16 lines
543 B
Python
16 lines
543 B
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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p.setGravity(0,0,-10)
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p.setPhysicsEngineParameter(enableSAT=1)
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p.loadURDF("cube_concave.urdf",[0,0,-25], globalScaling=50, useFixedBase=True, flags=p.URDF_INITIALIZE_SAT_FEATURES)
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p.loadURDF("cube.urdf",[0,0,1], globalScaling=1,flags=p.URDF_INITIALIZE_SAT_FEATURES)
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p.loadURDF("duck_vhacd.urdf",[1,0,1], globalScaling=1,flags=p.URDF_INITIALIZE_SAT_FEATURES)
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while (p.isConnected()):
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p.stepSimulation()
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pts = p.getContactPoints()
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#print("num contacts = ", len(pts))
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time.sleep(1./240.)
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