40 lines
770 B
Python
40 lines
770 B
Python
import pybullet as p
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import time
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import numpy as np
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p.connect(p.GUI)
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p.loadURDF("plane.urdf")
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p.loadURDF("sphere2.urdf",[0,0,2])
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dt = 1./240.
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p.setTimeStep(dt)
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def getSceneAABB():
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aabbMins=[]
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aabbMaxs=[]
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for i in range(p.getNumBodies()):
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uid = p.getBodyUniqueId(i)
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aabb = p.getAABB(uid)
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aabbMins.append(np.array(aabb[0]))
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aabbMaxs.append(np.array(aabb[1]))
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if len(aabbMins):
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sceneAABBMin = aabbMins[0]
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sceneAABBMax = aabbMaxs[0]
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for aabb in aabbMins:
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sceneAABBMin = np.minimum(sceneAABBMin,aabb)
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for aabb in aabbMaxs:
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sceneAABBMax = np.maximum(sceneAABBMax,aabb)
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print("sceneAABBMin=",sceneAABBMin)
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print("sceneAABBMax=",sceneAABBMax)
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getSceneAABB()
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while (1):
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p.stepSimulation()
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time.sleep(dt)
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