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PyBullet: add signed distance field support, with example/signedDistanceField.py

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See also data\toys\concave_box.urdf and data\toys\concave_box.cdf

data\toys\concave_box.cdf was generated from concave_box.obj using
//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
//SDF is based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
This commit is contained in:
Erwin Coumans
2018-04-16 22:57:43 +02:00
parent 982453abc6
commit 552cb5852a
11 changed files with 1121 additions and 24 deletions
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13
src/BulletCollision/CollisionShapes/btMiniSDF.cpp
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@@ -1,5 +1,13 @@
#include "btMiniSDF.h"
//
//Based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
//example:
//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
//The MIT License (MIT)
//
//Copyright (c) 2017 Dan Koschier
//
#include <limits.h>
#include <string.h> //memcpy
@@ -89,7 +97,10 @@ bool btMiniSDF::load(const char* data, int size)
std::size_t n_nodes0;
ds.read(nodes0);
n_nodes0 = nodes0;
if (n_nodes0 > 1024 * 1024 * 1024)
{
return m_isValid;
}
m_nodes.resize(n_nodes0);
for (unsigned int i=0;i<n_nodes0;i++)
{