Support visualizing mesh collisions with convex decomposition #2352
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🎉 New feature
Replaces #2331
Related gz-physics PR: gazebosim/gz-physics#611
Summary
Extends VisualizationCapabilities gui plugin to support visualizing mesh collisions with convex decomposition.
if a mesh collision has the new attribute , the plugin will decompose the meshes on the GUI side before visualizing them.
Test it
Here's a Cordless Drill Simplified model on fuel and a cordless_drill.sdf world for testing. This model uses convex decomposition on the collision mesh.
Optional: to actually have the collisions decomposed on the physics side, you'll need these PRs. This is not required to see the collision visualizations.
Then launch gz-sim with
bullet-featherstone
plugin:Right click on the drill model and view collisions:
Checklist
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