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26 lines
791 B
Python
26 lines
791 B
Python
import pybullet as p
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from time import sleep
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import pybullet_data
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physicsClient = p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
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p.setGravity(0, 0, -10)
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planeId = p.loadURDF("plane.urdf", [0,0,-2])
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boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
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bunnyId = p.loadSoftBody("torus.vtk", mass = 3, useNeoHookean = 1, NeoHookeanMu = 180, NeoHookeanLambda = 600, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 800)
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bunny2 = p.loadURDF("torus_deform.urdf", [0,1,0], flags=p.URDF_USE_SELF_COLLISION)
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p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
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p.setRealTimeSimulation(1)
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while p.isConnected():
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p.setGravity(0,0,-10)
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