pybullet.createSoftBodyAnchor

examples/pybullet/examples/deformable_anchor.py

@@ -0,0 +1,29 @@
+import pybullet as p
+from time import sleep
+
+physicsClient = p.connect(p.GUI)
+
+p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
+
+p.setGravity(0, 0, -10)
+
+planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
+planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
+
+boxId = p.loadURDF("cube.urdf", [0,1,2],useMaximalCoordinates = True)
+
+clothId = p.loadSoftBody("cloth_z_up.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1,useMassSpring=1, springElasticStiffness=40, springDampingStiffness=.1, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1)
+
+
+p.createSoftBodyAnchor(clothId  ,0,-1,-1)
+p.createSoftBodyAnchor(clothId ,1,-1,-1)
+p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0])
+p.createSoftBodyAnchor(clothId ,2,boxId,-1, [-0.5,-0.5,0])
+p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
+p.setRealTimeSimulation(1)
+
+
+while p.isConnected():
+  p.getNumBodies()
+  sleep(1./240.)
+