Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-10-18 14:56:00 +00:00
Code Issues Packages Projects Releases Wiki Activity

unsupported: expose collisionMargin to changeDynamics/getDynamicsInfo.

Browse Source 
add cube_convex.urdf for testing this collisionMargin. Test script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_implicit.urdf")
cube = p.loadURDF("cube_convex.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
	p.stepSimulation()
	pts = p.getContactPoints()
	p.changeDynamics(plane,-1,collisionMargin=0.3)
	p.changeDynamics(cube,-1,collisionMargin=0.3)
	print("===================")
	print("cube pos=", p.getBasePositionAndOrientation(cube)[0])
	print("margin=", p.getDynamicsInfo(plane,-1)[11])
	#time.sleep(1./10.)
This commit is contained in:
Erwin Coumans
2020-02-14 17:36:40 -08:00
parent b3ff3ebcb1
commit 6afa0a463d
7 changed files with 86 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -168,6 +168,8 @@ extern "C"
B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double contactProcessingThreshold);
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState);
B3_SHARED_API int b3ChangeDynamicsInfoSetMaxJointVelocity(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double maxJointVelocity);
B3_SHARED_API int b3ChangeDynamicsInfoSetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double collisionMargin);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand2(b3SharedMemoryCommandHandle commandHandle, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);