broadphase = BulletSpaceFilter(bouncingBox) # insert a non smooth law for contactors id 0 broadphase.insert(nslaw, 0, 0) # add multipoint iterations to gather at least 3 contact points and # avoid object penetration broadphase.collisionConfiguration().setConvexConvexMultipointIterations() broadphase.collisionConfiguration().setPlaneConvexMultipointIterations() # The ground is a static object # we give it a group contactor id : 0 broadphase.addStaticObject(ground, 0) # (6) Simulation setup with (1) (2) (3) (4) (5) simulation = BulletTimeStepping(timedisc) #simulation.setNewtonOptions(1) simulation.insertIntegrator(osi) simulation.insertNonSmoothProblem(osnspb) # simulation initialization bouncingBox.initialize(simulation) # Get the values to be plotted # ->saved in a matrix dataPlot N = (T - t0) / h dataPlot = zeros((N+1, 4)) #
broadphase = BulletSpaceFilter(bouncingBox) # insert a non smooth law for contactors id 0 broadphase.insert(nslaw, 0, 0) # add multipoint iterations to gather at least 3 contact points and # avoid object penetration broadphase.collisionConfiguration().setConvexConvexMultipointIterations() broadphase.collisionConfiguration().setPlaneConvexMultipointIterations() # The ground is a static object # we give it a group contactor id : 0 broadphase.addStaticObject(ground, 0) # (6) Simulation setup with (1) (2) (3) (4) (5) simulation = BulletTimeStepping(timedisc, osi, osnspb) #simulation.setNewtonOptions(1) # simulation initialization bouncingBox.setSimulation(simulation) bouncingBox.initialize() # Get the values to be plotted # ->saved in a matrix dataPlot N = (T - t0) / h dataPlot = zeros((N+1, 4)) #