import pybullet as p
import time

usePhysX = True

if usePhysX:
	p.connect(p.PhysX)
	p.loadPlugin("eglRendererPlugin")
else:
	p.connect(p.GUI)
#p.connect(p.DIRECT)
#p.connect(p.DART)
#p.connect(p.MUJOCO)
#p.connect(p.GUI)

bodyB = p.loadURDF("plane.urdf",[0,0,0], useFixedBase=True)


for i in range (50):
	bodyA = p.loadURDF("r2d2.urdf",[0,0,1+i*2], useFixedBase=False)#, flags=p.URDF_USE_SELF_COLLISION)

numBodies = p.getNumBodies()
print("numBodies=",numBodies)

p.setGravity(0,0,-10)
timeStep = 1./240.
p.setPhysicsEngineParameter(fixedTimeStep=timeStep)

profile=False
if profile:
	logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "pybullet.json")
	for i in range (100):
		p.stepSimulation()
	print("stop logging")
	p.stopStateLogging(logId)

p.stepSimulation()
p.stepSimulation()
time.sleep(3)

#while (p.isConnected()):
while (1):
	p.stepSimulation()
	time.sleep(timeStep)