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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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95
examples/SharedMemory/SharedMemoryCommands.h
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@@ -761,6 +761,95 @@ struct ConfigureOpenGLVisualizerRequest
int m_setEnabled;
};
enum
{
URDF_GEOM_HAS_RADIUS = 1,
};
struct b3CreateCollisionShape
{
int m_type;//see UrdfGeomTypes
int m_hasChildTransform;
double m_childPosition[3];
double m_childOrientation[4];
double m_sphereRadius;
double m_boxHalfExtents[3];
double m_capsuleRadius;
double m_capsuleHeight;
int m_hasFromTo;
double m_capsuleFrom[3];
double m_capsuleTo[3];
double m_planeNormal[3];
int m_meshFileType;
char m_meshFileName[1024];
double m_meshScale;
};
#define MAX_COMPOUND_COLLISION_SHAPES 128
struct b3CreateCollisionShapeArgs
{
int m_numCollisionShapes;
b3CreateCollisionShape m_shapes[MAX_COMPOUND_COLLISION_SHAPES];
};
struct b3CreateVisualShapeArgs
{
int m_visualShapeUniqueId;
};
#define MAX_CREATE_MULTI_BODY_LINKS 128
enum eCreateMultiBodyEnum
{
MULTI_BODY_HAS_BASE=1,
};
struct b3CreateMultiBodyArgs
{
char m_bodyName[1024];
int m_baseLinkIndex;
double m_baseWorldPosition[3];
double m_baseWorldOrientation[4];
int m_numLinks;
double m_linkMasses[MAX_CREATE_MULTI_BODY_LINKS];
double m_linkInertias[MAX_CREATE_MULTI_BODY_LINKS*3];
double m_linkInertialFramePositions[MAX_CREATE_MULTI_BODY_LINKS*3];
double m_linkInertialFrameOrientations[MAX_CREATE_MULTI_BODY_LINKS*4];
int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
int m_linkCollisionShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
int m_linkVisualShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
#if 0
std::string m_name;
std::string m_sourceFile;
btTransform m_rootTransformInWorld;
btHashMap<btHashString, UrdfMaterial*> m_materials;
btHashMap<btHashString, UrdfLink*> m_links;
btHashMap<btHashString, UrdfJoint*> m_joints;
#endif
};
struct b3CreateCollisionShapeResultArgs
{
int m_collisionShapeUniqueId;
};
struct b3CreateVisualShapeResultArgs
{
int m_visualShapeUniqueId;
};
struct b3CreateMultiBodyResultArgs
{
int m_bodyUniqueId;
};
struct SharedMemoryCommand
{
int m_type;
@@ -808,6 +897,9 @@ struct SharedMemoryCommand
struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
struct b3ObjectArgs m_removeObjectArgs;
struct b3Profile m_profile;
struct b3CreateCollisionShapeArgs m_createCollisionShapeArgs;
struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
};
};
@@ -874,6 +966,9 @@ struct SharedMemoryStatus
struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
struct b3ObjectArgs m_removeObjectArgs;
struct b3DynamicsInfo m_dynamicsInfo;
struct b3CreateCollisionShapeResultArgs m_createCollisionShapeResultArgs;
struct b3CreateVisualShapeResultArgs m_createVisualShapeResultArgs;
struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
};
};