diff --git a/CMakeLists.txt b/CMakeLists.txt index f1d17027b..f0e62d396 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -301,8 +301,25 @@ IF (APPLE) ENDIF() OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON) - -OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF) +# Optional Python configuration +# builds pybullet automatically if all the requirements are met +SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.") +SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 ) +SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS}) +SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH}) +OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF) +IF(EXACT_PYTHON_VERSION) + set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED) +ENDIF(EXACT_PYTHON_VERSION) +# first find the python interpreter +FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG}) +# python library should exactly match that of the interpreter +FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT) +SET(DEFAULT_BUILD_PYBULLET OFF) +IF(PYTHONLIBS_FOUND) + SET(DEFAULT_BUILD_PYBULLET ON) +ENDIF(PYTHONLIBS_FOUND) +OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET}) OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON) OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON) @@ -310,7 +327,7 @@ OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking IF(BUILD_PYBULLET) FIND_PACKAGE(PythonLibs) - + OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF) OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON) OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON) diff --git a/build3/cmake/FindPythonLibs.cmake b/build3/cmake/FindPythonLibs.cmake index a0e9bffbe..aa53c72fc 100644 --- a/build3/cmake/FindPythonLibs.cmake +++ b/build3/cmake/FindPythonLibs.cmake @@ -64,7 +64,7 @@ if(EXISTS "${PYTHON_INCLUDE_DIR}" AND EXISTS "${PYTHON_LIBRARY}") else() set(_PYTHON1_VERSIONS 1.6 1.5) set(_PYTHON2_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0) - set(_PYTHON3_VERSIONS 3.4 3.3 3.2 3.1 3.0) + set(_PYTHON3_VERSIONS 3.6 3.5 3.4 3.3 3.2 3.1 3.0) unset(_PYTHON_FIND_OTHER_VERSIONS) if(PythonLibs_FIND_VERSION) @@ -124,7 +124,7 @@ else() STRING(REGEX REPLACE "^([0-9]+).*$" "\\1" _VERSION_MAJOR "${_CURRENT_VERSION}") STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+).*$" "\\1" _VERSION_MINOR "${_CURRENT_VERSION}") - set(_PYTHON_NAMES python) + set(_PYTHON_NAMES ${PYTHON_EXECUTABLE} python) if (_CURRENT_VERSION MATCHES "^[0-9]+.*$") list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}") @@ -172,16 +172,17 @@ else() if(NOT EXISTS "${PYTHON_LIBRARY}") set(_PYTHON_SHORT_VERSION_NO_DOT "${_PYTHON_MAJOR_VERSION}${_PYTHON_MINOR_VERSION}") - set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT}) + set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT} python${_PYTHON_SHORT_VERSION}m python${_PYTHON_SHORT_VERSION_NO_DOT}m) FIND_LIBRARY(PYTHON_LIBRARY NAMES ${_PYTHON_LIBRARY_NAMES} PATH_SUFFIXES - python${_PYTHON_SHORT_VERSION}/config - python${_PYTHON_SHORT_VERSION_NO_DOT}/config + "python${_PYTHON_SHORT_VERSION}/config" + "python${_PYTHON_SHORT_VERSION_NO_DOT}/config" PATHS ${_PYTHON_LIBRARY_DIR} - ${_PYTHON_PREFIX}/lib $ - {_PYTHON_PREFIX}/libs + ${_PYTHON_PREFIX}/lib + ${_PYTHON_PREFIX}/libs + ${_PYTHON_LIBRARY_DIR}/x86_64-linux-gnu/ NO_DEFAULT_PATH) if(WIN32) @@ -254,6 +255,10 @@ set(PYTHON_LIBRARY_DEBUG "${PYTHON_DEBUG_LIBRARY}") set(PYTHON_LIBRARY_RELEASE "${PYTHON_LIBRARY}") include(${CMAKE_CURRENT_LIST_DIR}/SelectLibraryConfigurations.cmake) SELECT_LIBRARY_CONFIGURATIONS(PYTHON) + +if(PYTHON_LIBRARY AND NOT PYTHON_LIBRARIES) + set(PYTHON_LIBRARIES "${PYTHON_LIBRARY}") +endif() # SELECT_LIBRARY_CONFIGURATIONS() sets ${PREFIX}_FOUND if it has a library. # Unset this, this prefix doesn't match the module prefix, they are different # for historical reasons. diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 01d0b5c18..efe7c084e 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -122,6 +122,8 @@ SET(ExtendedTutorialsSources ../ExtendedTutorials/SimpleBox.h ../ExtendedTutorials/MultipleBoxes.cpp ../ExtendedTutorials/MultipleBoxes.h + ../ExtendedTutorials/CompoundBoxes.cpp + ../ExtendedTutorials/CompoundBoxes.h ../ExtendedTutorials/SimpleCloth.cpp ../ExtendedTutorials/SimpleCloth.h ../ExtendedTutorials/SimpleJoint.