def setUp(self):
self.step = 1.0/60
self.motion_state1 = bullet.btDefaultMotionState()
self.motion_state2 = bullet.btDefaultMotionState()
self.radius = 1.0
self.inertia = bullet.btVector3(1, 1, 1)
self.sphere_shape = bullet.btSphereShape(self.radius)
self.points = [
bullet.btVector3(-1, -1, -1),
bullet.btVector3(-1, 1, -1),
bullet.btVector3(-1, -1, 1),
bullet.btVector3(-1, 1, 1),
bullet.btVector3(1, 1, 1),
bullet.btVector3(1, -1, 1),
bullet.btVector3(1, -1, -1),
bullet.btVector3(1, 1, -1)
]
self.hull = bullet.btConvexHullShape(self.points)
self.info = bullet.btRigidBodyConstructionInfo(
1.0,
self.motion_state1,
self.sphere_shape,
self.inertia
)
self.v1 = bullet.btVector3(0, 0, 0)
self.v2 = bullet.btVector3(0, 0, 0)
self.v3 = bullet.btVector3(0, 0, 0)
self.t1 = bullet.btTransform.identity
self.t2 = bullet.btTransform.identity
self.body1 = bullet.btRigidBody(self.info)
self.body2 = bullet.btRigidBody(1.0, self.motion_state2,
self.hull, self.v1)
self.m1 = bullet.btMatrix3x3.identity
self.m2 = bullet.btMatrix3x3.identity
def setUp(self):
self.step = 1.0 / 60
self.motion_state1 = bullet.btDefaultMotionState()
self.motion_state2 = bullet.btDefaultMotionState()
self.radius = 1.0
self.inertia = bullet.btVector3(1, 1, 1)
self.sphere_shape = bullet.btSphereShape(self.radius)
self.points = [
bullet.btVector3(-1, -1, -1),
bullet.btVector3(-1, 1, -1),
bullet.btVector3(-1, -1, 1),
bullet.btVector3(-1, 1, 1),
bullet.btVector3(1, 1, 1),
bullet.btVector3(1, -1, 1),
bullet.btVector3(1, -1, -1),
bullet.btVector3(1, 1, -1)
]
self.hull = bullet.btConvexHullShape(self.points)
self.info = bullet.btRigidBodyConstructionInfo(1.0, self.motion_state1,
self.sphere_shape,
self.inertia)
self.v1 = bullet.btVector3(0, 0, 0)
self.v2 = bullet.btVector3(0, 0, 0)
self.v3 = bullet.btVector3(0, 0, 0)
self.t1 = bullet.btTransform.identity
self.t2 = bullet.btTransform.identity
self.body1 = bullet.btRigidBody(self.info)
self.body2 = bullet.btRigidBody(1.0, self.motion_state2, self.hull,
self.v1)
self.m1 = bullet.btMatrix3x3.identity
self.m2 = bullet.btMatrix3x3.identity
def setUp(self):
self.o1 = bullet.btCollisionObject()
self.shape = bullet.btSphereShape(1.0)
self.bp = bullet.btDbvtBroadphase()
self.v1 = bullet.btVector3(0, 0, 0)
self.v2 = bullet.btVector3(0, 0, 0)
self.v3 = bullet.btVector3(0, 0, 0)
self.t1 = bullet.btTransform.identity
self.t2 = bullet.btTransform.identity
def setUp(self):
self.o1 = bullet.btCollisionObject()
self.shape = bullet.btSphereShape(1.0)
self.bp = bullet.btDbvtBroadphase()
self.v1 = bullet.btVector3(0, 0, 0)
self.v2 = bullet.btVector3(0, 0, 0)
self.v3 = bullet.btVector3(0, 0, 0)
self.t1 = bullet.btTransform.identity
self.t2 = bullet.btTransform.identity
def test_add_sphere(self, pos=bullet.btVector3(0, 0, 0)):
self.sphere_shape = bullet.btSphereShape(1)
self.sphere_motion_state = bullet.btDefaultMotionState(
bullet.btTransform(bullet.btQuaternion.identity, pos))
self.sphere_mass = 1.0
self.fall_inertia = bullet.btVector3(0, 0, 0)
self.sphere_shape.calculate_local_inertia(self.sphere_mass,
self.fall_inertia)
self.sphere_rigid_body_cinfo = bullet.btRigidBodyConstructionInfo(
self.sphere_mass, self.sphere_motion_state, self.sphere_shape,
self.fall_inertia)
self.sphere_rigid_body = \
bullet.btRigidBody(self.sphere_rigid_body_cinfo)
self.dynamics_world.add_rigid_body(self.sphere_rigid_body)
def test_add_sphere(self, pos=bullet.btVector3(0, 0, 0)):
self.sphere_shape = bullet.btSphereShape(1)
self.sphere_motion_state = bullet.btDefaultMotionState(
bullet.btTransform(bullet.btQuaternion.identity,
pos)
)
self.sphere_mass = 1.0
self.fall_inertia = bullet.btVector3(0, 0, 0)
self.sphere_shape.calculate_local_inertia(self.sphere_mass,
self.fall_inertia)
