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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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35
examples/pybullet/examples/createObstacleCourse.py
View File

@@ -12,10 +12,39 @@ p.resetDebugVisualizerCamera(15,-346,-16,[-15,0,1]);
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
#a few different ways to create a mesh:
#convex mesh from obj
stoneId = p.createCollisionShape(p.GEOM_MESH,fileName="stone.obj")
#concave mesh from obj
stoneId = p.createCollisionShape(p.GEOM_MESH,fileName="stone.obj", flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
verts=[[-0.246350, -0.246483, -0.000624],
[ -0.151407, -0.176325, 0.172867],
[ -0.246350, 0.249205, -0.000624],
[ -0.151407, 0.129477, 0.172867],
[ 0.249338, -0.246483, -0.000624],
[ 0.154395, -0.176325, 0.172867],
[ 0.249338, 0.249205, -0.000624],
[ 0.154395, 0.129477, 0.172867]]
#convex mesh from vertices
stoneConvexId = p.createCollisionShape(p.GEOM_MESH,vertices=verts)
indices=[0,3,2,3,6,2,7,4,6,5,0,4,6,0,2,3,5,7,0,1,3,3,7,6,7,5,4,5,1,0,6,4,0,3,1,5]
#concave mesh from vertices+indices
stoneConcaveId = p.createCollisionShape(p.GEOM_MESH,vertices=verts, indices=indices)
stoneId = stoneConvexId
#stoneId = stoneConcaveId
boxHalfLength = 0.5
boxHalfWidth = 2.5
boxHalfHeight = 0.1
@@ -72,10 +101,10 @@ for i in range (segmentLength):
p.changeDynamics(boxId,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
print(p.getNumJoints(boxId))
for joint in range (p.getNumJoints(boxId)):
targetVelocity = 1
targetVelocity = 10
if (i%2):
targetVelocity =-1
p.setJointMotorControl2(boxId,joint,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=10)
targetVelocity =-10
p.setJointMotorControl2(boxId,joint,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=100)
segmentStart=segmentStart-1.1

103
examples/pybullet/pybullet.c
View File

@@ -6284,6 +6284,75 @@ static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject*
return NULL;
}
static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVertices)
{
int numVerticesOut=0;
if (verticesObj)
{
PyObject* seqVerticesObj= PySequence_Fast(verticesObj, "expected a sequence of vertex positions");
if (seqVerticesObj)
{
int numVerticesSrc = PySequence_Size(seqVerticesObj);
{
int i;
if (numVerticesSrc > B3_MAX_NUM_VERTICES)
{
PyErr_SetString(SpamError, "Number of vertices exceeds the maximum.");
Py_DECREF(seqVerticesObj);
return 0;
}
for (i = 0; i < numVerticesSrc; i++)
{
PyObject* vertexObj = PySequence_GetItem(seqVerticesObj, i);
double vertex[3];
if (pybullet_internalSetVectord(vertexObj, vertex))
{
vertices[numVerticesOut*3+0]=vertex[0];
vertices[numVerticesOut*3+1]=vertex[1];
vertices[numVerticesOut*3+2]=vertex[2];
numVerticesOut++;
}
}
}
}
}
return numVerticesOut;
}
static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
{
int numIndicesOut=0;
if (indicesObj)
{
PyObject* seqIndicesObj= PySequence_Fast(indicesObj, "expected a sequence of indices");
if (seqIndicesObj)
{
int numIndicesSrc = PySequence_Size(seqIndicesObj);
{
int i;
if (numIndicesSrc > B3_MAX_NUM_INDICES)
{
PyErr_SetString(SpamError, "Number of indices exceeds the maximum.");
Py_DECREF(seqIndicesObj);
return 0;
}
for (i = 0; i < numIndicesSrc; i++)
{
int index = pybullet_internalGetIntFromSequence(seqIndicesObj,i);
indices[numIndicesOut]=index;
numIndicesOut++;
}
}
}
}
return numIndicesOut;
}
static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
@@ -6303,10 +6372,12 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
int flags = 0;
PyObject* halfExtentsObj = 0;
PyObject* verticesObj = 0;
PyObject* indicesObj = 0;
static char* kwlist[] = {"shapeType", "radius", "halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOi", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &physicsClientId))
static char* kwlist[] = {"shapeType", "radius", "halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "vertices", "indices", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOi", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &physicsClientId))
{
return NULL;
}
@@ -6316,6 +6387,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (shapeType >= GEOM_SPHERE)
{
b3SharedMemoryStatusHandle statusHandle;
@@ -6346,6 +6418,31 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
pybullet_internalSetVectord(meshScaleObj, meshScale);
shapeIndex = b3CreateCollisionShapeAddMesh(commandHandle, fileName, meshScale);
}
if (shapeType == GEOM_MESH && verticesObj)
{
int numVertices=0;
int numIndices=0;
double vertices[B3_MAX_NUM_VERTICES*3];
int indices[B3_MAX_NUM_INDICES];
numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
pybullet_internalSetVectord(meshScaleObj, meshScale);
if (indicesObj)
{
numIndices = extractIndices(indicesObj, indices,B3_MAX_NUM_INDICES);
}
if (numIndices)
{
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(commandHandle, meshScale, vertices, numVertices, indices, numIndices);
} else
{
shapeIndex = b3CreateCollisionShapeAddConvexMesh(commandHandle, meshScale, vertices, numVertices);
}
}
if (shapeType == GEOM_PLANE)
{
double planeConstant = 0;