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embed V-HACD directly into Pybullet to make it easier to use:

Browse Source 
pip3 install pybulle
import pybullet as p
p.connect(p.DIRECT)
p.vhacd("teddy.obj", "teddy_large_newout.obj", "newlog.txt", depth=2,resolution=1000000)
This commit is contained in:
Erwin Coumans
2020-03-16 00:38:52 -07:00
parent 1c39f763bb
commit f0528db5e9
7 changed files with 872 additions and 738 deletions
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44
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -6063,5 +6063,49 @@ B3_SHARED_API void b3GetAxisDifferenceQuaternion(const double startQuat[/*4*/],
}
#ifdef BT_ENABLE_VHACD
#include "VHACD.h"
#include <string>
int main_vhacd_ext(const std::string& fileNameIn, const std::string& fileNameOut, const std::string& fileNameLog, VHACD::IVHACD::Parameters& paramsVHACD);
B3_SHARED_API void b3VHACD(const char* fileNameInput, const char* fileNameOutput, const char* fileNameLogging,
double concavity, double alpha, double beta, double gamma, double minVolumePerCH, int resolution,
int maxNumVerticesPerCH, int depth, int planeDownsampling, int convexhullDownsampling,
int pca, int mode, int convexhullApproximation)
{
std::string fileNameIn(fileNameInput);
std::string fileNameOut(fileNameOutput);
std::string fileNameLog(fileNameLogging);
VHACD::IVHACD::Parameters params;
if (concavity >= 0)
params.m_concavity = concavity;
if (alpha >= 0)
params.m_alpha = alpha;
if (beta >= 0)
params.m_beta = beta;
if (gamma >= 0)
params.m_gamma = gamma;
if (minVolumePerCH >= 0)
params.m_minVolumePerCH = minVolumePerCH;
if (resolution >= 0)
params.m_resolution = (unsigned int)resolution;
if (maxNumVerticesPerCH >= 0)
params.m_maxNumVerticesPerCH = (unsigned int)maxNumVerticesPerCH;
if (depth >= 0)
params.m_depth = depth;
if (planeDownsampling >= 0)
params.m_planeDownsampling = planeDownsampling;
if (convexhullDownsampling >= 0)
params.m_convexhullDownsampling = convexhullDownsampling;
if (pca >= 0)
params.m_pca = pca;
if (mode >= 0)
params.m_mode = mode;
if (convexhullApproximation >= 0)
params.m_convexhullApproximation = convexhullApproximation;
main_vhacd_ext(fileNameIn, fileNameOut, fileNameLog, params);
}
#endif