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Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations.

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Fix two_cubes.sdf (was lacking collision shape for second cube)
This commit is contained in:
Erwin Coumans
2017-08-14 14:59:41 -07:00
parent dfaa717fed
commit aafaa7e33e
15 changed files with 130 additions and 34 deletions
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21
examples/pybullet/pybullet.c
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@@ -929,14 +929,14 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","physicsClientId", NULL};
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","globalScaling", "physicsClientId", NULL};
static char* kwlistBackwardCompatible4[] = {"fileName", "startPosX", "startPosY", "startPosZ", NULL};
static char* kwlistBackwardCompatible8[] = {"fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY", "startOrnZ", "startOrnW", NULL};
int bodyUniqueId= -1;
const char* urdfFileName = "";
double globalScaling = -1;
double startPosX = 0.0;
double startPosY = 0.0;
double startPosZ = 0.0;
@@ -976,7 +976,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
double basePos[3];
double baseOrn[4];
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiidi", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &globalScaling, &physicsClientId))
{
return NULL;
}
@@ -1040,7 +1040,10 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
{
b3LoadUrdfCommandSetUseFixedBase(command, 1);
}
if (globalScaling>0)
{
b3LoadUrdfCommandSetGlobalScaling(command,globalScaling);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_URDF_LOADING_COMPLETED)
@@ -1071,10 +1074,11 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
int statusType;
b3SharedMemoryCommandHandle commandHandle;
b3PhysicsClientHandle sm = 0;
double globalScaling = -1;
int physicsClientId = 0;
static char* kwlist[] = {"sdfFileName", "useMaximalCoordinates", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &sdfFileName, &useMaximalCoordinates, &physicsClientId))
static char* kwlist[] = {"sdfFileName", "useMaximalCoordinates", "globalScaling", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|idi", kwlist, &sdfFileName, &useMaximalCoordinates, &globalScaling, &physicsClientId))
{
return NULL;
}
@@ -1090,7 +1094,10 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
{
b3LoadSdfCommandSetUseMultiBody(commandHandle,0);
}
if (globalScaling > 0)
{
b3LoadSdfCommandSetUseGlobalScaling(commandHandle,globalScaling);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SDF_LOADING_COMPLETED)