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add example for enableSAT, using separating axis test (instead of GJK) for contact between polyhedral convex hull shapes (and convex hull vs triangle in a concave triangle mesh)

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erwincoumans 2018-06-12 16:10:49 -07:00
parent 97c6937388
commit 459d07a302
2 changed files with 46 additions and 0 deletions
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32
data/cube_concave.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision concave="yes">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
</robot>

14
examples/pybullet/examples/satCollision.py Normal file
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import pybullet as p
import time
p.connect(p.GUI)
p.setGravity(0,0,-10)
p.setPhysicsEngineParameter(enableSAT=1)
p.loadURDF("cube_concave.urdf",[0,0,-25], globalScaling=50, useFixedBase=True)
p.loadURDF("cube.urdf",[0,0,1], globalScaling=1)
p.loadURDF("duck_vhacd.urdf",[1,0,1], globalScaling=1)
while (p.isConnected()):
p.stepSimulation()
time.sleep(1./240.)