def __init__(self):
self.geometries = []
self.world = World()
self.world.setGravity((0, -9.8, 0))
self.world.setERP(0.4)
self.world.setCFM(1E-5)
self.space = Space()
self.contact_group = JointGroup()
self.update_callbacks = []
def __init__(self, Stable, wm, quad_pos=(0, 0, 0)):
self.world = World()
self.world.setGravity((0, -9.81, 0))
self.space = Space()
self.contactgroup = JointGroup()
self.wm = wm
# draw floor
self.floor = GeomPlane(self.space, (0, 1, 0), -1)
box(pos=(0, -1, 0), width=2, height=0.01, length=2)
# Draw Quad
self.quad = Quad(self.world, self.space, pos=quad_pos)
# Init Algorithm
self.stable = Stable(self.quad)
# stop autoscale of the camera
scene.autoscale = False