)
bullet_world.setGravity(bullet.btVector3(0, -10, 0))
bullet_world.getDispatchInfo().m_enableSPU = True
bullet_debug_drawer = OgreBulletUtils.DebugDrawer(ogre_scene_manager)
bullet_world.setDebugDrawer(bullet_debug_drawer)
bullet_world.getDebugDrawer().setDebugMode(
bullet.btIDebugDraw.DBG_DrawWireframe |
bullet.btIDebugDraw.DBG_DrawAabb
#bullet.btIDebugDraw.DBG_DrawContactPoints
#bullet.btIDebugDraw.DBG_NoDebug
)
def setupBullet( self ):
self.collisionConfiguration = bullet.btDefaultCollisionConfiguration()
self.dispatcher = bullet.btCollisionDispatcher (self.collisionConfiguration)
worldAabbMin = bullet.btVector3(-1000,-1000,-1000)
worldAabbMax = bullet.btVector3(1000,1000,1000)
maxProxies = 32# 766
self.broadphase = bullet.btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies)
self.solver = bullet.btSequentialImpulseConstraintSolver()
self.world = bullet.btDiscreteDynamicsWorld(self.dispatcher, self.broadphase , self.solver, self.collisionConfiguration)
self.world.stepSimulation(0.1)
self.world.stepSimulation(1)
print "Leaving setup"
def init(self, gravity):
self.collisionConfiguration = bullet.btDefaultCollisionConfiguration()
self.dispatcher = bullet.btCollisionDispatcher (self.collisionConfiguration)
worldAabbMin = bullet.btVector3(-20000,-1000,-20000)
worldAabbMax = bullet.btVector3(20000,1000,20000)
self.broadphase = bullet.btAxisSweep3(worldAabbMin, worldAabbMax);
self.solver = bullet.btSequentialImpulseConstraintSolver();
self.world = bullet.btDiscreteDynamicsWorld(self.dispatcher, self.broadphase, self.solver,
self.collisionConfiguration);
self.world.getDispatchInfo().m_enableSPU = True
self.world.setGravity(bullet.btVector3(0,gravity,0));
self.world.stepSimulation(0);
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
print broadphase
print dispatcher
print collisionConfiguration
for x in range (30):
world.stepSimulation( x * 1/30)
