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pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface

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(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
This commit is contained in:
Erwin Coumans
2017-06-03 10:57:56 -07:00
parent ff695dd328
commit b23cb1dd2c
16 changed files with 1032 additions and 22 deletions
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8
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -294,7 +294,6 @@ std::string BulletURDFImporter::getJointName(int linkIndex) const
void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
{
//todo(erwincoumans)
//the link->m_inertia is NOT necessarily aligned with the inertial frame
//so an additional transform might need to be computed
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
@@ -414,6 +413,13 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
}
void BulletURDFImporter::setRootTransformInWorld(const btTransform& rootTransformInWorld)
{
m_data->m_urdfParser.getModel().m_rootTransformInWorld = rootTransformInWorld ;
}
bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
{
rootTransformInWorld = m_data->m_urdfParser.getModel().m_rootTransformInWorld;