PyBulletClient.convert_mesh_to_body

PyBulletClient.convert_mesh_to_body(mesh, frame, _name=None, concavity=False, mass=0)[source]

Convert compas mesh and its frame to a pybullet body.

Parameters

  • mesh (compas.datastructures.Mesh)

  • frame (compas.geometry.Frame)

  • _name (str, optional) – Name of the mesh for tagging in PyBullet’s GUI

  • concavity (bool, optional) – When False (the default), the mesh will be loaded as its convex hull for collision checking purposes. When True, a non-static mesh will be decomposed into convex parts using v-HACD.

  • mass (float, optional) – Mass of the body to be created, in kg. If 0 mass is given (the default), the object is static.

Returns

int

Notes

If this method is called several times with the same mesh instance, but the mesh has been modified in between calls, PyBullet’s default caching behavior will prevent it from recognizing these changes. It is best practice to create a new mesh instance or to make use of the frame argument, if applicable. If this is not possible, PyBullet’s caching behavior can be changed with pybullet.setPhysicsEngineParameter(enableFileCaching=0).