29 lines
770 B
Python
29 lines
770 B
Python
import pybullet as p
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from time import sleep
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physicsClient = p.connect(p.GUI)
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useDeformable = True
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if useDeformable:
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p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
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gravZ=-10
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p.setGravity(0, 0, gravZ)
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planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
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planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
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boxId = p.loadURDF("cube.urdf", [0,1,2],useMaximalCoordinates = True)
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clothId = p.loadSoftBody("bunny.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1, useMassSpring=1, springElasticStiffness=100, springDampingStiffness=.001, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1)
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p.setTimeStep(0.0005)
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p.setRealTimeSimulation(1)
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while p.isConnected():
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p.setGravity(0,0,gravZ)
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sleep(1./240.)
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