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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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5
examples/SharedMemory/PhysicsClientC_API.h
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@@ -259,6 +259,11 @@ B3_SHARED_API void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, str
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA);
B3_SHARED_API void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCollisionShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
B3_SHARED_API void b3GetCollisionShapeInformation(b3PhysicsClientHandle physClient, struct b3CollisionShapeInformation* collisionShapeInfo);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
B3_SHARED_API int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle);