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

add yapf style and apply yapf to format all Python files

Browse Source 
This recreates pull request #2192
This commit is contained in:
Erwin Coumans
2019-04-27 07:31:15 -07:00
parent c591735042
commit ef9570c315
347 changed files with 70304 additions and 22752 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
examples/pybullet/examples/contactFriction.py
View File

@@ -1,34 +1,29 @@
import pybullet as p
p.connect(p.GUI)
useMaximalCoordinates = False
p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates )
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]
p.loadURDF("cube.urdf", [0, 0, 1], useMaximalCoordinates=useMaximalCoordinates)
p.setGravity(0, 3, -10)
while (1):
p.stepSimulation()
pts = p.getContactPoints()
print("totalNormalForce=",totalNormalForce)
print("totalLateralFrictionForce=",totalLateralFrictionForce)
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)