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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
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@@ -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