Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

138
examples/pybullet/pybullet.c
View File

@@ -5226,15 +5226,18 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
double meshScale[3] = {1,1,1};
PyObject* planeNormalObj=0;
double planeNormal[3] = {0,0,1};
PyObject* collisionFramePositionObj=0;
double collisionFramePosition[3]={0,0,0};
PyObject* collisionFrameOrientationObj=0;
double collisionFrameOrientation[4]={0,0,0,1};
char* fileName=0;
int flags = 0;
PyObject* halfExtentsObj=0;
static char* kwlist[] = {"shapeType","radius","halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOii", kwlist,
&shapeType, &radius,&halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &physicsClientId))
static char* kwlist[] = {"shapeType","radius","halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOi", kwlist,
&shapeType, &radius,&halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags,&collisionFramePositionObj, &collisionFrameOrientationObj, &physicsClientId))
{
return NULL;
}
@@ -5284,7 +5287,20 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
{
b3CreateCollisionSetFlag(commandHandle,shapeIndex,flags);
}
if (shapeIndex>=0)
{
if (collisionFramePositionObj)
{
pybullet_internalSetVectord(collisionFramePositionObj,collisionFramePosition);
}
if (collisionFrameOrientationObj)
{
pybullet_internalSetVectord(collisionFrameOrientationObj,collisionFrameOrientation);
}
b3CreateVisualShapeSetChildTransform(commandHandle, shapeIndex, collisionFramePosition,collisionFrameOrientation);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CREATE_COLLISION_SHAPE_COMPLETED)
@@ -5297,41 +5313,124 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
PyErr_SetString(SpamError, "createCollisionShape failed.");
return NULL;
}
#if 0
b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient);
int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
int b3GetStatusMultiBodyUniqueId(b3SharedMemoryStatusHandle statusHandle);
#endif
static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
int test=-1;
static char* kwlist[] = {"test",NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &test,
&physicsClientId))
int shapeType=-1;
double radius=0.5;
double height = 1;
PyObject* meshScaleObj=0;
double meshScale[3] = {1,1,1};
PyObject* planeNormalObj=0;
double planeNormal[3] = {0,0,1};
PyObject* rgbaColorObj=0;
double rgbaColor[4] = {1,1,1,1};
PyObject* specularColorObj=0;
double specularColor[3] = {1,1,1};
char* fileName=0;
int flags = 0;
PyObject* visualFramePositionObj=0;
double visualFramePosition[3]={0,0,0};
PyObject* visualFrameOrientationObj=0;
double visualFrameOrientation[4]={0,0,0,1};
PyObject* halfExtentsObj=0;
static char* kwlist[] = {"shapeType","radius","halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "rgbaColor", "specularColor", "visualFramePosition", "visualFrameOrientation", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOi", kwlist,
&shapeType, &radius,&halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &rgbaColorObj, &specularColorObj, &visualFramePositionObj, &visualFrameOrientationObj, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (test>=0)
if (shapeType>=GEOM_SPHERE)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle commandHandle = b3CreateVisualShapeCommandInit(sm);
int shapeIndex = -1;
if (shapeType==GEOM_SPHERE && radius>0)
{
shapeIndex = b3CreateVisualShapeAddSphere(commandHandle,radius);
}
if (shapeType==GEOM_BOX && halfExtentsObj)
{
double halfExtents[3] = {1,1,1};
pybullet_internalSetVectord(halfExtentsObj,halfExtents);
shapeIndex = b3CreateVisualShapeAddBox(commandHandle,halfExtents);
}
if (shapeType==GEOM_CAPSULE && radius>0 && height>=0)
{
shapeIndex = b3CreateVisualShapeAddCapsule(commandHandle,radius,height);
}
if (shapeType==GEOM_CYLINDER && radius>0 && height>=0)
{
shapeIndex = b3CreateVisualShapeAddCylinder(commandHandle,radius,height);
}
if (shapeType==GEOM_MESH && fileName)
{
pybullet_internalSetVectord(meshScaleObj,meshScale);
shapeIndex = b3CreateVisualShapeAddMesh(commandHandle, fileName,meshScale);
}
if (shapeType==GEOM_PLANE)
{
double planeConstant=0;
pybullet_internalSetVectord(planeNormalObj,planeNormal);
shapeIndex = b3CreateVisualShapeAddPlane(commandHandle, planeNormal, planeConstant);
}
if (shapeIndex>=0 && flags)
{
b3CreateVisualSetFlag(commandHandle,shapeIndex,flags);
}
if (shapeIndex>=0)
{
double rgbaColor[4] = {1,1,1,1};
double specularColor[3] = {1,1,1};
if (rgbaColorObj)
{
pybullet_internalSetVector4d(rgbaColorObj,rgbaColor);
}
b3CreateVisualShapeSetRGBAColor(commandHandle,shapeIndex, rgbaColor);
if (specularColorObj)
{
pybullet_internalSetVectord(specularColorObj,specularColor);
}
b3CreateVisualShapeSetSpecularColor(commandHandle,shapeIndex,specularColor);
if (visualFramePositionObj)
{
pybullet_internalSetVectord(visualFramePositionObj,visualFramePosition);
}
if (visualFrameOrientationObj)
{
pybullet_internalSetVectord(visualFrameOrientationObj,visualFrameOrientation);
}
b3CreateVisualShapeSetChildTransform(commandHandle, shapeIndex, visualFramePosition,visualFrameOrientation);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CREATE_VISUAL_SHAPE_COMPLETED)
@@ -5341,7 +5440,6 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb
return ob;
}
}
PyErr_SetString(SpamError, "createVisualShape failed.");
return NULL;
}