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 34d123283..24d0a1fd2 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -71,6 +71,7 @@ //Extended Tutorial Includes Added by Mobeen and Benelot #include "../ExtendedTutorials/SimpleBox.h" #include "../ExtendedTutorials/MultipleBoxes.h" +#include "../ExtendedTutorials/CompoundBoxes.h" #include "../ExtendedTutorials/SimpleJoint.h" #include "../ExtendedTutorials/SimpleCloth.h" #include "../ExtendedTutorials/Chain.h" @@ -322,6 +323,7 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(0,"Extended Tutorials"), ExampleEntry(1,"Simple Box", "Simplest possible demo creating a single box rigid body that falls under gravity", ET_SimpleBoxCreateFunc), ExampleEntry(1,"Multiple Boxes", "Add multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc), + ExampleEntry(1,"Compound Boxes", "Add multiple boxes to a single CompoundShape to form a simple rigid L-beam, that falls under gravity", ET_CompoundBoxesCreateFunc), ExampleEntry(1,"Simple Joint", "Create a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc), ExampleEntry(1,"Simple Cloth", "Create a simple piece of cloth", ET_SimpleClothCreateFunc), ExampleEntry(1,"Simple Chain", "Create a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc), diff --git a/examples/ExtendedTutorials/CompoundBoxes.cpp b/examples/ExtendedTutorials/CompoundBoxes.cpp new file mode 100644 index 000000000..3a67fc504 --- /dev/null +++ b/examples/ExtendedTutorials/CompoundBoxes.cpp @@ -0,0 +1,135 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2015 Google Inc. http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + + +#include "CompoundBoxes.h" + +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "../CommonInterfaces/CommonRigidBodyBase.h" + + +struct CompoundBoxesExample : public CommonRigidBodyBase +{ + CompoundBoxesExample(struct GUIHelperInterface* helper) + :CommonRigidBodyBase(helper) + { + } + virtual ~CompoundBoxesExample(){} + virtual void initPhysics(); + virtual void renderScene(); + void resetCamera() + { + float dist = 41; + float pitch = -35; + float yaw = 52; + float targetPos[3]={0,0.46,0}; + m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]); + } +}; + +void CompoundBoxesExample::initPhysics() +{ + m_guiHelper->setUpAxis(1); + + createEmptyDynamicsWorld(); + + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + + if (m_dynamicsWorld->getDebugDrawer()) + m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints); + + ///create a few basic rigid bodies + btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.))); + m_collisionShapes.push_back(groundShape); + + btTransform groundTransform; + groundTransform.setIdentity(); + groundTransform.setOrigin(btVector3(0,-50,0)); + { + btScalar mass(0.); + createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1)); + } + + + { + //create a few dynamic rigidbodies + // Re-using the same collision is better for memory usage and performance + btBoxShape* cube = createBoxShape(btVector3(0.5,0.5,0.5)); + m_collisionShapes.push_back(cube); + + // create a new compound shape for making an L-beam from `cube`s + btCompoundShape* compoundShape = new btCompoundShape(); + + btTransform transform; + + // add cubes in an L-beam fashion to the compound shape + transform.setIdentity(); + transform.setOrigin(btVector3(0, 0, 0)); + compoundShape->addChildShape(transform, cube); + + transform.setIdentity(); + transform.setOrigin(btVector3(0, -1, 0)); + compoundShape->addChildShape(transform, cube); + + transform.setIdentity(); + transform.setOrigin(btVector3(0, 0, 1)); + compoundShape->addChildShape(transform, cube); + + + btScalar masses[3]={1, 1, 1}; + btTransform principal; + btVector3 inertia; + compoundShape->calculatePrincipalAxisTransform(masses, principal, inertia); + + // new compund shape to store + btCompoundShape* compound2 = new btCompoundShape(); + m_collisionShapes.push_back(compound2); +#if 0 + // less efficient way to add the entire compund shape + // to a new compund shape as a child + compound2->addChildShape(principal.inverse(), compoundShape); +#else + // recompute the shift to make sure the compound shape is re-aligned + for (int i=0; i < compoundShape->getNumChildShapes(); i++) + compound2->addChildShape(compoundShape->getChildTransform(i) * principal.inverse(), + compoundShape->getChildShape(i)); +#endif + delete compoundShape; + + transform.setIdentity(); + transform.setOrigin(btVector3(0, 10, 0)); + createRigidBody(1.0, transform, compound2); + } + + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + + +void CompoundBoxesExample::renderScene() +{ + CommonRigidBodyBase::renderScene(); +} + + +CommonExampleInterface* ET_CompoundBoxesCreateFunc(CommonExampleOptions& options) +{ + return new CompoundBoxesExample(options.m_guiHelper); +} + + + diff --git a/examples/ExtendedTutorials/CompoundBoxes.h b/examples/ExtendedTutorials/CompoundBoxes.h new file mode 100644 index 000000000..a453d03e8 --- /dev/null +++ b/examples/ExtendedTutorials/CompoundBoxes.h @@ -0,0 +1,22 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2015 Google Inc. http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef ET_COMPOUND_BOXES_EXAMPLE_H +#define ET_COMPOUND_BOXES_EXAMPLE_H + +class CommonExampleInterface* ET_CompoundBoxesCreateFunc(struct CommonExampleOptions& options); + + +#endif //ET_COMPOUND_BOXES_EXAMPLE_H diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h index 174205c7f..bffb2ce27 100644 --- a/src/LinearMath/btScalar.h +++ b/src/LinearMath/btScalar.h @@ -374,8 +374,8 @@ inline int btGetVersion() float mask; int intmask; }; - btInfMaskConverter(int mask = 0x7F800000) - : intmask(mask) + btInfMaskConverter(int _mask = 0x7F800000) + : intmask(_mask) { } };