f9b232b153
premake4: allow to build example browser without C++11, re-enable stable PD control plugin using --enable_stable_pd=True
122 lines
4.7 KiB
Python
122 lines
4.7 KiB
Python
import pybullet as p
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import pybullet_data as pd
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import time
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p.connect(p.GUI)
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p.setAdditionalSearchPath(pd.getDataPath())
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textureId = -1
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useProgrammatic = 0
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useTerrainFromPNG = 1
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useDeepLocoCSV = 2
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heightfieldSource = useProgrammatic
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import random
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random.seed(10)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
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heightPerturbationRange = 0.05
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if heightfieldSource==useProgrammatic:
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numHeightfieldRows = 256
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numHeightfieldColumns = 256
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heightfieldData = [0]*numHeightfieldRows*numHeightfieldColumns
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for j in range (int(numHeightfieldColumns/2)):
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for i in range (int(numHeightfieldRows/2) ):
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height = random.uniform(0,heightPerturbationRange)
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heightfieldData[2*i+2*j*numHeightfieldRows]=height
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heightfieldData[2*i+1+2*j*numHeightfieldRows]=height
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heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height
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heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
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terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns, )
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terrain = p.createMultiBody(0, terrainShape)
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p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
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if heightfieldSource==useDeepLocoCSV:
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terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)
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terrain = p.createMultiBody(0, terrainShape)
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p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
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if heightfieldSource==useTerrainFromPNG:
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terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "heightmaps/wm_height_out.png")
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textureId = p.loadTexture("heightmaps/gimp_overlay_out.png")
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terrain = p.createMultiBody(0, terrainShape)
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p.changeVisualShape(terrain, -1, textureUniqueId = textureId)
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p.changeVisualShape(terrain, -1, rgbaColor=[1,1,1,1])
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sphereRadius = 0.05
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colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
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colBoxId = p.createCollisionShape(p.GEOM_BOX,
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halfExtents=[sphereRadius, sphereRadius, sphereRadius])
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mass = 1
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visualShapeId = -1
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link_Masses = [1]
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linkCollisionShapeIndices = [colBoxId]
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linkVisualShapeIndices = [-1]
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linkPositions = [[0, 0, 0.11]]
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linkOrientations = [[0, 0, 0, 1]]
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linkInertialFramePositions = [[0, 0, 0]]
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linkInertialFrameOrientations = [[0, 0, 0, 1]]
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indices = [0]
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jointTypes = [p.JOINT_REVOLUTE]
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axis = [[0, 0, 1]]
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for i in range(3):
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for j in range(3):
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for k in range(3):
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basePosition = [
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i * 5 * sphereRadius, j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
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]
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baseOrientation = [0, 0, 0, 1]
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if (k & 2):
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sphereUid = p.createMultiBody(mass, colSphereId, visualShapeId, basePosition,
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baseOrientation)
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else:
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sphereUid = p.createMultiBody(mass,
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colBoxId,
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visualShapeId,
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basePosition,
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baseOrientation,
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linkMasses=link_Masses,
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linkCollisionShapeIndices=linkCollisionShapeIndices,
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linkVisualShapeIndices=linkVisualShapeIndices,
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linkPositions=linkPositions,
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linkOrientations=linkOrientations,
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linkInertialFramePositions=linkInertialFramePositions,
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linkInertialFrameOrientations=linkInertialFrameOrientations,
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linkParentIndices=indices,
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linkJointTypes=jointTypes,
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linkJointAxis=axis)
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p.changeDynamics(sphereUid,
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-1,
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spinningFriction=0.001,
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rollingFriction=0.001,
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linearDamping=0.0)
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for joint in range(p.getNumJoints(sphereUid)):
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p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
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p.setGravity(0, 0, -10)
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p.setRealTimeSimulation(1)
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p.getNumJoints(sphereUid)
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for i in range(p.getNumJoints(sphereUid)):
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p.getJointInfo(sphereUid, i)
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while (p.isConnected()):
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#keys = p.getKeyboardEvents()
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#print(keys)
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#getCameraImage note: software/TinyRenderer doesn't render/support heightfields!
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#p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
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time.sleep(0.01)
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