def createGhostObjectEntity(self, sceneNode, radius):
pos = sceneNode.getPosition()
transform = bullet.btTransform()
transform.setIdentity()
transform.setOrigin(bullet.btVector3(pos.x, pos.y, pos.z))
ghostObject = bullet.btPairCachingGhostObject()
ghostObject.setWorldTransform(transform)
sphereShape = bullet.btSphereShape(1.0)
ghostObject.setCollisionShape(sphereShape)
#ghostObject.setCollisionFlags(bullet.btCollisionObject.CO_GHOST_OBJECT)
actionEntity = ActionEntity(self.world, ghostObject, sceneNode)
self.world.addCollisionObject(ghostObject, bullet.btBroadphaseProxy.SensorTrigger, bullet.btBroadphaseProxy.AllFilter)
#self.world.getBroadphase().getOverlappingPairCache().setInternalGhostPairCallback(bullet.btGhostPairCallback())
#self.world.addAction(actionEntity)
self.shapes.append(sphereShape)
return actionEntity
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 update(self, pos, orientation, acceleration, velocity):
if(self.rigidBody != None):
#self.rigidBody.applyForce(physics.toBtVector3(acceleration), physics.toBtVector3(pos));
self.rigidBody.proceedToTransform(bullet.btTransform(physics.toBtQuaternion(ogre.Quaternion(0, (0, 1, 0))), physics.toBtVector3(pos)));
self.rigidBody.setAngularVelocity(bullet.btVector3(0,0,0));
self.rigidBody.setLinearVelocity(bullet.btVector3(0,0,0));
self.orientation = orientation;
acceleration = orientation * acceleration;
self.velocity = orientation*velocity;
orientationx = ogre.Quaternion((5.0*(acceleration.z))*(math.pi/180.0), (1,0,0));
orientationz = ogre.Quaternion((5.0*(acceleration.x))*(math.pi/180.0), (0,0,1));
orientation = orientation * orientationx * orientationz;
self.mainCamera.setOrientation(orientation);
self.mainCamera.setPosition(pos);
if self.multipleCameras:
sqrPt5 = math.sqrt(0.5);
leftOrientation = orientation * ogre.Quaternion(self.cameraAngle * (math.pi/180.0), (0,1,0));
self.leftCamera.setOrientation(leftOrientation);
self.leftCamera.setPosition(pos);
rightOrientation = orientation * ogre.Quaternion(-self.cameraAngle * (math.pi/180.0), (0,1,0));
self.rightCamera.setOrientation(rightOrientation);
self.rightCamera.setPosition(pos);
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 add_block_without_rebuild(self, block, x, y, z):
transform = bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), bullet.btVector3(x * Block.size,
y * Block.size,
z * Block.size))
self.collision_shape.addChildShape(transform, BOX_COLLISION_SHAPE)
self.collision_shape_indicies[(x, y, z)] = self.block_count
self._blocks[(x, y, z)] = block
self.block_count += 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 fireCube(self, pos, force):
cube = self.cubes[(self.curCubeIdx) % len(self.cubes)]
self.curCubeIdx += 1
transform = bullet.btTransform()
transform.setOrigin(bullet.btVector3(pos.x, pos.y, pos.z))
cube.clearForces()
cube.setLinearVelocity(bullet.btVector3(0.0, 0.0, 0.0))
cube.setWorldTransform(transform)
impulse = bullet.btVector3(force.x, force.y, force.z)
cube.applyImpulse(impulse, bullet.btVector3(0.0, 0.0, 0.0))
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 __init__(self, dynamicsWorld):
"""Base Collision Object for Testing"""
self.mShape = None
self.dynamicsWorld = dynamicsWorld
self.mRigidBody = None
self.mTransform = bullet.btTransform()
self.mTransform.setIdentity()
self.mInertia = bullet.btVector3(0, 0, 0)
self.mMotionState = None
self.mMass = 0.0
self.mTriMesh = None
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 __init__(self, dynamicsWorld):
"""Base Collision Object for Testing"""
self.mShape = None
self.dynamicsWorld = dynamicsWorld
self.mRigidBody = None
self.mTransform = bullet.btTransform()
self.mTransform.setIdentity()
self.mInertia = bullet.btVector3(0, 0, 0)
self.mMotionState = None
self.mMass = 0.0
self.mTriMesh = None
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 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
def updateAction(self, deltaTime):
transform = bullet.btTransform()
pos = self.sceneNode.getPosition()
transform.setOrigin(bullet.btVector3(pos.x, pos.y, pos.z))
self.ghostObject.setWorldTransform(transform)
manifoldArray = bullet.btManifoldArray()
pairArray = self.ghostObject.getOverlappingPairCache().getOverlappingPairArray()
collision = False
for i in range(pairArray.size()):
manifoldArray.clear()
pair = pairArray[i]
collisionPair = self.world.getPairCache().findPair(pair.m_pProxy0, pair.m_pProxy1)
if collisionPair is None:
continue
proxyObject = collisionPair.m_pProxy1.m_clientObject
if proxyObject == self.target:
continue
if (collisionPair.m_algorithm):
collisionPair.m_algorithm.getAllContactManifolds(manifoldArray)
for j in manifoldArray:
directionSign = None
if j.getBody0() == self.ghostObject:
directionSign = -1.0
else:
directionSign = 1.0
for k in range(j.getNumContacts()):
pt = j.getContactPoint(k)
if pt.getDistance() < 0.0:
collision = True
if collision:
self.entity.onCollision()
self.Position = ogre.Vector3(WorldTrans.getOrigin().x(), WorldTrans.getOrigin().y(), WorldTrans.getOrigin().z())
self.Quaternion = ogre.Quaternion(
WorldTrans.getRotation().w(),
WorldTrans.getRotation().x(),
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
def setOrientation(self, rot):
_tr = bullet.btTransform()
self.body.getMotionState().getWorldTransform(_tr)
_tr.setRotation(bullet.btQuaternion(rot.x, rot.y, rot.z, rot.w))
self.body.getMotionState().setWorldTransform(_tr)
def setPosition(self, pos):
_tr = bullet.btTransform()
self.body.getMotionState().getWorldTransform(_tr)
_tr.setOrigin(bullet.btVector3(pos.x, pos.y, pos.z))
self.body.getMotionState().setWorldTransform(_tr)
def _create_simple_tr():
_tr = bullet.btTransform()
_tr.setIdentity()
_tr.setOrigin(bullet.btVector3(0, 0, 0))
_tr.setRotation(bullet.btQuaternion(0, 0, 0, 1))
return _tr
def transform_zero():
return bullet.btTransform(bullet.btQuaternion(0, 0, 0, 0),
bullet.btVector3(0, 0, 0))
def transform_from_ogre(v, q):
return bullet.btTransform(ogre2bullet_quaternion(q), ogre2bullet_vector(v))
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
