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PyBullet: expose internal edge utility, to adjust edge normals to prevent object penetrating along triangle edges of concave triangle meshes

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(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal)
PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.
This commit is contained in:
erwincoumans
2018-02-16 19:44:33 -08:00
parent d35941ebb8
commit ddf304ca78
9 changed files with 187 additions and 10 deletions
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12
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -2,6 +2,9 @@
#include "LinearMath/btTransform.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
@@ -502,6 +505,15 @@ void ConvertURDF2BulletInternal(
col->setCollisionShape(compoundShape);
if (compoundShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)compoundShape;
if (trimeshShape->getTriangleInfoMap())
{
col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
}
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;