Merge pull request #2465 from erwincoumans/master

add simple sceneAABB example

examples/pybullet/examples/sceneAabb.py

@@ -0,0 +1,39 @@
+import pybullet as p
+import time
+import numpy as np
+
+p.connect(p.GUI)
+p.loadURDF("plane.urdf")
+p.loadURDF("sphere2.urdf",[0,0,2])
+
+dt = 1./240.
+p.setTimeStep(dt)
+
+def getSceneAABB():
+  aabbMins=[]
+  aabbMaxs=[]
+
+  for i in range(p.getNumBodies()):
+    uid = p.getBodyUniqueId(i)
+    aabb = p.getAABB(uid)
+    aabbMins.append(np.array(aabb[0]))
+    aabbMaxs.append(np.array(aabb[1]))
+
+  if len(aabbMins):
+    sceneAABBMin = aabbMins[0]
+    sceneAABBMax = aabbMaxs[0]
+
+    for aabb in aabbMins:
+      sceneAABBMin = np.minimum(sceneAABBMin,aabb)
+    for aabb in aabbMaxs:
+      sceneAABBMax = np.maximum(sceneAABBMax,aabb)
+
+    print("sceneAABBMin=",sceneAABBMin)
+    print("sceneAABBMax=",sceneAABBMax)
+ 
+getSceneAABB()
+
+while (1):
+  p.stepSimulation()
+  time.sleep(dt)
+