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gh_bullet3 library

Description

gh_bullet3 is the module that manages the Bullet Physics engine.

Number of functions: 59

gh_bullet3.actor_apply_central_force ()
gh_bullet3.actor_apply_central_impulse ()
gh_bullet3.actor_apply_torque ()
gh_bullet3.actor_apply_transform ()
gh_bullet3.actor_get_transform_mat16 ()
gh_bullet3.actor_get_transform_pos_qrot ()
gh_bullet3.actor_clear_forces ()
gh_bullet3.actor_create_box ()
gh_bullet3.actor_create_box_v2 ()
gh_bullet3.actor_create_cylinder ()
gh_bullet3.actor_create_cylinder_v2 ()
gh_bullet3.actor_create_mesh ()
gh_bullet3.actor_create_mesh_v2 ()
gh_bullet3.actor_create_sphere ()
gh_bullet3.actor_create_sphere_v2 ()
gh_bullet3.actor_create_static_plane ()
gh_bullet3.actor_create_static_plane_v2 ()
gh_bullet3.actor_get_contact_actor ()
gh_bullet3.actor_get_activation_state ()
gh_bullet3.actor_get_angular_speed2 ()
gh_bullet3.actor_get_angular_velocity ()
gh_bullet3.actor_get_contact_info ()
gh_bullet3.actor_get_linear_speed2 ()
gh_bullet3.actor_get_linear_velocity ()
gh_bullet3.actor_get_orientation ()
gh_bullet3.actor_get_position ()
gh_bullet3.actor_kill ()
gh_bullet3.actor_set_3d_object ()
gh_bullet3.actor_set_activation_state ()
gh_bullet3.actor_set_angular_factor ()
gh_bullet3.actor_set_angular_velocity ()
gh_bullet3.actor_set_ccd_params ()
gh_bullet3.actor_set_collision_margin ()
gh_bullet3.actor_set_damping ()
gh_bullet3.actor_set_gravity ()
gh_bullet3.actor_set_linear_factor ()
gh_bullet3.actor_set_linear_velocity ()
gh_bullet3.actor_set_material ()
gh_bullet3.actor_set_orientation ()
gh_bullet3.actor_set_position ()
gh_bullet3.actor_set_sleeping_thresholds ()
gh_bullet3.actor_update_mass ()
gh_bullet3.get_version ()
gh_bullet3.init ()
gh_bullet3.material_create ()
gh_bullet3.material_kill ()
gh_bullet3.material_update ()
gh_bullet3.scene_add_actor ()
gh_bullet3.scene_check_contacts ()
gh_bullet3.scene_create ()
gh_bullet3.scene_create_sap ()
gh_bullet3.scene_kill ()
gh_bullet3.scene_remove_actor ()
gh_bullet3.scene_reset_all_contacts ()
gh_bullet3.scene_set_gravity ()
gh_bullet3.scene_set_solver_num_iterations ()
gh_bullet3.scene_step_simulation ()
gh_bullet3.scene_sync_3d_objects ()
gh_bullet3.terminate ()

actor_apply_central_force

Description

Applies a force to an actor.

Syntax

gh_bullet3.actor_apply_central_force( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: actor identifier
x, y, z [REAL]: force

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_apply_central_force(actor_id, x, y, z)

actor_apply_central_impulse

Description

Applies an impulse force to an actor.

Syntax

gh_bullet3.actor_apply_central_impulse( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: actor identifier
x, y, z [REAL]: force

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_apply_central_impulse(actor_id, x, y, z)

actor_apply_torque

Description

Applies a torque to an actor.

Syntax

gh_bullet3.actor_apply_torque( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: actor identifier
x, y, z [REAL]: torque

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_apply_torque(actor_id, x, y, z)

actor_apply_transform

Description

Apply the transformation matrix of a physics actor to a 3D object. It's a manual physcis/graphics synchronization. Use this function if you don't use scene_sync_3d_objects().

Syntax

gh_bullet3.actor_apply_transform( actor_id, o3d_id )

Languages

Parameters

actor_id [ID]: actor identifier
o3d_id [ID]: 3d object identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_apply_transform(actor_id, o3d_id)

actor_get_transform_mat16

Description

Returns the transformation matrix of a physics actor.

