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Implement first draft of pybullet.createVisualShape and add createVisualShape.py example

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add normals to duck.obj for nicer appearance
fix plane100.urdf (so collision shape matches visual shape size)
This commit is contained in:
erwincoumans
2017-10-07 18:50:23 -07:00
parent 1034c7e720
commit cec8da3d85
12 changed files with 9018 additions and 6538 deletions
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12
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -35,12 +35,6 @@ static btScalar gUrdfDefaultCollisionMargin = 0.001;
#include <list>
#include "UrdfParser.h"
struct MyTexture
{
int m_width;
int m_height;
unsigned char* textureData;
};
ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
@@ -820,7 +814,7 @@ upAxisMat.setIdentity();
}
static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture>& texturesOut)
void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<BulletURDFTexture>& texturesOut) const
{
BT_PROFILE("convertURDFToVisualShapeInternal");
@@ -886,7 +880,7 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
if (meshData.m_textureImage)
{
MyTexture texData;
BulletURDFTexture texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
@@ -1101,7 +1095,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
btAlignedObjectArray<MyTexture> textures;
btAlignedObjectArray<BulletURDFTexture> textures;
const UrdfModel& model = m_data->m_urdfParser.getModel();
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);