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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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18
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -2542,14 +2542,14 @@ void PhysicsServerExample::drawUserDebugLines()
}
float colorRGBA[4] = {
m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[0],
m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[1],
m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[2],
1.};
(float)m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[0],
(float)m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[1],
(float)m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[2],
(float)1.};
float pos[3] = {m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ1[0],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ1[1],
m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ1[2]};
float pos[3] = { (float)m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ1[0],
(float)m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ1[1],
(float)m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ1[2]};
int graphicsIndex = m_multiThreadedHelper->m_userDebugText[i].m_trackingVisualShapeIndex;
if (graphicsIndex>=0)
@@ -2604,7 +2604,9 @@ void PhysicsServerExample::drawUserDebugLines()
offset.setIdentity();
offset.setOrigin(btVector3(0,-float(t)*sz,0));
btTransform result = tr*offset;
float newpos[3] = {result.getOrigin()[0],result.getOrigin()[1],result.getOrigin()[2]};
float newpos[3] = { (float)result.getOrigin()[0],
(float)result.getOrigin()[1],
(float)result.getOrigin()[2]};
m_guiHelper->getAppInterface()->drawText3D(pieces[t].c_str(),
newpos,orientation,colorRGBA,