Syntax

m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15 = gh_bullet3.actor_get_transform_mat16( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15 [REAL]: the 16 floats that make the 4x4 matrix

Code sample


m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15 = gh_bullet3.actor_get_transform_mat16(actor_id)

actor_get_transform_pos_qrot

Description

Returns the position and orientation (quaternion) of a physics actor.

Syntax

px, py, pz, qx, qy, qz, qw = gh_bullet3.actor_get_transform_pos_qrot( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

px, py, pz [REAL]: position
qx, qy, qz, qw [REAL]: rotation quaternion

Code sample


px, py, pz, qx, qy, qz, qw = gh_bullet3.actor_get_transform_pos_qrot(actor_id)

actor_clear_forces

Description

Clears (resets) all forces that act on an actor.

Syntax

gh_bullet3.actor_clear_forces( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_clear_forces(actor_id)

actor_create_box

Description

Creates a box actor.

Syntax

actor_id = gh_bullet3.actor_create_box( w, h, d, x, y, z, mass, mat_id )

Languages

Parameters

w, h, d [REAL]: dimensions of the box
x, y, z [REAL]: initial position of the actor
mass [REAL]: mass (set the mass = 0 for a kinematic actor)
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


actor_id = gh_bullet3.actor_create_box(w, h, d, x, y, z, mass, mat_id)

actor_create_box_v2

Description

Creates a box actor.

Syntax

actor_id = gh_bullet3.actor_create_box_v2( w, h, d, x, y, z, mass, ix, iy, iz, mat_id )

Languages

Parameters

w, h, d [REAL]: dimensions of the box
x, y, z [REAL]: initial position of the actor
mass [REAL]: mass (set the mass = 0 for a kinematic actor)
ix, iy, iz [REAL]: initial local inertia
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


actor_id = gh_bullet3.actor_create_box_v2(w, h, d, x, y, z, mass, ix, iy, iz, mat_id)

actor_create_cylinder

Description

Creates a cylinder actor.

Syntax

actor_id = gh_bullet3.actor_create_cylinder( main_axis, height, radius, x, y, z, mass, mat_id )

Languages

Parameters

main_axis [ENUM]: direction of the main axis: 0 (along X axis), 1 (along Y axis) or 2 (along Z axis)
height [REAL]: cylinder height
radius [REAL]: cylinder radius
x, y, z [REAL]: initial position of the actor
mass [REAL]: mass (set the mass = 0 for a kinematic actor)
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


actor_id = gh_bullet3.actor_create_cylinder(central_axis, height, radius, x, y, z, mass, mat_id)

actor_create_cylinder_v2

Description

Creates a cylinder actor.

Syntax

actor_id = gh_bullet3.actor_create_cylinder_v2( main_axis, height, radius, x, y, z, mass, ix, iy, iz, mat_id )

Languages

Parameters

main_axis [ENUM]: direction of the main axis: 0 (along X axis), 1 (along Y axis) or 2 (along Z axis)
height [REAL]: cylinder height
radius [REAL]: cylinder radius
x, y, z [REAL]: initial position of the actor
mass [REAL]: mass (set the mass = 0 for a kinematic actor)
ix, iy, iz [REAL]: initial local inertia
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


actor_id = gh_bullet3.actor_create_cylinder_v2(central_axis, height, radius, x, y, z, mass, ix, iy, iz, mat_id)

actor_create_mesh

Description

Creates an actor from a mesh.

Syntax

actor_id = gh_bullet3.actor_create_mesh( mesh_id, convex, x, y, z, mass, mat_id )

Languages

Parameters

mesh_id [ID]: mesh identifier
convex [BOOLEAN]: convex mesh: 1 (yes) or 0 (no)
x, y, z [REAL]: initial position of the actor
mass [REAL]: mass (set the mass = 0 for a kinematic actor)
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


actor_id = gh_bullet3.actor_create_mesh(mesh_id, convex, x, y, z, mass, mat_id)

actor_create_mesh_v2

Description

Creates an actor from a mesh.

