4e03c36fa6
use btAssert instead of assert (glGetError is really slow) shift default light-position a little bit, to make faces different color
40 lines
1.6 KiB
Python
40 lines
1.6 KiB
Python
#you can set the restitution (bouncyness) of an object in the URDF file
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#or using changeDynamics
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import pybullet as p
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import time
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cid = p.connect(p.SHARED_MEMORY)
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if (cid<0):
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cid = p.connect(p.GUI)
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restitutionId = p.addUserDebugParameter("restitution",0,1,1)
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restitutionVelocityThresholdId = p.addUserDebugParameter("res. vel. threshold",0,3,0.2)
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lateralFrictionId = p.addUserDebugParameter("lateral friction",0,1,0.5)
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spinningFrictionId = p.addUserDebugParameter("spinning friction",0,1,0.03)
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rollingFrictionId = p.addUserDebugParameter("rolling friction",0,1,0.03)
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plane = p.loadURDF("plane_with_restitution.urdf")
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sphere = p.loadURDF("sphere_with_restitution.urdf",[0,0,2])
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p.setRealTimeSimulation(1)
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p.setGravity(0,0,-10)
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while (1):
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restitution = p.readUserDebugParameter(restitutionId)
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restitutionVelocityThreshold = p.readUserDebugParameter(restitutionVelocityThresholdId)
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p.setPhysicsEngineParameter(restitutionVelocityThreshold=restitutionVelocityThreshold)
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lateralFriction = p.readUserDebugParameter(lateralFrictionId)
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spinningFriction = p.readUserDebugParameter(spinningFrictionId)
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rollingFriction = p.readUserDebugParameter(rollingFrictionId)
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p.changeDynamics(plane,-1,lateralFriction=1)
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p.changeDynamics(sphere,-1,lateralFriction=lateralFriction)
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p.changeDynamics(sphere,-1,spinningFriction=spinningFriction)
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p.changeDynamics(sphere,-1,rollingFriction=rollingFriction)
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p.changeDynamics(plane,-1,restitution=restitution)
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p.changeDynamics(sphere,-1,restitution=restitution)
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pos,orn=p.getBasePositionAndOrientation(sphere)
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#print("pos=")
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#print(pos)
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time.sleep(0.01) |