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Update PhysicsServerCommandProcessor.cpp

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also allow to extract collision info (pybullet. getCollisionShapeData ) for concave meshes. Thanks to Brent.
This commit is contained in:
erwincoumans
2019-08-22 07:38:23 -07:00
committed by GitHub
parent cb654ddc80
commit 9a7b89c95a
1 changed files with 12 additions and 10 deletions
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22
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -11524,16 +11524,18 @@ int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape
switch (colShape->getShapeType())
{
case STATIC_PLANE_PROXYTYPE:
{
btStaticPlaneShape* plane = (btStaticPlaneShape*) colShape;
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_PLANE;
collisionShapeBuffer[0].m_dimensions[0] = plane->getPlaneNormal()[0];
collisionShapeBuffer[0].m_dimensions[1] = plane->getPlaneNormal()[1];
collisionShapeBuffer[0].m_dimensions[2] = plane->getPlaneNormal()[2];
numConverted += 1;
break;
}
case STATIC_PLANE_PROXYTYPE:
{
btStaticPlaneShape* plane = (btStaticPlaneShape*) colShape;
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_PLANE;
collisionShapeBuffer[0].m_dimensions[0] = plane->getPlaneNormal()[0];
collisionShapeBuffer[0].m_dimensions[1] = plane->getPlaneNormal()[1];
collisionShapeBuffer[0].m_dimensions[2] = plane->getPlaneNormal()[2];
numConverted += 1;
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
case SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
UrdfCollision* urdfCol = m_data->m_bulletCollisionShape2UrdfCollision.find(colShape);