348 lines
10 KiB
Python
348 lines
10 KiB
Python
"""
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刚体动力学插件主管理器
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整合所有物理功能模块，提供统一的接口
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"""
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from panda3d.core import Vec3, Point3
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from .core.physics_world import PhysicsWorld
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from .core.rigid_body import RigidBody
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from .core.material import PhysicsMaterial, MATERIALS
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from .constraints.constraint_manager import ConstraintManager
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from .vehicles.vehicle_system import VehicleSystem
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from .particles.particle_system import ParticleSystem
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from .debug.debug_tools import PhysicsDebug, PhysicsProfiler
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from .utils.physics_utils import PhysicsUtils, PhysicsConfigManager, PhysicsCollisionGroups
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class RigidBodyPhysicsPlugin:
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"""
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刚体动力学插件主管理器
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提供统一的物理系统接口
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"""
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def __init__(self, world_node=None, config_file=None):
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"""
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初始化物理插件
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Args:
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world_node: Panda3D世界节点（用于调试可视化）
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config_file (str): 配置文件路径
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"""
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# 创建物理世界
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self.physics_world = PhysicsWorld()
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# 创建约束管理器
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self.constraint_manager = ConstraintManager()
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# 配置管理器
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self.config_manager = PhysicsConfigManager(config_file)
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# 调试工具
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self.debug_tools = None
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self.profiler = None
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if world_node:
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self.debug_tools = PhysicsDebug(self.physics_world, world_node)
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self.profiler = PhysicsProfiler(self.physics_world)
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# 活动对象列表
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self.vehicles = []
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self.particle_systems = []
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print("刚体动力学插件初始化完成")
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def create_rigid_body(self, node_path, shape_type='box', mass=1.0,
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body_type=RigidBody.DYNAMIC, material=None):
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"""
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创建刚体
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Args:
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node_path: Panda3D节点路径
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shape_type (str): 碰撞形状类型
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mass (float): 质量
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body_type (int): 刚体类型
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material (PhysicsMaterial): 物理材质
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Returns:
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RigidBody: 刚体对象
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"""
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# 创建刚体
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rigid_body = RigidBody(node_path, shape_type, mass, body_type)
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# 应用材质
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if material:
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material.apply_to_rigid_body(rigid_body)
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else:
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# 使用默认材质
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default_material = PhysicsMaterial('default')
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default_material.apply_to_rigid_body(rigid_body)
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# 添加到物理世界
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self.physics_world.add_rigid_body(rigid_body)
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return rigid_body
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def create_constraint(self, constraint_type, body_a, body_b, **kwargs):
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"""
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创建约束
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Args:
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constraint_type (str): 约束类型
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body_a (RigidBody): 第一个刚体
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body_b (RigidBody): 第二个刚体
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**kwargs: 约束参数
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Returns:
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约束对象
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"""
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if constraint_type == ConstraintManager.CONSTRAINT_POINT2POINT:
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constraint = self.constraint_manager.create_point2point_constraint(
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body_a, body_b, **kwargs)
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elif constraint_type == ConstraintManager.CONSTRAINT_HINGE:
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constraint = self.constraint_manager.create_hinge_constraint(
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body_a, body_b, **kwargs)
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elif constraint_type == ConstraintManager.CONSTRAINT_SLIDER:
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constraint = self.constraint_manager.create_slider_constraint(
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body_a, body_b, **kwargs)
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elif constraint_type == ConstraintManager.CONSTRAINT_CONETWIST:
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constraint = self.constraint_manager.create_cone_twist_constraint(
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body_a, body_b, **kwargs)
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elif constraint_type == ConstraintManager.CONSTRAINT_6DOF:
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constraint = self.constraint_manager.create_6dof_constraint(
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body_a, body_b, **kwargs)
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else:
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raise ValueError(f"未知的约束类型: {constraint_type}")
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# 添加到物理世界
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self.physics_world.add_constraint(constraint)
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return constraint
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def create_vehicle(self, chassis_body, wheel_configurations):
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"""
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创建车辆
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Args:
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chassis_body (RigidBody): 底盘刚体
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wheel_configurations (list): 车轮配置列表
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Returns:
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VehicleSystem: 车辆系统对象
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"""
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# 创建车辆系统
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vehicle = VehicleSystem(self.physics_world, chassis_body)
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# 添加车轮
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for wheel_config in wheel_configurations:
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vehicle.add_wheel(**wheel_config)
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# 保存车辆引用
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self.vehicles.append(vehicle)
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return vehicle
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def create_particle_system(self, max_particles=1000):
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"""
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创建粒子系统
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Args:
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max_particles (int): 最大粒子数
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Returns:
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ParticleSystem: 粒子系统对象
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"""
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# 创建粒子系统
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particle_system = ParticleSystem(self.physics_world, max_particles)
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# 保存粒子系统引用
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self.particle_systems.append(particle_system)
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# 添加到物理世界
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self.physics_world.add_particle_system(particle_system)
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return particle_system
