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add contactFriction.py example

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erwincoumans
2018-10-06 15:27:56 -07:00
parent 71d4a90c98
commit c2486bb1a6
1 changed files with 34 additions and 0 deletions
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examples/pybullet/examples/contactFriction.py Normal file
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import pybullet as p
p.connect(p.GUI)
useMaximalCoordinates = False
p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates )
#p.loadURDF("sphere2.urdf",[0,0,1])
p.loadURDF("cube.urdf",[0,0,1], useMaximalCoordinates=useMaximalCoordinates )
p.setGravity(0,3,-10)
while(1):
p.stepSimulation()
pts = p.getContactPoints()
print("num pts=",len(pts))
totalNormalForce = 0
totalFrictionForce = [0,0,0]
totalLateralFrictionForce=[0,0,0]
for pt in pts:
#print("pt.normal=",pt[7])
#print("pt.normalForce=",pt[9])
totalNormalForce += pt[9]
#print("pt.lateralFrictionA=",pt[10])
#print("pt.lateralFrictionADir=",pt[11])
#print("pt.lateralFrictionB=",pt[12])
#print("pt.lateralFrictionBDir=",pt[13])
totalLateralFrictionForce[0]+=pt[11][0]*pt[10]+pt[13][0]*pt[12]
totalLateralFrictionForce[1]+=pt[11][1]*pt[10]+pt[13][1]*pt[12]
totalLateralFrictionForce[2]+=pt[11][2]*pt[10]+pt[13][2]*pt[12]
print("totalNormalForce=",totalNormalForce)
print("totalLateralFrictionForce=",totalLateralFrictionForce)