19 lines
593 B
Python
19 lines
593 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],
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globalScaling=50,
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useFixedBase=True,
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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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