Add bullet thirdparty library
This commit is contained in:
Dane Johnson
122
thirdparty/bullet/data/threecubes/newsdf.sdf
vendored
Normal file
122
thirdparty/bullet/data/threecubes/newsdf.sdf
vendored
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@@ -0,0 +1,122 @@
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<sdf version='1.6'>
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<world name='default'>
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<gravity>0 0 -9.8</gravity>
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<model name='part0.obj'>
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<static>1</static>
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<pose frame=''>0 0 0 0 0 0</pose>
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<link name='link_d0'>
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<inertial>
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<mass>0</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<collision name='collision_0'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>part0.obj</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>part0.obj</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 0 0 1</ambient>
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<diffuse>0.000000 0.640000 0.000000 1.000000</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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</link>
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</model>
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<model name='part1.obj'>
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<static>1</static>
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<pose frame=''>0 0 0 0 0 0</pose>
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<link name='link_d1'>
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<inertial>
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<mass>0</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<collision name='collision_1'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>part1.obj</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
|
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<uri>part1.obj</uri>
|
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</mesh>
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</geometry>
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<material>
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<ambient>1 0 0 1</ambient>
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<diffuse>0.000000 0.000000 0.640000 1.000000</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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</link>
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</model>
|
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<model name='part2.obj'>
|
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<static>1</static>
|
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<pose frame=''>0 0 0 0 0 0</pose>
|
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<link name='link_d2'>
|
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<inertial>
|
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<mass>0</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
|
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</inertia>
|
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</inertial>
|
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<collision name='collision_2'>
|
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<geometry>
|
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<mesh>
|
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<scale>1 1 1</scale>
|
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<uri>part2.obj</uri>
|
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</mesh>
|
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</geometry>
|
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</collision>
|
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<visual name='visual'>
|
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<geometry>
|
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<mesh>
|
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<scale>1 1 1</scale>
|
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<uri>part2.obj</uri>
|
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</mesh>
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</geometry>
|
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<material>
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<ambient>1 0 0 1</ambient>
|
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<diffuse>0.640000 0.000000 0.000000 1.000000</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
|
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<emissive>0 0 0 0</emissive>
|
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</material>
|
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</visual>
|
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</link>
|
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</model>
|
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</world>
|
||||
</sdf>
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||||
60
thirdparty/bullet/data/threecubes/part0.obj
vendored
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60
thirdparty/bullet/data/threecubes/part0.obj
vendored
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@@ -0,0 +1,60 @@
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||||
# Exported using automatic converter by Erwin Coumans
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||||
mtllib three_cubes.mtl
|
||||
#object Cube.001
|
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usemtl Material.001
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60
thirdparty/bullet/data/threecubes/part1.obj
vendored
Normal file
60
thirdparty/bullet/data/threecubes/part1.obj
vendored
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@@ -0,0 +1,60 @@
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||||
# Exported using automatic converter by Erwin Coumans
|
||||
mtllib three_cubes.mtl
|
||||
#object Cube.002
|
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|
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60
thirdparty/bullet/data/threecubes/part2.obj
vendored
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60
thirdparty/bullet/data/threecubes/part2.obj
vendored
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@@ -0,0 +1,60 @@
|
||||
# Exported using automatic converter by Erwin Coumans
|
||||
mtllib three_cubes.mtl
|
||||
#object Cube
|
||||
|
||||
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usemtl Material
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|
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31
thirdparty/bullet/data/threecubes/three_cubes.mtl
vendored
Normal file
31
thirdparty/bullet/data/threecubes/three_cubes.mtl
vendored
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@@ -0,0 +1,31 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 3
|
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|
||||
newmtl Material
|
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Ns 92.156863
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Kd 0.640000 0.000000 0.000000
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Ks 0.500000 0.500000 0.500000
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d 1.000000
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illum 2
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|
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|
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newmtl Material.001
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Ns 92.156863
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Ka 0.000000 0.000000 0.000000
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Kd 0.000000 0.640000 0.000000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
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d 1.000000
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illum 2
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newmtl Material.002
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Ns 92.156863
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Ni 1.000000
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d 1.000000
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illum 2
|
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|
||||
84
thirdparty/bullet/data/threecubes/three_cubes.obj
vendored
Normal file
84
thirdparty/bullet/data/threecubes/three_cubes.obj
vendored
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@@ -0,0 +1,84 @@
|
||||
# Blender v2.71 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib three_cubes.mtl
|
||||
o Cube.001
|
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|
||||
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||||
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||||
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||||
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|
||||
o Cube
|
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usemtl Material
|
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f 18/9 19/10 20/11
|
||||
f 21/9 22/10 19/11
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||||
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||||
f 19/9 22/10 24/11
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||||
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f 18/12 17/9 21/11
|
||||
7
thirdparty/bullet/data/threecubes/threecubes.py
vendored
Normal file
7
thirdparty/bullet/data/threecubes/threecubes.py
vendored
Normal file
@@ -0,0 +1,7 @@
|
||||
import pybullet as p
|
||||
p.connect(p.DIRECT)
|
||||
p.loadPlugin("eglRendererPlugin")
|
||||
p.loadSDF("newsdf.sdf")
|
||||
while (1):
|
||||
p.getCameraImage(320, 240, flags=p.ER_NO_SEGMENTATION_MASK)
|
||||
p.stepSimulation()
|
||||
32
thirdparty/bullet/data/threecubes/threecubes.urdf
vendored
Normal file
32
thirdparty/bullet/data/threecubes/threecubes.urdf
vendored
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="three_cubes.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="three_cubes.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
32
thirdparty/bullet/data/threecubes/threecubes_org.py
vendored
Normal file
32
thirdparty/bullet/data/threecubes/threecubes_org.py
vendored
Normal file
@@ -0,0 +1,32 @@
|
||||
import pybullet as p
|
||||
useEGL = False
|
||||
useEGLGUI = False
|
||||
|
||||
if useEGL:
|
||||
if useEGLGUI:
|
||||
p.connect(p.GUI, "window_backend=2")
|
||||
else:
|
||||
p.connect(p.DIRECT)
|
||||
p.loadPlugin("eglRendererPlugin")
|
||||
else:
|
||||
p.connect(p.GUI)
|
||||
|
||||
p.loadURDF("threecubes.urdf", flags=p.URDF_USE_MATERIAL_COLORS_FROM_MTL)
|
||||
while (1):
|
||||
|
||||
viewmat = [
|
||||
0.642787516117096, -0.4393851161003113, 0.6275069713592529, 0.0, 0.766044557094574,
|
||||
0.36868777871131897, -0.5265407562255859, 0.0, -0.0, 0.8191521167755127, 0.5735764503479004,
|
||||
0.0, 2.384185791015625e-07, 2.384185791015625e-07, -5.000000476837158, 1.0
|
||||
]
|
||||
projmat = [
|
||||
0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0,
|
||||
0.0, 0.0, -0.02000020071864128, 0.0
|
||||
]
|
||||
|
||||
p.getCameraImage(64,
|
||||
64,
|
||||
viewMatrix=viewmat,
|
||||
projectionMatrix=projmat,
|
||||
flags=p.ER_NO_SEGMENTATION_MASK)
|
||||
p.stepSimulation()
|
||||
Reference in New Issue
Block a user