Syntax

actor_id = gh_bullet3.actor_create_mesh_v2( mesh_id, convex, x, y, z, mass, ix, iy, iz, mat_id )

Languages

Parameters

mesh_id [ID]: mesh identifier
convex [BOOLEAN]: convex mesh: 1 (yes) or 0 (no)
x, y, z [REAL]: initial position of the actor
mass [REAL]: mass (set the mass = 0 for a kinematic actor)
ix, iy, iz [REAL]: initial local inertia
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


actor_id = gh_bullet3.actor_create_mesh_v2(mesh_id, convex, x, y, z, mass, ix, iy, iz, mat_id)

actor_create_sphere

Description

Creates a sphere actor.

Syntax

actor_id = gh_bullet3.actor_create_sphere( radius, x, y, z, mass, mat_id )

Languages

Parameters

radius [REAL]: sphere radius
x, y, z [REAL]: initial position of the actor
mass [REAL]: mass (set the mass = 0 for a kinematic actor)
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


actor_id = gh_bullet3.actor_create_sphere(radius, x, y, z, mass, mat_id)

actor_create_sphere_v2

Description

Creates a sphere actor.

Syntax

actor_id = gh_bullet3.actor_create_sphere_v2( radius, x, y, z, mass, ix, iy, iz, mat_id )

Languages

Parameters

radius [REAL]: sphere radius
x, y, z [REAL]: initial position of the actor
mass [REAL]: mass (set the mass = 0 for a kinematic actor)
ix, iy, iz [REAL]: initial local inertia
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


actor_id = gh_bullet3.actor_create_sphere_v2(radius, x, y, z, mass, ix, iy, iz, mat_id)

actor_create_static_plane

Description

Creates a static plane actor. This is an infinite plane defined by a plane equation.

Syntax

actor_id = gh_bullet3.actor_create_static_plane( nx, ny, nz, d, mat_id )

Languages

Parameters

nx, ny, nz, d [REAL]: plane equation
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


nx = 0
ny = 1
nz = 0
d = 0
actor_id = gh_bullet3.actor_create_static_plane(nx, ny, nz, d, mat_id)

actor_create_static_plane_v2

Description

Creates a static plane actor. This is an infinite plane defined by a plane equation.

Syntax

actor_id = gh_bullet3.actor_create_static_plane_v2( nx, ny, nz, px, py, pz, mat_id )

Languages

Parameters

nx, ny, nz [REAL]: plane normal vector
px, py, pz [REAL]: plane position
mat_id [ID]: material identifier

Return Values

actor_id [ID]: actor identifier

Code sample


nx = 1
ny = 0
nz = 0
px = 5
py = 0
pz = 0
actor_id = gh_bullet3.actor_create_static_plane_v2(nx, ny, nz, px, py, pz, mat_id)

actor_get_contact_actor

Description

Gets the actor ID of a particular contact.

Syntax

contact_actor_id = gh_bullet3.actor_get_contact_actor( actor_id, contact_index )

Languages

Parameters

actor_id [ID]: actor identifier
contact_index [INTEGER]: contact index

Return Values

contact_actor_id [ID]: ID of the actor in contact

Code sample


num_contacts, x, y, z = gh_bullet3.actor_get_contact_info(actor_id)
for i=0, num_contacts-1 do
  contact_actor_id = gh_bullet3.actor_get_contact_actor(actor_id, i)
	...
end

actor_get_activation_state

Description

Gets the activation state of an actor.

Syntax

state = gh_bullet3.actor_get_activation_state( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

state [INTEGER]: activation state (0 or 1)

Code sample


state = gh_bullet3.actor_get_activation_state(actor_id)

actor_get_angular_speed2

Description

Gets the squared angular speed of an actor.

Syntax

s = gh_bullet3.actor_get_angular_speed2( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

s [REAL]: squared speed

Code sample


s = gh_bullet3.actor_get_angular_speed2(actor_id)

actor_get_angular_velocity

Description

Gets the angular velocity of an actor.

Syntax

x, y, z = gh_bullet3.actor_get_angular_velocity( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

x, y, z [REAL]: velocity vector

Code sample


x, y, z= gh_bullet3.actor_get_angular_velocity(actor_id)

actor_get_contact_info

Description

Gets information about contacts of an actor.

