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
2019-01-03 16:19:28 -08:00
parent 21d9465d94
commit bf9efffa4b
7 changed files with 199 additions and 44 deletions
--- a/examples/pybullet/examples/createMesh.py
+++ b/examples/pybullet/examples/createMesh.py
@@ -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)
+