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

add normals to duck.obj for nicer appearance
fix plane100.urdf (so collision shape matches visual shape size)

examples/pybullet/examples/createVisualShape.py

@@ -0,0 +1,35 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+p.setPhysicsEngineParameter(numSolverIterations=10)
+p.setTimeStep(1./120.)
+
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
+#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
+p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
+#disable rendering during creation.
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+#disable tinyrenderer, software (CPU) renderer, we don't use it here
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+
+shift = [0,-0.02,0]
+meshScale=[0.1,0.1,0.1]
+visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="duck_smooth.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale)
+#boxHalfWidth=.5
+#boxHalfHeight=.5
+#boxHalfLength=.5
+#collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_BOX, halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])
+collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="duck_vhacd.obj", collisionFramePosition=shift,meshScale=meshScale)
+
+rangex = 40
+rangey = 40
+for i in range (rangex):
+	for j in range (rangey ):
+		p.createMultiBody(baseMass=1,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [((-rangex/2)+i)*meshScale[0]*2,(-rangey/2+j)*meshScale[1]*2,1], useMaximalCoordinates=True)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+p.stopStateLogging(logId)
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(1)
+while (1):
+	p.setGravity(0,0,-10)
+	time.sleep(1)