Syntax

num_contacts = gh_bullet3.actor_get_contact_info( actor_id, px, py, pz )

Languages

Parameters

actor_id [ID]: actor identifier
px, py, pz [REAL]: position of the first contact

Return Values

num_contacts [INTEGER]: number of contacts

Code sample


num_contacts, px, py, pz = gh_bullet3.actor_get_contact_info(actor_id)

actor_get_linear_speed2

Description

Gets the squared linear speed of an actor.

Syntax

s = gh_bullet3.actor_get_linear_speed2( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

s [REAL]: squared speed

Code sample


s = gh_bullet3.actor_get_linear_speed2(actor_id)

actor_get_linear_velocity

Description

Gets the linear velocity of an actor.

Syntax

x, y, z = gh_bullet3.actor_get_linear_velocity( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

x, y, z [REAL]: velocity vector

Code sample


x, y, z= gh_bullet3.actor_get_linear_velocity(actor_id)

actor_get_orientation

Description

Gets the orientation of an actor.

Syntax

qx, qy, qz, qw = gh_bullet3.actor_get_orientation( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

qx, qy, qz, qw [REAL]: orientation quaternion

Code sample


qx, qy, qz, qw = gh_bullet3.actor_get_orientation(actor_id)

actor_get_position

Description

Gets the position of an actor.

Syntax

x, y, z = gh_bullet3.actor_get_position( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

x, y, z [REAL]: 3D position

Code sample


x, y, z = gh_bullet3.actor_get_position(actor_id)

actor_kill

Description

Destroys an actor.

Syntax

gh_bullet3.actor_kill( actor_id )

Languages

Parameters

actor_id [ID]: actor identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_kill(actor_id)

actor_set_3d_object

Description

Allows to associate a physics actor and a 3D object. Useful for the scene_sync_3d_objects() function.

Syntax

gh_bullet3.actor_set_3d_object( actor_id, o3d_id )

Languages

Parameters

actor_id [ID]: actor identifier
o3d_id [ID]: 3d object identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_3d_object(actor_id, o3d_id)

actor_set_activation_state

Description

Sets the activation state of an actor.

Syntax

gh_bullet3.actor_set_activation_state( actor_id, state )

Languages

Parameters

actor_id [ID]: actor identifier
state [INTEGER]: activation state (0 or 1)

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_activation_state(actor_id, state)

actor_set_angular_factor

Description

Allows to limit (or amplify) the angular velocity along some axis.

Syntax

gh_bullet3.actor_set_angular_factor( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: actor identifier
x, y, z [REAL]: XX factor

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_angular_factor(actor_id, x, y, z)

actor_set_angular_velocity

Description

Sets the angular velocity of an actor.

Syntax

gh_bullet3.actor_set_angular_velocity( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: actor identifier
x, y, z [REAL]: velocity vector

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_angular_velocity(actor_id, x, y, z)

actor_set_ccd_params

Description

Sets the CCD (continuous collision detection) parameters. Useful to improve simulation stability.

Syntax

gh_bullet3.actor_set_ccd_params( actor_id, motion_threshold, swept_sphere_radius )

Languages

Parameters

actor_id [ID]: actor identifier
motion_threshold [REAL]: CCD is not performed if the motion (in one step) is less then motion_threshold
swept_sphere_radius [REAL]: swept sphere radius (0.0 by default)

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_ccd_params(actor_id, motion_threshold, swept_sphere_radius)

actor_set_collision_margin

Description

Sets the collision margin of an actor. Useful to improve simulation stability.

Syntax

gh_bullet3.actor_set_collision_margin( actor_id, margin )

Languages

Parameters

actor_id [ID]: actor identifier
margin [REAL]: collision margin

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_collision_margin(actor_id, margin)

actor_set_damping

Description

Sets damping factors.

Syntax

gh_bullet3.actor_set_damping( actor_id, linear, angular )

Languages

Parameters

actor_id [ID]: actor identifier
linear [REAL]: linear damping
angular [REAL]: angular damping

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_damping(actor_id, linear, angular)

actor_set_gravity

Description

Sets a gravity vector for an actor.

Syntax

gh_bullet3.actor_set_gravity( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: actor identifier
x, y, z [REAL]: gravity vector

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_gravity(actor_id, x, y, z)

actor_set_linear_factor

Description

Allows to limit (or amplify) the linear velocity along some axis.

