mirror of
https://github.com/bulletphysics/bullet3
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c28cd03fbd
Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
92 lines
2.4 KiB
C++
92 lines
2.4 KiB
C++
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#ifndef COMMON_EXAMPLE_INTERFACE_H
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#define COMMON_EXAMPLE_INTERFACE_H
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struct CommonExampleOptions
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{
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struct GUIHelperInterface* m_guiHelper;
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//Those are optional, some examples will use them others don't. Each example should work with them being 0.
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int m_option;
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const char* m_fileName;
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class SharedMemoryInterface* m_sharedMem;
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CommonExampleOptions(struct GUIHelperInterface* helper, int option=0)
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:m_guiHelper(helper),
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m_option(option),
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m_fileName(0),
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m_sharedMem(0)
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{
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}
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};
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class CommonExampleInterface
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{
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public:
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typedef class CommonExampleInterface* (CreateFunc)(CommonExampleOptions& options);
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virtual ~CommonExampleInterface()
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{
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}
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virtual void initPhysics()=0;
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virtual void exitPhysics()=0;
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virtual void stepSimulation(float deltaTime)=0;
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virtual void renderScene()=0;
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virtual void physicsDebugDraw(int debugFlags)=0;//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h
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//reset camera is only called when switching demo. this way you can restart (initPhysics) and watch in a specific location easier
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virtual void resetCamera(){};
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virtual bool mouseMoveCallback(float x,float y)=0;
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virtual bool mouseButtonCallback(int button, int state, float x, float y)=0;
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virtual bool keyboardCallback(int key, int state)=0;
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virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]) {}
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virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
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};
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class ExampleEntries
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{
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public:
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virtual ~ExampleEntries() {}
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virtual void initExampleEntries()=0;
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virtual void initOpenCLExampleEntries()=0;
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virtual int getNumRegisteredExamples()=0;
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virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
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virtual const char* getExampleName(int index)=0;
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virtual const char* getExampleDescription(int index)=0;
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virtual int getExampleOption(int index)=0;
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};
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CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options);
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#ifdef B3_USE_STANDALONE_EXAMPLE
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#define B3_STANDALONE_EXAMPLE(ExampleFunc) CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options)\
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{\
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return ExampleFunc(options);\
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}
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#else//B3_USE_STANDALONE_EXAMPLE
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#define B3_STANDALONE_EXAMPLE(ExampleFunc)
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#endif //B3_USE_STANDALONE_EXAMPLE
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#endif //COMMON_EXAMPLE_INTERFACE_H
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