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PyBullet.loadURDF, expose flags=URDF_INITIALIZE_SAT_FEATURES

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This commit is contained in:
erwincoumans
2018-06-13 15:35:56 -07:00
parent b75c63f2a2
commit 25c5e87dc2
5 changed files with 28 additions and 10 deletions
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8
examples/pybullet/examples/satCollision.py
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@@ -4,11 +4,13 @@ import time
p.connect(p.GUI)
p.setGravity(0,0,-10)
p.setPhysicsEngineParameter(enableSAT=1)
p.loadURDF("cube_concave.urdf",[0,0,-25], globalScaling=50, useFixedBase=True)
p.loadURDF("cube.urdf",[0,0,1], globalScaling=1)
p.loadURDF("duck_vhacd.urdf",[1,0,1], globalScaling=1)
p.loadURDF("cube_concave.urdf",[0,0,-25], globalScaling=50, useFixedBase=True, flags=p.URDF_INITIALIZE_SAT_FEATURES)
p.loadURDF("cube.urdf",[0,0,1], globalScaling=1,flags=p.URDF_INITIALIZE_SAT_FEATURES)
p.loadURDF("duck_vhacd.urdf",[1,0,1], globalScaling=1,flags=p.URDF_INITIALIZE_SAT_FEATURES)
while (p.isConnected()):
p.stepSimulation()
pts = p.getContactPoints()
#print("num contacts = ", len(pts))
time.sleep(1./240.)

3
examples/pybullet/pybullet.c
View File

@@ -9616,7 +9616,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
PyModule_AddIntConstant(m, "URDF_ENABLE_SLEEPING", URDF_ENABLE_SLEEPING);
PyModule_AddIntConstant(m, "URDF_INITIALIZE_SAT_FEATURES", URDF_INITIALIZE_SAT_FEATURES);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);