ya2/lib/bullet/bullet.py

   1 from panda3d.bullet import \
   2     BulletWorld as BWorld, \
   3     BulletDebugNode as BDebugNode, \
   4     BulletTriangleMesh as BTriangleMesh, \
   5     BulletTriangleMeshShape as BTriangleMeshShape, \
   6     BulletRigidBodyNode as BRigidBodyNode, \
   7     BulletGhostNode as BGhostNode
   8
   9
  10 class BulletPhysWorld:
  11
  12     def __init__(self):
  13         self._wld = BWorld()
  14         self.__debug_np = None
  15
  16     def attach_rigid_body(self, rbnode):
  17         return self._wld.attach_rigid_body(rbnode)
  18
  19     def remove_rigid_body(self, rbnode):
  20         return self._wld.remove_rigid_body(rbnode)
  21
  22     def attach_ghost(self, gnode): return self._wld.attach_ghost(gnode)
  23     def remove_ghost(self, gnode): return self._wld.remove_ghost(gnode)
  24     def attach_vehicle(self, vehicle): return self._wld.attach_vehicle(vehicle)
  25     def remove_vehicle(self, vehicle): return self._wld.remove_vehicle(vehicle)
  26
  27     def ray_test_closest(self, from_pos, to_pos, mask=None):
  28         if mask is not None:
  29             res = self._wld.ray_test_closest(from_pos, to_pos, mask)
  30         else: res = self._wld.ray_test_closest(from_pos, to_pos)
  31         return res
  32
  33     def do_phys(self, dt, max_substeps, stepsize):
  34         return self._wld.do_physics(dt, max_substeps, stepsize)
  35
  36     def set_gravity(self, vec): return self._wld.set_gravity(vec)
  37
  38     def init_debug(self):
  39         debug_node = BDebugNode('Debug')
  40         debug_node.show_bounding_boxes(True)
  41         self.__debug_np = render.attach_new_node(debug_node)
  42         self._wld.set_debug_node(self.__debug_np.node())
  43
  44     def stop(self): self.__debug_np.remove_node()
  45
  46     def ray_test_all(self, pt_a, pt_b, mask=None):
  47         args = [pt_a._vec, pt_b._vec, mask] if mask else [pt_a._vec, pt_b._vec]
  48         #TODO: access to protected member
  49         return self._wld.ray_test_all(*args)
  50
  51     def toggle_dbg(self):
  52         hidden = self.__debug_np.is_hidden()
  53         (self.__debug_np.show if hidden else self.__debug_np.hide)()
  54
  55
  56 class BulletTriangleMesh:
  57
  58     def __init__(self):
  59         self._mesh = BTriangleMesh()
  60
  61     def add_geom(self, geom, rm_dupl, xform):
  62         return self._mesh.add_geom(geom, rm_dupl, xform)
  63
  64
  65 class BulletTriangleMeshShape:
  66
  67     def __init__(self, mesh, dynamic):
  68         self._mesh_shape = BTriangleMeshShape(mesh._mesh, dynamic=dynamic)
  69         #TODO: access to protected member
  70
  71
  72 class BulletRigidBodyNode:
  73
  74     def __init__(self, name): self._node = BRigidBodyNode(name)
  75
  76
  77 class BulletGhostNode:
  78
  79     def __init__(self, name): self._node = BGhostNode(name)