a44df2b0a6
See createObstacleCourse.py for an example use. At the moment a limit of 1024 vertices and 1024 indices. Will be lifted once we implement the streaming version (soon).
123 lines
4.2 KiB
Python
123 lines
4.2 KiB
Python
import pybullet as p
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import time
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import math
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p.connect(p.GUI)
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#don't create a ground plane, to allow for gaps etc
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p.resetSimulation()
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#p.createCollisionShape(p.GEOM_PLANE)
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#p.createMultiBody(0,0)
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#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
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p.resetDebugVisualizerCamera(15,-346,-16,[-15,0,1]);
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
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sphereRadius = 0.05
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colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
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#a few different ways to create a mesh:
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#convex mesh from obj
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stoneId = p.createCollisionShape(p.GEOM_MESH,fileName="stone.obj")
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#concave mesh from obj
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stoneId = p.createCollisionShape(p.GEOM_MESH,fileName="stone.obj", flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
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verts=[[-0.246350, -0.246483, -0.000624],
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[ -0.151407, -0.176325, 0.172867],
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[ -0.246350, 0.249205, -0.000624],
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[ -0.151407, 0.129477, 0.172867],
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[ 0.249338, -0.246483, -0.000624],
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[ 0.154395, -0.176325, 0.172867],
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[ 0.249338, 0.249205, -0.000624],
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[ 0.154395, 0.129477, 0.172867]]
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#convex mesh from vertices
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stoneConvexId = p.createCollisionShape(p.GEOM_MESH,vertices=verts)
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indices=[0,3,2,3,6,2,7,4,6,5,0,4,6,0,2,3,5,7,0,1,3,3,7,6,7,5,4,5,1,0,6,4,0,3,1,5]
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#concave mesh from vertices+indices
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stoneConcaveId = p.createCollisionShape(p.GEOM_MESH,vertices=verts, indices=indices)
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stoneId = stoneConvexId
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#stoneId = stoneConcaveId
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boxHalfLength = 0.5
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boxHalfWidth = 2.5
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boxHalfHeight = 0.1
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segmentLength = 5
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colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])
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mass = 1
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visualShapeId = -1
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segmentStart = 0
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for i in range (segmentLength):
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p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
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segmentStart=segmentStart-1
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for i in range (segmentLength):
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height = 0
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if (i%2):
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height=1
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p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1+height])
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segmentStart=segmentStart-1
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baseOrientation = p.getQuaternionFromEuler([math.pi/2.,0,math.pi/2.])
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for i in range (segmentLength):
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p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
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segmentStart=segmentStart-1
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if (i%2):
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p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,i%3,-0.1+height+boxHalfWidth],baseOrientation=baseOrientation)
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for i in range (segmentLength):
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p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
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width=4
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for j in range (width):
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p.createMultiBody(baseMass=0,baseCollisionShapeIndex = stoneId,basePosition = [segmentStart,0.5*(i%2)+j-width/2.,0])
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segmentStart=segmentStart-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]]
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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=[[1,0,0]]
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baseOrientation = [0,0,0,1]
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for i in range (segmentLength):
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boxId = p.createMultiBody(0,colSphereId,-1,[segmentStart,0,-0.1],baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)
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p.changeDynamics(boxId,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
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print(p.getNumJoints(boxId))
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for joint in range (p.getNumJoints(boxId)):
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targetVelocity = 10
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if (i%2):
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targetVelocity =-10
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p.setJointMotorControl2(boxId,joint,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=100)
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segmentStart=segmentStart-1.1
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
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while (1):
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camData = p.getDebugVisualizerCamera()
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viewMat = camData[2]
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projMat = camData[3]
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p.getCameraImage(256,256,viewMatrix=viewMat, projectionMatrix=projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL)
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keys = p.getKeyboardEvents()
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p.stepSimulation()
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#print(keys)
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time.sleep(0.01)
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