Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape
See createMesh.py for an example. The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux: #ifdef __APPLE__ #define B3_MAX_NUM_VERTICES 8192 #define B3_MAX_NUM_INDICES 32768 #else #define B3_MAX_NUM_VERTICES 131072 #define B3_MAX_NUM_INDICES 524288 #endif
This commit is contained in:
Erwin Coumans
121
examples/pybullet/examples/createMesh.py
Normal file
121
examples/pybullet/examples/createMesh.py
Normal file
@@ -0,0 +1,121 @@
|
||||
import pybullet as p
|
||||
import time
|
||||
import math
|
||||
|
||||
p.connect(p.GUI)
|
||||
#don't create a ground plane, to allow for gaps etc
|
||||
p.resetSimulation()
|
||||
#p.createCollisionShape(p.GEOM_PLANE)
|
||||
#p.createMultiBody(0,0)
|
||||
#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
|
||||
p.resetDebugVisualizerCamera(15,-346,-16,[-15,0,1]);
|
||||
|
||||
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
|
||||
|
||||
|
||||
sphereRadius = 0.05
|
||||
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
|
||||
|
||||
#a few different ways to create a mesh:
|
||||
|
||||
vertices=[ [-0.246350,-0.246483,-0.000624],
|
||||
[-0.151407, -0.176325, 0.172867],
|
||||
[ -0.246350, 0.249205, -0.000624],
|
||||
[ -0.151407, 0.129477, 0.172867],
|
||||
[ 0.249338, -0.246483, -0.000624],
|
||||
[ 0.154395, -0.176325, 0.172867],
|
||||
[ 0.249338, 0.249205, -0.000624],
|
||||
[ 0.154395, 0.129477, 0.172867]
|
||||
]
|
||||
indices=[0,3,2,
|
||||
3,6,2,
|
||||
7,4,6,
|
||||
5,0,4,
|
||||
6,0,2,
|
||||
3,5,7,
|
||||
0,1,3,
|
||||
3,7,6,
|
||||
7,5,4,
|
||||
5,1,0,
|
||||
6,4,0,
|
||||
3,1,5]
|
||||
#convex mesh from obj
|
||||
stoneId = p.createCollisionShape(p.GEOM_MESH,vertices=vertices,indices=indices)
|
||||
|
||||
|
||||
|
||||
boxHalfLength = 0.5
|
||||
boxHalfWidth = 2.5
|
||||
boxHalfHeight = 0.1
|
||||
segmentLength = 5
|
||||
|
||||
colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])
|
||||
|
||||
mass = 1
|
||||
visualShapeId = -1
|
||||
|
||||
segmentStart = 0
|
||||
|
||||
for i in range (segmentLength):
|
||||
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
|
||||
segmentStart=segmentStart-1
|
||||
|
||||
for i in range (segmentLength):
|
||||
height = 0
|
||||
if (i%2):
|
||||
height=1
|
||||
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1+height])
|
||||
segmentStart=segmentStart-1
|
||||
|
||||
baseOrientation = p.getQuaternionFromEuler([math.pi/2.,0,math.pi/2.])
