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https://github.com/bulletphysics/bullet3
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Merge pull request #2082 from erwincoumans/master
PyBullet, fix setup/pip not finding standard libraries, tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture
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@ -27,7 +27,7 @@ project "App_BulletExampleBrowser"
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initOpenCL("clew")
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end
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links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","rbdl_static","LinearMath","BussIK", "Bullet3Common"}
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links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
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initOpenGL()
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initGlew()
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@ -137,13 +137,8 @@ project "App_BulletExampleBrowser"
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"../SharedMemory/plugins/stablePDPlugin/Shape.cpp",
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"../SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp",
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"../SharedMemory/plugins/stablePDPlugin/RBDModel.cpp",
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"../SharedMemory/plugins/stablePDPlugin/Rand.cpp",
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"../SharedMemory/plugins/stablePDPlugin/MathUtil.cpp",
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"../SharedMemory/plugins/stablePDPlugin/KinTree.cpp",
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"../SharedMemory/plugins/stablePDPlugin/FileUtil.cpp",
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"../SharedMemory/plugins/stablePDPlugin/json/json_writer.cpp",
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"../SharedMemory/plugins/stablePDPlugin/json/json_value.cpp",
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"../SharedMemory/plugins/stablePDPlugin/json/json_reader.cpp",
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"../SharedMemory/SharedMemoryCommands.h",
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"../SharedMemory/SharedMemoryPublic.h",
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"../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
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@ -2,7 +2,11 @@ import pybullet as p
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import json
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import time
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p.connect(p.GUI)
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useGUI = True
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if useGUI:
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p.connect(p.GUI)
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else:
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p.connect(p.DIRECT)
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useZUp = False
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useYUp = not useZUp
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@ -198,15 +202,19 @@ p.getCameraImage(320,200)
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while (p.isConnected()):
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erp = p.readUserDebugParameter(erpId)
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kpMotor = p.readUserDebugParameter(kpMotorId)
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maxForce=p.readUserDebugParameter(forceMotorId)
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if useGUI:
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erp = p.readUserDebugParameter(erpId)
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kpMotor = p.readUserDebugParameter(kpMotorId)
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maxForce=p.readUserDebugParameter(forceMotorId)
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frameReal = p.readUserDebugParameter(frameId)
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else:
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erp = 0.2
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kpMotor = 0.2
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maxForce=1000
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frameReal = 0
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kp=kpMotor
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frameReal = p.readUserDebugParameter(frameId)
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frame = int(frameReal)
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frameNext = frame+1
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if (frameNext >= numFrames):
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13
setup.py
13
setup.py
@ -3,6 +3,8 @@ from setuptools import find_packages
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from sys import platform as _platform
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import sys
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import glob
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import os
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from distutils.core import setup
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from distutils.extension import Extension
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@ -12,6 +14,8 @@ from glob import glob
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# monkey-patch for parallel compilation
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import multiprocessing
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import multiprocessing.pool
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def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=None, debug=0, extra_preargs=None, extra_postargs=None, depends=None):
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# those lines are copied from distutils.ccompiler.CCompiler directly
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macros, objects, extra_postargs, pp_opts, build = self._setup_compile(output_dir, macros, include_dirs, sources, depends, extra_postargs)
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@ -21,7 +25,11 @@ def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=N
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def _single_compile(obj):
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try: src, ext = build[obj]
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except KeyError: return
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self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
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newcc_args = cc_args
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if _platform == "darwin":
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if src.endswith('.cpp'):
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newcc_args = cc_args + ["-stdlib=libc++"]
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self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts)
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# convert to list, imap is evaluated on-demand
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pool = multiprocessing.pool.ThreadPool(N)
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list(pool.imap(_single_compile,objects))
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@ -29,7 +37,6 @@ def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=N
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import distutils.ccompiler
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distutils.ccompiler.CCompiler.compile=parallelCCompile
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#see http://stackoverflow.com/a/8719066/295157
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import os
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@ -381,7 +388,7 @@ elif _platform == "win32":
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+["examples/ThirdPartyLibs/glad/gl.c"]
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elif _platform == "darwin":
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print("darwin!")
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os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
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os.environ['LDFLAGS'] = '-framework Cocoa -stdlib=libc++ -framework OpenGL'
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CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
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CXX_FLAGS += '-DHAS_SOCKLEN_T '
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CXX_FLAGS += '-D_DARWIN '
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