AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-14 13:50:04 +00:00
Code Issues Releases Wiki Activity
dc9549b2b4
bullet3/examples/SharedMemory/premake4.lua

486 lines
12 KiB
Lua
Raw Normal View History

added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 23:05:24 +00:00
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
project "App_PhysicsServer_SharedMemory"
added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 23:05:24 +00:00
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
includedirs {".","../../src", "../ThirdPartyLibs"}
added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 23:05:24 +00:00
links {
premake build system fixes
2018-01-09 20:23:25 +00:00
"BulletSoftBody", "Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 23:05:24 +00:00
}
fix premake build for linux, thanks to @consultit See also issue #1538
2018-02-10 02:46:26 +00:00
if os.is("Linux") then
links{"dl"}
end
added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 23:05:24 +00:00
language "C++"
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
myfiles =
{
enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp) add pdControl.py example, make pdControlPlugin functional reduce memory usage fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
2018-06-05 22:59:01 +00:00
"b3RobotSimulatorClientAPI_NoDirect.cpp",
"b3RobotSimulatorClientAPI_NoDirect.h",
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
"IKTrajectoryHelper.cpp",
"IKTrajectoryHelper.h",
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
"PhysicsClient.cpp",
make PhysicsClient an interface class, and move shared memory implementation of physics client into PhysicsClientSharedMemory class/file. This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-25 05:50:34 +00:00
"PhysicsClientSharedMemory.cpp",
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
"PhysicsClientExample.cpp",
"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
"PhysicsServerExampleBullet2.cpp",
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
"PhysicsServerSharedMemory.cpp",
"PhysicsServerSharedMemory.h",
"PhysicsServer.cpp",
"PhysicsServer.h",
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
"PhysicsClientC_API.cpp",
implement a few more pybullet methods: pybullet_applyExternalForce, pybullet_applyExternalTorque, pybullet_setTimeStep, pybullet_resetBasePositionAndOrientation, pybullet_getQuaternionFromEuler, pybullet_getEulerFromQuaternion
2016-06-27 01:18:30 +00:00
"SharedMemoryCommands.h",
"SharedMemoryPublic.h",
another step closer to useable shared memory C API (force/torque sensor needs new API) in a nutshell, users of shared memory physics API should not directly poke into shared memory, not fill 'SharedMemorCommand' nor read SharedMemoryStatus directly. The C-API declares 'handles' for those, to avoid it from happening.
2015-09-17 06:09:10 +00:00
"PhysicsServer.cpp",
"PosixSharedMemory.cpp",
"Win32SharedMemory.cpp",
Allow InProcessExampleBrowser to use a malloc allocated memory block, instead of system shared memory. Make shared memory client/server a bit more robust, in case the server is terminated early.
2016-03-10 22:36:46 +00:00
"InProcessMemory.cpp",
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
"PhysicsDirect.cpp",
"PhysicsDirect.h",
"PhysicsDirectC_API.cpp",
"PhysicsDirectC_API.h",
"PhysicsLoopBack.cpp",
"PhysicsLoopBack.h",
consistent *API.* in examples/SharedMemory
2015-11-23 16:00:42 +00:00
"PhysicsLoopBackC_API.cpp",
"PhysicsLoopBackC_API.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
"PhysicsClientSharedMemory_C_API.cpp",
"PhysicsClientSharedMemory_C_API.h",
"PhysicsClientSharedMemory2_C_API.cpp",
"PhysicsClientSharedMemory2_C_API.h",
"PhysicsClientSharedMemory2.cpp",
"PhysicsClientSharedMemory2.h",
"SharedMemoryCommandProcessor.cpp",
"SharedMemoryCommandProcessor.h",
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-23 04:50:32 +00:00
"PhysicsServerCommandProcessor.cpp",
"PhysicsServerCommandProcessor.h",
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
"b3PluginManager.cpp",
"b3PluginManager.h",
prepare build system(s) for collisionFilterPlugin
2018-07-27 13:48:24 +00:00
"plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp) add pdControl.py example, make pdControlPlugin functional reduce memory usage fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
2018-06-05 22:59:01 +00:00
"plugins/pdControlPlugin/pdControlPlugin.cpp",
"plugins/pdControlPlugin/pdControlPlugin.h",
update to tinyrenderer synthetic camera
2016-06-01 05:55:13 +00:00
"../OpenGLWindow/SimpleCamera.cpp",
"../OpenGLWindow/SimpleCamera.h",
fix SharedMemory premake file
2015-05-29 18:37:21 +00:00
"../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
"../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
fix various warning add b3ResourcePath utility, to locate resources relative to executable
2015-07-04 01:17:14 +00:00
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.h",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
fixes in build system for URDF parser
2015-06-29 04:21:57 +00:00
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/UrdfParser.h",
fix SharedMemory premake file
2015-05-29 18:37:21 +00:00
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.h",
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
"../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
"../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
fix various warning add b3ResourcePath utility, to locate resources relative to executable
2015-07-04 01:17:14 +00:00
"../Utils/b3ResourcePath.cpp",
prepare state logging system (log state of robot, vr controllers after each stepSimulation)
2017-02-17 18:47:55 +00:00
"../Utils/b3Clock.cpp",
"../Utils/RobotLoggingUtil.cpp",
"../Utils/RobotLoggingUtil.h",
Move ChromeTracing in its own file, and add tracing support for VR server (App_SharedMemoryPhysics_VR) Add a bit of extra sleep in PhysicsServer thread, to make rendering smoother.
