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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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34
examples/SharedMemory/SharedMemoryCommands.h
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@@ -834,7 +834,7 @@ enum
URDF_GEOM_HAS_RADIUS = 1,
};
struct b3CreateCollisionShape
struct b3CreateUserShapeData
{
int m_type;//see UrdfGeomTypes
@@ -856,23 +856,27 @@ struct b3CreateCollisionShape
char m_meshFileName[VISUAL_SHAPE_MAX_PATH_LEN];
double m_meshScale[3];
int m_collisionFlags;
int m_visualFlags;
double m_rgbaColor[4];
double m_specularColor[3];
};
#define MAX_COMPOUND_COLLISION_SHAPES 16
struct b3CreateCollisionShapeArgs
struct b3CreateUserShapeArgs
{
int m_numCollisionShapes;
b3CreateCollisionShape m_shapes[MAX_COMPOUND_COLLISION_SHAPES];
int m_numUserShapes;
b3CreateUserShapeData m_shapes[MAX_COMPOUND_COLLISION_SHAPES];
};
struct b3CreateVisualShapeArgs
struct b3CreateUserShapeResultArgs
{
int m_visualShapeUniqueId;
int m_userShapeUniqueId;
};
#define MAX_CREATE_MULTI_BODY_LINKS 128
enum eCreateMultiBodyEnum
{
@@ -910,16 +914,6 @@ struct b3CreateMultiBodyArgs
#endif
};
struct b3CreateCollisionShapeResultArgs
{
int m_collisionShapeUniqueId;
};
struct b3CreateVisualShapeResultArgs
{
int m_visualShapeUniqueId;
};
struct b3CreateMultiBodyResultArgs
{
int m_bodyUniqueId;
@@ -980,8 +974,7 @@ struct SharedMemoryCommand
struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
struct b3ObjectArgs m_removeObjectArgs;
struct b3Profile m_profile;
struct b3CreateCollisionShapeArgs m_createCollisionShapeArgs;
struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
struct b3CreateUserShapeArgs m_createUserShapeArgs;
struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
struct b3ChangeTextureArgs m_changeTextureArgs;
@@ -1053,8 +1046,7 @@ struct SharedMemoryStatus
struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
struct b3ObjectArgs m_removeObjectArgs;
struct b3DynamicsInfo m_dynamicsInfo;
struct b3CreateCollisionShapeResultArgs m_createCollisionShapeResultArgs;
struct b3CreateVisualShapeResultArgs m_createVisualShapeResultArgs;
struct b3CreateUserShapeResultArgs m_createUserShapeResultArgs;
struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
struct SendMouseEvents m_sendMouseEvents;