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bullet3/examples/pybullet/premake4.lua

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add initial pybullet module, using the shared memory API (for now, start the example browser in 'physics server', then compile using premake --python option, then run python in the bin folder (so it finds pybullet.so) and run the test.py script in examples/pybullet folder. The robotics shared memory C API is very suitable for this.
2016-04-30 18:18:54 +00:00
project ("pybullet")
language "C++"
kind "SharedLib"
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
if _OPTIONS["enable_grpc"] then
initGRPC()
files {
"../../examples/SharedMemory/PhysicsClientGRPC.cpp",
"../../examples/SharedMemory/PhysicsClientGRPC.h",
"../../examples/SharedMemory/PhysicsClientGRPC_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientGRPC_C_API.h",
}
end
pybullet premake, keep extension
2016-09-27 15:33:53 +00:00
add initial pybullet module, using the shared memory API (for now, start the example browser in 'physics server', then compile using premake --python option, then run python in the bin folder (so it finds pybullet.so) and run the test.py script in examples/pybullet folder. The robotics shared memory C API is very suitable for this.
2016-04-30 18:18:54 +00:00
includedirs {"../../src", "../../examples",
"../../examples/ThirdPartyLibs"}
premake add enable_stable_pd option, so Bullet can be compiled without C++11 (Visual Studio 2010 etc) PyBullet: improve sleeping: if the base is static and all joints in the chain between this link and the base are fixed, then this link is static too (doesn't merge islands) Fix PyBullet compilation of Visual Studion 2010
2019-08-08 04:57:05 +00:00
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
enable stable PD plugin in premake4.lua PyBullet add a normalize in the setRotation axis/angle to be sure. Add more code from the DeepMimic project, training doesn't work yet.
2019-02-01 05:31:26 +00:00
add initial pybullet module, using the shared memory API (for now, start the example browser in 'physics server', then compile using premake --python option, then run python in the bin folder (so it finds pybullet.so) and run the test.py script in examples/pybullet folder. The robotics shared memory C API is very suitable for this.
2016-04-30 18:18:54 +00:00
hasCL = findOpenCL("clew")
more PyBullet PhysX preliminary work.
2019-01-25 18:14:54 +00:00
links{ "BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
add initial pybullet module, using the shared memory API (for now, start the example browser in 'physics server', then compile using premake --python option, then run python in the bin folder (so it finds pybullet.so) and run the test.py script in examples/pybullet folder. The robotics shared memory C API is very suitable for this.
2016-04-30 18:18:54 +00:00
initOpenGL()
initGlew()
includedirs {
".",
"../../src",
"../ThirdPartyLibs",
}
if os.is("MacOSX") then
[pybullet] implement addUserDebugParameter / readUserDebugParameter fix inertial frame for door.urdf allow picking of links of multi-bodies with a fixed base
2017-01-17 23:42:32 +00:00
-- targetextension {"so"}
add initial pybullet module, using the shared memory API (for now, start the example browser in 'physics server', then compile using premake --python option, then run python in the bin folder (so it finds pybullet.so) and run the test.py script in examples/pybullet folder. The robotics shared memory C API is very suitable for this.
2016-04-30 18:18:54 +00:00
links{"Cocoa.framework","Python"}
end
if (hasCL) then
links {
"Bullet3OpenCL_clew",
"Bullet3Dynamics",
"Bullet3Collision",
"Bullet3Geometry",
"Bullet3Common",
}
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
if not _OPTIONS["no-enet"] then
includedirs {"../../examples/ThirdPartyLibs/enet/include"}
if os.is("Windows") then
[pybullet] implement addUserDebugParameter / readUserDebugParameter fix inertial frame for door.urdf allow picking of links of multi-bodies with a fixed base
2017-01-17 23:42:32 +00:00
-- targetextension {"dylib"}
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
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
end
if os.is("MacOSX") then
end
links {"enet"}
files {
"../../examples/SharedMemory/PhysicsClientUDP.cpp",
"../../examples/SharedMemory/PhysicsClientUDP.h",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
}
defines {"BT_ENABLE_ENET"}
end
shmem preliminary TCP implementation (not working yet)
2017-02-21 00:46:25 +00:00
if not _OPTIONS["no-clsocket"] then
includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
defines {"_LINUX"}
end
if os.is("MacOSX") then
defines {"_DARWIN"}
end
links {"clsocket"}
files {
"../../examples/SharedMemory/PhysicsClientTCP.cpp",
"../../examples/SharedMemory/PhysicsClientTCP.h",
"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
}
defines {"BT_ENABLE_CLSOCKET"}
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
add initial pybullet module, using the shared memory API (for now, start the example browser in 'physics server', then compile using premake --python option, then run python in the bin folder (so it finds pybullet.so) and run the test.py script in examples/pybullet folder. The robotics shared memory C API is very suitable for this.
