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add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape

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preparation to add links to pybullet.createMultiBody
This commit is contained in:
Erwin Coumans
2017-06-19 10:14:26 -07:00
parent 5a8f12284a
commit f3c11b6f31
6 changed files with 648 additions and 56 deletions
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19
examples/SharedMemory/PhysicsClientC_API.h
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@@ -326,9 +326,13 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient);
void b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
void b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3]);
int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3]);
int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[3], double planeConstant);
int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[3]);
void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags);
void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[3], double childOrientation[4]);
@@ -340,6 +344,15 @@ int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4]);
int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex,
double linkVisualShapeIndex,
double linkPosition[3],
double linkOrientation[4],
int linkParentIndex,
int linkJointType,
double linkJointAxis[3]);
//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle);