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 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;
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
def test_add_ground(self):
self.ground_shape = bullet.btStaticPlaneShape(
bullet.btVector3(0, 1, 0), 1)
self.ground_motion_state = bullet.btDefaultMotionState(
bullet.btTransform(bullet.btQuaternion.identity,
bullet.btVector3(0, -1, 0)))
self.ground_rigid_body_cinfo = bullet.btRigidBodyConstructionInfo(
0, self.ground_motion_state, self.ground_shape,
bullet.btVector3(0, 0, 0))
self.ground_rigid_body = \
bullet.btRigidBody(self.ground_rigid_body_cinfo)
self.dynamics_world.add_rigid_body(self.ground_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 test_add_ground(self):
self.ground_shape = bullet.btStaticPlaneShape(
bullet.btVector3(0, 1, 0), 1
)
self.ground_motion_state = bullet.btDefaultMotionState(
bullet.btTransform(bullet.btQuaternion.identity,
bullet.btVector3(0, -1, 0))
)
self.ground_rigid_body_cinfo = bullet.btRigidBodyConstructionInfo(
0, self.ground_motion_state, self.ground_shape,
bullet.btVector3(0, 0, 0)
)
self.ground_rigid_body = \
bullet.btRigidBody(self.ground_rigid_body_cinfo)
self.dynamics_world.add_rigid_body(self.ground_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 createAndAppendBody(self, shape, mass, transform):
# 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(transform)
rbInfo = bullet.btRigidBodyConstructionInfo(mass, myMotionState, shape,
localInertia)
body = bullet.btRigidBody(rbInfo)
# add the body to the dynamics world
self.m_dynamicsWorld.addRigidBody(body)
self.m_keep.append((shape, myMotionState, body))
def createAndAppendBody(self, shape, mass, transform):
# 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(transform);
rbInfo=bullet.btRigidBodyConstructionInfo(mass,
myMotionState,
shape,
localInertia);
body = bullet.btRigidBody(rbInfo);
# add the body to the dynamics world
self.m_dynamicsWorld.addRigidBody(body);
self.m_keep.append((shape, myMotionState, body));
def test_linear_sleeping_threshold(self):
self.info.linear_sleeping_threshold = 0.2
self.body2 = bullet.btRigidBody(self.info)
self.assertEquals(self.body2.linear_sleeping_threshold,
self.info.linear_sleeping_threshold)
def test_ctor(self):
self.body1 = bullet.btRigidBody(self.info)
self.v1 = bullet.btVector3(1, 0, 0)
self.body2 = bullet.btRigidBody(1.0, self.motion_state1, self.hull,
self.v1)
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);
def test_linear_sleeping_threshold(self):
self.info.linear_sleeping_threshold = 0.2
self.body2 = bullet.btRigidBody(self.info)
self.assertEquals(self.body2.linear_sleeping_threshold,
self.info.linear_sleeping_threshold)
def test_ctor(self):
self.body1 = bullet.btRigidBody(self.info)
self.v1 = bullet.btVector3(1, 0, 0)
self.body2 = bullet.btRigidBody(1.0, self.motion_state1,
self.hull, self.v1)
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)
