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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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6
examples/SharedMemory/SharedMemoryCommands.h
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@@ -38,6 +38,7 @@ typedef unsigned long long int smUint64_t;
#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
#define MAX_USER_DATA_KEY_LENGTH MAX_URDF_FILENAME_LENGTH
struct TmpFloat3
{
float m_x;
@@ -925,7 +926,10 @@ struct b3CreateUserShapeData
double m_meshScale[3];
int m_collisionFlags;
int m_visualFlags;
int m_numVertices;
double m_vertices[B3_MAX_NUM_VERTICES*3];
int m_numIndices;
int m_indices[B3_MAX_NUM_INDICES];
double m_rgbaColor[4];
double m_specularColor[3];
};