a7aed37632
pybullet/C-API, expose linear/angular damping fix some warnings (param name needs to be same in .h and .cpp) fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread) fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
34 lines
1.0 KiB
Python
34 lines
1.0 KiB
Python
import pybullet as p
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import time
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useMaximalCoordinates = 0
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p.connect(p.GUI)
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p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
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p.setPhysicsEngineParameter(numSolverIterations=10)
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p.setPhysicsEngineParameter(fixedTimeStep=1./120.)
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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,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
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mass = 1
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visualShapeId = -1
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for i in range (5):
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for j in range (5):
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for k in range (5):
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if (k&2):
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sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1],useMaximalCoordinates=useMaximalCoordinates)
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else:
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sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1], useMaximalCoordinates=useMaximalCoordinates)
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p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
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p.setGravity(0,0,-10)
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p.setRealTimeSimulation(1)
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while (1):
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time.sleep(0.01)
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