diff options
Diffstat (limited to 'examples/pybullet/examples/contactFriction.py')
| -rw-r--r-- | examples/pybullet/examples/contactFriction.py | 53 |
1 files changed, 24 insertions, 29 deletions
diff --git a/examples/pybullet/examples/contactFriction.py b/examples/pybullet/examples/contactFriction.py index 44a90ecfb..334e5ab71 100644 --- a/examples/pybullet/examples/contactFriction.py +++ b/examples/pybullet/examples/contactFriction.py @@ -1,34 +1,29 @@ import pybullet as p p.connect(p.GUI) useMaximalCoordinates = False -p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates ) +p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates) #p.loadURDF("sphere2.urdf",[0,0,1]) -p.loadURDF("cube.urdf",[0,0,1], useMaximalCoordinates=useMaximalCoordinates ) -p.setGravity(0,3,-10) -while(1): - p.stepSimulation() - pts = p.getContactPoints() - - print("num pts=",len(pts)) - totalNormalForce = 0 - totalFrictionForce = [0,0,0] - totalLateralFrictionForce=[0,0,0] - for pt in pts: - #print("pt.normal=",pt[7]) - #print("pt.normalForce=",pt[9]) - totalNormalForce += pt[9] - #print("pt.lateralFrictionA=",pt[10]) - #print("pt.lateralFrictionADir=",pt[11]) - #print("pt.lateralFrictionB=",pt[12]) - #print("pt.lateralFrictionBDir=",pt[13]) - totalLateralFrictionForce[0]+=pt[11][0]*pt[10]+pt[13][0]*pt[12] - totalLateralFrictionForce[1]+=pt[11][1]*pt[10]+pt[13][1]*pt[12] - totalLateralFrictionForce[2]+=pt[11][2]*pt[10]+pt[13][2]*pt[12] +p.loadURDF("cube.urdf", [0, 0, 1], useMaximalCoordinates=useMaximalCoordinates) +p.setGravity(0, 3, -10) +while (1): + p.stepSimulation() + pts = p.getContactPoints() - - print("totalNormalForce=",totalNormalForce) - print("totalLateralFrictionForce=",totalLateralFrictionForce) - - - -
\ No newline at end of file + print("num pts=", len(pts)) + totalNormalForce = 0 + totalFrictionForce = [0, 0, 0] + totalLateralFrictionForce = [0, 0, 0] + for pt in pts: + #print("pt.normal=",pt[7]) + #print("pt.normalForce=",pt[9]) + totalNormalForce += pt[9] + #print("pt.lateralFrictionA=",pt[10]) + #print("pt.lateralFrictionADir=",pt[11]) + #print("pt.lateralFrictionB=",pt[12]) + #print("pt.lateralFrictionBDir=",pt[13]) + totalLateralFrictionForce[0] += pt[11][0] * pt[10] + pt[13][0] * pt[12] + totalLateralFrictionForce[1] += pt[11][1] * pt[10] + pt[13][1] * pt[12] + totalLateralFrictionForce[2] += pt[11][2] * pt[10] + pt[13][2] * pt[12] + + print("totalNormalForce=", totalNormalForce) + print("totalLateralFrictionForce=", totalLateralFrictionForce) |