Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

74
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -4193,6 +4193,80 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
std::string out_found_filename;
int out_type;
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices)
{
if (compound == 0)
{
compound = worldImporter->createCompoundShape();
}
compound->setMargin(m_data->m_defaultCollisionMargin);
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_numIndices)
{
BT_PROFILE("convert trimesh2");
btTriangleMesh* meshInterface = new btTriangleMesh();
this->m_data->m_meshInterfaces.push_back(meshInterface);
{
BT_PROFILE("convert vertices2");
for (int j = 0; j < clientCmd.m_createUserShapeArgs.m_shapes[i].m_numIndices / 3; j++)
{
int i0 = clientCmd.m_createUserShapeArgs.m_shapes[i].m_indices[j*3+0];
int i1 = clientCmd.m_createUserShapeArgs.m_shapes[i].m_indices[j*3+1];
int i2 = clientCmd.m_createUserShapeArgs.m_shapes[i].m_indices[j*3+2];
btVector3 v0( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i0*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i0*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i0*3+2]);
btVector3 v1( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i1*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i1*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i1*3+2]);
btVector3 v2( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i2*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i2*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i2*3+2]);
meshInterface->addTriangle(v0, v1, v2);
}
}
{
BT_PROFILE("create btBvhTriangleMeshShape");
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface, true, true);
m_data->m_collisionShapes.push_back(trimesh);
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_CONCAVE_INTERNAL_EDGE)
{
btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap();
btGenerateInternalEdgeInfo(trimesh, triangleInfoMap);
}
shape = trimesh;
if (compound)
{
compound->addChildShape(childTransform, shape);
shape->setMargin(m_data->m_defaultCollisionMargin);
}
}
}
else
{
btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
convexHull->setMargin(m_data->m_defaultCollisionMargin);
for (int v = 0; v < clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices; v++)
{
btVector3 pt( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[v*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[v*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[v*3+2]);
convexHull->addPoint(pt, false);
}
convexHull->recalcLocalAabb();
convexHull->optimizeConvexHull();
compound->addChildShape(childTransform, convexHull);
}
urdfColObj.m_geometry.m_meshFileType = UrdfGeometry::MEMORY_VERTICES;
break;
}
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
if (foundFile)