copy/move heightfield files around (part of pybullet_data)

prepare for heightfield support in pybullet (first step, needs a bit more)
2019-07-25 13:01:26 -07:00
parent 3eedb2a6f2
commit 36f3adc03f
18 changed files with 652 additions and 9 deletions
--- a/examples/pybullet/examples/heightfield.py
+++ b/examples/pybullet/examples/heightfield.py
@@ -0,0 +1,73 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+p.createCollisionShape(p.GEOM_HEIGHTFIELD)
+p.createMultiBody(0, 0)
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
+colBoxId = p.createCollisionShape(p.GEOM_BOX,
+                                  halfExtents=[sphereRadius, sphereRadius, sphereRadius])
+
+mass = 1
+visualShapeId = -1
+
+link_Masses = [1]
+linkCollisionShapeIndices = [colBoxId]
+linkVisualShapeIndices = [-1]
+linkPositions = [[0, 0, 0.11]]
+linkOrientations = [[0, 0, 0, 1]]
+linkInertialFramePositions = [[0, 0, 0]]
+linkInertialFrameOrientations = [[0, 0, 0, 1]]
+indices = [0]
+jointTypes = [p.JOINT_REVOLUTE]
+axis = [[0, 0, 1]]
+
+for i in range(3):
+  for j in range(3):
+    for k in range(3):
+      basePosition = [
+          1 + i * 5 * sphereRadius, 1 + j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
+      ]
+      baseOrientation = [0, 0, 0, 1]
+      if (k & 2):
+        sphereUid = p.createMultiBody(mass, colSphereId, visualShapeId, basePosition,
+                                      baseOrientation)
+      else:
+        sphereUid = p.createMultiBody(mass,
+                                      colBoxId,
+                                      visualShapeId,
+                                      basePosition,
+                                      baseOrientation,
+                                      linkMasses=link_Masses,
+                                      linkCollisionShapeIndices=linkCollisionShapeIndices,
+                                      linkVisualShapeIndices=linkVisualShapeIndices,
+                                      linkPositions=linkPositions,
+                                      linkOrientations=linkOrientations,
+                                      linkInertialFramePositions=linkInertialFramePositions,
+                                      linkInertialFrameOrientations=linkInertialFrameOrientations,
+                                      linkParentIndices=indices,
+                                      linkJointTypes=jointTypes,
+                                      linkJointAxis=axis)
+
+      p.changeDynamics(sphereUid,
+                       -1,
+                       spinningFriction=0.001,
+                       rollingFriction=0.001,
+                       linearDamping=0.0)
+      for joint in range(p.getNumJoints(sphereUid)):
+        p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
+
+p.setGravity(0, 0, -10)
+p.setRealTimeSimulation(1)
+
+p.getNumJoints(sphereUid)
+for i in range(p.getNumJoints(sphereUid)):
+  p.getJointInfo(sphereUid, i)
+
+while (1):
+  keys = p.getKeyboardEvents()
+  print(keys)
+
+  time.sleep(0.01)