PyBullet.changeDynamics: expose jointDamping

PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)

examples/pybullet/examples/otherPhysicsEngine.py

@@ -1,14 +1,43 @@
 import pybullet as p
 import time
+import math
 
-p.connect(p.PhysX)
+p.connect(p.PhysX)#GUI)
 p.loadPlugin("eglRendererPlugin")
 
 p.loadURDF("plane.urdf")
-for i in range (50):
-	p.loadURDF("r2d2.urdf",[0,0,1+i*2])
+
+for i in range (10):
+  sphere = p.loadURDF("marble_cube.urdf",[0,-1,1+i*1], useMaximalCoordinates=False)
+p.changeDynamics(sphere ,-1, mass=1000)
+
+door = p.loadURDF("door.urdf",[0,0,1])
+p.changeDynamics(door ,1, linearDamping=0, angularDamping=0, jointDamping=0, mass=1)
+print("numJoints = ", p.getNumJoints(door))
+
+
 p.setGravity(0,0,-10)
+position_control = True
+angle = math.pi*0.25
+p.resetJointState(door,1,angle)  
+
+prevTime = time.time()
+
+angle = math.pi*0.5
 
 while (1):
-	p.stepSimulation()
-	time.sleep(1./240.)
+  
+  curTime = time.time()
+  
+  diff = curTime - prevTime
+  #every second, swap target angle
+  if (diff>1):
+    angle = - angle
+    prevTime = curTime
+  
+  if position_control:
+    p.setJointMotorControl2(door,1,p.POSITION_CONTROL, targetPosition = angle, positionGain=10.1, velocityGain=1, force=11.001)
+  else:  
+    p.setJointMotorControl2(door,1,p.VELOCITY_CONTROL, targetVelocity=1, force=1011)
+  p.stepSimulation()
+  time.sleep(1./240.)