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Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body.

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Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape.
Implement PyBullet.getCollisionShapeData
Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!)
Extend PyBullet.getJointInfo: add parentIndex
This commit is contained in:
Erwin Coumans
2018-01-03 19:17:28 -08:00
parent a1492f50fc
commit 79d78a325a
16 changed files with 858 additions and 45 deletions
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12
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -599,8 +599,8 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
case URDF_GEOM_CYLINDER:
{
btScalar cylRadius = collision->m_geometry.m_capsuleRadius;
btScalar cylLength = collision->m_geometry.m_capsuleHeight;
btScalar cylHalfLength = 0.5*collision->m_geometry.m_capsuleHeight;
#if 0
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
@@ -620,10 +620,10 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
cylZShape->optimizeConvexHull();
//btConvexShape* cylZShape = new btConeShapeZ(cylRadius,cylLength);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
//btVector3 halfExtents(cylRadius,cylRadius,cylLength);
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
#else
btVector3 halfExtents(cylRadius,cylRadius, cylHalfLength);
btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
#endif
shape = cylZShape;
break;