export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU)

fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue

examples/pybullet/examples/heightfield.py

@@ -1,9 +1,27 @@
 import pybullet as p
+import pybullet_data as pd
+
 import time
 
 p.connect(p.GUI)
-p.createCollisionShape(p.GEOM_HEIGHTFIELD)
-p.createMultiBody(0, 0)
+p.setAdditionalSearchPath(pd.getDataPath())
+
+textureId = -1
+useDeepLocoCSV = False
+
+if useDeepLocoCSV:
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)#Image8x4.png")#wm_height_out.png")
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.resetBasePositionAndOrientation(terrain,[-8,0,-2], [0,0,0,1])
+else:
+  terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "heightmaps/wm_height_out.png")
+  textureId = p.loadTexture("heightmaps/gimp_overlay_out.png")
+  terrain  = p.createMultiBody(0, terrainShape)
+  p.changeVisualShape(terrain, -1, textureUniqueId = textureId)
+ 
+ 
+p.changeVisualShape(terrain, -1, rgbaColor=[1,1,1,1])
+
 
 sphereRadius = 0.05
 colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
@@ -28,7 +46,7 @@ for i in range(3):
   for j in range(3):
     for k in range(3):
       basePosition = [
-          1 + i * 5 * sphereRadius, 1 + j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
+          i * 5 * sphereRadius, j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
       ]
       baseOrientation = [0, 0, 0, 1]
       if (k & 2):
@@ -51,6 +69,7 @@ for i in range(3):
                                       linkJointTypes=jointTypes,
                                       linkJointAxis=axis)
 
+      
       p.changeDynamics(sphereUid,
                        -1,
                        spinningFriction=0.001,
@@ -69,5 +88,6 @@ for i in range(p.getNumJoints(sphereUid)):
 while (1):
   keys = p.getKeyboardEvents()
   print(keys)
-
+  #getCameraImage note: software/TinyRenderer doesn't render/support heightfields!
+  #p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
   time.sleep(0.01)

examples/pybullet/pybullet.c

@@ -7967,14 +7967,14 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
 	double collisionFrameOrientation[4] = {0, 0, 0, 1};
 	char* fileName = 0;
 	int flags = 0;
-
+	double heightfieldTextureScaling = 1;
 	PyObject* halfExtentsObj = 0;
 	PyObject* verticesObj = 0;
 	PyObject* indicesObj = 0;
 
-	static char* kwlist[] = {"shapeType", "radius", "halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "vertices", "indices", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOi", kwlist,
-									 &shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &physicsClientId))
+	static char* kwlist[] = {"shapeType", "radius", "halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "vertices", "indices", "heightfieldTextureScaling", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdi", kwlist,
+									 &shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -8010,6 +8010,15 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
 		{
 			shapeIndex = b3CreateCollisionShapeAddCylinder(commandHandle, radius, height);
 		}
+		if (shapeType == GEOM_HEIGHTFIELD && fileName)
+		{
+			if (meshScaleObj)
+			{
+				pybullet_internalSetVectord(meshScaleObj, meshScale);
+			}
+			shapeIndex = b3CreateCollisionShapeAddHeightfield(commandHandle, fileName, meshScale, heightfieldTextureScaling);
+
+		}
 		if (shapeType == GEOM_MESH && fileName)
 		{
 			pybullet_internalSetVectord(meshScaleObj, meshScale);