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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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37
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2141,13 +2141,12 @@ B3_SHARED_API int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, str
if (status->m_type != CMD_GET_DYNAMICS_INFO_COMPLETED)
return false;
info->m_mass = dynamicsInfo.m_mass;
info->m_localInertialDiagonal[0] = dynamicsInfo.m_localInertialDiagonal[0];
info->m_localInertialDiagonal[1] = dynamicsInfo.m_localInertialDiagonal[1];
info->m_localInertialDiagonal[2] = dynamicsInfo.m_localInertialDiagonal[2];
info->m_lateralFrictionCoeff = dynamicsInfo.m_lateralFrictionCoeff;
return true;
if (info)
{
*info = dynamicsInfo;
return true;
}
return false;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient)
@@ -3418,6 +3417,30 @@ B3_SHARED_API void b3GetClosestPointInformation(b3PhysicsClientHandle physClient
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCollisionShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA, int linkIndex)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REQUEST_COLLISION_SHAPE_INFO;
command->m_requestCollisionShapeDataArguments.m_bodyUniqueId = bodyUniqueIdA;
command->m_requestCollisionShapeDataArguments.m_linkIndex = linkIndex;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3GetCollisionShapeInformation(b3PhysicsClientHandle physClient, struct b3CollisionShapeInformation* collisionShapeInfo)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
cl->getCachedCollisionShapeInformation(collisionShapeInfo);
}
}
//request visual shape information
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA)