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Code Issues Releases Wiki Activity

pybullet.createVisualShape: process sphere radius, box half extents, capsule+cylinder radius/length

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fixes issue #1427, https://github.com/bulletphysics/bullet3/issues/1427
This commit is contained in:
Erwin Coumans 2017-12-30 17:42:13 -08:00
parent 4084c1cc71
commit 9c55b61315
2 changed files with 71 additions and 24 deletions
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92
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -3776,29 +3776,78 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
char pathPrefix[1024];
pathPrefix[0] = 0;
if (visualShape.m_geometry.m_type == URDF_GEOM_MESH)
{
std::string fileName = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshFileName;
const std::string& error_message_prefix="";
std::string out_found_filename;
int out_type;
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName,error_message_prefix,&out_found_filename, &out_type);
visualShape.m_geometry.m_meshFileType = out_type;
visualShape.m_geometry.m_meshFileName=fileName;
const b3CreateUserShapeData& visShape = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex];
visualShape.m_geometry.m_meshScale.setValue(clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[0],
clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[1],
clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[2]);
}
visualShape.m_name = "bla";
switch (visualShape.m_geometry.m_type)
{
case URDF_GEOM_CYLINDER:
{
visualShape.m_geometry.m_capsuleHeight = visShape.m_capsuleHeight;
visualShape.m_geometry.m_capsuleRadius = visShape.m_capsuleRadius;
break;
}
case URDF_GEOM_BOX:
{
visualShape.m_geometry.m_boxSize.setValue(2.*visShape.m_boxHalfExtents[0],
2.*visShape.m_boxHalfExtents[1],
2.*visShape.m_boxHalfExtents[2]);
break;
}
case URDF_GEOM_SPHERE:
{
visualShape.m_geometry.m_sphereRadius = visShape.m_sphereRadius;
break;
}
case URDF_GEOM_CAPSULE:
{
visualShape.m_geometry.m_hasFromTo = visShape.m_hasFromTo;
if (visualShape.m_geometry.m_hasFromTo)
{
visualShape.m_geometry.m_capsuleFrom.setValue(visShape.m_capsuleFrom[0],
visShape.m_capsuleFrom[1],
visShape.m_capsuleFrom[2]);
visualShape.m_geometry.m_capsuleTo.setValue(visShape.m_capsuleTo[0],
visShape.m_capsuleTo[1],
visShape.m_capsuleTo[2]);
}
else
{
visualShape.m_geometry.m_capsuleHeight = visShape.m_capsuleHeight;
visualShape.m_geometry.m_capsuleRadius = visShape.m_capsuleRadius;
}
break;
}
case URDF_GEOM_MESH:
{
std::string fileName = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshFileName;
const std::string& error_message_prefix = "";
std::string out_found_filename;
int out_type;
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
visualShape.m_geometry.m_meshFileType = out_type;
visualShape.m_geometry.m_meshFileName = fileName;
visualShape.m_geometry.m_meshScale.setValue(clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[0],
clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[1],
clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[2]);
break;
}
default:
{
}
};
visualShape.m_name = "in_memory";
visualShape.m_materialName="";
visualShape.m_sourceFileLocation="blaat_line_10";
visualShape.m_sourceFileLocation="in_memory_unknown_line";
visualShape.m_linkLocalFrame.setIdentity();
visualShape.m_geometry.m_hasLocalMaterial = false;
@ -3848,7 +3897,6 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
}
u2b.convertURDFToVisualShapeInternal(&visualShape, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures);
if (vertices.size() && indices.size())

3
examples/pybullet/examples/saveRestoreState.py
View File

@ -82,10 +82,9 @@ file.close()
file1 = open("saveFile.txt","r")
file2 = open("restoreFile.txt","r")
#file3 = open("saveFile.txt","r")#saveFileReorder.txt","r")
compareFiles(file1,file2)
#compareFiles(file1,file3)
while (p.getConnectionInfo()["isConnected"]):