def discrete_world(gravity=(0, -9.8, 0)):
"""
Create a :class:`DiscreteDynamicsWorld` instance with default
configuration.
"""
if not isinstance(gravity, Vector3):
gravity = Vector3(*gravity)
broadphase = DbvtBroadphase()
collision_config = DefaultCollisionConfiguration()
dispatcher = CollisionDispatcher(collision_config)
solver = SequentialImpulseConstraintSolver()
world = DiscreteDynamicsWorld(dispatcher, broadphase, solver,
collision_config)
world.setGravity(gravity)
return world
def test_hello_world():
"""
Port of the hello world example from the tutorial.
"""
# Setup world
broadphase = DbvtBroadphase()
collision_config = DefaultCollisionConfiguration()
dispatcher = CollisionDispatcher(collision_config)
solver = SequentialImpulseConstraintSolver()
world = DiscreteDynamicsWorld(dispatcher, broadphase, solver,
collision_config)
world.setGravity(Vector3(0, -9.8, 0))
# Create collision shapes
ground_shape = StaticPlaneShape(Vector3(0, 1, 0), 1)
ball_shape = SphereShape(1)
# Create ground rigid body
ground_motion_state = DefaultMotionState(
Transform(Quaternion(0, 0, 0, 1), Vector3(0, -1, 0)))
ground_rigid_body_ci = RigidBodyConstructionInfo(0, ground_motion_state,
ground_shape, Vector3(0, 0, 0))
ground_rigid_body = RigidBody(ground_rigid_body_ci)
world.addRigidBody(ground_rigid_body)
# Create ball rigid body
ball_motion_state = DefaultMotionState(
Transform(Quaternion(0, 0, 0, 1), Vector3(0, 50, 0)))
mass = 1
ball_inertia = ball_shape.calculateLocalInertia(mass)
ball_rigid_body_ci = RigidBodyConstructionInfo(mass, ball_motion_state,
ball_shape, ball_inertia)
ball_rigid_body = RigidBody(ball_rigid_body_ci)
world.addRigidBody(ball_rigid_body)
# Simulate 300 frames, should be enough for the sphere to reach rest state
for i in range(300):
world.stepSimulation(1.0 / 60.0, 10)
#trans = ball_rigid_body.motionState.worldTransform
#print trans.origin.y
# Verify ball position
trans = ball_motion_state.worldTransform
assert_almost_equal(trans.origin.y, 1.0, places=5)
trans = ball_rigid_body.motionState.worldTransform
assert_almost_equal(trans.origin.y, 1.0, places=5)
