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Implement PyBullet.getCameraImage for PhysX backend.

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PhysX backend, allow arbitrary plane normal, a few other fixes.
This commit is contained in:
erwincoumans
2019-02-24 14:09:42 -08:00
parent 9ecc1cc485
commit a9996088c8
7 changed files with 481 additions and 104 deletions
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24
examples/SharedMemory/physx/URDF2PhysX.cpp
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@@ -281,11 +281,21 @@ int convertLinkPhysXShapes(const URDFImporterInterface& u2b, URDF2PhysXCachedDat
{
btVector3 planeNormal = col.m_geometry.m_planeNormal;
btScalar planeConstant = 0; //not available?
//PxPlane(1, 0, 0, 0).
btVector3 planeRefAxis(1, 0, 0);
btQuaternion diffQuat = shortestArcQuat(planeRefAxis, planeNormal);
shape = physx::PxRigidActorExt::createExclusiveShape(*linkPtr, physx::PxPlaneGeometry(), *material);
//todo: compensate for plane axis
//physx::PxTransform localPose = tr*physx::PxTransform
//shape->setLocalPose(localPose);
btTransform diffTr;
diffTr.setIdentity();
diffTr.setRotation(diffQuat);
btTransform localTrans = localInertiaFrame.inverse()*childTrans*diffTr;
physx::PxTransform tr;
tr.p = physx::PxVec3(localTrans.getOrigin()[0], localTrans.getOrigin()[1], localTrans.getOrigin()[2]);
tr.q = physx::PxQuat(localTrans.getRotation()[0], localTrans.getRotation()[1], localTrans.getRotation()[2], localTrans.getRotation()[3]);
physx::PxTransform localPose = tr;
shape->setLocalPose(localPose);
numShapes++;
break;
}
@@ -698,8 +708,8 @@ btTransform ConvertURDF2PhysXInternal(
//Now create the slider and fixed joints...
cache.m_articulation->setSolverIterationCounts(4);//todo: API?
//cache.m_articulation->setSolverIterationCounts(32);//todo: API?
//cache.m_articulation->setSolverIterationCounts(4);//todo: API?
cache.m_articulation->setSolverIterationCounts(32);//todo: API?
cache.m_jointTypes.push_back(physx::PxArticulationJointType::eUNDEFINED);
cache.m_parentLocalPoses.push_back(physx::PxTransform());
@@ -815,7 +825,7 @@ btTransform ConvertURDF2PhysXInternal(
convertLinkPhysXShapes(u2b, cache, creation, urdfLinkIndex, pathPrefix, localInertialFrame, cache.m_articulation, mbLinkIndex, linkPtr);
if (rbLinkPtr)
if (rbLinkPtr && mass)
{
physx::PxRigidBodyExt::updateMassAndInertia(*rbLinkPtr, mass);
}