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def update(self, dt):
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"""
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更新物理系统
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Args:
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dt (float): 时间增量
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"""
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# 更新物理世界
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self.physics_world.update(dt)
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# 更新粒子系统
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for particle_system in self.particle_systems:
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particle_system.update(dt)
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# 更新调试工具
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if self.debug_tools:
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self.debug_tools.update_debug_visualization()
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# 更新性能分析器
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if self.profiler:
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self.profiler.record_frame()
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def ray_test(self, from_pos, to_pos):
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"""
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射线检测
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Args:
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from_pos (Point3): 起点
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to_pos (Point3): 终点
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Returns:
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BulletRayHit: 射线检测结果
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"""
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return self.physics_world.ray_test(from_pos, to_pos)
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def get_performance_stats(self):
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"""
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获取性能统计
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Returns:
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dict: 性能统计信息
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"""
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stats = self.physics_world.get_performance_stats()
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# 添加对象计数
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stats['objects'] = {
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'rigid_bodies': len(self.physics_world.rigid_bodies),
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'constraints': len(self.physics_world.constraints),
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'vehicles': len(self.vehicles),
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'particle_systems': len(self.particle_systems)
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}
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return stats
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def enable_debug_visualization(self, enabled=True):
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"""
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启用调试可视化
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Args:
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enabled (bool): 是否启用
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"""
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if self.debug_tools:
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self.debug_tools.enable_debug(enabled)
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def set_debug_options(self, **kwargs):
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"""
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设置调试选项
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Args:
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**kwargs: 调试选项
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"""
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if self.debug_tools:
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self.debug_tools.set_debug_options(**kwargs)
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def get_predefined_material(self, material_name):
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"""
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获取预定义材质
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Args:
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material_name (str): 材质名称
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Returns:
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PhysicsMaterial: 物理材质
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"""
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return MATERIALS.get(material_name)
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def create_custom_material(self, name, properties):
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"""
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创建自定义材质
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Args:
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name (str): 材质名称
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properties (dict): 材质属性
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Returns:
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PhysicsMaterial: 物理材质
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"""
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return PhysicsMaterial(name, properties)
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def set_gravity(self, gravity):
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"""
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设置重力
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Args:
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gravity (Vec3): 重力向量
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"""
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self.physics_world.set_gravity(gravity)
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def set_time_step(self, time_step, max_substeps=10):
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"""
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设置时间步长
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Args:
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time_step (float): 时间步长
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max_substeps (int): 最大子步数
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"""
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self.physics_world.set_time_step(time_step, max_substeps)
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def get_collision_groups(self):
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"""
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获取碰撞组工具
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Returns:
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PhysicsCollisionGroups: 碰撞组工具
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"""
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return PhysicsCollisionGroups
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def save_config(self, config_file=None):
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"""
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保存配置
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Args:
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config_file (str): 配置文件路径
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"""
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if self.config_manager:
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self.config_manager.save_config(config_file)
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def load_config(self, config_file):
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"""
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加载配置
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Args:
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config_file (str): 配置文件路径
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"""
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if self.config_manager:
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self.config_manager.load_config(config_file)
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def clear_all(self):
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"""
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清除所有物理对象
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"""
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# 销毁所有车辆
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for vehicle in self.vehicles[:]:
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vehicle.destroy()
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self.vehicles.clear()
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# 销毁所有粒子系统
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for particle_system in self.particle_systems[:]:
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particle_system.destroy()
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self.particle_systems.clear()
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# 清除物理世界
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self.physics_world.clear()
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print("所有物理对象已清除")
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def destroy(self):
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"""
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销毁物理插件
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"""
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# 清除所有对象
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self.clear_all()
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# 销毁调试工具
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if self.debug_tools:
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self.debug_tools.destroy()
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# 销毁性能分析器
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if self.profiler:
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self.profiler.destroy()
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# 销毁物理世界
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del self.physics_world
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print("刚体动力学插件已销毁") |