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

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fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
This commit is contained in:
Erwin Coumans
2019-07-29 20:23:38 -07:00
parent 36f3adc03f
commit 51fba6f78d
14 changed files with 286 additions and 71 deletions
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17
examples/pybullet/pybullet.c
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@@ -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);