def main():
dynamicsWorld = DiscreteDynamicsWorld()
groundShape = BoxShape(Vector3(50, 50, 50))
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(0, -56, 0))
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
ground = RigidBody(groundMotion, groundShape)
dynamicsWorld.addRigidBody(ground)
ballShape = BoxShape(Vector3(1, 1, 1))
ballTransform = Transform()
ballTransform.setIdentity()
ballTransform.setOrigin(Vector3(2, 10, 0))
ballMotion = DefaultMotionState()
ballMotion.setWorldTransform(ballTransform)
ball = RigidBody(ballMotion, ballShape, 1.0)
dynamicsWorld.addRigidBody(ball)
for i in range(100):
dynamicsWorld.stepSimulation(1.0 / 60.0, 10)
for obj in ballMotion, groundMotion:
o = obj.getWorldTransform().getOrigin()
print 'world pos = %0.6f,%0.6f,%0.6f' % (o.x, o.y, o.z)
class Ground:
def __init__(self):
self.boxHalfExtents = Vector3(20, 2, 20)
groundShape = BoxShape(self.boxHalfExtents)
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(0, -4, 0))
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
self.body = RigidBody(groundMotion, groundShape)
self.body.setRestitution(0.5)
self.motion = groundMotion
def render(self):
x, y, z = (self.boxHalfExtents.x, self.boxHalfExtents.y,
self.boxHalfExtents.z)
o = self.motion.getWorldTransform().getOrigin()
glColor(0, 0, 255)
glTranslate(o.x, o.y, o.z)
glBegin(GL_TRIANGLE_STRIP)
glVertex(-x, y, -z)
glVertex(x, y, -z)
glVertex(-x, y, z)
glVertex(x, y, z)
glEnd()
def __init__(self):
self.boxHalfExtents = Vector3(20, 2, 20)
groundShape = BoxShape(self.boxHalfExtents)
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(0, -4, 0))
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
self.body = RigidBody(groundMotion, groundShape)
self.body.setRestitution(0.5)
self.motion = groundMotion
def __init__(self, position, color, radius=2):
self.radius = radius
ballShape = SphereShape(self.radius)
ballTransform = Transform()
ballTransform.setIdentity()
ballTransform.setOrigin(position)
ballMotion = DefaultMotionState()
ballMotion.setWorldTransform(ballTransform)
self.body = RigidBody(ballMotion, ballShape, 2.0)
self.body.setRestitution(0.9)
self.motion = ballMotion
self.quad = gluNewQuadric()
self.color = color
def __init__(self, filename, view, mass, position=eVector3()):
super(CueBall, self).__init__(filename, view)
self.radius = self.model.dimension.z / 2.0
self.mass = mass
# Update z pos from radius
position.z = self.radius
# Init Transform
transform = Transform()
self.position = position
self.do_transformation_matrix()
self.mnumpy = array(self.m, 'f')
transform.setFromOpenGLMatrix(self.mnumpy)
# The Rigid Body
mass = self.mass * SCALE_FACTOR
shape = SphereShape(self.radius)
i = shape.getLocalInertia(mass) * 0.65
self.motion = DefaultMotionState()
self.motion.setWorldTransform(transform)
self.body = RigidBody.fromConstructionInfo(self.motion, # MotionState motion
shape, # CollisionShape shape
mass, # btScalar mass
bVector3(i.x, i.y, i.z), # Vector3 inertia
transform, # Transform worldTransform
0.2, # btScalar linearDamping
0.65, # btScalar angularDamping
0.25, # btScalar friction
0.7, # btScalar restitution
1.5, # btScalar linearSleepingThreshold
1.5) # btScalar angularSleepingThreshold
self.body.setContactProcessingThreshold(0)
self.body.setCcdMotionThreshold(0)
self.body.setHitFraction(0.1 * SCALE_FACTOR)
def __init__(self, filename, view):
Model.__init__(self, filename, view)
TriangleMesh.__init__(self, filename)
# Create rigid body
tvia = TriangleIndexVertexArray()
tvia.addIndexedMesh(self.mesh)
shape = BvhTriangleMeshShape(tvia)
shape.buildOptimizedBvh()
transform = Transform()
transform.setIdentity()
transform.setOrigin(bVector3(0, 0, 0))
