CoppeliaSim forums

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

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