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VR video recording, use command-line --mp4=videoname.mp4

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tune gripper grasp example with tefal pan, 800Newton force.
URDF importer: if using single transform 1 child shape, don't use compound shape.
if renderGUI is false, don't intercept mouse clicks
add manyspheres.py example (performance is pretty bad, will look into it)
[pybullet] expose contactBreakingThreshold
This commit is contained in:
Erwin Coumans
2017-02-16 14:19:09 -08:00
parent 08b83c3cd8
commit 63486a712c
18 changed files with 140 additions and 82 deletions
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11
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -71,7 +71,7 @@ struct URDF2BulletCachedData
}
void registerMultiBody( int urdfLinkIndex, class btMultiBody* body, const btTransform& worldTransform, btScalar mass, const btVector3& localInertiaDiagonal, const class btCompoundShape* compound, const btTransform& localInertialFrame)
void registerMultiBody( int urdfLinkIndex, class btMultiBody* body, const btTransform& worldTransform, btScalar mass, const btVector3& localInertiaDiagonal, const class btCollisionShape* compound, const btTransform& localInertialFrame)
{
m_urdfLinkLocalInertialFrames[urdfLinkIndex] = localInertialFrame;
}
@@ -81,7 +81,7 @@ struct URDF2BulletCachedData
return m_urdfLink2rigidBodies[urdfLinkIndex];
}
void registerRigidBody( int urdfLinkIndex, class btRigidBody* body, const btTransform& worldTransform, btScalar mass, const btVector3& localInertiaDiagonal, const class btCompoundShape* compound, const btTransform& localInertialFrame)
void registerRigidBody( int urdfLinkIndex, class btRigidBody* body, const btTransform& worldTransform, btScalar mass, const btVector3& localInertiaDiagonal, const class btCollisionShape* compound, const btTransform& localInertialFrame)
{
btAssert(m_urdfLink2rigidBodies[urdfLinkIndex]==0);
@@ -250,7 +250,12 @@ void ConvertURDF2BulletInternal(
btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
btCompoundShape* tmpShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
btCollisionShape* compoundShape = tmpShape;
if (tmpShape->getNumChildShapes() == 1 && tmpShape->getChildTransform(0)==btTransform::getIdentity())
{
compoundShape = tmpShape->getChildShape(0);
}
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);