mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 13:20:07 +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])
129 lines
3.9 KiB
Lua
129 lines
3.9 KiB
Lua
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project ("App_PhysicsServerSharedMemoryBridgeGRPC")
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language "C++"
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kind "ConsoleApp"
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includedirs {"../../../src",".."}
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initGRPC()
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links {
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"BulletFileLoader",
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"Bullet3Common",
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"LinearMath"
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}
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files {
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"main.cpp",
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"../PhysicsClient.cpp",
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"../PhysicsClient.h",
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"../PhysicsDirect.cpp",
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"../PhysicsDirect.h",
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"../PhysicsCommandProcessorInterface.h",
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"../SharedMemoryCommandProcessor.cpp",
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"../SharedMemoryCommandProcessor.h",
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"../PhysicsClientC_API.cpp",
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"../PhysicsClientC_API.h",
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"../Win32SharedMemory.cpp",
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"../Win32SharedMemory.h",
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"../PosixSharedMemory.cpp",
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"../PosixSharedMemory.h",
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"../../Utils/b3ResourcePath.cpp",
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"../../Utils/b3ResourcePath.h",
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"../../Utils/b3Clock.cpp",
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"../../Utils/b3Clock.h",
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}
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project "App_PhysicsServerGRPC"
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if _OPTIONS["ios"] then
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kind "WindowedApp"
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else
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kind "ConsoleApp"
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end
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defines { "NO_SHARED_MEMORY" }
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includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/clsocket/src"}
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links {
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"clsocket","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletSoftBody", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
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}
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initGRPC()
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language "C++"
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myfiles =
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{
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"../IKTrajectoryHelper.cpp",
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"../IKTrajectoryHelper.h",
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"../SharedMemoryCommands.h",
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"../SharedMemoryPublic.h",
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"../PhysicsServerCommandProcessor.cpp",
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"../PhysicsServerCommandProcessor.h",
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"../b3PluginManager.cpp",
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"../PhysicsDirect.cpp",
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"../PhysicsClientC_API.cpp",
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"../PhysicsClient.cpp",
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"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
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"../plugins/pdControlPlugin/pdControlPlugin.cpp",
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"../plugins/pdControlPlugin/pdControlPlugin.h",
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"../b3RobotSimulatorClientAPI_NoDirect.cpp",
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"../b3RobotSimulatorClientAPI_NoDirect.h",
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"../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
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"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
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"../../TinyRenderer/geometry.cpp",
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"../../TinyRenderer/model.cpp",
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"../../TinyRenderer/tgaimage.cpp",
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"../../TinyRenderer/our_gl.cpp",
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"../../TinyRenderer/TinyRenderer.cpp",
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"../../OpenGLWindow/SimpleCamera.cpp",
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"../../OpenGLWindow/SimpleCamera.h",
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"../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
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"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
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"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
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"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
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"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
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"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
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"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
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"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
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"../../Importers/ImportURDFDemo/UrdfParser.cpp",
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"../../Importers/ImportURDFDemo/urdfStringSplit.cpp",
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"../../Importers/ImportURDFDemo/UrdfParser.cpp",
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"../../Importers/ImportURDFDemo/UrdfParser.h",
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"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
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"../../Importers/ImportURDFDemo/URDF2Bullet.h",
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"../../Utils/b3ResourcePath.cpp",
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"../../Utils/b3Clock.cpp",
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"../../Utils/ChromeTraceUtil.cpp",
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"../../Utils/ChromeTraceUtil.h",
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"../../Utils/RobotLoggingUtil.cpp",
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"../../Utils/RobotLoggingUtil.h",
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"../../../Extras/Serialize/BulletWorldImporter/*",
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"../../../Extras/Serialize/BulletFileLoader/*",
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"../../Importers/ImportURDFDemo/URDFImporterInterface.h",
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"../../Importers/ImportURDFDemo/URDFJointTypes.h",
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"../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
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"../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
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"../../Importers/ImportSTLDemo/ImportSTLSetup.h",
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"../../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
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"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
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"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
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"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
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"../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
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"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
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"../../ThirdPartyLibs/stb_image/stb_image.cpp",
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}
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files {
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myfiles,
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"main.cpp",
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}
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