gameObjects.attachables.physicBase

class gameObjects.attachables.physicBase.MultiBodyLinks(base: 'PhysicBase | None' = None, link_to_index: dict = <factory>, index_to_link: list[gameObjects.attachables.physicLink.PhysicLink] = <factory>, masses: list[float] = <factory>, parents: list[int] = <factory>, positions: list[tuple[float, float, float]] = <factory>, orientations: list[tuple[float, float, float, float]] = <factory>, jointTypes: list[int] = <factory>, jointAxis: list[tuple[float, float, float]] = <factory>, collisionShapes: list[int] = <factory>, visualShapes: list[int] = <factory>, inertialFramePositions: list[tuple[float, float, float]] = <factory>, inertialFrameOrientations: list[tuple[float, float, float, float]] = <factory>)

Bases: object

__init__(base: ~gameObjects.attachables.physicBase.PhysicBase | None = None, link_to_index: dict = <factory>, index_to_link: list[~gameObjects.attachables.physicLink.PhysicLink] = <factory>, masses: list[float] = <factory>, parents: list[int] = <factory>, positions: list[tuple[float, float, float]] = <factory>, orientations: list[tuple[float, float, float, float]] = <factory>, jointTypes: list[int] = <factory>, jointAxis: list[tuple[float, float, float]] = <factory>, collisionShapes: list[int] = <factory>, visualShapes: list[int] = <factory>, inertialFramePositions: list[tuple[float, float, float]] = <factory>, inertialFrameOrientations: list[tuple[float, float, float, float]] = <factory>) → None

add_link(link: PhysicLink = None, mass: float = -1.0, parent: int = 0, position: tuple[float, float, float] = (0.0, 0.0, 0.0), orientation: tuple[float, float, float, float] = (0.0, 0.0, 0.0, 1.0), joint_type: int = 0, joint_axis: tuple[float, float, float] = (0.0, 0.0, 1.0), collision_shape: int = -1, visual_shape: int = -1, inertial_pos: tuple[float, float, float] = (0.0, 0.0, 0.0), inertial_ori: tuple[float, float, float, float] = (0.0, 0.0, 0.0, 1.0)) → int

Add a link and return its index.

base: PhysicBase | None

cache_on_children() → None

Cache references on the child objects at runtime.

Cache adds references to: - Child link mapping index - Base Physic (self.base) - Base Physic physics_id (multibody index from pybullet)

This allows for easy and fast lookups

collisionShapes: list[int]

destroy() → None

Unlink all physics child objects from this runtime physics instance.

This clears internal link/index mappings and removes the runtime physics references

find_physic_children(obj: GameObject, _list: list[PhysicLink])

Build a flat list of valid nested pybullet child gameObjects

index_to_link: list[PhysicLink]

inertialFrameOrientations: list[tuple[float, float, float, float]]

inertialFramePositions: list[tuple[float, float, float]]

jointAxis: list[tuple[float, float, float]]

jointTypes: list[int]

link_to_index: dict

masses: list[float]

orientations: list[tuple[float, float, float, float]]

parents: list[int]

positions: list[tuple[float, float, float]]

runtime_init()

visualShapes: list[int]

class gameObjects.attachables.physicBase.PhysicBase(context: EmberEngine, gameObject: GameObject, uuid: UUID = None, active: bool = False)

Bases: PhysicLink

__init__(context: EmberEngine, gameObject: GameObject, uuid: UUID = None, active: bool = False) → None