self.sphere_rigid_body_cinfo = bullet.btRigidBodyConstructionInfo(
self.sphere_mass, self.sphere_motion_state, self.sphere_shape,
self.fall_inertia
)
self.sphere_rigid_body = \
bullet.btRigidBody(self.sphere_rigid_body_cinfo)
self.dynamics_world.add_rigid_body(self.sphere_rigid_body)
def __drawShape(self, shape):
# you can comment out any of the specific cases, and use the default
# the benefit of 'default' is that it approximates the actual
# collision shape including collision margin
# int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape.getShapeType();
shapetype = shape.getShapeType()
if shapetype == bullet.SPHERE_SHAPE_PROXYTYPE:
print 'SPHERE_SHAPE_PROXYTYPE'
sphereShape = bullet.btSphereShape.downcast(shape)
# radius doesn't include the margin, so draw with margin
radius = sphereShape.getMargin()
drawSphere(radius, 10, 10)
useWireframeFallback = False
elif shapetype == bullet.BOX_SHAPE_PROXYTYPE:
boxShape = bullet.btBoxShape.downcast(shape)
halfExtent = boxShape.getHalfExtentsWithMargin()
glPushMatrix()
glScalef(halfExtent[0], halfExtent[1], halfExtent[2])
gBox.draw()
glPopMatrix()
useWireframeFallback = False
elif shapetype == bullet.STATIC_PLANE_PROXYTYPE:
print 'STATIC_PLANE_PROXYTYPE'
staticPlaneShape = bullet.btStaticPlaneShape.downcast(shape)
planeConst = staticPlaneShape.getPlaneConstant()
planeNormal = staticPlaneShape.getPlaneNormal()
planeOrigin = planeNormal * planeConst
vec0, vec1 = btPlaneSpace1(planeNormal)
vecLen = 100.0
pt0 = planeOrigin + vec0 * vecLen
pt1 = planeOrigin - vec0 * vecLen
pt2 = planeOrigin + vec1 * vecLen
pt3 = planeOrigin - vec1 * vecLen
glBegin(GL_LINES)
glVertex3f(pt0[0], pt0[1], pt0[2])
glVertex3f(pt1[0], pt1[1], pt1[2])
glVertex3f(pt2[0], pt2[1], pt2[2])
glVertex3f(pt3[0], pt3[1], pt3[2])
glEnd()
elif shapetype == bullet.MULTI_SPHERE_SHAPE_PROXYTYPE:
print 'MULTI_SPHERE_SHAPE_PROXYTYPE'
multiSphereShape = bullet.btMultiSphereShape.downcast(shape)
childTransform = bullet.btTransform()
childTransform.setIdentity()
for i in range(multiSphereShape.getSphereCount() - 1, -1, -1):
sc = bullet.btSphereShape(multiSphereShape.getSphereRadius(i))
childTransform.setOrigin(multiSphereShape.getSpherePosition(i))
childMat = childTransform.getOpenGLMatrix()
self.drawOpenGL(childMat, sc, color, debugMode, worldBoundsMin,
worldBoundsMax)
else:
print 'other'
if (shape.isConvex()):
poly = (shape.isPolyhedral() and bullet.btPolyhedralConvexShape
.downcast(shape).getConvexPolyhedron() or 0)
if (poly):
glBegin(GL_TRIANGLES)
for i in range(poly.m_faces.size()):
centroid = (0, 0, 0)
numVerts = poly.m_faces[i].m_indices.size()
if (numVerts > 2):
v1 = poly.m_vertices[poly.m_faces[i].m_indices[0]]
for v in range(poly.m_faces[i].m_indices.size() -
2):
v2 = poly.m_vertices[poly.m_faces[i].m_indices[
v + 1]]
v3 = poly.m_vertices[poly.m_faces[i].m_indices[
v + 2]]
normal = vector3.normalize(
vector3.cross(vector3.sub(v3, v1),
vector3.sub(v2, v1)))
glNormal3f(normal.getX(), normal.getY(),
normal.getZ())
glVertex3f(v1[0], v1[1], v1[2])
glVertex3f(v2[0], v2[1], v2[2])
glVertex3f(v3[0], v3[1], v3[2])
glEnd()
else:
sc = self.cache(bullet.btConvexShape.downcast(shape))
# glutSolidCube(1.0);
hull = sc.m_shapehull
if (hull.numTriangles() > 0):
index = 0
idx = hull.getIndexPointer()
vtx = hull.getVertexPointer()
glBegin(GL_TRIANGLES)
for i in range(hull.numTriangles()):
i1 = index
i2 = index + 1
i3 = index + 2
index += 3
assert (i1 < hull.numIndices()
and i2 < hull.numIndices()
and i3 < hull.numIndices())
index1 = idx[i1]
index2 = idx[i2]
index3 = idx[i3]
assert (index1 < hull.numVertices()
and index2 < hull.numVertices()
and index3 < hull.numVertices())
v1 = vtx[index1]
v2 = vtx[index2]
v3 = vtx[index3]
normal = (v3 - v1).cross(v2 - v1)
normal.normalize()
glNormal3f(normal.getX(), normal.getY(),