Syntax

gh_bullet3.actor_set_linear_factor( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: actor identifier
x, y, z [REAL]: XX factor

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_linear_factor(actor_id, x, y, z)

actor_set_linear_velocity

Description

Sets the linear velocity of an actor.

Syntax

gh_bullet3.actor_set_linear_velocity( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: actor identifier
x, y, z [REAL]: velocity vector

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_linear_velocity(actor_id, x, y, z)

actor_set_material

Description

Updates an actor's material.

Syntax

gh_bullet3.actor_set_material( actor_id, mat_id )

Languages

Parameters

actor_id [ID]: actor identifier
mat_id [ID]: material identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_material(actor_id, mid)

actor_set_orientation

Description

Sets the orientation of an actor.

Syntax

gh_bullet3.actor_set_orientation( actor_id, qx, qy, qz, qw )

Languages

Parameters

actor_id [ID]: actor identifier
qx, qy, qz, qw [REAL]: orientation quaternion

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_orientation(actor_id, qx, qy, qz, qw)

actor_set_position

Description

Sets the position of an actor.

Syntax

gh_bullet3.actor_set_position( actor_id, x, y, z )

Languages

Parameters

actor_id [ID]: actor identifier
x, y, z [REAL]: 3d position

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_position(actor_id, x, y, z)

actor_set_sleeping_thresholds

Description

Sets the linear and angular sleeping thresholds.

Syntax

gh_bullet3.actor_set_sleeping_thresholds( actor_id, linear, angular )

Languages

Parameters

actor_id [ID]: actor identifier
linear [REAL]: linear sleeping threshold
angular [REAL]: angular sleeping threshold

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_set_sleeping_thresholds(actor_id, linear, angular)

actor_update_mass

Description

Updates the mass of an actor.

Syntax

gh_bullet3.actor_update_mass( actor_id, mass )

Languages

Parameters

actor_id [ID]: actor identifier
mass [REAL]: mass

Return Values

This function has no return value(s).

Code sample


gh_bullet3.actor_update_mass(actor_id, mass)

get_version

Description

Gets the Bullet API version as a single integer (ex: 288).

Syntax

version = gh_bullet3.get_version()

Languages

Parameters

This function has no input parameter(s).

Return Values

version [INTEGER]: API version

Code sample


version = gh_bullet3.get_version()

init

Description

Initializes the Bullet3 plugin. This the first function to call.

Syntax

ret = gh_bullet3.init()

Languages

Parameters

This function has no input parameter(s).

Return Values

ret [BOOLEAN]: return code: 1 (success) or 0 (error)

Code sample


ret = gh_bullet3.init()

material_create

Description

Creates a new material.

Syntax

mat_id = gh_bullet3.material_create( restitution, friction )

Languages

Parameters

restitution [REAL]: restitution factor
friction [REAL]: friction factor

Return Values

mat_id [ID]: material identifier

Code sample


mat_id = gh_bullet3.material_create(restitution, friction)

material_kill

Description

Destroys a material.

Syntax

gh_bullet3.material_kill( mat_id )

Languages

Parameters

mat_id [ID]: material identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.material_kill(mat_id)

material_update

Description

Updates the properties of a material.

Syntax

gh_bullet3.material_update( mat_id, friction, restitution )

Languages

Parameters

mat_id [ID]: material identifier
friction [REAL]: friction
restitution [REAL]: resilience / restitution

Return Values

This function has no return value(s).

Code sample


restitution = 0.9
friction = 0.5

gh_bullet3.material_update(mat_id, restitution, friction)

-- now update the material for a particular actor
gh_bullet3.actor_set_material(actor_id, mat_id)

scene_add_actor

Description

Adds a physics actor to a physics scene.

Syntax

gh_bullet3.scene_add_actor( scene_id, actor_id )

Languages

Parameters

scene_id [ID]: scene identifier
actor_id [ID]: actor identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.scene_add_actor(scene_id, actor_id)

scene_check_contacts

Description

Checks all contacts in a scene.

