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PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture.

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This commit is contained in:
Erwin Coumans
2019-01-29 12:03:11 -08:00
parent 63683e8f02
commit b257bd731b
9 changed files with 522 additions and 12 deletions
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47
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -969,6 +969,53 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
{
switch (visual->m_geometry.m_meshFileType)
{
case UrdfGeometry::MEMORY_VERTICES:
{
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
glmesh->m_vertices->resize(visual->m_geometry.m_vertices.size());
glmesh->m_indices->resize(visual->m_geometry.m_indices.size());
for (int i = 0; i < visual->m_geometry.m_vertices.size(); i++)
{
glmesh->m_vertices->at(i).xyzw[0] = visual->m_geometry.m_vertices[i].x();
glmesh->m_vertices->at(i).xyzw[1] = visual->m_geometry.m_vertices[i].y();
glmesh->m_vertices->at(i).xyzw[2] = visual->m_geometry.m_vertices[i].z();
glmesh->m_vertices->at(i).xyzw[3] = 1;
btVector3 normal(visual->m_geometry.m_vertices[i]);
if (visual->m_geometry.m_normals.size() == visual->m_geometry.m_vertices.size())
{
normal = visual->m_geometry.m_normals[i];
}
else
{
normal.safeNormalize();
}
btVector3 uv(0.5, 0.5, 0);
if (visual->m_geometry.m_uvs.size() == visual->m_geometry.m_vertices.size())
{
uv = visual->m_geometry.m_uvs[i];
}
glmesh->m_vertices->at(i).normal[0] = normal[0];
glmesh->m_vertices->at(i).normal[1] = normal[1];
glmesh->m_vertices->at(i).normal[2] = normal[2];
glmesh->m_vertices->at(i).uv[0] = uv[0];
glmesh->m_vertices->at(i).uv[1] = uv[1];
}
for (int i = 0; i < visual->m_geometry.m_indices.size(); i++)
{
glmesh->m_indices->at(i) = visual->m_geometry.m_indices[i];
}
glmesh->m_numIndices = visual->m_geometry.m_indices.size();
glmesh->m_numvertices = visual->m_geometry.m_vertices.size();
break;
}
case UrdfGeometry::FILE_OBJ:
{

6
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@@ -87,6 +87,12 @@ struct UrdfGeometry
std::string m_meshFileName;
btVector3 m_meshScale;
btArray<btVector3> m_vertices;
btArray<btVector3> m_uvs;
btArray<btVector3> m_normals;
btArray<int> m_indices;
UrdfMaterial m_localMaterial;
bool m_hasLocalMaterial;