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