mirror of
https://github.com/bulletphysics/bullet3.git
synced 2026-09-03 00:48:32 +00:00
1452cae641
1) allow to render deformables in 'getCameraImage', for TinyRenderer (tested OK) and EGL (untested) 2) allow to have textures for deformables. See deformable_ball.py, deformable_anchor.py and deformable_torus.py for examples 3) deformables: allow to request simulation mesh data (even if there is a render mesh) See deformable_anchor.py for an example usage data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH) 4) fix deletion of deformables, thanks to Fychuyan, https://github.com/bulletphysics/bullet3/pull/3048 5) allow to enable and disable double-sided rendering, p.changeVisualShape(objectUid, linkIndex, flags=p.VISUAL_SHAPE_DOUBLE_SIDED) 6) fix GripperGraspExample, model not found 7) Fix deformable anchor not attaching to multibody with object unique id of 0 8) Fix issue with assignment of unique ids in TinyRenderer/EGL renderer (always use broadphase uid) 9) Avoid crash/issue of simulation with pinned vertices (mass 0) in btDeformableBackwardEulerObjective::applyExplicitForce 10) Store uv/normal in btSoftBody::RenderNode to allow textured meshes 11) (uncomment in btSoftBodyHelpers.cpp): dump vertices and indices in obj wavefront format, when loading a VTK file, for quicker creation of a (textured) surface mesh 12) allow interpolateRenderMesh also for old position-based soft bodies (not only the shiny new FEM deformables) 13) fix a few premake targets 14) update build_visual_studio_vr_pybullet_double_cmake.bat so it suits c:\python37 and installs locally for local install of Bullet, see also this example https://github.com/erwincoumans/hello_bullet_cmake
38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
import pybullet as p
|
|
from time import sleep
|
|
import pybullet_data
|
|
|
|
physicsClient = p.connect(p.GUI)
|
|
p.setAdditionalSearchPath(pybullet_data.getDataPath())
|
|
|
|
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
|
|
|
|
p.setGravity(0, 0, -10)
|
|
|
|
planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
|
|
planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
|
|
|
|
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
|
|
|
|
ballId = p.loadSoftBody("ball.obj", simFileName = "ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 4, useNeoHookean = 1, NeoHookeanMu = 400, NeoHookeanLambda = 600, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5, collisionMargin = 0.001)
|
|
p.setTimeStep(0.001)
|
|
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
|
|
|
|
|
|
#logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "perf.json")
|
|
|
|
while p.isConnected():
|
|
|
|
p.stepSimulation()
|
|
#there can be some artifacts in the visualizer window,
|
|
#due to reading of deformable vertices in the renderer,
|
|
#while the simulators updates the same vertices
|
|
#it can be avoided using
|
|
#p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
|
|
#but then things go slower
|
|
p.setGravity(0,0,-10)
|
|
#sleep(1./240.)
|
|
|
|
#p.resetSimulation()
|
|
#p.stopStateLogging(logId)
|