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.
51 lines
1.5 KiB
Python
51 lines
1.5 KiB
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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p.setPhysicsEngineParameter(allowedCcdPenetration=0.0)
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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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useMaximalCoordinates = True
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sphereRadius = 0.005
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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*5*sphereRadius,j*5*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.changeDynamics(sphereUid,-1,ccdSweptSphereRadius=0.002)
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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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