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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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10
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -5,6 +5,13 @@
#include "LinkVisualShapesConverter.h"
struct BulletURDFTexture
{
int m_width;
int m_height;
unsigned char* textureData;
};
///BulletURDFImporter can deal with URDF and (soon) SDF files
class BulletURDFImporter : public URDFImporterInterface
@@ -75,6 +82,9 @@ public:
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
virtual void setEnableTinyRenderer(bool enable);
void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut) const;
};