2017-01-30 04:59:47 +00:00
"../Utils/ChromeTraceUtil.cpp",
"../Utils/ChromeTraceUtil.h",
some work towards streaming Bullet data over shared memory for client/server
2015-07-09 21:04:58 +00:00
"../../Extras/Serialize/BulletWorldImporter/*",
"../../Extras/Serialize/BulletFileLoader/*",
fix SharedMemory premake file
2015-05-29 18:37:21 +00:00
"../Importers/ImportURDFDemo/URDFImporterInterface.h",
"../Importers/ImportURDFDemo/URDFJointTypes.h",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportSTLDemo/ImportSTLSetup.h",
"../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
upgrade from tinyxml to tinyxml2
2018-04-12 07:09:44 +00:00
"../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
move stb_image/stb_image_write.cpp into a cpp file instead of random files with the magic 'STB_IMAGE_WRITE_IMPLEMENTATION' define move setup.py back to eglRenderer extension, use pkgutil.get_loader('eglRenderer').get_filename() disable dlmopen by default, unless B3_USE_DLMOPEN is defined.
2018-09-11 06:18:34 +00:00
"../ThirdPartyLibs/stb_image/stb_image.cpp",
"../ThirdPartyLibs/stb_image/stb_image_write.cpp",
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
added preliminary shared memory physics client/server fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 23:05:24 +00:00
}
premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin fix texture caching from previous commit (what happened there?)
2017-10-25 17:00:45 +00:00
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
files {
myfiles,
"main.cpp",
}
premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin fix texture caching from previous commit (what happened there?)
2017-10-25 17:00:45 +00:00
if (_OPTIONS["enable_static_vr_plugin"]) then
Bullet bump up to version 2.88 add preliminary support to import btMultiBody from a .bullet file (will help save/restore state) fix some Windows char/widechar issues
2017-11-23 02:12:02 +00:00
defines("STATIC_LINK_VR_PLUGIN")
premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin fix texture caching from previous commit (what happened there?)
2017-10-25 17:00:45 +00:00
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
files
{
"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp"
}
else
defines("SKIP_STATIC_TINYRENDERER_PLUGIN")
end
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../MultiThreading/b3ThreadSupportInterface.h"
}
if os.is("Windows") then
files {
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.h"
}
--links {"winmm"}
--defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
end
if os.is("MacOSX") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
links {"pthread"}
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
--defines {"__MACOSX_CORE__"}
end
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
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
project "App_PhysicsServer_SharedMemory_GUI"
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
if _OPTIONS["ios"] then
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
kind "WindowedApp"
else
kind "ConsoleApp"
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
end
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
defines {"B3_USE_STANDALONE_EXAMPLE"}
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
includedirs {"../../src", "../ThirdPartyLibs"}
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
links {
premake build system fixes
2018-01-09 20:23:25 +00:00
"BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common","BussIK"
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
}
initOpenGL()
initGlew()
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
language "C++"
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
Add RtMidi for midi control, use the --midi option in premake, and see update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc) tweak quadruped.py to move a bit add mouse picking to physics server
2016-11-17 00:12:59 +00:00
if _OPTIONS["midi"] then
defines {"B3_USE_MIDI"}
includedirs{"../ThirdPartyLibs/midi"}
files {
"../ThirdPartyLibs/midi/RtMidi.cpp",
"../ThirdPartyLibs/midi/RtMidi.h",
"../ThirdPartyLibs/midi/RtError.h",
}
if os.is("Windows") then
links {"winmm"}
defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
defines {"__LINUX_ALSA__"}
links {"asound","pthread"}
end
if os.is("MacOSX") then
links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
defines {"__MACOSX_CORE__"}
end
end
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
files
{
"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp"
}
else
defines("SKIP_STATIC_TINYRENDERER_PLUGIN")
end
Add RtMidi for midi control, use the --midi option in premake, and see update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc) tweak quadruped.py to move a bit add mouse picking to physics server
2016-11-17 00:12:59 +00:00
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
files {
myfiles,
"../StandaloneMain/main_opengl_single_example.cpp",
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
}
premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin fix texture caching from previous commit (what happened there?)
