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bullet3/examples/pybullet/CMakeLists.txt

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CMake
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add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +00:00
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
add cmake support for TCP / clsocket in pybullet
2017-02-21 04:55:37 +00:00
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
use cmake FIND_PACKAGE(PythonLibs 2.7 REQUIRED) if pybullet is build
2016-05-04 20:24:06 +00:00
${PYTHON_INCLUDE_DIRS}
add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +00:00
)
pybullet: add option to use NumPy to speed up, thanks to moof2k option is disabled by default. When using cmake, use cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON then both testrender.py and testrender_np.py will work without numpy only testrender.py works. The numpy.reshape is likely a no-op when using numpy array, so we could remove testrender_np.py... See https://github.com/bulletphysics/bullet3/pull/774
2016-09-11 10:35:12 +00:00
IF(BUILD_PYBULLET_NUMPY)
INCLUDE_DIRECTORIES(
${PYTHON_NUMPY_INCLUDE_DIR}
)
ENDIF()
add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +00:00
SET(pybullet_SRCS
pybullet.c
Create project file for BussIK inverse kinematics library (premake, cmake) URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision"> VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering, Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h Add a dummy return to stop a warning Expose defaultContactERP in shared memory api/pybullet. First start to expose IK in shared memory api/pybullet (not working yet)
2016-09-08 22:15:58 +00:00
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerExample.cpp
Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API !!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed Bump up pybullet to version 1.0.9
2017-05-31 02:54:55 +00:00
../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/b3PluginManager.h
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
update pybullet quickstart quide PDF hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
2016-12-31 22:43:15 +00:00
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
2016-08-10 01:40:12 +00:00
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +00:00
)
add cmake support for TCP / clsocket in pybullet
2017-02-21 04:55:37 +00:00
IF(BUILD_PYBULLET_CLSOCKET)
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
ENDIF(BUILD_PYBULLET_CLSOCKET)
add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +00:00
Allow to compile pybullet on Windows, using CMake (got it to run, rename pybullet.dll into pybullet.pyd and copy in c:\python34\dlls) Update test.py Allow to compile pybullet using Python 3.x and 2.7
2016-05-10 07:57:54 +00:00
IF(WIN32)
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
LINK_LIBRARIES(
Allow to compile pybullet on Windows, using CMake (got it to run, rename pybullet.dll into pybullet.pyd and copy in c:\python34\dlls) Update test.py Allow to compile pybullet using Python 3.x and 2.7
2016-05-10 07:57:54 +00:00
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
IF(BUILD_PYBULLET_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_PYBULLET_ENET)
add cmake support for TCP / clsocket in pybullet
2017-02-21 04:55:37 +00:00
IF(BUILD_PYBULLET_CLSOCKET)
ADD_DEFINITIONS(-DWIN32)
ENDIF(BUILD_PYBULLET_CLSOCKET)
fixes in Linux build if pybullet with enet/UDP
2016-11-04 20:36:45 +00:00
ELSE(WIN32)
IF(BUILD_PYBULLET_ENET)
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
ENDIF(BUILD_PYBULLET_ENET)
add cmake support for TCP / clsocket in pybullet
2017-02-21 04:55:37 +00:00
IF(BUILD_PYBULLET_CLSOCKET)
build fix for BSD systems
2017-04-14 19:43:45 +00:00
ADD_DEFINITIONS(${OSDEF})
add cmake support for TCP / clsocket in pybullet
2017-02-21 04:55:37 +00:00
ENDIF(BUILD_PYBULLET_CLSOCKET)
Allow to compile pybullet on Windows, using CMake (got it to run, rename pybullet.dll into pybullet.pyd and copy in c:\python34\dlls) Update test.py Allow to compile pybullet using Python 3.x and 2.7
2016-05-10 07:57:54 +00:00
ENDIF(WIN32)
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
IF(BUILD_PYBULLET_ENET)
export TCP connection mode to pybullet made TCP disconnection detection more reliable
2017-02-21 04:34:05 +00:00
set(pybullet_SRCS ${pybullet_SRCS}
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
../../examples/SharedMemory/PhysicsClientUDP.cpp
../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
../../examples/SharedMemory/PhysicsClientUDP.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/ThirdPartyLibs/enet/win32.c
../../examples/ThirdPartyLibs/enet/unix.c
../../examples/ThirdPartyLibs/enet/callbacks.c
../../examples/ThirdPartyLibs/enet/compress.c
../../examples/ThirdPartyLibs/enet/host.c
../../examples/ThirdPartyLibs/enet/list.c
../../examples/ThirdPartyLibs/enet/packet.c
../../examples/ThirdPartyLibs/enet/peer.c
../../examples/ThirdPartyLibs/enet/protocol.c
)
ENDIF(BUILD_PYBULLET_ENET)
add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +00:00
add cmake support for TCP / clsocket in pybullet
2017-02-21 04:55:37 +00:00
IF(BUILD_PYBULLET_CLSOCKET)
set(pybullet_SRCS ${pybullet_SRCS}
../../examples/SharedMemory/PhysicsClientTCP.cpp
../../examples/SharedMemory/PhysicsClientTCP.h
../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
)
ENDIF()
export TCP connection mode to pybullet made TCP disconnection detection more reliable
2017-02-21 04:34:05 +00:00
ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
remove prefix/postfix from pybullet, so it becomes pybullet.so and pybullet_d.so in debug mode (and on Windows, pybullet.pyd and pybullet_d.pyd) fix build_cmake_pybullet_win32.bat, so it links against correct version of pythonx.lib pythonx_d.lib. Still, I would prefer using premake on Windows, it has more native Visual Studio features.
2016-11-29 17:09:35 +00:00
SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "")
SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "")
Update CMakeLists to be the same as upstream.
2016-08-22 17:26:56 +00:00
SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
IF(WIN32)
add cmake support for TCP / clsocket in pybullet
2017-02-21 04:55:37 +00:00
IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
TARGET_LINK_LIBRARIES(pybullet ws2_32 )
expose timeout in pybullet/shared memory API add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
2017-02-24 23:34:11 +00:00
ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:15:10 +00:00
SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
ENDIF(WIN32)
Allow to compile pybullet on Windows, using CMake (got it to run, rename pybullet.dll into pybullet.pyd and copy in c:\python34\dlls) Update test.py Allow to compile pybullet using Python 3.x and 2.7
2016-05-10 07:57:54 +00:00
fixes in Linux build if pybullet with enet/UDP
2016-11-04 20:36:45 +00:00
TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common ${PYTHON_LIBRARIES})
add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +00:00
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