mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
39 lines
1.2 KiB
Python
39 lines
1.2 KiB
Python
import pybullet as p
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import time
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import pybullet_data
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conid = p.connect(p.SHARED_MEMORY)
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if (conid < 0):
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p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.setInternalSimFlags(0)
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p.resetSimulation()
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p.loadURDF("plane.urdf", useMaximalCoordinates=True)
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p.loadURDF("tray/traybox.urdf", useMaximalCoordinates=True)
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gravXid = p.addUserDebugParameter("gravityX", -10, 10, 0)
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gravYid = p.addUserDebugParameter("gravityY", -10, 10, 0)
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gravZid = p.addUserDebugParameter("gravityZ", -10, 10, -10)
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p.setPhysicsEngineParameter(numSolverIterations=10)
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p.setPhysicsEngineParameter(contactBreakingThreshold=0.001)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
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for i in range(10):
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for j in range(10):
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for k in range(10):
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ob = p.loadURDF("sphere_1cm.urdf", [0.02 * i, 0.02 * j, 0.2 + 0.02 * k],
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useMaximalCoordinates=True)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
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p.setGravity(0, 0, -10)
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p.setRealTimeSimulation(1)
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while True:
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gravX = p.readUserDebugParameter(gravXid)
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gravY = p.readUserDebugParameter(gravYid)
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gravZ = p.readUserDebugParameter(gravZid)
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p.setGravity(gravX, gravY, gravZ)
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time.sleep(0.01)
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