add initial pybullet module, using the shared memory API

(for now, start the example browser in 'physics server',
then compile using premake --python option,
then run python in the bin folder (so it finds pybullet.so)
and run the test.py script in examples/pybullet folder.
The robotics shared memory C API is very suitable for this.

build3/premake4.lua

@@ -73,6 +73,14 @@
 		description = "Enable Lua scipting support in Example Browser"
 	}
 
+	newoption
+        {
+                trigger = "python",
+                description = "Enable Python scripting (experimental, use Physics Server in Example Browser). "
+        }
+
+
+
 	newoption {
 		trigger     = "targetdir",
 		value       = "path such as ../bin",
@@ -192,6 +200,9 @@
 		if _OPTIONS["lua"] then
 		   include "../examples/ThirdPartyLibs/lua-5.2.3"
 		end
+		if _OPTIONS["python"] then
+		  include "../examples/pybullet"
+		end
 
 		if not _OPTIONS["no-test"] then
 			include "../test/SharedMemory"

examples/TinyRenderer/main.cpp

@@ -82,8 +82,11 @@ int main(int argc, char* argv[])
   
     int textureWidth = gWidth;
     int textureHeight = gHeight;
-    
+   TGAImage rgbColorBuffer(gWidth,gHeight,TGAImage::RGB);
-	TinyRenderObjectData renderData(textureWidth, textureHeight);//, "african_head/african_head.obj");//floor.obj");
+        b3AlignedObjectArray<float> depthBuffer;
+	depthBuffer.resize(gWidth*gHeight);
+ 
+	TinyRenderObjectData renderData(textureWidth, textureHeight,rgbColorBuffer,depthBuffer);//, "african_head/african_head.obj");//floor.obj");
 	
 	//renderData.loadModel("african_head/african_head.obj");
 	//renderData.loadModel("floor.obj");

examples/pybullet/premake4.lua

@@ -0,0 +1,48 @@
+		
+
+project ("pybullet")
+
+		language "C++"
+		kind "SharedLib"
+		targetsuffix ("")
+		targetprefix ("")
+		targetextension (".so")
+		includedirs {"../../src", "../../examples",
+		"../../examples/ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
+	initOpenGL()
+	initGlew()
+
+  	includedirs {
+                ".",
+                "../../src",
+                "../ThirdPartyLibs",
+                }
+
+
+	if os.is("MacOSX") then
+		links{"Cocoa.framework","Python"}
+	end
+
+		if (hasCL) then
+			links {
+				"Bullet3OpenCL_clew",
+				"Bullet3Dynamics",
+				"Bullet3Collision",
+				"Bullet3Geometry",
+				"Bullet3Common",
+			}
+		end
+
+		files {
+			"pybullet.c",
+			"../../examples/ExampleBrowser/ExampleEntries.cpp",
+			}
+	if os.is("Linux") then
+       		initX11()
+	end
+
+	

examples/pybullet/pybullet.c

@@ -0,0 +1,114 @@
+#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
+#include "../SharedMemory/PhysicsClientC_API.h"
+
+#ifdef __APPLE__
+#include <Python/Python.h>
+#else
+#include <Python.h>
+#endif
+
+static PyObject *SpamError;
+static  b3PhysicsClientHandle sm;
+
+static PyObject *
+spam_step(PyObject *self, PyObject *args)
+{
+
+        {
+                        b3SharedMemoryStatusHandle statusHandle;
+                        int statusType;
+
+            if (b3CanSubmitCommand(sm))
+            {
+                statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
+                statusType = b3GetStatusType(statusHandle);
+            } 
+        }
+
+return PyLong_FromLong(1);
+}
+
+static PyObject *
+spam_loadURDF(PyObject* self, PyObject* args)
+{
+	int size= PySequence_Size(args);
+	
+	int bodyIndex = -1;
+	const char* urdfFileName=0;
+	float startPosX =0;
+        float startPosY =0;
+        float startPosZ = 1;
+	float startOrnX = 0;
+	float startOrnY = 0;
+	float startOrnZ = 0;
+	float startOwnW = 1;
+	printf("size=%d\n", size);
+	if (size==1)
+	{
+		if (!PyArg_ParseTuple(args, "s", &urdfFileName))
+       	 	return NULL;            
+	}
+	if (size == 4)
+	{
+	  if (!PyArg_ParseTuple(args, "sfff", &urdfFileName,
+		&startPosX,&startPosY,&startPosZ))
+                return NULL;
+        }
+	if (size==7)
+	{
+		if (!PyArg_ParseTuple(args, "sfffffff", &urdfFileName,
+                &startPosX,startPosY,&startPosZ,
+		&startOrnX,&startOrnY,&startOrnZ, &startOwnW))
+                return NULL;
+	}
+	printf("urdf filename = %s\n", urdfFileName);
+	b3SharedMemoryStatusHandle statusHandle;
+            int statusType;
+             b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
+
+            //setting the initial position, orientation and other arguments are optional
+            int ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
+            statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+                        statusType = b3GetStatusType(statusHandle);
+                        if (statusType!=CMD_URDF_LOADING_COMPLETED)
+			{
+				PyErr_SetString(SpamError, "Cannot load URDF file.");
+				return NULL;				
+			}
+                        bodyIndex = b3GetStatusBodyIndex(statusHandle);
+	return PyLong_FromLong(bodyIndex);
+}
+
+static PyMethodDef SpamMethods[] = {
+    {"step",  spam_step, METH_VARARGS,
+     "Step the simulation forward."},
+{"loadURDF",  spam_loadURDF, METH_VARARGS,
+     "Create a multibody by loading a URDF file."},
+    {NULL, NULL, 0, NULL}        /* Sentinel */
+};
+
+
+PyMODINIT_FUNC
+initpybullet(void)
+{
+
+	b3PhysicsClientHandle h;
+
+    PyObject *m;
+sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
+
+//#ifdef __APPLE__
+//sm = b3CreateInProcessPhysicsServerAndConnectMainThread(0,0);
+//#else
+//sm = b3CreateInProcessPhysicsServerAndConnect(0,0);
+//#endif
+    m = Py_InitModule("pybullet", SpamMethods);
+    if (m == NULL)
+        return;
+
+    SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
+    Py_INCREF(SpamError);
+    PyModule_AddObject(m, "error", SpamError);
+}
+
+

examples/pybullet/test.py

@@ -0,0 +1,7 @@
+import pybullet
+pybullet.loadURDF('r2d2.urdf')
+pybullet.loadURDF('kuka_lwr/kuka.urdf',3,0,0)
+
+for x in range(0, 1000000):
+	pybullet.step()
+