PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty.

PyBullet: add 2d biped example.,

examples/SharedMemory/mujoco/MuJoCoPhysicsC_API.cpp

@@ -0,0 +1,15 @@
+#ifdef BT_ENABLE_MUJOCO
+#include "MuJoCoPhysicsC_API.h"
+#include "MuJoCoPhysicsServerCommandProcessor.h"
+#include "MuJoCoPhysicsClient.h"
+
+B3_SHARED_API	b3PhysicsClientHandle b3ConnectPhysicsMuJoCo()
+{
+	MuJoCoPhysicsServerCommandProcessor* sdk = new MuJoCoPhysicsServerCommandProcessor;
+
+	MuJoCoPhysicsClient* direct = new MuJoCoPhysicsClient(sdk,true);
+	bool connected;
+	connected = direct->connect();
+	return (b3PhysicsClientHandle  )direct;
+}
+#endif//BT_ENABLE_MUJOCO

examples/SharedMemory/mujoco/MuJoCoPhysicsC_API.h

@@ -0,0 +1,20 @@
+#ifndef MUJOCO_PHYSICS_C_API_H
+#define MUJOCO_PHYSICS_C_API_H
+
+#ifdef BT_ENABLE_MUJOCO
+
+#include "../PhysicsClientC_API.h"
+
+#ifdef __cplusplus
+extern "C" { 
+#endif
+
+//think more about naming. The b3ConnectPhysicsLoopback
+B3_SHARED_API	b3PhysicsClientHandle b3ConnectPhysicsMuJoCo();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //BT_ENABLE_MUJOCO
+#endif //MUJOCO_PHYSICS_C_API_H

examples/SharedMemory/mujoco/MuJoCoPhysicsClient.h

@@ -0,0 +1,123 @@
+#ifndef MUJOCO_PHYSICS_CLIENT_H
+#define MUJOCO_PHYSICS_CLIENT_H
+
+#include "../PhysicsClient.h"
+
+///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
+class MuJoCoPhysicsClient : public PhysicsClient 
+{
+protected:
+
+	struct MuJoCoPhysicsDirectInternalData* m_data;
+
+	bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
+
+	bool processCamera(const struct SharedMemoryCommand& orgCommand);
+
+    bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
+
+	bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand);
+
+	bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
+	
+    void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
+
+	void processAddUserData(const struct SharedMemoryStatus& serverCmd);
+
+	void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
+
+	void resetData();
+
+	void removeCachedBody(int bodyUniqueId);
+
+public:
+
+	MuJoCoPhysicsClient(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
+    
+    virtual ~MuJoCoPhysicsClient();
+
+	// return true if connection succesfull, can also check 'isConnected'
+	//it is OK to pass a null pointer for the gui helper
+    virtual bool connect();
+	
+	////todo: rename to 'disconnect'
+    virtual void disconnectSharedMemory();
+
+    virtual bool isConnected() const;
+
+    // return non-null if there is a status, nullptr otherwise
+    virtual const  SharedMemoryStatus* processServerStatus();
+
+    virtual  SharedMemoryCommand* getAvailableSharedMemoryCommand();
+
+    virtual bool canSubmitCommand() const;
+
+    virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
+
+	virtual int getNumBodies() const;
+
+	virtual int getBodyUniqueId(int serialIndex) const;
+
+	virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
+
+    virtual int getNumJoints(int bodyIndex) const;
+
+    virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
+
+    virtual int getNumUserConstraints() const;
+    
+    virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
+	
+	virtual int getUserConstraintId(int serialIndex) const;
+    
+	///todo: move this out of the
+    virtual void setSharedMemoryKey(int key);
+
+    void uploadBulletFileToSharedMemory(const char* data, int len);
+    
+	virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
+
+    virtual int getNumDebugLines() const;
+
+    virtual const float* getDebugLinesFrom() const;
+    virtual const float* getDebugLinesTo() const;
+    virtual const float* getDebugLinesColor() const;
+
+	virtual void getCachedCameraImage(b3CameraImageData* cameraData);
+
+    virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
+
+	virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
+
+	virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
+	
+	virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
+
+	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
+
+	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
+
+	virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
+
+	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
+
+	virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
+
+	//the following APIs are for internal use for visualization:
+	virtual bool connect(struct GUIHelperInterface* guiHelper);
+	virtual void renderScene();
+	virtual void debugDraw(int debugDrawMode);
+
+	virtual void setTimeOut(double timeOutInSeconds);
+	virtual double getTimeOut() const;
+
+    virtual bool getCachedUserData(int bodyUniqueId, int linkIndex, int userDataId, struct b3UserDataValue &valueOut) const;
+    virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const;
+    virtual int getNumUserData(int bodyUniqueId, int linkIndex) const;
+    virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const;
+	
+	virtual void pushProfileTiming(const char* timingName);
+	virtual void popProfileTiming();
+};
+
+#endif //MUJOCO_PHYSICS_CLIENT_H

examples/SharedMemory/mujoco/MuJoCoPhysicsServerCommandProcessor.h

@@ -0,0 +1,45 @@
+#ifndef MUJOCO_PHYSICS_SERVER_COMMAND_PROCESSOR_H
+#define MUJOCO_PHYSICS_SERVER_COMMAND_PROCESSOR_H
+
+#include "../PhysicsCommandProcessorInterface.h"
+
+class MuJoCoPhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
+{
+
+	struct MuJoCoPhysicsServerCommandProcessorInternalData* m_data;
+
+	bool processSyncBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processSyncUserDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processLoadMJCFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processResetSimulationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+	void resetSimulation();
+
+public:
+	MuJoCoPhysicsServerCommandProcessor();
+	
+	virtual ~MuJoCoPhysicsServerCommandProcessor();
+
+	virtual bool connect();
+
+	virtual void disconnect();
+
+	virtual bool isConnected() const;
+
+	virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+	virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+	virtual void renderScene(int renderFlags){}
+	virtual void   physicsDebugDraw(int debugDrawFlags){}
+	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper){}
+	virtual void setTimeOut(double timeOutInSeconds){}
+
+};
+
+#endif //MUJOCO_PHYSICS_COMMAND_PROCESSOR_H