motion = DefaultMotionState()
motion.setWorldTransform(transform)
self.body = RigidBody.fromConstructionInfo(motion, # MotionState motion
shape, # CollisionShape shape
0.0, # btScalar mass
bVector3(0, 0, 0), # Vector3 inertia
transform, # Transform worldTransform
0.0, # btScalar linearDamping
0.0, # btScalar angularDamping
0.75, # btScalar friction
0.95, # btScalar restitution
0.0, # btScalar linearSleepingThreshold
0.0) # btScalar angularSleepingThreshold
self.motion = motion
self.body.setContactProcessingThreshold(0)
class Ball:
def __init__(self, position, color, radius=2):
self.radius = radius
ballShape = SphereShape(self.radius)
ballTransform = Transform()
ballTransform.setIdentity()
ballTransform.setOrigin(position)
ballMotion = DefaultMotionState()
ballMotion.setWorldTransform(ballTransform)
self.body = RigidBody(ballMotion, ballShape, 2.0)
self.body.setRestitution(0.9)
self.motion = ballMotion
self.quad = gluNewQuadric()
self.color = color
def render(self):
o = self.motion.getWorldTransform().getOrigin()
glColor(*self.color)
glTranslate(o.x, o.y, o.z)
gluSphere(self.quad, self.radius, 25, 25)
def __init__(self):
self.boxHalfExtents = Vector3(20, 2, 20)
groundShape = BoxShape(self.boxHalfExtents)
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(0, -4, 0))
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
self.body = RigidBody(groundMotion, groundShape)
self.body.setRestitution(0.5)
self.motion = groundMotion
class Ball:
def __init__(self, position, color, radius=2):
self.radius = radius
ballShape = SphereShape(self.radius)
ballTransform = Transform()
ballTransform.setIdentity()
ballTransform.setOrigin(position)
ballMotion = DefaultMotionState()
ballMotion.setWorldTransform(ballTransform)
self.body = RigidBody(ballMotion, ballShape, 2.0)
self.body.setRestitution(0.9)
self.motion = ballMotion
self.quad = gluNewQuadric()
self.color = color
def render(self):
o = self.motion.getWorldTransform().getOrigin()
glColor(*self.color)
glTranslate(o.x, o.y, o.z)
gluSphere(self.quad, self.radius, 25, 25)
def __init__(self, position, color, radius=2):
self.radius = radius
ballShape = SphereShape(self.radius)
ballTransform = Transform()
ballTransform.setIdentity()
ballTransform.setOrigin(position)
ballMotion = DefaultMotionState()
ballMotion.setWorldTransform(ballTransform)
self.body = RigidBody(ballMotion, ballShape, 2.0)
self.body.setRestitution(0.9)
self.motion = ballMotion
self.quad = gluNewQuadric()
self.color = color
class Ground:
def __init__(self):
self.boxHalfExtents = Vector3(20, 2, 20)
groundShape = BoxShape(self.boxHalfExtents)
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(0, -4, 0))
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
self.body = RigidBody(groundMotion, groundShape)
self.body.setRestitution(0.5)
self.motion = groundMotion
def render(self):
x, y, z = (self.boxHalfExtents.x, self.boxHalfExtents.y, self.boxHalfExtents.z)
o = self.motion.getWorldTransform().getOrigin()
glColor(0, 0, 255)
glTranslate(o.x, o.y, o.z)
glBegin(GL_TRIANGLE_STRIP)
glVertex(-x, y, -z)
glVertex(x, y, -z)
glVertex(-x, y, z)
glVertex(x, y, z)
glEnd()
def __init__(self, filename, view, cball_radius):
super(CueStick, self).__init__(filename, view)
self.half = self.model.dimension / 2.0
self.tip_radius = self.half.x
self.pivot = eVector3(0, 0, self.half.z + cball_radius)
self.org_pivot = eVector3(*self.pivot)
shape = CapsuleShapeZ(self.tip_radius, self.model.dimension.z - self.tip_radius * 2)
#shape = CylinderShapeZ(bVector3(*self.half))
transform = Transform()
transform.setIdentity()
self.motion = CSMotionState()
self.motion.cue = self
self.delta = 0.
