friction cone test

examples/pybullet/examples/frictionCone.py

@@ -0,0 +1,45 @@
+import pybullet as p
+import time
+import math
+
+p.connect(p.GUI)
+useMaximalCoordinates = False
+
+p.setGravity(0,0,-10)
+plane=p.loadURDF("plane.urdf",[0,0,-1],useMaximalCoordinates=useMaximalCoordinates)
+
+p.setRealTimeSimulation(0)
+
+
+velocity = 1
+num = 40
+p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)#disable this to make it faster
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+
+for i in range (num):
+	print("progress:",i,num)
+	
+	x = velocity*math.sin(2.*3.1415*float(i)/num)
+	y = velocity*math.cos(2.*3.1415*float(i)/num)
+	print("velocity=",x,y)
+	sphere=p.loadURDF("sphere_small_zeroinertia.urdf", flags=p.URDF_USE_INERTIA_FROM_FILE, useMaximalCoordinates=useMaximalCoordinates)
+	p.changeDynamics(sphere,-1,lateralFriction=0.02)
+	#p.changeDynamics(sphere,-1,rollingFriction=10)
+	p.changeDynamics(sphere,-1,linearDamping=0)
+	p.changeDynamics(sphere,-1,angularDamping=0)
+	p.resetBaseVelocity(sphere,linearVelocity=[x,y,0])
+
+	prevPos = [0,0,0]
+	for i in range (2048):
+		p.stepSimulation()
+		pos = p.getBasePositionAndOrientation(sphere)[0]
+		if (i&64):
+			p.addUserDebugLine(prevPos,pos,[1,0,0],1)
+			prevPos = pos
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+
+	
+while (1):
+	time.sleep(0.01)