fix setup.py and pybullet to work better with eglPlugin on Linux
This commit is contained in:
Erwin Coumans
@@ -14,25 +14,10 @@
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#include <OpenGL/OpenGL.h>
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#include <OpenGL/gl.h>
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#else
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#ifdef GLEW_STATIC
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#include "glad/gl.h"
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#else
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#ifdef NO_GLEW
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#define GL_GLEXT_LEGACY
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#include "third_party/GL/gl/include/GL/gl.h"
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#include "third_party/GL/gl/include/GL/glext.h"
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#else
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#endif//__APPLE__
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#ifdef BT_NO_GLAD
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#include <GL/glew.h>
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#else
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#include "glad/glad.h"
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#endif
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#endif //NO_GLEW
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#endif //GLEW_STATIC
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#endif//(__APPLE__)
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#endif
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#endif //B3_USE_GLFW
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#include "FontData.h"
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@@ -26,13 +26,20 @@ upAxisIndex = 2
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while (p.isConnected()):
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for yaw in range (0,360,10) :
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start = time.time()
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p.stepSimulation()
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stop = time.time()
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print ("stepSimulation %f" % (stop - start))
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#viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
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viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
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projectionMatrix = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]
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start = time.time()
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img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1,lightDirection=[1,1,1])
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stop = time.time()
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print ("renderImage %f" % (stop - start))
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#time.sleep(.1)
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#print("img_arr=",img_arr)
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@@ -9603,7 +9603,7 @@ initpybullet_egl(void)
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initpybullet_grpc(void)
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#else
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initpybullet(void)
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#endif //BT_USE_EGL
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#endif //BT_USE_EGL2
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#endif //BT_PYBULLET_GRPC
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#endif
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{
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@@ -9611,14 +9611,14 @@ initpybullet(void)
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#if PY_MAJOR_VERSION >= 3
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m = PyModule_Create(&moduledef);
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#else
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#ifdef BT_USE_EGL
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#ifdef BT_USE_EGL2
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m = Py_InitModule3("pybullet_egl", SpamMethods, "Python bindings for Bullet");
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#else
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#ifdef BT_PYBULLET_GRPC
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m = Py_InitModule3("pybullet_grpc", SpamMethods, "Python bindings for Bullet");
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#else
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m = Py_InitModule3("pybullet", SpamMethods, "Python bindings for Bullet");
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#endif //BT_USE_EGL
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#endif //BT_USE_EGL2
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#endif //BT_PYBULLET_GRPC
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#endif
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60
setup.py
60
setup.py
@@ -2,12 +2,12 @@
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from setuptools import find_packages
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from sys import platform as _platform
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import sys
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from glob import glob
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import glob
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from distutils.core import setup
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from distutils.extension import Extension
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from distutils.util import get_platform
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from glob import glob
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# monkey-patch for parallel compilation
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import multiprocessing
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@@ -42,7 +42,10 @@ CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
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CXX_FLAGS += '-DBT_ENABLE_ENET '
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CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
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CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
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CXX_FLAGS += '-DEGL_ADD_PYTHON_INIT '
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CXX_FLAGS += '-DBT_USE_EGL '
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EGL_CXX_FLAGS = ''
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# libraries += [current_python]
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@@ -282,13 +285,13 @@ sources = ["examples/pybullet/pybullet.c"]\
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+["src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBody.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp"]\
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+["src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp"]\
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+["src/BulletDynamics/Vehicle/btRaycastVehicle.cpp"]\
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@@ -448,10 +451,8 @@ egl_renderer_sources = \
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+["examples/OpenGLWindow/LoadShader.cpp"] \
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+["src/LinearMath/btQuickprof.cpp"]
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if _platform == "linux" or _platform == "linux2":
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libraries += ['dl','pthread']
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libraries = ['dl','pthread']
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CXX_FLAGS += '-D_LINUX '
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CXX_FLAGS += '-DGLEW_STATIC '
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CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
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@@ -459,20 +460,19 @@ if _platform == "linux" or _platform == "linux2":
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CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
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CXX_FLAGS += '-DHAS_SOCKLEN_T '
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CXX_FLAGS += '-fno-inline-functions-called-once '
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CXX_FLAGS += '-fPIC ' # for plugins
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CXX_FLAGS += '-DBT_USE_EGL '
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EGL_CXX_FLAGS += '-DBT_USE_EGL '
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EGL_CXX_FLAGS += '-fPIC ' # for plugins
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sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
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+["examples/ThirdPartyLibs/glad/gl.c"]
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+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
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+["examples/ThirdPartyLibs/glad/gl.c"]\
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+["examples/ThirdPartyLibs/glad/glx.c"]
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include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
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sources = sources + ["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
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+ ["examples/ThirdPartyLibs/glad/glx.c"]
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if 'BT_USE_EGL' in CXX_FLAGS:
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# linking with bullet's Glew libraries causes segfault
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# for some reason.
