def __init__(self):
self.m_defaultContactProcessingThreshold=bullet.BT_LARGE_FLOAT
self.m_idle=False
self.keep=[]
# setup
#collision configuration contains default setup for memory, collision setup
self.m_collisionConfiguration = bullet.btDefaultCollisionConfiguration();
#use the default collision dispatcher.
#For parallel processing you can use a diffent dispatcher
#(see Extras/BulletMultiThreaded)
self.m_dispatcher = bullet.btCollisionDispatcher(self.m_collisionConfiguration);
self.m_broadphase = bullet.btDbvtBroadphase();
#the default constraint solver.
#For parallel processing you can use a different solver
#(see Extras/BulletMultiThreaded)
self.m_solver = bullet.btSequentialImpulseConstraintSolver();
self.m_dynamicsWorld = bullet.btDiscreteDynamicsWorld(
self.m_dispatcher,
self.m_broadphase,
self.m_solver,
self.m_collisionConfiguration);
self.m_dynamicsWorld.setGravity((0.0, -10.0, 0.0));
import swigbullet as bullet
if __name__ == "__main__":
broadphase = bullet.btDbvtBroadphase()
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)
