Support visualizing mesh collisions with convex decomposition #2331
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Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
iche033
added
the
needs upstream release
9 tasks
Signed-off-by: Ian Chen <ichen@openrobotics.org>
ahcorde
requested changes
Mar 13, 2024
| auto decomposed = meshManager->ConvexDecomposition(s.get()); | ||
| if (!decomposed.empty()) | ||
| { | ||
| for (std::size_t n = 0; n < decomposed.size(); ++n) |
|
will retarget to |
9 tasks
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🎉 New feature
Depends on:
Summary
Extends
VisualizationCapabilitiesgui plugin to support visualizing mesh collisions with convex decomposition.if a mesh collision has the new attribute
<mesh simplification="convex_decomposition">, the plugin will decompose the meshes on the GUI side before visualizing them.Test it
I uploaded a Cordless Drill Simplified model on fuel for testing. This model uses convex decomposition on the collision mesh.
Here's the result:
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.