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.
100 lines
2.6 KiB
C++
100 lines
2.6 KiB
C++
#include "b3ResourcePath.h"
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#include "Bullet3Common/b3Logging.h"
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#ifdef __APPLE__
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#include <mach-o/dyld.h> /* _NSGetExecutablePath */
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#else
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#ifdef _WIN32
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#include <windows.h>
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#else
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//not Mac, not Windows, let's cross the fingers it is Linux :-)
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#include <unistd.h>
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#endif
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#endif
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#include "Bullet3Common/b3FileUtils.h"
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#define B3_MAX_EXE_PATH_LEN 4096
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int b3ResourcePath::getExePath(char* path, int maxPathLenInBytes)
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{
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int numBytes = 0;
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#if __APPLE__
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uint32_t bufsize = uint32_t(maxPathLenInBytes);
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if (_NSGetExecutablePath(path, &bufsize)!=0)
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{
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b3Warning("Cannot find executable path\n");
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return false;
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} else
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{
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numBytes = strlen(path);
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}
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#else
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#ifdef _WIN32
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//https://msdn.microsoft.com/en-us/library/windows/desktop/ms683197(v=vs.85).aspx
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HMODULE hModule = GetModuleHandle(NULL);
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numBytes = GetModuleFileNameA(hModule, path, maxPathLenInBytes);
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#else
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///http://stackoverflow.com/questions/933850/how-to-find-the-location-of-the-executable-in-c
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numBytes = (int)readlink("/proc/self/exe", path, maxPathLenInBytes-1);
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if (numBytes > 0)
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{
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path[numBytes] = 0;
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} else
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{
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b3Warning("Cannot find executable path\n");
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}
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#endif //_WIN32
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#endif //__APPLE__
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return numBytes;
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}
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int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePath, int resourcePathMaxNumBytes)
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{
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//first find in a resource/<exeName> location, then in various folders within 'data' using b3FileUtils
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char exePath[B3_MAX_EXE_PATH_LEN];
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int l = b3ResourcePath::getExePath(exePath, B3_MAX_EXE_PATH_LEN);
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if (l)
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{
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char pathToExe[B3_MAX_EXE_PATH_LEN];
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int exeNamePos = b3FileUtils::extractPath(exePath,pathToExe,B3_MAX_EXE_PATH_LEN);
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if (exeNamePos)
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{
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sprintf(resourcePath,"%s../data/%s",pathToExe,resourceName);
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//printf("try resource at %s\n", resourcePath);
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if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
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{
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return strlen(resourcePath);
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}
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sprintf(resourcePath,"%s../resources/%s/%s",pathToExe,&exePath[exeNamePos],resourceName);
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//printf("try resource at %s\n", resourcePath);
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if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
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{
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return strlen(resourcePath);
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}
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sprintf(resourcePath,"%s.runfiles/google3/third_party/bullet/data/%s",exePath,resourceName);
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//printf("try resource at %s\n", resourcePath);
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if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
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{
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return strlen(resourcePath);
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}
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}
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}
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bool res = b3FileUtils::findFile(resourceName, resourcePath, resourcePathMaxNumBytes);
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if (res)
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{
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return strlen(resourcePath);
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}
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return 0;
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}
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