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

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PyBullet: add 2d biped example.,
This commit is contained in:
erwincoumans
2018-07-01 14:42:32 -07:00
parent 49b0ec08e1
commit 0d8564db22
17 changed files with 5007 additions and 1 deletions
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32
examples/pybullet/pybullet.c
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@@ -5,6 +5,14 @@
#include "../SharedMemory/PhysicsClientUDP_C_API.h"
#endif //BT_ENABLE_ENET
#ifdef BT_ENABLE_DART
#include "../SharedMemory/dart/DARTPhysicsC_API.h"
#endif
#ifdef BT_ENABLE_MUJOCO
#include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h"
#endif
#ifdef BT_ENABLE_CLSOCKET
#include "../SharedMemory/PhysicsClientTCP_C_API.h"
#endif //BT_ENABLE_CLSOCKET
@@ -407,6 +415,22 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
sm = b3ConnectPhysicsDirect();
break;
}
#ifdef BT_ENABLE_DART
case eCONNECT_DART:
{
sm = b3ConnectPhysicsDART();
break;
}
#endif
#ifdef BT_ENABLE_MUJOCO
case eCONNECT_MUJOCO:
{
sm = b3ConnectPhysicsMuJoCo();
break;
}
#endif
case eCONNECT_SHARED_MEMORY:
{
sm = b3ConnectSharedMemory(key);
@@ -9549,6 +9573,14 @@ initpybullet(void)
PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER); // user read
PyModule_AddIntConstant(m, "GUI_MAIN_THREAD", eCONNECT_GUI_MAIN_THREAD); // user read
PyModule_AddIntConstant(m, "SHARED_MEMORY_SERVER", eCONNECT_SHARED_MEMORY_SERVER); // user read
#ifdef BT_ENABLE_DART
PyModule_AddIntConstant(m, "DART", eCONNECT_DART); // user read
#endif
#ifdef BT_ENABLE_MUJOCO
PyModule_AddIntConstant(m, "MuJoCo", eCONNECT_MUJOCO); // user read
#endif
PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY", SHARED_MEMORY_KEY);
PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY2", SHARED_MEMORY_KEY+1);