normal.getZ())
glVertex3f(v1.x(), v1.y(), v1.z())
glVertex3f(v2.x(), v2.y(), v2.z())
glVertex3f(v3.x(), v3.y(), v3.z())
glEnd()
def __drawShape(self, shape):
# you can comment out any of the specific cases, and use the default
# the benefit of 'default' is that it approximates the actual
# collision shape including collision margin
# int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape.getShapeType();
shapetype=shape.getShapeType();
if shapetype== bullet.SPHERE_SHAPE_PROXYTYPE:
print 'SPHERE_SHAPE_PROXYTYPE'
sphereShape = bullet.btSphereShape.downcast(shape);
# radius doesn't include the margin, so draw with margin
radius = sphereShape.getMargin();
drawSphere(radius,10,10);
useWireframeFallback = False;
elif shapetype== bullet.BOX_SHAPE_PROXYTYPE:
boxShape = bullet.btBoxShape.downcast(shape);
halfExtent = boxShape.getHalfExtentsWithMargin();
glPushMatrix()
glScalef(halfExtent[0], halfExtent[1], halfExtent[2])
gBox.draw()
glPopMatrix()
useWireframeFallback = False;
elif shapetype== bullet.STATIC_PLANE_PROXYTYPE:
print 'STATIC_PLANE_PROXYTYPE'
staticPlaneShape = bullet.btStaticPlaneShape.downcast(shape);
planeConst = staticPlaneShape.getPlaneConstant();
planeNormal = staticPlaneShape.getPlaneNormal();
planeOrigin = planeNormal * planeConst;
vec0, vec1=btPlaneSpace1(planeNormal);
vecLen = 100.0;
pt0 = planeOrigin + vec0*vecLen;
pt1 = planeOrigin - vec0*vecLen;
pt2 = planeOrigin + vec1*vecLen;
pt3 = planeOrigin - vec1*vecLen;
glBegin(GL_LINES);
glVertex3f(pt0[0], pt0[1], pt0[2]);
glVertex3f(pt1[0], pt1[1], pt1[2]);
glVertex3f(pt2[0], pt2[1], pt2[2]);
glVertex3f(pt3[0], pt3[1], pt3[2]);
glEnd();
elif shapetype== bullet.MULTI_SPHERE_SHAPE_PROXYTYPE:
print 'MULTI_SPHERE_SHAPE_PROXYTYPE'
multiSphereShape = bullet.btMultiSphereShape.downcast(shape);
childTransform=bullet.btTransform();
childTransform.setIdentity();
for i in range(multiSphereShape.getSphereCount()-1, -1, -1):
sc=bullet.btSphereShape (multiSphereShape.getSphereRadius(i));
childTransform.setOrigin(multiSphereShape.getSpherePosition(i));
childMat=childTransform.getOpenGLMatrix();
self.drawOpenGL(childMat,sc,color,debugMode,worldBoundsMin,worldBoundsMax);
else:
print 'other'
if (shape.isConvex()):
poly = (shape.isPolyhedral()
and bullet.btPolyhedralConvexShape.downcast(shape).getConvexPolyhedron()
or 0);
if (poly):
glBegin (GL_TRIANGLES);
for i in range(poly.m_faces.size()):
centroid=(0,0,0);
numVerts = poly.m_faces[i].m_indices.size();
if (numVerts>2):
v1 = poly.m_vertices[poly.m_faces[i].m_indices[0]];
for v in range(poly.m_faces[i].m_indices.size()-2):
v2 = poly.m_vertices[poly.m_faces[i].m_indices[v+1]];
v3 = poly.m_vertices[poly.m_faces[i].m_indices[v+2]];
normal = vector3.normalize(vector3.cross(
vector3.sub(v3, v1),
vector3.sub(v2, v1)
));
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1[0], v1[1], v1[2]);
glVertex3f (v2[0], v2[1], v2[2]);
glVertex3f (v3[0], v3[1], v3[2]);
glEnd ();
else:
sc=self.cache(bullet.btConvexShape.downcast(shape));
# glutSolidCube(1.0);
hull = sc.m_shapehull
if (hull.numTriangles () > 0):
index = 0;
idx = hull.getIndexPointer();
vtx = hull.getVertexPointer();
glBegin (GL_TRIANGLES);
for i in range(hull.numTriangles()):
i1 = index;
i2 = index+1;
i3 = index+2;
index+=3
assert(i1 < hull.numIndices () and
i2 < hull.numIndices () and
i3 < hull.numIndices ());
index1 = idx[i1];
index2 = idx[i2];
index3 = idx[i3];
assert(index1 < hull.numVertices () and
index2 < hull.numVertices () and
index3 < hull.numVertices ());
v1 = vtx[index1];
v2 = vtx[index2];
v3 = vtx[index3];
normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
glEnd ();
import 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(
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)
