def makeBox(pos=position_init, vel=velocity_init):
if (True):
box = btConvexHullShape()
box.addPoint(btVector3(-1.0, 1.0, -1.0))
box.addPoint(btVector3(-1.0, -1.0, -1.0))
box.addPoint(btVector3(-1.0, -1.0, 1.0))
box.addPoint(btVector3(-1.0, 1.0, 1.0))
box.addPoint(btVector3(1.0, 1.0, 1.0))
box.addPoint(btVector3(1.0, 1.0, -1.0))
box.addPoint(btVector3(1.0, -1.0, -1.0))
box.addPoint(btVector3(1.0, -1.0, 1.0))
else:
box = btBoxShape(btVector3(1.0, 1.0, 1.0))
# a bullet shape with a mass (1.0)
box1 = BulletWeightedShape(box, 1.0)
# A Bullet Dynamical System : a shape + a mass + position and velocity
body = BulletDS(box1,
[0, 0, pos, 1., 0, 0, 0],
[0, 0, vel, 0., 0., 0.])
# set external forces
weight = [0, 0, - box1.mass() * g]
body.setFExtPtr(weight)
return body
box.addPoint(btVector3(-1.0, 1.0, -1.0))
box.addPoint(btVector3(-1.0, -1.0, -1.0))
box.addPoint(btVector3(-1.0, -1.0, 1.0))
box.addPoint(btVector3(-1.0, 1.0, 1.0))
box.addPoint(btVector3(1.0, 1.0, 1.0))
box.addPoint(btVector3(1.0, 1.0, -1.0))
box.addPoint(btVector3(1.0, -1.0, -1.0))
box.addPoint(btVector3(1.0, -1.0, 1.0))
else:
box = btBoxShape(btVector3(1.0, 1.0, 1.0))
# a bullet shape with a mass (1.0)
box1 = BulletWeightedShape(box, 1.0)
# A Bullet Dynamical System : a shape + a mass + position and velocity
body = BulletDS(box1, [0, 0, position_init, 1., 0, 0, 0],
[0, 0, velocity_init, 0., 0., 0.])
# set external forces
weight = [0, 0, -box1.mass() * g]
body.setFExtPtr(weight)
#
# Model
#
bouncingBox = Model(t0, T)
# add the dynamical system to the non smooth dynamical system
bouncingBox.nonSmoothDynamicalSystem().insertDynamicalSystem(body)
#
# Simulation
box.addPoint(btVector3(-1.0, -1.0, -1.0))
box.addPoint(btVector3(-1.0, -1.0, 1.0))
box.addPoint(btVector3(-1.0, 1.0, 1.0))
box.addPoint(btVector3(1.0, 1.0, 1.0))
box.addPoint(btVector3(1.0, 1.0, -1.0))
box.addPoint(btVector3(1.0, -1.0, -1.0))
box.addPoint(btVector3(1.0, -1.0, 1.0))
else:
box = btBoxShape(btVector3(1.0, 1.0, 1.0))
# a bullet shape with a mass (1.0)
box1 = BulletWeightedShape(box, 1.0)
# A Bullet Dynamical System : a shape + a mass + position and velocity
body = BulletDS(box1,
[0, 0, position_init, 1., 0, 0, 0],
[0, 0, velocity_init, 0., 0., 0.])
# set external forces
weight = [0, 0, - box1.mass() * g]
body.setFExtPtr(weight)
#
# Model
#
bouncingBox = Model(t0, T)
# add the dynamical system to the non smooth dynamical system
bouncingBox.nonSmoothDynamicalSystem().insertDynamicalSystem(body)
#
