Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface

Browse Source 
(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
This commit is contained in:
Erwin Coumans
2017-06-03 10:57:56 -07:00
parent ff695dd328
commit b23cb1dd2c
16 changed files with 1032 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
examples/pybullet/examples/createSphereMultiBodies.py Normal file
View File

@@ -0,0 +1,30 @@
import pybullet as p
import time
p.connect(p.GUI)
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
mass = 1
visualShapeId = -1
for i in range (10):
for j in range (10):
for k in range (10):
if (k&2):
sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1])
else:
sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1])
#p.changeDynamics(sphereUid,-1,spinningFriction=0.1, rollingFriction=0.1)
#p.loadSDF("stadium.sdf")
p.loadURDF("plane.urdf", useMaximalCoordinates=0)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
while (1):
time.sleep(0.01)