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expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files)

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This commit is contained in:
Erwin Coumans
2017-04-04 12:47:34 -07:00
parent 239ef81364
commit b095e1d917
4 changed files with 8 additions and 0 deletions
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1
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -19,6 +19,7 @@ enum ConvertURDFFlags {
// Use inertia values in URDF instead of recomputing them from collision shape. // Use inertia values in URDF instead of recomputing them from collision shape.
CUF_USE_URDF_INERTIA = 2, CUF_USE_URDF_INERTIA = 2,
CUF_USE_MJCF = 4, CUF_USE_MJCF = 4,
CUF_USE_SELF_COLLISION=8
}; };
void ConvertURDF2Bullet(const URDFImporterInterface& u2b, void ConvertURDF2Bullet(const URDFImporterInterface& u2b,

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1810,6 +1810,10 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
mb->setUserIndex2(bodyUniqueId); mb->setUserIndex2(bodyUniqueId);
bodyHandle->m_multiBody = mb; bodyHandle->m_multiBody = mb;
if (flags & URDF_USE_SELF_COLLISION)
{
mb->setHasSelfCollision(true);
}
createJointMotors(mb); createJointMotors(mb);

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -451,6 +451,7 @@ enum eCONNECT_METHOD {
enum eURDF_Flags enum eURDF_Flags
{ {
URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags' URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
URDF_USE_SELF_COLLISION=8,//see CUF_USE_SELF_COLLISION
}; };
#endif//SHARED_MEMORY_PUBLIC_H #endif//SHARED_MEMORY_PUBLIC_H

2
examples/pybullet/pybullet.c
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@@ -1,4 +1,5 @@
#include "../SharedMemory/PhysicsClientC_API.h" #include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h" #include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h" #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
@@ -5434,6 +5435,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL); PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE); PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "B3G_F1", B3G_F1); PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);
PyModule_AddIntConstant(m, "B3G_F2", B3G_F2); PyModule_AddIntConstant(m, "B3G_F2", B3G_F2);