mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
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.
56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
#ifndef PHYSICS_SERVER_SHARED_MEMORY_H
|
|
#define PHYSICS_SERVER_SHARED_MEMORY_H
|
|
|
|
#include "PhysicsServer.h"
|
|
|
|
class PhysicsServerSharedMemory : public PhysicsServer
|
|
{
|
|
struct PhysicsServerSharedMemoryInternalData* m_data;
|
|
|
|
protected:
|
|
|
|
|
|
void releaseSharedMemory();
|
|
|
|
|
|
public:
|
|
PhysicsServerSharedMemory(class SharedMemoryInterface* sharedMem=0);
|
|
virtual ~PhysicsServerSharedMemory();
|
|
|
|
virtual void setSharedMemoryKey(int key);
|
|
|
|
//todo: implement option to allocated shared memory from client
|
|
virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper);
|
|
|
|
virtual void disconnectSharedMemory (bool deInitializeSharedMemory);
|
|
|
|
virtual void processClientCommands();
|
|
|
|
virtual void stepSimulationRealTime(double dtInSec);
|
|
|
|
//bool supportsJointMotor(class btMultiBody* body, int linkIndex);
|
|
|
|
//@todo(erwincoumans) Should we have shared memory commands for picking objects?
|
|
///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
|
|
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
|
|
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
|
|
virtual void removePickingConstraint();
|
|
|
|
//for physicsDebugDraw and renderScene are mainly for debugging purposes
|
|
//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
|
|
//to a physics client, over shared memory
|
|
void physicsDebugDraw(int debugDrawFlags);
|
|
void renderScene();
|
|
|
|
void enableCommandLogging(bool enable, const char* fileName);
|
|
void replayFromLogFile(const char* fileName);
|
|
|
|
void resetDynamicsWorld();
|
|
|
|
};
|
|
|
|
|
|
#endif //PHYSICS_SERVER_EXAMPLESHARED_MEMORY_H
|
|
|
|
|