|
||||
|
||||
for i in range (segmentLength):
|
||||
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
|
||||
segmentStart=segmentStart-1
|
||||
if (i%2):
|
||||
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,i%3,-0.1+height+boxHalfWidth],baseOrientation=baseOrientation)
|
||||
|
||||
for i in range (segmentLength):
|
||||
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
|
||||
width=4
|
||||
for j in range (width):
|
||||
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = stoneId,basePosition = [segmentStart,0.5*(i%2)+j-width/2.,0])
|
||||
segmentStart=segmentStart-1
|
||||
|
||||
|
||||
link_Masses=[1]
|
||||
linkCollisionShapeIndices=[colBoxId]
|
||||
linkVisualShapeIndices=[-1]
|
||||
linkPositions=[[0,0,0]]
|
||||
linkOrientations=[[0,0,0,1]]
|
||||
linkInertialFramePositions=[[0,0,0]]
|
||||
linkInertialFrameOrientations=[[0,0,0,1]]
|
||||
indices=[0]
|
||||
jointTypes=[p.JOINT_REVOLUTE]
|
||||
axis=[[1,0,0]]
|
||||
|
||||
baseOrientation = [0,0,0,1]
|
||||
for i in range (segmentLength):
|
||||
boxId = p.createMultiBody(0,colSphereId,-1,[segmentStart,0,-0.1],baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)
|
||||
p.changeDynamics(boxId,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
|
||||
print(p.getNumJoints(boxId))
|
||||
for joint in range (p.getNumJoints(boxId)):
|
||||
targetVelocity = 10
|
||||
if (i%2):
|
||||
targetVelocity =-10
|
||||
p.setJointMotorControl2(boxId,joint,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=100)
|
||||
segmentStart=segmentStart-1.1
|
||||
|
||||
|
||||
|
||||
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
|
||||
while (1):
|
||||
camData = p.getDebugVisualizerCamera()
|
||||
viewMat = camData[2]
|
||||
projMat = camData[3]
|
||||
p.getCameraImage(256,256,viewMatrix=viewMat, projectionMatrix=projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL)
|
||||
keys = p.getKeyboardEvents()
|
||||
p.stepSimulation()
|
||||
#print(keys)
|
||||
time.sleep(0.01)
|
||||
|
||||
@@ -6696,9 +6696,12 @@ static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVe
|
||||
double vertex[3];
|
||||
if (pybullet_internalSetVectord(vertexObj, vertex))
|
||||
{
|
||||
vertices[numVerticesOut*3+0]=vertex[0];
|
||||
vertices[numVerticesOut*3+1]=vertex[1];
|
||||
vertices[numVerticesOut*3+2]=vertex[2];
|
||||
if (vertices)
|
||||
{
|
||||
vertices[numVerticesOut * 3 + 0] = vertex[0];
|
||||
vertices[numVerticesOut * 3 + 1] = vertex[1];
|
||||
vertices[numVerticesOut * 3 + 2] = vertex[2];
|
||||
}
|
||||
numVerticesOut++;
|
||||
}
|
||||
}
|
||||
@@ -6730,7 +6733,10 @@ static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
|
||||
for (i = 0; i < numIndicesSrc; i++)
|
||||
{
|
||||
int index = pybullet_internalGetIntFromSequence(seqIndicesObj,i);
|
||||
indices[numIndicesOut]=index;
|
||||
if (indices)
|
||||
{
|
||||
indices[numIndicesOut] = index;
|
||||
}
|
||||
numIndicesOut++;
|
||||
}
|
||||
}
|
||||
@@ -6806,11 +6812,10 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
|
||||
}
|
||||
if (shapeType == GEOM_MESH && verticesObj)
|
||||
{
|
||||
int numVertices=0;
|
||||
int numIndices=0;
|
||||
|
||||
double vertices[B3_MAX_NUM_VERTICES*3];
|
||||
int indices[B3_MAX_NUM_INDICES];
|
||||
int numVertices= extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
|
||||
int numIndices= extractIndices(indicesObj, 0, B3_MAX_NUM_INDICES);
|
||||
double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
|
||||
int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0;
|
||||
|
||||
numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
|
||||
pybullet_internalSetVectord(meshScaleObj, meshScale);
|
||||
@@ -6822,11 +6827,13 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
|
||||
|
||||
if (numIndices)
|
||||
{
|
||||
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(commandHandle, meshScale, vertices, numVertices, indices, numIndices);
|
||||
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices);
|
||||
} else
|
||||
{
|
||||
shapeIndex = b3CreateCollisionShapeAddConvexMesh(commandHandle, meshScale, vertices, numVertices);
|
||||
shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, commandHandle, meshScale, vertices, numVertices);
|
||||
}
|
||||
free(vertices);
|
||||
free(indices);
|
||||
}
|
||||
|
||||
if (shapeType == GEOM_PLANE)
|
||||
|
||||
Reference in New Issue
Block a user