.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "auto_examples/17_pybullet/viz_ball_collide.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        :ref:`Go to the end <sphx_glr_download_auto_examples_17_pybullet_viz_ball_collide.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_auto_examples_17_pybullet_viz_ball_collide.py:


=========================
Ball Collision Simulation
=========================

This example simulation shows how to use pybullet to render physics simulations
in fury. In this example we render the collision between a blue ball and red
ball and also display a message by confirming the collision.

First some imports.

.. GENERATED FROM PYTHON SOURCE LINES 12-21

.. code-block:: Python

    import itertools

    import numpy as np
    import pybullet as p

    from fury import actor, ui, window

    client = p.connect(p.DIRECT)








.. GENERATED FROM PYTHON SOURCE LINES 22-23

Parameters and definition of red and blue balls.

.. GENERATED FROM PYTHON SOURCE LINES 23-56

.. code-block:: Python


    red_radius = 0.5
    blue_radius = 0.5
    duration = 50

    # Red Ball
    red_ball_actor = actor.sphere(
        centers=np.array([[0, 0, 0]]), colors=np.array([[1, 0, 0]]), radii=red_radius
    )

    red_ball_coll = p.createCollisionShape(p.GEOM_SPHERE, radius=red_radius)

    red_ball = p.createMultiBody(
        baseMass=0.5,
        baseCollisionShapeIndex=red_ball_coll,
        basePosition=[10, 0, 0],
        baseOrientation=[0, 0, 0, 1],
    )

    # Blue ball
    blue_ball_actor = actor.sphere(
        centers=np.array([[0, 0, 0]]), colors=np.array([[0, 0, 1]]), radii=blue_radius
    )

    blue_ball_coll = p.createCollisionShape(p.GEOM_SPHERE, radius=blue_radius)

    blue_ball = p.createMultiBody(
        baseMass=0.5,
        baseCollisionShapeIndex=blue_ball_coll,
        basePosition=[-10, 0, 0],
        baseOrientation=[0, 0, 0, 1],
    )








.. GENERATED FROM PYTHON SOURCE LINES 57-58

We set the coefficient of restitution of both the balls to `0.6`.

.. GENERATED FROM PYTHON SOURCE LINES 58-62

.. code-block:: Python


    p.changeDynamics(red_ball, -1, restitution=0.6)
    p.changeDynamics(blue_ball, -1, restitution=0.6)








.. GENERATED FROM PYTHON SOURCE LINES 63-64

We add all the actors to the scene.

.. GENERATED FROM PYTHON SOURCE LINES 64-77

.. code-block:: Python


    scene = window.Scene()
    scene.add(actor.axes())
    scene.add(red_ball_actor)
    scene.add(blue_ball_actor)

    showm = window.ShowManager(
        scene, size=(900, 700), reset_camera=False, order_transparent=True
    )


    counter = itertools.count()








.. GENERATED FROM PYTHON SOURCE LINES 78-79

Method to sync objects.

.. GENERATED FROM PYTHON SOURCE LINES 79-96

.. code-block:: Python



    def sync_actor(actor, multibody):
        pos, orn = p.getBasePositionAndOrientation(multibody)
        actor.SetPosition(*pos)
        orn_deg = np.degrees(p.getEulerFromQuaternion(orn))
        actor.SetOrientation(*orn_deg)


    apply_force = True
    tb = ui.TextBlock2D(position=(0, 600), font_size=30, color=(1, 0.5, 0), text='')
    scene.add(tb)
    scene.set_camera(
        position=(0.30, -18.78, 0.89), focal_point=(0.15, 0.25, 0.40), view_up=(0, 0, 1.00)
    )









.. GENERATED FROM PYTHON SOURCE LINES 97-98

Timer callback to sync and step simulation every second.

.. GENERATED FROM PYTHON SOURCE LINES 98-141

.. code-block:: Python



    def timer_callback(_obj, _event):
        global apply_force
        cnt = next(counter)
        showm.render()
        red_pos, red_orn = p.getBasePositionAndOrientation(red_ball)
        blue_pos, blue_orn = p.getBasePositionAndOrientation(blue_ball)

        # Apply force for the first step of the simulation.
        if apply_force:
            p.applyExternalForce(
                red_ball, -1, forceObj=[-40000, 0, 0], posObj=red_pos, flags=p.WORLD_FRAME
            )

            p.applyExternalForce(
                blue_ball, -1, forceObj=[40000, 0, 0], posObj=blue_pos, flags=p.WORLD_FRAME
            )

            apply_force = 0

        sync_actor(blue_ball_actor, blue_ball)
        sync_actor(red_ball_actor, red_ball)

        # Get various collision information using `p.getContactPoints`.
        contact = p.getContactPoints(red_ball, blue_ball, -1, -1)
        if len(contact) != 0:
            tb.message = 'Collision!!'

        p.stepSimulation()

        if cnt == 50:
            showm.exit()


    showm.add_timer_callback(True, duration, timer_callback)

    interactive = False

    if interactive:
        showm.start()

    window.record(scene, size=(900, 700), out_path='viz_ball_collide.png')



.. image-sg:: /auto_examples/17_pybullet/images/sphx_glr_viz_ball_collide_001.png
   :alt: viz ball collide
   :srcset: /auto_examples/17_pybullet/images/sphx_glr_viz_ball_collide_001.png
   :class: sphx-glr-single-img






.. rst-class:: sphx-glr-timing

   **Total running time of the script:** (0 minutes 0.558 seconds)


.. _sphx_glr_download_auto_examples_17_pybullet_viz_ball_collide.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: viz_ball_collide.ipynb <viz_ball_collide.ipynb>`

    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: viz_ball_collide.py <viz_ball_collide.py>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_