def __init__(self, app):
self.app = app
self.body = {}
app.world = self
self.frameListener = WorldFrameListener(self)
app.root.addFrameListener(self.frameListener)
self.worldNode = app.sceneManager.getRootSceneNode().createChildSceneNode("World")
self.physCollisionConfiguration = bullet.btDefaultCollisionConfiguration()
self.physDispatcher = bullet.btCollisionDispatcher (self.physCollisionConfiguration)
# self.physBroadphase = bullet.btAxisSweep3(bullet.btVector3(-1000, -1000, -1000), bullet.btVector3(1000, 1000, 1000))
self.physBroadphase = bullet.btDbvtBroadphase()
self.physGhostCallback = bullet.btGhostPairCallback()
self.physBroadphase.getOverlappingPairCache().setInternalGhostPairCallback(self.physGhostCallback)
self.physSolver = bullet.btSequentialImpulseConstraintSolver()
self.physWorld = bullet.btDiscreteDynamicsWorld(self.physDispatcher, self.physBroadphase, self.physSolver, self.physCollisionConfiguration)
self.physWorld.setGravity(bullet.btVector3(0, -10, 0))
# self.cells = {}
self.entities = {}
self.setupWorld()
def __init__(self, sceneManager):
self.sceneManager = sceneManager
"""
bounds = ogre.AxisAlignedBox(-100.0, -100.0, -100.0, 100.0, 100.0, 100.0)
self.world = dynamics.DynamicsWorld(self.sceneManager, bounds, ogre.Vector3(0.0, -9.91, 0.0))
"""
self.collisionConfiguration = bullet.get_btDefaultCollisionConfiguration()
self.dispatcher = bullet.get_btCollisionDispatcher1(self.collisionConfiguration)
self.broadphase = bullet.btDbvtBroadphase()
self.solver = bullet.btSequentialImpulseConstraintSolver()
self.world = bullet.btDiscreteDynamicsWorld(self.dispatcher, self.broadphase, self.solver, self.collisionConfiguration)
self.world.setGravity(bullet.btVector3(0, 0, 0))
self.bodies = []
self.shapes = []
self.cubes = []
self.motionStates = []
self.elapsedTime = 0.0
self.duration = 10.0
self.curCubeIdx = 0
self.tangentBundle = None
return None
def load_level(self):
"""Setup the bullet world"""
logging.info("Loading dynamic world...")
self.collisionConfiguration = bullet.get_btDefaultCollisionConfiguration()
self.dispatcher = bullet.get_btCollisionDispatcher1(self.collisionConfiguration)
self.broadphase = bullet.btDbvtBroadphase()
self.solver = bullet.btSequentialImpulseConstraintSolver()
self.dynamics_world = bullet.btDiscreteDynamicsWorld(self.dispatcher,
self.broadphase,
self.solver,
self.collisionConfiguration)
logging.info("Dynamic world loaded!")
# s = bullet.btBoxShape(bullet.btVector3(10,10,10))
# body = bullet.btRigidBody(1, ms, s)
# print body
# collisionConfiguration = bullet.btDefaultCollisionConfiguration()
collisionConfiguration = bullet.get_btDefaultCollisionConfiguration()
dispatcher = bullet.get_btCollisionDispatcher1(collisionConfiguration)
# worldAabbMin = bullet.btVector3(-1000,-1000,-1000)
# worldAabbMax = bullet.btVector3(1000,1000,1000)
# maxProxies = 32766
# broadphase = bullet.btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies)
# solver = bullet.btSequentialImpulseConstraintSolver()
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
print "WORLD:=", world
print solver
print broadphase
print dispatcher
print collisionConfiguration
for x in range(30):
world.stepSimulation(x * 1 / 30)
print getDeltaTimeMicroseconds()