Merge pull request #1244 from erwincoumans/master

add 'createObstacleCourse.py' example, helps reproducing

data/stone.mtl

@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2

data/stone.obj

@@ -0,0 +1,32 @@
+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib stone.mtl
+o Cube
+v -0.246350 -0.246483 -0.000624
+v -0.151407 -0.176325 0.172867
+v -0.246350 0.249205 -0.000624
+v -0.151407 0.129477 0.172867
+v 0.249338 -0.246483 -0.000624
+v 0.154395 -0.176325 0.172867
+v 0.249338 0.249205 -0.000624
+v 0.154395 0.129477 0.172867
+vn -0.8772 0.0000 0.4801
+vn 0.0000 0.8230 0.5680
+vn 0.8772 0.0000 0.4801
+vn 0.0000 -0.9271 0.3749
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 0.0000 1.0000
+usemtl None
+s off
+f 1//1 4//1 3//1
+f 4//2 7//2 3//2
+f 8//3 5//3 7//3
+f 6//4 1//4 5//4
+f 7//5 1//5 3//5
+f 4//6 6//6 8//6
+f 1//1 2//1 4//1
+f 4//2 8//2 7//2
+f 8//3 6//3 5//3
+f 6//4 2//4 1//4
+f 7//5 5//5 1//5
+f 4//6 2//6 6//6

examples/pybullet/examples/createObstacleCourse.py

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+import pybullet as p
+import time
+import math
+
+p.connect(p.GUI)
+#don't create a ground plane, to allow for gaps etc
+p.resetSimulation()
+#p.createCollisionShape(p.GEOM_PLANE)
+#p.createMultiBody(0,0)
+#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
+p.resetDebugVisualizerCamera(15,-346,-16,[-15,0,1]);
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
+stoneId = p.createCollisionShape(p.GEOM_MESH,fileName="stone.obj")
+
+boxHalfLength = 0.5
+boxHalfWidth = 2.5
+boxHalfHeight = 0.1
+segmentLength = 5
+
+colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])
+
+mass = 1
+visualShapeId = -1
+
+segmentStart = 0
+
+for i in range (segmentLength):
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
+	segmentStart=segmentStart-1
+	
+for i in range (segmentLength):
+	height = 0
+	if (i%2):
+		height=1
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1+height])
+	segmentStart=segmentStart-1
+
+baseOrientation = p.getQuaternionFromEuler([math.pi/2.,0,math.pi/2.])
+
+for i in range (segmentLength):
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
+	segmentStart=segmentStart-1
+	if (i%2):
+		p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,i%3,-0.1+height+boxHalfWidth],baseOrientation=baseOrientation)
+
+for i in range (segmentLength):
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
+	width=4
+	for j in range (width):
+		p.createMultiBody(baseMass=0,baseCollisionShapeIndex = stoneId,basePosition = [segmentStart,0.5*(i%2)+j-width/2.,0])
+	segmentStart=segmentStart-1
+
+
+link_Masses=[1]
+linkCollisionShapeIndices=[colBoxId]
+linkVisualShapeIndices=[-1]
+linkPositions=[[0,0,0]]
+linkOrientations=[[0,0,0,1]]
+linkInertialFramePositions=[[0,0,0]]
+linkInertialFrameOrientations=[[0,0,0,1]]
+indices=[0]
+jointTypes=[p.JOINT_REVOLUTE]
+axis=[[1,0,0]]
+
+baseOrientation = [0,0,0,1]
+for i in range (segmentLength):
+	boxId = p.createMultiBody(0,colSphereId,-1,[segmentStart,0,-0.1],baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)			
+	p.changeDynamics(boxId,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
+	print(p.getNumJoints(boxId))
+	for joint in range (p.getNumJoints(boxId)):
+		targetVelocity = 1
+		if (i%2):
+			targetVelocity =-1
+		p.setJointMotorControl2(boxId,joint,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=10)
+	segmentStart=segmentStart-1.1
+
+
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+while (1):
+	camData = p.getDebugVisualizerCamera()
+	viewMat = camData[2]
+	projMat = camData[3]
+	p.getCameraImage(256,256,viewMatrix=viewMat, projectionMatrix=projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL)
+	keys = p.getKeyboardEvents()
+	p.stepSimulation()	
+	#print(keys)
+	time.sleep(0.01)
+