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PyBullet: allow to pass vertices (for convex) and vertices+indices (for concave) to createCollisionShape

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See createObstacleCourse.py for an example use. At the moment a limit of 1024 vertices and 1024 indices.
Will be lifted once we implement the streaming version (soon).
This commit is contained in:
erwincoumans
2018-10-26 10:18:51 -07:00
parent 9c1db5fb34
commit a44df2b0a6
9 changed files with 318 additions and 11 deletions
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86
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1192,6 +1192,92 @@ B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle comm
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileType = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numVertices = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numIndices = 0;
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex < MAX_COMPOUND_COLLISION_SHAPES && numVertices >= 0)
{
int i=0;
if (numVertices>B3_MAX_NUM_VERTICES)
numVertices=B3_MAX_NUM_VERTICES;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileType = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileName[0]=0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numVertices = numVertices;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numIndices = 0;
for (i=0;i<numVertices;i++)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+0]=vertices[i*3+0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+1]=vertices[i*3+1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+2]=vertices[i*3+2];
}
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex < MAX_COMPOUND_COLLISION_SHAPES && numVertices >= 0 && numIndices >=0)
{
int i=0;
if (numVertices>B3_MAX_NUM_VERTICES)
numVertices=B3_MAX_NUM_VERTICES;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = GEOM_FORCE_CONCAVE_TRIMESH;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileType = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileName[0]=0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numVertices = numVertices;
for (i=0;i<numVertices;i++)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+0]=vertices[i*3+0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+1]=vertices[i*3+1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+2]=vertices[i*3+2];
}
if (numIndices>B3_MAX_NUM_INDICES)
numIndices = B3_MAX_NUM_INDICES;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numIndices = numIndices;
for (i=0;i<numIndices;i++)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_indices[i]=indices[i];
}
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}