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fix load_soft_body.py example.

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add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
This commit is contained in:
Erwin Coumans
2019-11-14 21:20:42 -08:00
parent 8d56986206
commit 72e0e7c223
8 changed files with 349 additions and 151 deletions
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16
examples/pybullet/examples/load_soft_body.py
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@@ -1,24 +1,24 @@
import pybullet as p
from time import sleep
physicsClient = p.connect(p.DIRECT)
physicsClient = p.connect(p.GUI)
p.setGravity(0, 0, -10)
planeId = p.loadURDF("plane.urdf")
boxId = p.loadURDF("cube.urdf", useMaximalCoordinates = True)
bunnyId = p.loadSoftBody("bunny.obj")
planeId = p.loadURDF("plane.urdf", [0,0,-2])
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
bunnyId = p.loadSoftBody("bunny.obj")#.obj")#.vtk")
#meshData = p.getMeshData(bunnyId)
#print("meshData=",meshData)
p.loadURDF("cube_small.urdf", [1, 0, 1])
#p.loadURDF("cube_small.urdf", [1, 0, 1])
useRealTimeSimulation = 1
if (useRealTimeSimulation):
p.setRealTimeSimulation(1)
print(p.getDynamicsInfo(planeId, -1))
print(p.getDynamicsInfo(bunnyId, 0))
#print(p.getDynamicsInfo(bunnyId, 0))
print(p.getDynamicsInfo(boxId, -1))
p.changeDynamics(boxId,-1,mass=10)
while p.isConnected():
p.setGravity(0, 0, -10)
if (useRealTimeSimulation):