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add pybullet.changeConstraint / b3InitChangeUserConstraintCommand/ b3InitChangeUserConstraintSetPivotInB /b3InitChangeUserConstraintSetFrameInB command, to change an existing user constraint.

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add constraint.py example.
allow pybullet.createConstraint to create user constraint without a child body ('fixed' to the world)
This commit is contained in:
Erwin Coumans
2017-01-12 10:30:46 -08:00
parent 1c79798583
commit 9aa5a839d5
10 changed files with 186 additions and 14 deletions
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24
examples/pybullet/constraint.py Normal file
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import pybullet as p
import time
import math
p.connect(p.GUI)
p.loadURDF("plane.urdf")
cubeId = p.loadURDF("cube_small.urdf",0,0,1)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
cid = p.createConstraint(cubeId,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,1])
a=-math.pi
while 1:
a=a+0.01
if (a>math.pi):
a=-math.pi
time.sleep(.01)
p.setGravity(0,0,-10)
pivot=[a,0,1]
orn = p.getQuaternionFromEuler([a,0,0])
p.changeConstraint(cid,pivot,jointChildFrameOrientation=orn)
p.removeConstraint(cid)