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PyBullet: allow to update an existing heightfield shape

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Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
This commit is contained in:
Erwin Coumans
2019-08-14 21:06:10 -07:00
parent c7fa8bfc58
commit 88d1788ee5
11 changed files with 201 additions and 44 deletions
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17
examples/pybullet/pybullet.c
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@@ -1,4 +1,4 @@
//#include "D:/develop/visual_leak_detector/include/vld.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
@@ -7987,7 +7987,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
PyObject* heightfieldDataObj = 0;
int numHeightfieldRows = -1;
int numHeightfieldColumns = -1;
int replaceHeightfieldIndex = -1;
static char* kwlist[] = {"shapeType",
"radius",
"halfExtents",
@@ -8004,9 +8004,10 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
"heightfieldData",
"numHeightfieldRows",
"numHeightfieldColumns",
"replaceHeightfieldIndex",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdOiii", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &heightfieldDataObj, &numHeightfieldRows, &numHeightfieldColumns, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdOiiii", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &heightfieldDataObj, &numHeightfieldRows, &numHeightfieldColumns, &replaceHeightfieldIndex, &physicsClientId))
{
return NULL;
}
@@ -8083,7 +8084,8 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
pointBuffer[i] = (float)PyFloat_AsDouble(item);
}
}
shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns);
shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns, replaceHeightfieldIndex);
free(pointBuffer);
if (seqPoints)
Py_DECREF(seqPoints);
@@ -8141,7 +8143,10 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
{
pybullet_internalSetVector4d(collisionFrameOrientationObj, collisionFrameOrientation);
}
b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, collisionFramePosition, collisionFrameOrientation);
if (collisionFramePositionObj || collisionFrameOrientationObj)
{
b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, collisionFramePosition, collisionFrameOrientation);
}
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);