Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
(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
Download Patch File Download Diff File Expand all files Collapse all files

8
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -704,9 +704,9 @@ int SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, f
void SimpleOpenGL3App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
{
b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
cubeExtents[m_data->m_upAxis] = 0;
double halfHeight=0.1;
cubeExtents[m_data->m_upAxis] = halfHeight;
int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
b3Quaternion orn(0,0,0,1);
b3Vector3 center=b3MakeVector3(0,0,0,1);
b3Vector3 scaling=b3MakeVector3(1,1,1,1);
@@ -724,10 +724,10 @@ void SimpleOpenGL3App::registerGrid(int cells_x, int cells_z, float color0[4], f
}
if (this->m_data->m_upAxis==1)
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, 0.f, (j + 0.5f) - cells_z * 0.5f);
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, -halfHeight, (j + 0.5f) - cells_z * 0.5f);
} else
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,0.f );
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,-halfHeight );
}
m_instancingRenderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
}