ddf304ca78
(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal) PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.
42 lines
995 B
Python
42 lines
995 B
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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if (1):
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box_collision_shape_id = p.createCollisionShape(
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shapeType=p.GEOM_BOX,
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halfExtents=[0.01,0.01,0.055])
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box_mass=0.1
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box_visual_shape_id = -1
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box_position=[0,0.1,1]
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box_orientation=[0,0,0,1]
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p.createMultiBody(
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box_mass, box_collision_shape_id, box_visual_shape_id,
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box_position, box_orientation, useMaximalCoordinates=True)
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terrain_mass=0
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terrain_visual_shape_id=-1
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terrain_position=[0,0,0]
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terrain_orientation=[0,0,0,1]
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terrain_collision_shape_id = p.createCollisionShape(
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shapeType=p.GEOM_MESH,
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fileName="terrain.obj",
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flags=p.GEOM_FORCE_CONCAVE_TRIMESH|p.GEOM_CONCAVE_INTERNAL_EDGE,
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meshScale=[0.5, 0.5, 0.5])
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p.createMultiBody(
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terrain_mass, terrain_collision_shape_id, terrain_visual_shape_id,
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terrain_position, terrain_orientation)
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p.setGravity(0,0,-10)
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pts = p.getContactPoints()
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print("num points=",len(pts))
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print(pts)
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while (p.isConnected()):
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time.sleep(1./240.)
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p.stepSimulation()
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