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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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30
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -44,6 +44,8 @@ struct PhysicsClientSharedMemoryInternalData {
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
@@ -1253,6 +1255,27 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
{
break;
}
case CMD_COLLISION_SHAPE_INFO_FAILED:
{
b3Warning("getCollisionShapeData failed");
break;
}
case CMD_COLLISION_SHAPE_INFO_COMPLETED:
{
B3_PROFILE("CMD_COLLISION_SHAPE_INFO_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Collision Shape Information Request OK\n");
}
int numCollisionShapesCopied = serverCmd.m_sendCollisionShapeArgs.m_numCollisionShapes;
m_data->m_cachedCollisionShapes.resize(numCollisionShapesCopied);
b3CollisionShapeData* shapeData = (b3CollisionShapeData*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numCollisionShapesCopied; i++)
{
m_data->m_cachedCollisionShapes[i] = shapeData[i];
}
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);
@@ -1595,6 +1618,13 @@ void PhysicsClientSharedMemory::getCachedVisualShapeInformation(struct b3VisualS
visualShapesInfo->m_visualShapeData = visualShapesInfo->m_numVisualShapes ? &m_data->m_cachedVisualShapes[0] : 0;
}
void PhysicsClientSharedMemory::getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo)
{
collisionShapesInfo->m_numCollisionShapes = m_data->m_cachedCollisionShapes.size();
collisionShapesInfo->m_collisionShapeData = collisionShapesInfo->m_numCollisionShapes? &m_data->m_cachedCollisionShapes[0] : 0;
}
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const {
if (m_data->m_debugLinesFrom.size()) {