# Model # bouncingBox = Model(t0, T) # add the dynamical system to the non smooth dynamical system bouncingBox.nonSmoothDynamicalSystem().insertDynamicalSystem(body) # # Simulation # # (1) OneStepIntegrators osi = MoreauJeanOSI(theta) osi.insertDynamicalSystem(body) ground = btCollisionObject() ground.setCollisionFlags(btCollisionObject.CF_STATIC_OBJECT) groundShape = btBoxShape(btVector3(30, 30, .5)) basis = btMatrix3x3() basis.setIdentity() ground.getWorldTransform().setBasis(basis) ground.setCollisionShape(groundShape) ground.getWorldTransform().getOrigin().setZ(-.5) # (2) Time discretisation -- timedisc = TimeDiscretisation(t0, h) # (3) one step non smooth problem osnspb = FrictionContact(3) osnspb.numericsSolverOptions().iparam[0] = 1000
def importObject(self, name, translation, orientation,
velocity, contactors, mass, inertia, body_class, shape_class):
if body_class is None:
body_class = BulletDS
if self._broadphase is not None and 'input' in self._data:
if mass == 0.:
# a static object
rbase = btQuaternion(orientation[1],
orientation[2],
orientation[3],
orientation[0])
for c in contactors:
(w, x, y, z) = c.orientation
c_orientation = btQuaternion(x, y, z, w)
rc_orientation = mul(rbase, c_orientation)
c_origin = btVector3(c.translation[0],
c.translation[1],
c.translation[2])
rc_origin = quatRotate(rbase, c_origin)
rc_sorigin = btVector3(rc_origin.x() + translation[0],
rc_origin.y() + translation[1],
rc_origin.z() + translation[2])
static_cobj = btCollisionObject()
static_cobj.setCollisionFlags(
btCollisionObject.CF_STATIC_OBJECT)
self._static_origins.append(rc_sorigin)
self._static_orientations.append(rc_orientation)
transform = btTransform(rc_orientation)
transform.setOrigin(rc_sorigin)
self._static_transforms.append(transform)
static_cobj.setWorldTransform(transform)
static_cobj.setCollisionShape(
self._shape.get(c.name))
self._static_cobjs.append(static_cobj)
self._broadphase.addStaticObject(static_cobj,
int(c.group))
else:
# a moving object
bws = BulletWeightedShape(
self._shape.get(contactors[0].name), mass)
if inertia is not None:
bws.setInertia(inertia[0], inertia[1], inertia[2])
body = body_class(bws,
translation + orientation,
velocity,
contactors[0].translation,
contactors[0].orientation,
contactors[0].group)
for contactor in contactors[1:]:
shape_id = self._shapeid[contactor.name]
body.addCollisionShape(self._shape.get(contactor.name),
contactor.translation,
contactor.orientation,
contactor.group)
# set external forces
self._set_external_forces(body)
# add the dynamical system to the non smooth
# dynamical system
nsds = self._broadphase.model().nonSmoothDynamicalSystem()
nsds.insertDynamicalSystem(body)
nsds.setOSI(body, self._osi)
nsds.setName(body, str(name))