Syntax

num_contacts = gh_bullet3.scene_check_contacts( scene_id )

Languages

Parameters

scene_id [ID]: scene identifier

Return Values

num_contacts [INTEGER]: number of contacts

Code sample


num_contacts = gh_bullet3.scene_check_contacts(scene_id)

scene_create

Description

Creates and initializes a physics scene (Bullet Dbvt broadphase).

Syntax

scene_id = gh_bullet3.scene_create()

Languages

Parameters

This function has no input parameter(s).

Return Values

scene_id [ID]: scene identifier

Code sample


scene_id = gh_bullet3.scene_create()

scene_create_sap

Description

Creates and initializes a physics scene (Bullet AxisSweep3 broadphase). For this scene, you have to specify the expected scene dimensions.

Syntax

scene_id = gh_bullet3.scene_create_sap( min_x, min_y, min_z, max_x, max_y, max_z )

Languages

Parameters

min_x, min_y, min_z [REAL]: world dimensions (minimal AABB values)
max_x, max_y, max_z [REAL]: world dimensions (maximal AABB values)

Return Values

scene_id [ID]: scene identifier

Code sample


scene_id = gh_bullet3.scene_create_sap(x0, y0, z0,  x1, x1, z1)

scene_kill

Description

Terminates and destroys a physics scene.

Syntax

gh_bullet3.scene_kill( scene_id )

Languages

Parameters

scene_id [ID]: scene identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.scene_kill(scene_id)

scene_remove_actor

Description

Removes a physics actor from a physics scene.

Syntax

gh_bullet3.scene_remove_actor( scene_id, actor_id )

Languages

Parameters

scene_id [ID]: scene identifier
actor_id [ID]: actor identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.scene_remove_actor(scene_id, actor_id)

scene_reset_all_contacts

Description

Resets all contacts in a scene. Should be called before scene_step_simulation().

Syntax

gh_bullet3.scene_reset_all_contacts( scene_id )

Languages

Parameters

scene_id [ID]: scene identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.scene_reset_all_contacts(scene_id)

scene_set_gravity

Description

Sets the global gravity of the scene (ex: [0.0, -10.0, 0.0])

Syntax

gh_bullet3.scene_set_gravity( scene_id, x, y, z )

Languages

Parameters

scene_id [ID]: scene identifier
x, y, z [REAL]: gravity vector

Return Values

This function has no return value(s).

Code sample


gh_bullet3.scene_set_gravity(scene_id, x, y, z)

scene_set_solver_num_iterations

Description

Sets the number of iterations of the solver. The simulation stability increases with the number of iterations but the simulation is slower.

Syntax

gh_bullet3.scene_set_solver_num_iterations( scene_id, num_iterations )

Languages

Parameters

scene_id [ID]: scene identifier
num_iterations [INTEGER]: number of iterations - default value is 10.

Return Values

This function has no return value(s).

Code sample


gh_bullet3.scene_set_solver_num_iterations(scene_id, iterations)

scene_step_simulation

Description

Performs a scene simulation step. The relation between the parameters should follow this rule: timeStep < maxSubSteps * fixedTimeStep

Syntax

gh_bullet3.scene_step_simulation( scene_id, time_step, max_sub_steps, fixed_time_step )

Languages

Parameters

scene_id [ID]: scene identifier
time_step [REAL]: time step between two frames
max_sub_steps [INTEGER]: number of sub steps
fixed_time_step [REAL]: fixed time step - default value: 1.0/60.0

Return Values

This function has no return value(s).

Code sample


gh_bullet3.scene_step_simulation(scene_id, dt, max_sub_steps, 1.0/60.0)

scene_sync_3d_objects

Description

Synchronizes physics and graphics objects. A physcis actor is associated to a 3D object using the actor_set_3d_object() function.

Syntax

gh_bullet3.scene_sync_3d_objects( scene_id )

Languages

Parameters

scene_id [ID]: scene identifier

Return Values

This function has no return value(s).

Code sample


gh_bullet3.scene_sync_3d_objects(scene_id)

terminate

Description

Stops the Bullet engine and frees resources.

Syntax

ret = gh_bullet3.terminate()

Languages

Parameters

This function has no input parameter(s).

Return Values

ret [BOOLEAN]: return code: 1 (success) or 0 (error)

Code sample


ret = gh_bullet3.terminate()

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