AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2025-01-18 21:10:05 +00:00
Code Issues Releases Wiki Activity

touch up createVisualShape.py example

Browse Source
This commit is contained in:
erwincoumans 2017-10-07 19:00:44 -07:00
parent 3826dddc83
commit b2edd81ef6
1 changed files with 2 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
examples/pybullet/examples/createVisualShape.py
View File

@ -3,22 +3,19 @@ import time
p.connect(p.GUI)
p.setPhysicsEngineParameter(numSolverIterations=10)
p.setTimeStep(1./120.)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
#disable rendering during creation.
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
#disable tinyrenderer, software (CPU) renderer, we don't use it here
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
shift = [0,-0.02,0]
meshScale=[0.1,0.1,0.1]
#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="duck.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale)
#boxHalfWidth=.5
#boxHalfHeight=.5
#boxHalfLength=.5
#collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_BOX, halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])
collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="duck_vhacd.obj", collisionFramePosition=shift,meshScale=meshScale)
rangex = 40