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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)
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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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examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -55,6 +55,7 @@ public:
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;