def update(self):
# clamp
while (self.m_azi < -180.0):
self.m_azi+= 360.0
while (self.m_azi > 180.0):
self.m_azi-= 360.0
if (self.m_ele < -89.0):
self.m_ele = -89.0
if (self.m_ele > 89.0):
self.m_ele = 89.0
if (self.m_cameraDistance < 0.1):
self.m_cameraDistance = 0.1
# calc camera position
razi = self.m_azi * 0.01745329251994329547 # rads per deg
head=bullet.btQuaternion(self.m_view.up, razi)
eyePos=Vector3(0.0, 0.0, -self.m_cameraDistance)
forward=Vector3(*eyePos[:])
if (forward.length2() < bullet.SIMD_EPSILON):
forward=Vector3(1.0, 0.0, 0.0)
right=self.m_view.up.cross(forward)
rele = self.m_ele * 0.01745329251994329547 # rads per deg
pitch=bullet.btQuaternion(right, -rele)
self.m_view.position=self.m_view.target+(
bullet.btMatrix3x3(head)*bullet.btMatrix3x3(pitch)).apply(eyePos);
def shootBox(self, destination):
if not self.m_dynamicsWorld:
return
print 'shootBox'
mass = 1.0;
startTransform=bullet.btTransform();
startTransform.setIdentity();
camPos = self.getCameraPosition();
startTransform.setOrigin(camPos);
self.setShootBoxShape ();
body = self.localCreateRigidBody(mass, startTransform, self.m_shootBoxShape);
body.setLinearFactor((1,1,1));
linVel= vector3.normalize(
(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]));
linVel=vector3.mul(linVel, self.m_ShootBoxInitialSpeed);
body.getWorldTransform().setOrigin(camPos);
body.getWorldTransform().setRotation(bullet.btQuaternion(0,0,0,1));
body.setLinearVelocity(linVel);
body.setAngularVelocity((0,0,0));
body.setCcdMotionThreshold(0.5);
body.setCcdSweptSphereRadius(0.9);
def updateCamera(self):
rele = self.m_ele * 0.01745329251994329547;# rads per deg
razi = self.m_azi * 0.01745329251994329547;# rads per deg
rot=bullet.btQuaternion(self.m_cameraUp, razi);
eyePos=[0, 0, 0];
eyePos[self.m_forwardAxis] = -self.m_cameraDistance;
eyePos=tuple(eyePos)
forward=(eyePos[0], eyePos[1], eyePos[2]);
if (vector3.length2(forward) < bullet.SIMD_EPSILON):
forward=(1.0, 0.0, 0.0);
right = vector3.cross(self.m_cameraUp, forward);
roll=bullet.btQuaternion(right,-rele);
m=bullet.btMatrix3x3(rot) * bullet.btMatrix3x3(roll)
eyePos =m.apply(eyePos);
self.m_cameraPosition=vector3.add(eyePos, self.m_cameraTargetPosition);
if (self.m_glutScreenWidth == 0 and self.m_glutScreenHeight == 0):
return;
aspect = float(self.m_glutScreenWidth) / float(self.m_glutScreenHeight);
assert(aspect!=0.0)
extents=(aspect * 1.0, 1.0, 0.0);
if (self.m_ortho):
# reset matrix
extents *= self.m_cameraDistance;
lower = self.m_cameraTargetPosition - extents;
upper = self.m_cameraTargetPosition + extents;
else:
pass
def shootBox(self, world, camPos, destination):
startTransform=bullet.btTransform()
startTransform.setIdentity()
body = world.localCreateRigidBody(1.0, startTransform, self.m_shootBoxShape)
body.setLinearFactor((1.0,1.0,1.0))
body.getWorldTransform().setOrigin(camPos);
body.getWorldTransform().setRotation(bullet.btQuaternion(0,0,0,1));
linVel=Vector3(
destination[0]-camPos[0],
destination[1]-camPos[1],
destination[2]-camPos[2]).normalize()*self.m_ShootBoxInitialSpeed
body.setLinearVelocity(linVel)
body.setAngularVelocity((0.0, 0.0, 0.0))
body.setCcdMotionThreshold(0.5)
body.setCcdSweptSphereRadius(0.9)
def updateCamera(self):
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
rele = self.m_ele * 0.01745329251994329547;# rads per deg
razi = self.m_azi * 0.01745329251994329547;# rads per deg
rot=bullet.btQuaternion(self.m_cameraUp, razi);
eyePos=[0, 0, 0];
eyePos[self.m_forwardAxis] = -self.m_cameraDistance;
eyePos=tuple(eyePos)
forward=(eyePos[0], eyePos[1], eyePos[2]);
if (vector3.length2(forward) < bullet.SIMD_EPSILON):
forward=(1.0, 0.0, 0.0);
right = vector3.cross(self.m_cameraUp, forward);
roll=bullet.btQuaternion(right,-rele);
m=bullet.btMatrix3x3(rot) * bullet.btMatrix3x3(roll)
eyePos =m.apply(eyePos);
self.m_cameraPosition=vector3.add(eyePos, self.m_cameraTargetPosition);
if (self.m_glutScreenWidth == 0 and self.m_glutScreenHeight == 0):
return;
aspect = float(self.m_glutScreenWidth) / float(self.m_glutScreenHeight);
assert(aspect!=0.0)
extents=(aspect * 1.0, 1.0, 0.0);
if (self.m_ortho):
# reset matrix
glLoadIdentity();
extents *= self.m_cameraDistance;
lower = self.m_cameraTargetPosition - extents;
upper = self.m_cameraTargetPosition + extents;
# gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
glOrtho(lower.getX(), upper.getX(),
lower.getY(), upper.getY(),
-1000, 1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
# glTranslatef(100, 210, 0);
else:
# glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
glFrustum (-aspect * self.m_frustumZNear, aspect * self.m_frustumZNear,
-self.m_frustumZNear, self.m_frustumZNear,
self.m_frustumZNear, self.m_frustumZFar);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(
self.m_cameraPosition[0], self.m_cameraPosition[1], self.m_cameraPosition[2],
self.m_cameraTargetPosition[0],
self.m_cameraTargetPosition[1],
self.m_cameraTargetPosition[2],
self.m_cameraUp[0],self.m_cameraUp[1],self.m_cameraUp[2]);
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)
for i in range(300):