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Allow to create concave collision meshes. Note that this is only supported for static (mass 0) multibodies.

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This commit is contained in:
Erwin Coumans
2017-06-23 14:43:28 -07:00
parent a136098120
commit 2ab56b4d62
5 changed files with 111 additions and 40 deletions
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8
examples/pybullet/examples/createSphereMultiBodies.py
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@@ -4,7 +4,11 @@ import time
useMaximalCoordinates = 0
p.connect(p.GUI)
p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
#p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
monastryId = concaveEnv =p.createCollisionShape(p.GEOM_MESH,fileName="samurai_monastry.obj",flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
orn = p.getQuaternionFromEuler([1.5707963,0,0])
p.createMultiBody (0,monastryId, baseOrientation=orn)
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
@@ -28,5 +32,7 @@ p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
while (1):
keys = p.getKeyboardEvents()
#print(keys)
time.sleep(0.01)