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33 lines
1.5 KiB
Python
33 lines
1.5 KiB
Python
import pybullet as p
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import time
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p.connect(p.GUI)
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p.setPhysicsEngineParameter(numSolverIterations=10)
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p.setTimeStep(1./120.)
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logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
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#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
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p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
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#disable rendering during creation.
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
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p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
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#disable tinyrenderer, software (CPU) renderer, we don't use it here
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p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
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shift = [0,-0.02,0]
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meshScale=[0.1,0.1,0.1]
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#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
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visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="duck.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale)
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collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="duck_vhacd.obj", collisionFramePosition=shift,meshScale=meshScale)
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rangex = 40
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rangey = 40
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for i in range (rangex):
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for j in range (rangey ):
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p.createMultiBody(baseMass=1,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [((-rangex/2)+i)*meshScale[0]*2,(-rangey/2+j)*meshScale[1]*2,1], useMaximalCoordinates=True)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
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p.stopStateLogging(logId)
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p.setGravity(0,0,-10)
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p.setRealTimeSimulation(1)
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while (1):
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p.setGravity(0,0,-10)
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time.sleep(1)
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