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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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18
examples/SharedMemory/SharedMemoryCommands.h
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@@ -816,10 +816,13 @@ struct b3CreateCollisionShape
double m_capsuleFrom[3];
double m_capsuleTo[3];
double m_planeNormal[3];
double m_planeConstant;
int m_meshFileType;
char m_meshFileName[1024];
double m_meshScale;
char m_meshFileName[VISUAL_SHAPE_MAX_PATH_LEN];
double m_meshScale[3];
int m_collisionFlags;
};
#define MAX_COMPOUND_COLLISION_SHAPES 16
@@ -847,17 +850,22 @@ struct b3CreateMultiBodyArgs
char m_bodyName[1024];
int m_baseLinkIndex;
double m_baseWorldPosition[3];
double m_baseWorldOrientation[4];
double m_linkPositions[3*MAX_CREATE_MULTI_BODY_LINKS];
double m_linkOrientations[4*MAX_CREATE_MULTI_BODY_LINKS];
int m_numLinks;
int m_linkParents[MAX_CREATE_MULTI_BODY_LINKS];
double m_linkMasses[MAX_CREATE_MULTI_BODY_LINKS];
double m_linkInertias[MAX_CREATE_MULTI_BODY_LINKS*3];
double m_linkInertialFramePositions[MAX_CREATE_MULTI_BODY_LINKS*3];
double m_linkInertialFrameOrientations[MAX_CREATE_MULTI_BODY_LINKS*4];
int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
int m_linkCollisionShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
int m_linkVisualShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
int m_linkParentIndices[MAX_CREATE_MULTI_BODY_LINKS];
int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
double m_linkJointAxis[3*MAX_CREATE_MULTI_BODY_LINKS];
#if 0
std::string m_name;