2017-10-25 17:00:45 +00:00
if (_OPTIONS["enable_static_vr_plugin"]) then
Bullet bump up to version 2.88 add preliminary support to import btMultiBody from a .bullet file (will help save/restore state) fix some Windows char/widechar issues
2017-11-23 02:12:02 +00:00
defines("STATIC_LINK_VR_PLUGIN")
premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin fix texture caching from previous commit (what happened there?)
2017-10-25 17:00:45 +00:00
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-03 01:53:19 +00:00
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
end
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../MultiThreading/b3ThreadSupportInterface.h"
}
if os.is("Windows") then
files {
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.h"
}
--links {"winmm"}
--defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
end
if os.is("MacOSX") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
--defines {"__MACOSX_CORE__"}
end
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
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
if os.is("Windows") then
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
project "App_PhysicsServer_SharedMemory_VR"
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
--for now, only enable VR under Windows, until compilation issues are resolved on Mac/Linux
defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
Add RtMidi for midi control, use the --midi option in premake, and see update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc) tweak quadruped.py to move a bit add mouse picking to physics server
2016-11-17 00:12:59 +00:00
if _OPTIONS["midi"] then
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
Add RtMidi for midi control, use the --midi option in premake, and see update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc) tweak quadruped.py to move a bit add mouse picking to physics server
2016-11-17 00:12:59 +00:00
defines {"B3_USE_MIDI"}
includedirs{"../ThirdPartyLibs/midi"}
files {
"../ThirdPartyLibs/midi/RtMidi.cpp",
"../ThirdPartyLibs/midi/RtMidi.h",
"../ThirdPartyLibs/midi/RtError.h",
}
if os.is("Windows") then
links {"winmm"}
defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
defines {"__LINUX_ALSA__"}
links {"asound","pthread"}
end
if os.is("MacOSX") then
links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
defines {"__MACOSX_CORE__"}
end
end
add more tinyaudio preparation, some test wav files, play sound on collision events. Will expose this in the C-API to pick wav files and collision threshold levels etc. Use the premake --audio flag to try it out. The TinyAudio example in the ExampleBrowser works on Mac, Linux and Windows, you can play notes by pressing keys.
2017-04-29 17:32:30 +00:00
if _OPTIONS["audio"] then
files {
"../TinyAudio/b3ADSR.cpp",
"../TinyAudio/b3AudioListener.cpp",
"../TinyAudio/b3ReadWavFile.cpp",
"../TinyAudio/b3SoundEngine.cpp",
"../TinyAudio/b3SoundSource.cpp",
"../TinyAudio/b3WriteWavFile.cpp",
"../TinyAudio/RtAudio.cpp",
}
defines {"B3_ENABLE_TINY_AUDIO"}
if os.is("Windows") then
links {"winmm","Wsock32","dsound"}
defines {"WIN32","__WINDOWS_MM__","__WINDOWS_DS__"}
end
if os.is("Linux") then initX11()
defines {"__OS_LINUX__","__LINUX_ALSA__"}
links {"asound","pthread"}
end
if os.is("MacOSX") then
links{"Cocoa.framework"}
links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
defines {"__OS_MACOSX__","__MACOSX_CORE__"}
end
end
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
includedirs {
".","../../src", "../ThirdPartyLibs",
"../ThirdPartyLibs/openvr/headers",
"../ThirdPartyLibs/openvr/samples/shared"
}
links {
premake build system fixes
2018-01-09 20:23:25 +00:00
"BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api","BussIK"
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
}
language "C++"
initOpenGL()
initGlew()
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
files
{
"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp"
}
else
defines("SKIP_STATIC_TINYRENDERER_PLUGIN")
end
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
files
{
myfiles,
"../StandaloneMain/hellovr_opengl_main.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps optimize gpu upload (use glBufferSubData instead of glMapBuffer Avoid checking char array against zero.
2016-10-14 22:06:09 +00:00
"../RenderingExamples/TinyVRGui.cpp",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
update to OpenVR 1.07 from https://github.com/ValveSoftware/openvr
2017-05-03 15:40:29 +00:00
"../ThirdPartyLibs/openvr/samples/shared/strtools.cpp",
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
}
premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin fix texture caching from previous commit (what happened there?)