self.dx = 0.
self.dy = 0.
self.motion.setWorldTransform(transform)
self.body = RigidBody.fromConstructionInfo(self.motion, # MotionState motion
shape, # CollisionShape shape
0.0, # btScalar mass
bVector3(0, 0, 0), # Vector3 inertia
transform, # Transform worldTransform
0.0, # btScalar linearDamping
0.0, # btScalar angularDamping
0.0, # btScalar friction
0.71, # btScalar restitution
0.0, # btScalar linearSleepingThreshold
0.0) # btScalar angularSleepingThreshold
self.body.setContactProcessingThreshold(0)
self.body.setCcdMotionThreshold(0)
self.body.setHitFraction(0.1 * SCALE_FACTOR)
self.body.setGravity(bVector3(0, 0, 0))
# Make it kinematic body with collision contacts generation but no response impulses
flags = self.body.getCollisionFlags() | CueStick.CF_KINEMATIC_OBJECT | CueStick.CF_NO_CONTACT_RESPONSE
self.body.setCollisionFlags(flags)
self.body.setActivationState(DISABLE_DEACTIVATION)
def __init__(self):
# Vertices are coordinates in three-space. These four will define two
# triangles, with two vertices shared between them.
self.groundVertices = array([0, 0, 0, 10, 0, 0, 10, 0, 10, 0, 0, 10],
'f')
# These indices are used to find vertices in the groundVertices array.
# They index a vertex, not an individual float. So a value of 1 refers
# to the 2nd triple in groundVertices (ie 10, 0, 0). Three indices
# define one triangle, so this array defines two triangles.
self.groundIndices = array([0, 1, 2, 2, 3, 0], 'i')
# Create a single triangle mesh to use as part of the array of triangle
# meshes that will define the shape of the ground object.
groundMesh = IndexedMesh()
# Set the indices of this mesh. Specify the number of triangles it
# will define (2), the stride in bytes between the beginning of index
# triples, and the array actually containing the data. Since this
# index data is tightly packed, the stride is just the size of a single
# index times the number of indices per triangle (3).
groundMesh.setIndices(2, 3 * self.groundIndices.itemsize,
self.groundIndices)
# Set the vertex data of this mesh. Specify the number of vertices it
# will define (4), the stride in bytes between the beginning of vertex
# triples, and the array actually containing the data. Since the
# vertex data is tightly packed, the stride is just the size of a
# single vertex component (ie x, y, or z value) times the number of
# components per vertex (3).
groundMesh.setVertices(4, 3 * self.groundVertices.itemsize,
self.groundVertices)
# Create a container for the single IndexedMesh, but we could add more
# to this if we had any.
groundStuff = TriangleIndexVertexArray()
groundStuff.addIndexedMesh(groundMesh)
# Create a shape based on that array of IndexedMesh instances.
groundShape = BvhTriangleMeshShape(groundStuff)
# Since the data is completely specified at this point, tell the shape
# to build its optimized internal data structure. XXX This is somewhat
# bad, and forgetting to do it will cause problems like segfaults. It
# would be nice if it were not required.
groundShape.buildOptimizedBvh()
# Position the ground at an offset so that it's actually centered at
# the origin (we could also have used -5s and 5s in the vertex data,
# instead of 0s and 10s).
groundTransform = Transform()
groundTransform.setIdentity()
groundTransform.setOrigin(Vector3(-5, -5, -5))
# Install a motion state object which we can inspect later to find out
# if the ground has moved (it won't, though).
groundMotion = DefaultMotionState()
groundMotion.setWorldTransform(groundTransform)
# Create the actual collision object using the motion state and the
# shape.
self.body = RigidBody(groundMotion, groundShape)
self.motion = groundMotion