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sources += ['examples/ThirdPartyLibs/glad/egl.c']
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sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
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if 'BT_USE_EGL' in EGL_CXX_FLAGS:
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egl_renderer_sources = egl_renderer_sources\
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+["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
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+['examples/ThirdPartyLibs/glad/egl.c']
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@@ -481,19 +481,16 @@ if _platform == "linux" or _platform == "linux2":
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+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
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+["examples/ThirdPartyLibs/glad/glx.c"]
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elif _platform == "win32":
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print("win32!")
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libraries += ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
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libraries = ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
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CXX_FLAGS += '-DWIN32 '
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CXX_FLAGS += '-DGLEW_STATIC '
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sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
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+["examples/OpenGLWindow/Win32Window.cpp"]\
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+["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]\
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+["examples/ThirdPartyLibs/glad/gl.c"]
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egl_renderer_sources = egl_renderer_sources\
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+["examples/ThirdPartyLibs/enet/win32.c"]\
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+["examples/OpenGLWindow/Win32Window.cpp"]\
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+["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]
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elif _platform == "darwin":
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print("darwin!")
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os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
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@@ -505,12 +502,9 @@ elif _platform == "darwin":
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+["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
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+["examples/ThirdPartyLibs/glad/gl.c"]\
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+["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
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egl_renderer_sources = egl_renderer_sources\
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+["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
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+["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
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else:
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print("bsd!")
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libraries += ['GL','GLEW','pthread']
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libraries = ['GL','GLEW','pthread']
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os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
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CXX_FLAGS += '-D_BSD '
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CXX_FLAGS += '-I/usr/X11R6/include '
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@@ -519,13 +513,7 @@ else:
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sources = ["examples/ThirdPartyLibs/enet/unix.c"]\
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+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
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+["examples/ThirdPartyLibs/glad/gl.c"]\
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+["examples/ThirdPartyLibs/glad/glx.c"]\
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+ sources
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egl_renderer_sources = egl_renderer_sources\
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+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
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+["examples/ThirdPartyLibs/glad/gl.c"]\
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+["examples/ThirdPartyLibs/glad/glx.c"]
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setup_py_dir = os.path.dirname(os.path.realpath(__file__))
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@@ -547,19 +535,17 @@ print("packages")
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print(find_packages('examples/pybullet/gym'))
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print("-----")
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eglRender = Extension("eglRenderer",
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sources = egl_renderer_sources,
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libraries = libraries,
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extra_compile_args=(CXX_FLAGS+'-DBT_USE_EGL ').split(),
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extra_compile_args=(CXX_FLAGS+EGL_CXX_FLAGS ).split(),
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include_dirs = include_dirs + ["src","examples", "examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
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)
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setup(
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name = 'pybullet',
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version='2.1.4',
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version='2.1.2',
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description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
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long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
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url='https://github.com/bulletphysics/bullet3',
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@@ -567,12 +553,12 @@ setup(
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author_email='erwincoumans@google.com',
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license='zlib',
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platforms='any',
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keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'reinforcement learning', 'collision detection', 'opengl'],
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keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl'],
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ext_modules = [eglRender, Extension("pybullet",
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sources = sources,
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libraries = libraries,
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extra_compile_args=CXX_FLAGS.split(),
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include_dirs = include_dirs + ["src","examples", "examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
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include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
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) ],
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classifiers=['Development Status :: 5 - Production/Stable',
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'License :: OSI Approved :: zlib/libpng License',
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