ci = azBullet.RigidBodyConstructionInfo(
sum(masses),
azBullet.DefaultMotionState(principal),
cs,
inertia,
)
body = RigidBody(ci)
# Add the body with its compound shape to the simulation.
sim.addRigidBody(body)
del masses, ci
# Apply an initial force and torque (only valid for the first simulation step
# because Bullet will clear all the forces afterwards).
body.clearForces()
body.applyCentralForce(Vec3(*(0, 1, 0)))
# body.applyTorque(Vec3(*(0, 1, 0)))
# Step the simulation and print the position of the Ball.
for ii in range(10):
wt = body.getMotionState().getWorldTransform()
pos = wt.getOrigin().topy()
rot = wt.getRotation().topy()
print('Pos: {:.2f} {:.2f} {:.2f}'.format(*pos))
print('Rot: {:.2f} {:.2f} {:.2f} {:.2f}'.format(*rot))
print('---')
sim.stepSimulation(0.5, 30)
# Remove the rigid body from the simulation.
sim.removeRigidBody(body)