2016-04-30 18:18:54 +00:00
files {
"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",
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
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.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/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",
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
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.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/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",
fixes for RemoteGUIHelper
2019-06-14 21:34:56 +00:00
"../SharedMemory/GraphicsClientExample.cpp",
"../SharedMemory/GraphicsClientExample.h",
"../SharedMemory/GraphicsServerExample.cpp",
"../SharedMemory/GraphicsServerExample.h",
"../SharedMemory/GraphicsSharedMemoryBlock.h",
"../SharedMemory/GraphicsSharedMemoryCommands.h",
"../SharedMemory/GraphicsSharedMemoryPublic.h",
"../SharedMemory/RemoteGUIHelper.cpp",
"../SharedMemory/RemoteGUIHelper.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/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",
expose video capture as logging command in b3RobotSimulatorClientAPI (C++) and pybullet (use STATE_LOGGING_VIDEO_MP4)
2017-03-16 16:13:33 +00:00
"../../examples/SharedMemory/SharedMemoryCommands.h",
"../../examples/SharedMemory/SharedMemoryPublic.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/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",
upgrade from tinyxml to tinyxml2
2018-04-12 07:09:44 +00:00
"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.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/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/ThirdPartyLibs/stb_image/stb_image.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
"../../examples/ThirdPartyLibs/stb_image/stb_image_write.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/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",
add collisionFilterPlugin to pybullet plugin, also apply quat->euler fix for singular cases
2018-07-30 15:53:37 +00:00
"../../examples/SharedMemory/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
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
premake add enable_stable_pd option, so Bullet can be compiled without C++11 (Visual Studio 2010 etc) PyBullet: improve sleeping: if the base is static and all joints in the chain between this link and the base are fixed, then this link is static too (doesn't merge islands) Fix PyBullet compilation of Visual Studion 2010
2019-08-08 04:57:05 +00:00
if _OPTIONS["enable_stable_pd"] then
defines {"STATIC_LINK_SPD_PLUGIN"}
files {
enable stable PD plugin in premake4.lua PyBullet add a normalize in the setRotation axis/angle to be sure. Add more code from the DeepMimic project, training doesn't work yet.
2019-02-01 05:31:26 +00:00
"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h",
add initial pybullet module, using the shared memory API (for now, start the example browser in 'physics server', then compile using premake --python option, then run python in the bin folder (so it finds pybullet.so) and run the test.py script in examples/pybullet folder. The robotics shared memory C API is very suitable for this.
2016-04-30 18:18:54 +00:00
}
premake add enable_stable_pd option, so Bullet can be compiled without C++11 (Visual Studio 2010 etc) PyBullet: improve sleeping: if the base is static and all joints in the chain between this link and the base are fixed, then this link is static too (doesn't merge islands) Fix PyBullet compilation of Visual Studion 2010
2019-08-08 04:57:05 +00:00
end
more PyBullet PhysX preliminary work.
2019-01-25 18:14:54 +00:00
if _OPTIONS["enable_physx"] then
defines {"BT_ENABLE_PHYSX","PX_PHYSX_STATIC_LIB", "PX_FOUNDATION_DLL=0"}
configuration {"x64", "debug"}
defines {"_DEBUG"}
configuration {"x86", "debug"}
defines {"_DEBUG"}
configuration {"x64", "release"}
defines {"NDEBUG"}
configuration {"x86", "release"}
defines {"NDEBUG"}
configuration{}
includedirs {
".",
"../../src/PhysX/physx/include",
"../../src/PhysX/physx/include/characterkinematic",
"../../src/PhysX/physx/include/common",
"../../src/PhysX/physx/include/cooking",
"../../src/PhysX/physx/include/extensions",
"../../src/PhysX/physx/include/geometry",
"../../src/PhysX/physx/include/geomutils",
"../../src/PhysX/physx/include/vehicle",
"../../src/PhysX/pxshared/include",
}
links {
"PhysX",
}
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
more PyBullet PhysX preliminary work.
2019-01-25 18:14:54 +00:00
files {
"../../examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp",
"../../examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h",
"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h",
"../../examples/SharedMemory/physx/PhysXC_API.cpp",
"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.cpp",
"../../examples/SharedMemory/physx/PhysXUrdfImporter.cpp",
"../../examples/SharedMemory/physx/URDF2PhysX.cpp",
"../../examples/SharedMemory/physx/PhysXC_API.h",
"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.h",
"../../examples/SharedMemory/physx/PhysXUrdfImporter.h",
"../../examples/SharedMemory/physx/URDF2PhysX.h",
"../../examples/SharedMemory/physx/PhysXUserData.h",
}
end
premake pybullet, use enable_static_vr_plugin add examples\pybullet\examples\vr_kitchen_setup_vrSyncPython.py (doesn't work well, need C++ sync and some optimizations)
2017-10-25 17:20:34 +00:00
if (_OPTIONS["enable_static_vr_plugin"]) then
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 {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end
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
includedirs {
_OPTIONS["python_include_dir"],
}
libdirs {
_OPTIONS["python_lib_dir"]
}
add initial pybullet module, using the shared memory API (for now, start the example browser in 'physics server', then compile using premake --python option, then run python in the bin folder (so it finds pybullet.so) and run the test.py script in examples/pybullet folder. The robotics shared memory C API is very suitable for this.
2016-04-30 18:18:54 +00:00
if os.is("Linux") then
initX11()
end
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