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Merge pull request #1790 from BlGene/egl-plugin

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OpenGL render plugin
This commit is contained in:
erwincoumans
2018-09-09 09:27:15 -07:00
committed by GitHub
parent 377a89c09c 425ecbd3e6
commit 233a7083d1
43 changed files with 12915 additions and 9879 deletions
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104
setup.py
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@@ -2,12 +2,32 @@
from setuptools import find_packages
from sys import platform as _platform
import sys
import glob
from glob import glob
from distutils.core import setup
from distutils.extension import Extension
from distutils.util import get_platform
from glob import glob
# monkey-patch for parallel compilation
import multiprocessing
import multiprocessing.pool
def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=None, debug=0, extra_preargs=None, extra_postargs=None, depends=None):
# those lines are copied from distutils.ccompiler.CCompiler directly
macros, objects, extra_postargs, pp_opts, build = self._setup_compile(output_dir, macros, include_dirs, sources, depends, extra_postargs)
cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
# parallel code
N = 2*multiprocessing.cpu_count()# number of parallel compilations
def _single_compile(obj):
try: src, ext = build[obj]
except KeyError: return
self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
# convert to list, imap is evaluated on-demand
list(multiprocessing.pool.ThreadPool(N).imap(_single_compile,objects))
return objects
import distutils.ccompiler
distutils.ccompiler.CCompiler.compile=parallelCCompile
#see http://stackoverflow.com/a/8719066/295157
import os
@@ -22,7 +42,7 @@ CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
CXX_FLAGS += '-DBT_ENABLE_ENET '
CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
CXX_FLAGS += '-DBT_USE_EGL ' # uncomment for EGL (old EGL versions fail)
# libraries += [current_python]
@@ -386,28 +406,35 @@ sources = ["examples/pybullet/pybullet.c"]\
+["examples/ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.cpp"]\
if _platform == "linux" or _platform == "linux2":
libraries = ['dl','pthread']
libraries += ['dl','pthread']
CXX_FLAGS += '-D_LINUX '
CXX_FLAGS += '-DGLEW_STATIC '
CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '
CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-fno-inline-functions-called-once'
CXX_FLAGS += '-fno-inline-functions-called-once '
CXX_FLAGS += '-fPIC ' # for plugins
sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/glad.c"]\
+["examples/ThirdPartyLibs/glad/glad_glx.c"]
+["examples/ThirdPartyLibs/glad/gl.c"]\
+["examples/ThirdPartyLibs/glad/glx.c"]
include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
if 'BT_USE_EGL' in CXX_FLAGS:
# linking with bullet's Glew libraries causes segfault
# for some reason.
sources += ['examples/ThirdPartyLibs/glad/egl.c']
sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
elif _platform == "win32":
print("win32!")
libraries = ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
libraries += ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
CXX_FLAGS += '-DWIN32 '
CXX_FLAGS += '-DGLEW_STATIC '
sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
+["examples/OpenGLWindow/Win32Window.cpp"]\
+["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/glad.c"]
+["examples/ThirdPartyLibs/glad/gl.c"]
elif _platform == "darwin":
print("darwin!")
os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
@@ -417,11 +444,11 @@ elif _platform == "darwin":
# CXX_FLAGS += '-framework Cocoa '
sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
+["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/glad.c"]\
+["examples/ThirdPartyLibs/glad/gl.c"]\
+["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
else:
print("bsd!")
libraries = ['GL','GLEW','pthread']
libraries += ['GL','GLEW','pthread']
os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
CXX_FLAGS += '-D_BSD '
CXX_FLAGS += '-I/usr/X11R6/include '
@@ -429,9 +456,10 @@ else:
CXX_FLAGS += '-fno-inline-functions-called-once'
sources = ["examples/ThirdPartyLibs/enet/unix.c"]\
+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/glad.c"]\
+["examples/ThirdPartyLibs/glad/gl.c"]\
+ sources
setup_py_dir = os.path.dirname(os.path.realpath(__file__))
need_files = []
@@ -452,6 +480,56 @@ print("packages")
print(find_packages('examples/pybullet/gym'))
print("-----")
egl_renderer_sources = \
["examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp"]\
+["examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp"]\
+["examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp"]\
+["examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp"]\
+["examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp"]\
+["examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp"]\
+["examples/TinyRenderer/geometry.cpp"]\
+["examples/TinyRenderer/model.cpp"]\
+["examples/TinyRenderer/tgaimage.cpp"]\
+["examples/TinyRenderer/our_gl.cpp"]\
+["examples/TinyRenderer/TinyRenderer.cpp"]\
+["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
+["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\
+["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
+["examples/OpenGLWindow/SimpleCamera.cpp"]\
+["examples/Utils/b3Clock.cpp"]\
+["examples/Utils/b3ResourcePath.cpp"]\
+["src/BulletCollision/CollisionShapes/btShapeHull.cpp"]\
+["src/BulletCollision/CollisionShapes/btConvexHullShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btBoxShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btSphereShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btConvexShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btCollisionShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"]\
+["src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp"]\
+["src/Bullet3Common/b3Logging.cpp"]\
+["src/LinearMath/btAlignedAllocator.cpp"]\
+["src/LinearMath/btGeometryUtil.cpp"]\
+["src/LinearMath/btConvexHull.cpp"]\
+["src/LinearMath/btConvexHullComputer.cpp"]\
+["src/Bullet3Common/b3AlignedAllocator.cpp"] \
+["examples/ThirdPartyLibs/glad/gl.c"]\
+['examples/ThirdPartyLibs/glad/egl.c'] \
+["examples/ThirdPartyLibs/glad/glx.c"] \
+["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
+["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
+["examples/OpenGLWindow/GLRenderToTexture.cpp"] \
+["examples/OpenGLWindow/LoadShader.cpp"] \
+["src/LinearMath/btQuickprof.cpp"] \
eglRender = Extension("eglRenderer",
sources = egl_renderer_sources,
libraries = libraries,
extra_compile_args=(CXX_FLAGS+'-DBT_USE_EGL -DSTB_AGAIN -DB3_DEBUG').split(),
include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
)
setup(
name = 'pybullet',
version='2.1.4',
@@ -463,7 +541,7 @@ setup(
license='zlib',
platforms='any',
keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl'],
ext_modules = [Extension("pybullet",
ext_modules = [eglRender, Extension("pybullet",
sources = sources,
libraries = libraries,
extra_compile_args=CXX_FLAGS.split(),