Real-Time Physics Simulation Forum

Re: Create collision shape manually with API

2021-03-10T09:34:15+00:00

Thanks for the reply.
I added a btAlignedObjectArray for the vertices and indices to the args. In the API I added following code:

Code:

if (shapeType == GEOM_MESH && args.m_numVertices)        {                int numVertices = args.m_numVertices;                int numIndices = args.m_numIndices;                double* vertices = &args.m_vertices[0];                int* indices = &args.m_indices[0];                double meshScale[3];                scalarToDouble3(args.m_meshScale, meshScale);                if (numIndices)                {                        shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, command, meshScale, vertices, numVertices, indices, numIndices);                }                else                {                        shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, command, meshScale, vertices, numVertices);                }        }

Unfortunately if I call the function I get the message "b3Printf: Request createCollisionShape failed".

Do you have an idea why this might be happening?

Statistics: Posted by pasta99 — Wed Mar 10, 2021 9:34 am

Re: Create collision shape manually with API

2021-03-09T02:32:33+00:00

The C++ bindings (b3RobotSimulatorClientAPI ) is limited and would need to be expanded. PyBullet uses the C-API, and so does b3RobotSimulatorClientAPI . You can just add the args you need, and look at pybullet.c how the methods are called.

Statistics: Posted by Erwin Coumans — Tue Mar 09, 2021 2:32 am

Create collision shape manually with API

2021-03-08T06:27:38+00:00

I want to use the b3RobotSimulatorClientAPI similar to the Pybullet API in C++ code. In the pybullet examples it is possible to create meshes by hand like so: https://github.com/bulletphysics/bullet ... ateMesh.py . Unfortunately there is no vertices and indices option in the b3RobotSimulatorCreateCollisionShapeArgs. Is there a way to create a mesh like in the example with the C++ API? Am I missing something?

Statistics: Posted by pasta99 — Mon Mar 08, 2021 6:27 am