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

22
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -313,6 +313,28 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
///the creation of collision shapes and rigid bodies etc is likely going to change,
///but good to have a b3CreateBoxShapeCommandInit for now
b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient);
void b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
void b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3]);
void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[3], double childOrientation[4]);
int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4]);
//int b3CreateMultiBodyAddLink(b3SharedMemoryCommandHandle commandHandle, int jointType, int parentLinkIndex, double linkMass, int linkCollisionShapeUnique, int linkVisualShapeUniqueId);
int b3GetStatusMultiBodyUniqueId(b3SharedMemoryStatusHandle statusHandle);
///create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
///after that, you can optionally adjust the initial position, orientation and size
b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient);