mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
0efc67841d
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])
191 lines
7.1 KiB
Lua
191 lines
7.1 KiB
Lua
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project ("pybullet")
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language "C++"
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kind "SharedLib"
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if _OPTIONS["enable_grpc"] then
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initGRPC()
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files {
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"../../examples/SharedMemory/PhysicsClientGRPC.cpp",
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"../../examples/SharedMemory/PhysicsClientGRPC.h",
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"../../examples/SharedMemory/PhysicsClientGRPC_C_API.cpp",
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"../../examples/SharedMemory/PhysicsClientGRPC_C_API.h",
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}
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end
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includedirs {"../../src", "../../examples",
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"../../examples/ThirdPartyLibs"}
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defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
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hasCL = findOpenCL("clew")
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links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
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initOpenGL()
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initGlew()
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includedirs {
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".",
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"../../src",
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"../ThirdPartyLibs",
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}
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if os.is("MacOSX") then
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-- targetextension {"so"}
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links{"Cocoa.framework","Python"}
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end
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if (hasCL) then
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links {
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"Bullet3OpenCL_clew",
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"Bullet3Dynamics",
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"Bullet3Collision",
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"Bullet3Geometry",
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"Bullet3Common",
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}
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end
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if not _OPTIONS["no-enet"] then
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includedirs {"../../examples/ThirdPartyLibs/enet/include"}
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if os.is("Windows") then
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-- targetextension {"dylib"}
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defines { "WIN32" }
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links {"Ws2_32","Winmm"}
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end
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if os.is("Linux") then
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end
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if os.is("MacOSX") then
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end
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links {"enet"}
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files {
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"../../examples/SharedMemory/PhysicsClientUDP.cpp",
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"../../examples/SharedMemory/PhysicsClientUDP.h",
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"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
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"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
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}
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defines {"BT_ENABLE_ENET"}
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end
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if not _OPTIONS["no-clsocket"] then
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includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
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if os.is("Windows") then
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defines { "WIN32" }
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links {"Ws2_32","Winmm"}
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end
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if os.is("Linux") then
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defines {"_LINUX"}
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end
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if os.is("MacOSX") then
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defines {"_DARWIN"}
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end
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links {"clsocket"}
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files {
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"../../examples/SharedMemory/PhysicsClientTCP.cpp",
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"../../examples/SharedMemory/PhysicsClientTCP.h",
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"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
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"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
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}
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defines {"BT_ENABLE_CLSOCKET"}
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end
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files {
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"pybullet.c",
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"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
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"../../examples/SharedMemory/IKTrajectoryHelper.h",
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"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
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"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
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"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h",
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"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
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"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h",
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"../../examples/OpenGLWindow/SimpleCamera.cpp",
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"../../examples/OpenGLWindow/SimpleCamera.h",
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"../../examples/TinyRenderer/geometry.cpp",
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"../../examples/TinyRenderer/model.cpp",
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"../../examples/TinyRenderer/tgaimage.cpp",
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"../../examples/TinyRenderer/our_gl.cpp",
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"../../examples/TinyRenderer/TinyRenderer.cpp",
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"../../examples/SharedMemory/InProcessMemory.cpp",
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"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
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"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
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"../../examples/SharedMemory/PhysicsClient.cpp",
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"../../examples/SharedMemory/PhysicsClient.h",
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"../../examples/SharedMemory/PhysicsServer.cpp",
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"../../examples/SharedMemory/PhysicsServer.h",
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"../../examples/SharedMemory/PhysicsServerExample.cpp",
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"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
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"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
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"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
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"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
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"../../examples/SharedMemory/PhysicsDirect.cpp",
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"../../examples/SharedMemory/PhysicsDirect.h",
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"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
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"../../examples/SharedMemory/PhysicsDirectC_API.h",
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"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
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"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
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"../../examples/SharedMemory/b3PluginManager.cpp",
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"../../examples/SharedMemory/b3PluginManager.h",
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"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
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"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
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"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
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"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
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"../../examples/SharedMemory/PhysicsClientC_API.cpp",
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"../../examples/SharedMemory/PhysicsClientC_API.h",
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"../../examples/SharedMemory/Win32SharedMemory.cpp",
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"../../examples/SharedMemory/Win32SharedMemory.h",
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"../../examples/SharedMemory/PosixSharedMemory.cpp",
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"../../examples/SharedMemory/PosixSharedMemory.h",
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"../../examples/SharedMemory/SharedMemoryCommands.h",
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"../../examples/SharedMemory/SharedMemoryPublic.h",
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"../../examples/Utils/b3ResourcePath.cpp",
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"../../examples/Utils/b3ResourcePath.h",
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"../../examples/Utils/RobotLoggingUtil.cpp",
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"../../examples/Utils/RobotLoggingUtil.h",
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"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
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"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
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"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
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"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
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"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
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"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
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"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
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"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
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"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
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"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
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"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
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"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
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"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
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"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
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"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
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"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
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"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
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"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
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"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
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"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
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}
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if (_OPTIONS["enable_static_vr_plugin"]) then
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files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
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end
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includedirs {
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_OPTIONS["python_include_dir"],
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}
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libdirs {
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_OPTIONS["python_lib_dir"]
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}
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if os.is("Linux") then
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initX11()
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end
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