How to enable dynamic properties during simulation

[Aadhithya K]

Hello again

I would like to enable the dynamic properties of the model programmatically during a simulation.
The model is a CAD model and not a primary shape (if there would be any difference for it)
The model is initially static and after executing another function in the Lua script I would like to set the model to be dynamic.
Is there any way to do this with the Lua script?
I would like to set only the base of the model tree to be dynamic.

Thanks in advance

[coppelia]

Hello,

yes, you can use some of following API functions for that. But make sure that simulation is not running when doing this, or reset the shape via sim.resetDynamicObject after such a change.

• sim.setObjectInt32Parameter(shapeHandle,sim.shapeintparam_static,0)
• sim.setShapeMass
• sim.setShapeInertia
• etc.

Cheers