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33 lines
1.1 KiB
Python
33 lines
1.1 KiB
Python
import pybullet as p
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import pybullet_data
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p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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useMaximalCoordinates = False
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p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates)
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#p.loadURDF("sphere2.urdf",[0,0,1])
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p.loadURDF("cube.urdf", [0, 0, 1], useMaximalCoordinates=useMaximalCoordinates)
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p.setGravity(0, 3, -10)
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while (1):
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p.stepSimulation()
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pts = p.getContactPoints()
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print("num pts=", len(pts))
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totalNormalForce = 0
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totalFrictionForce = [0, 0, 0]
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totalLateralFrictionForce = [0, 0, 0]
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for pt in pts:
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#print("pt.normal=",pt[7])
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#print("pt.normalForce=",pt[9])
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totalNormalForce += pt[9]
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#print("pt.lateralFrictionA=",pt[10])
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#print("pt.lateralFrictionADir=",pt[11])
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#print("pt.lateralFrictionB=",pt[12])
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#print("pt.lateralFrictionBDir=",pt[13])
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totalLateralFrictionForce[0] += pt[11][0] * pt[10] + pt[13][0] * pt[12]
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totalLateralFrictionForce[1] += pt[11][1] * pt[10] + pt[13][1] * pt[12]
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totalLateralFrictionForce[2] += pt[11][2] * pt[10] + pt[13][2] * pt[12]
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print("totalNormalForce=", totalNormalForce)
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print("totalLateralFrictionForce=", totalLateralFrictionForce)
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