Hollow shapes
Posted: Thu Dec 14, 2017 10:52 am
Hello, I'm trying to detect collision between shapes that can be placed within each other. I created a hollow shape and its filling in SolidWorks, then exported them to URDF format using the popular ROS addon for this job. The STL file used for the mesh is correct and representative of the hollowness of the shape, but the mesh produced in the physics simulation is not really hollow when I use the simple p.loadURDF method. Is there a way to represent hollow 3D shapes?
EDIT: I figured out that if we import shapes as .obj files using the createCollisionShape method and the GEOM_FORCE_CONCAVE_TRIMESH flag, we can represent the shapes correctly. Now the problem is that this is valid only for non-movable objects (as per the pybullet quickstart guide), and I cannot detect collision between two objects whose meshes are made of concave triangles. Does anyone know how to (if possible) detect collision and penetration depth between two moving concave objects?
EDIT: I figured out that if we import shapes as .obj files using the createCollisionShape method and the GEOM_FORCE_CONCAVE_TRIMESH flag, we can represent the shapes correctly. Now the problem is that this is valid only for non-movable objects (as per the pybullet quickstart guide), and I cannot detect collision between two objects whose meshes are made of concave triangles. Does anyone know how to (if possible) detect collision and penetration depth between two moving concave objects?