def localCreateRigidBody(self, mass, startTransform, shape):
assert((not shape or shape.getShapeType() != bullet.INVALID_SHAPE_PROXYTYPE));
# rigidbody is dynamic if and only if mass is non zero, otherwise static
isDynamic = (mass != 0.0);
localInertia=(0,0,0);
if (isDynamic):
shape.calculateLocalInertia(mass,localInertia);
# using motionstate is recommended,
# it provides interpolation capabilities,
# and only synchronizes 'active' objects
myMotionState = bullet.btDefaultMotionState(startTransform);
cInfo=bullet.btRigidBodyConstructionInfo (mass,myMotionState,shape,localInertia);
body = bullet.btRigidBody(cInfo);
body.setContactProcessingThreshold(self.m_defaultContactProcessingThreshold);
self.m_dynamicsWorld.addRigidBody(body);
self.m_keep.append((myMotionState, cInfo, body, shape))
return body;
collisionConfiguration = bullet.btDefaultCollisionConfiguration()
dispatcher = bullet.btCollisionDispatcher(collisionConfiguration)
solver = bullet.btSequentialImpulseConstraintSolver()
dynamicsWorld = bullet.btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration)
dynamicsWorld.setGravity((0, -10, 0))
groundShape = bullet.btStaticPlaneShape((0, 1, 0), 1)
fallShape = bullet.btSphereShape(1)
groundMotionState = bullet.btDefaultMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), (0, -1, 0)))
groundRigidBodyCI = bullet.btRigidBodyConstructionInfo(0, groundMotionState, groundShape, (0, 0, 0))
groundRigidBody = bullet.btRigidBody(groundRigidBodyCI)
dynamicsWorld.addRigidBody(groundRigidBody)
fallMotionState = bullet.btDefaultMotionState(bullet.btTransform(bullet.btQuaternion(0, 0, 0, 1), (0, 50, 0)))
mass = 1
fallInertia = (0, 0, 0)
fallShape.calculateLocalInertia(mass, fallInertia)
fallRigidBodyCI = bullet.btRigidBodyConstructionInfo(mass, fallMotionState, fallShape, fallInertia)
fallRigidBody = bullet.btRigidBody(fallRigidBodyCI)
dynamicsWorld.addRigidBody(fallRigidBody)
for i in range(300):
dynamicsWorld.stepSimulation(1 / 60.0, 10)
trans = bullet.btTransform()
