Merge pull request #966 from erwincoumans/master

add tiny clsocket cross-platform TCP library, update pybullet PDF doc
2017-02-20 21:17:22 -08:00
parent bdcd474777 5c74b0a199
commit 07bd911c36
34 changed files with 5004 additions and 18 deletions
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -4,6 +4,7 @@ INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/examples
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
 		${PYTHON_INCLUDE_DIRS}
  )
 IF(BUILD_PYBULLET_NUMPY)
@@ -79,6 +80,9 @@ SET(pybullet_SRCS
 		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
 		
 )
+IF(BUILD_PYBULLET_CLSOCKET)
+ ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ENDIF(BUILD_PYBULLET_CLSOCKET)

 IF(WIN32)
 	LINK_LIBRARIES(
@@ -87,15 +91,27 @@ IF(WIN32)
 	IF(BUILD_PYBULLET_ENET)
 		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
 	ENDIF(BUILD_PYBULLET_ENET)
+	IF(BUILD_PYBULLET_CLSOCKET)
+		ADD_DEFINITIONS(-DWIN32)
+	ENDIF(BUILD_PYBULLET_CLSOCKET)
+
 ELSE(WIN32)
 	IF(BUILD_PYBULLET_ENET)
 		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
 	ENDIF(BUILD_PYBULLET_ENET)
+
+	IF(BUILD_PYBULLET_CLSOCKET)	
+		IF(APPLE)
+			ADD_DEFINITIONS(-D_DARWIN)
+		ELSE()
+			ADD_DEFINITIONS(-D_LINUX)
+		ENDIF()
+	ENDIF(BUILD_PYBULLET_CLSOCKET)
 ENDIF(WIN32)


 IF(BUILD_PYBULLET_ENET)
-	ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS} 
+	set(pybullet_SRCS ${pybullet_SRCS} 
 		../../examples/SharedMemory/PhysicsClientUDP.cpp
 		../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
 		../../examples/SharedMemory/PhysicsClientUDP.h		
@@ -110,10 +126,22 @@ IF(BUILD_PYBULLET_ENET)
 		../../examples/ThirdPartyLibs/enet/peer.c
 		../../examples/ThirdPartyLibs/enet/protocol.c
 	)
-ELSE(BUILD_PYBULLET_ENET)
-	ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
 ENDIF(BUILD_PYBULLET_ENET)

+IF(BUILD_PYBULLET_CLSOCKET)
+	set(pybullet_SRCS ${pybullet_SRCS}
+		 ../../examples/SharedMemory/PhysicsClientTCP.cpp
+                 ../../examples/SharedMemory/PhysicsClientTCP.h
+                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
+                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
+		 ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
+		 ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
+		 ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
+	)
+ENDIF()
+
+ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
+
 SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "")
 SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "")

@@ -123,7 +151,7 @@ SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")


 IF(WIN32)
-	IF(BUILD_PYBULLET_ENET)
+	IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
 		TARGET_LINK_LIBRARIES(pybullet ws2_32 )
 	ENDIF(BUILD_PYBULLET_ENET)

--- a/examples/pybullet/premake4.lua
+++ b/examples/pybullet/premake4.lua
@@ -59,6 +59,32 @@ if not _OPTIONS["no-enet"] then
 		defines {"BT_ENABLE_ENET"}
 	end

+	if not _OPTIONS["no-clsocket"] then
+
+                includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+
+		 if os.is("Windows") then
+                	defines { "WIN32" }
+                	links {"Ws2_32","Winmm"}
+       		 end
+        	if os.is("Linux") then
+                	defines {"_LINUX"}
+        	end
+        	if os.is("MacOSX") then
+                	defines {"_DARWIN"}
+        	end
+
+                links {"clsocket"}
+
+                files {
+                        "../../examples/SharedMemory/PhysicsClientTCP.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP.h",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
+                }
+                defines {"BT_ENABLE_CLSOCKET"}
+        end
+

 		files {
 			"pybullet.c",
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5,6 +5,10 @@
 #include "../SharedMemory/PhysicsClientUDP_C_API.h"
 #endif //BT_ENABLE_ENET

+#ifdef BT_ENABLE_CLSOCKET
+#include "../SharedMemory/PhysicsClientTCP_C_API.h"
+#endif //BT_ENABLE_CLSOCKET
+
 #ifdef __APPLE__
 #include <Python/Python.h>
 #else
@@ -25,6 +29,7 @@ enum eCONNECT_METHOD {
  eCONNECT_DIRECT = 2,
  eCONNECT_SHARED_MEMORY = 3,
  eCONNECT_UDP = 4,
+  eCONNECT_TCP = 5,
 };

 static PyObject* SpamError;
@@ -227,7 +232,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
  {
   
 	int key = SHARED_MEMORY_KEY;
-	int port = 1234;
+	int udpPort = 1234;
+    int tcpPort = 6667;
+      
 	const char* hostName = "localhost";

 	int size = PySequence_Size(args);
@@ -236,7 +243,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 		if (!PyArg_ParseTuple(args, "i", &method)) {
 			PyErr_SetString(SpamError,
 				"connectPhysicsServer expected argument  GUI, "
-				"DIRECT, SHARED_MEMORY or UDP");
+				"DIRECT, SHARED_MEMORY, UDP or TCP");
 			return NULL;
 		}
 	}
@@ -250,7 +257,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 			if (sPhysicsClientsGUI[i] ==eCONNECT_GUI)
 			{
 				PyErr_SetString(SpamError,
-					"Only one local in-process GUI connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY or UDP instead.");
+					"Only one local in-process GUI connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY, UDP or TCP instead.");
 				return NULL;
 			}
 		}
@@ -275,12 +282,18 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P

 	if (size == 3)
 	{
+        int port = -1;
 		if (!PyArg_ParseTuple(args, "isi", &method, &hostName, &port))
 		{
 			PyErr_SetString(SpamError,
 				"connectPhysicsServer 3 arguments: method, hostname, port");
 			return NULL;
 		}
+        if (port>=0)
+        {
+            udpPort = port;
+            tcpPort = port;
+        }
 	}


@@ -308,7 +321,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 	{
 #ifdef BT_ENABLE_ENET

-		  sm = b3ConnectPhysicsUDP(hostName, port);
+		  sm = b3ConnectPhysicsUDP(hostName, udpPort);
 #else
 		PyErr_SetString(SpamError, "UDP is not enabled in this pybullet build");
 		return NULL;
@@ -316,6 +329,20 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P

 		  break;
 	}
+        case eCONNECT_TCP:
+        {
+#ifdef BT_ENABLE_CLSOCKET
+            
+            sm = b3ConnectPhysicsTCP(hostName, tcpPort);
+#else
+            PyErr_SetString(SpamError, "TCP is not enabled in this pybullet build");
+            return NULL;
+#endif //BT_ENABLE_CLSOCKET
+            
+            break;
+        }
+            
+            

      default: {
        PyErr_SetString(SpamError, "connectPhysicsServer unexpected argument");
@@ -5126,6 +5153,7 @@ initpybullet(void)
  PyModule_AddIntConstant(m, "DIRECT", eCONNECT_DIRECT);  // user read
  PyModule_AddIntConstant(m, "GUI", eCONNECT_GUI);        // user read
  PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP);        // user read
+  PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP);        // user read

  PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType);        // user read
  PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType);        // user read