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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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15
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -320,6 +320,10 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
switch (visual->m_geometry.m_meshFileType)
{
case UrdfGeometry::MEMORY_VERTICES:
{
break;
}
case UrdfGeometry::FILE_OBJ:
{
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
@@ -442,8 +446,10 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
}
default:
// should never get here (findExistingMeshFile returns false if it doesn't recognize extension)
btAssert(0);
{
// should never get here (findExistingMeshFile returns false if it doesn't recognize extension)
btAssert(0);
}
}
if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices > 0))
@@ -458,7 +464,10 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
}
else
{
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", visual->m_geometry.m_meshFileName.c_str());
if (visual->m_geometry.m_meshFileType !=UrdfGeometry::MEMORY_VERTICES)
{
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", visual->m_geometry.m_meshFileName.c_str());
}
}
break;
} // case mesh