2017-10-25 17:00:45 +00:00
if (_OPTIONS["enable_static_vr_plugin"]) then
Bullet bump up to version 2.88 add preliminary support to import btMultiBody from a .bullet file (will help save/restore state) fix some Windows char/widechar issues
2017-11-23 02:12:02 +00:00
defines("STATIC_LINK_VR_PLUGIN")
premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin fix texture caching from previous commit (what happened there?)
2017-10-25 17:00:45 +00:00
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
if os.is("Windows") then
allow to compile/run 64bit version of VR lib, workaround for issue that both 32bit and 64bit version is called openvr_api.dll Now 64bit version is called openvr64pi.dll (patched the 64bit binary library openvr_api.lib) See also https://github.com/ValveSoftware/openvr/issues/412
2017-02-22 23:50:09 +00:00
configuration {"x32"}
libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
configuration {"x64"}
libdirs {"../ThirdPartyLibs/openvr/lib/win64"}
configuration{}
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo.
2016-07-08 02:24:44 +00:00
end
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../MultiThreading/b3ThreadSupportInterface.h"
}
if os.is("Windows") then
files {
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.h"
}
--links {"winmm"}
--defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
end
if os.is("MacOSX") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
--defines {"__MACOSX_CORE__"}
end
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
end
include "udp"
add App_PhysicsServerTCP and App_PhysicsServerSharedMemoryBridgeTCP (can be easier tunneled over SSH)
2017-02-20 22:43:01 +00:00
include "tcp"
Add preliminary GRPC server for PyBullet and BulletRobotics. Will add GRPC client and PyBullet GRPC server plugin. Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages. Run the server, then test using the pybullet_client.py
2018-08-30 04:12:13 +00:00
create a C/C++ plugin system for pybullet / C-API.
2017-09-23 02:17:57 +00:00
include "plugins/testPlugin"
add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint) This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python. Modify the pybullet/examples/vr_kuka_setup.py at the end to do this: plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll") controllerId = 3 p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
2017-09-26 01:14:50 +00:00
include "plugins/vrSyncPlugin"
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
include "plugins/tinyRendererPlugin"
add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint) This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python. Modify the pybullet/examples/vr_kuka_setup.py at the end to do this: plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll") controllerId = 3 p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
2017-09-26 01:14:50 +00:00
PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
2018-06-05 01:41:41 +00:00
include "plugins/pdControlPlugin"
include "plugins/collisionFilterPlugin"
Thanks to @dchichkov for some of the fixes in the eglRendererPlugin! Rename tinyRenderer -> eglRenderer in the eglRendererPlugin. Allow to run the eglRendererPlugin to run on Windows (not in EGL mode but Win32OpenGLWindow mode) Here is a script I tested on Windows: ~~~~~~~~~~~~ mport pybullet as p import time p.connect(p.DIRECT) plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_eglRendererPlugin_vs2010_x64_debug.dll","_eglRendererPlugin") print("plugin=",plugin) p.setGravity(0,0,-10) p.loadURDF("plane.urdf",[0,0,-1]) p.loadURDF("r2d2.urdf") pixelWidth = 320 pixelHeight = 220 while (1): p.stepSimulation() viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0] projectionMatrix = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0] #img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) img_arr = p.getCameraImage(pixelWidth, pixelHeight, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) #print("img_arr=",img_arr) time.sleep(1) ~~~~~~~~~~~~~
2018-09-09 20:37:49 +00:00
if _OPTIONS["enable_egl"] then
include "plugins/eglPlugin"
end
make grpc work on Mac OSX with premake
2018-09-04 21:49:12 +00:00
if _OPTIONS["enable_grpc"] then
Add preliminary GRPC server for PyBullet and BulletRobotics. Will add GRPC client and PyBullet GRPC server plugin. Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages. Run the server, then test using the pybullet_client.py
2018-08-30 04:12:13 +00:00
include "grpc"
allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system) add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes. example script to start server from pybullet: import pybullet as p p.connect(p.GUI) #if statically linked plugin id = p.loadPlugin("grpcPlugin") #dynamics loading the plugin #id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin") #start the GRPC server at hostname, port if (id>=0): p.executePluginCommand(id, "localhost:1234") Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs: numRPC = 10 while (1): p.executePluginCommand(id, intArgs=[numRPC])
2018-09-06 00:58:14 +00:00
include "plugins/grpcPlugin"
make grpc work on Mac OSX with premake
2018-09-04 21:49:12 +00:00
end
Reference in New Issue Copy Permalink