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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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31
examples/SharedMemory/PhysicsDirect.cpp
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@@ -54,6 +54,8 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
@@ -1011,6 +1013,27 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{
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_bulletStreamDataServerToClient[0];
for (int i = 0; i < numCollisionShapesCopied; i++)
{
m_data->m_cachedCollisionShapes[i] = shapeData[i];
}
break;
}
case CMD_RESTORE_STATE_FAILED:
{
b3Warning("restoreState failed");
@@ -1242,6 +1265,14 @@ void PhysicsDirect::getCachedVisualShapeInformation(struct b3VisualShapeInformat
visualShapesInfo->m_visualShapeData = visualShapesInfo->m_numVisualShapes ? &m_data->m_cachedVisualShapes[0] : 0;
}
void PhysicsDirect::getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo)
{
collisionShapesInfo->m_numCollisionShapes = m_data->m_cachedCollisionShapes.size();
collisionShapesInfo->m_collisionShapeData = collisionShapesInfo->m_numCollisionShapes ? &m_data->m_cachedCollisionShapes[0] : 0;
}
void PhysicsDirect::getCachedVREvents(struct b3VREventsData* vrEventsData)
{
vrEventsData->m_numControllerEvents = m_data->m_cachedVREvents.size();