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PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.

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This commit is contained in:
erwincoumans
2018-01-17 12:48:48 -08:00
parent df89ce6f92
commit 329a1f5a74
36 changed files with 397 additions and 140 deletions
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4
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -184,7 +184,7 @@ struct MyMJCFDefaults
struct BulletMJCFImporterInternalData
{
GUIHelperInterface* m_guiHelper;
struct LinkVisualShapesConverter* m_customVisualShapesConverter;
struct UrdfRenderingInterface* m_customVisualShapesConverter;
char m_pathPrefix[1024];
std::string m_sourceFileName; // with path
@@ -1419,7 +1419,7 @@ struct BulletMJCFImporterInternalData
};
BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags)
BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags)
{
m_data = new BulletMJCFImporterInternalData();
m_data->m_guiHelper = helper;

4
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -2,7 +2,7 @@
#define BULLET_MJCF_IMPORTER_H
#include "../ImportURDFDemo/URDFImporterInterface.h"
#include "../ImportURDFDemo/LinkVisualShapesConverter.h"
#include "../ImportURDFDemo/UrdfRenderingInterface.h"
struct MJCFErrorLogger
@@ -27,7 +27,7 @@ class BulletMJCFImporter : public URDFImporterInterface
void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
public:
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags);
virtual ~BulletMJCFImporter();
virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);

4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -51,7 +51,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
LinkVisualShapesConverter* m_customVisualShapesConverter;
UrdfRenderingInterface* m_customVisualShapesConverter;
bool m_enableTinyRenderer;
int m_flags;
@@ -82,7 +82,7 @@ void BulletURDFImporter::printTree()
// btAssert(0);
}
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling, int flags)
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling, int flags)
{
m_data = new BulletURDFInternalData;
m_data->setGlobalScaling(globalScaling);

4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -3,7 +3,7 @@
#include "URDFImporterInterface.h"
#include "LinkVisualShapesConverter.h"
#include "UrdfRenderingInterface.h"
struct BulletURDFTexture
{
@@ -23,7 +23,7 @@ class BulletURDFImporter : public URDFImporterInterface
public:
BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling=1, int flags=0);
BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling=1, int flags=0);
virtual ~BulletURDFImporter();

1
examples/Importers/ImportURDFDemo/SDFAudioTypes.h
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@@ -4,7 +4,6 @@
#include <string>
///See audio_source element in http://sdformat.org/spec?ver=1.6&elem=link
struct SDFAudioSource
{

2
examples/Importers/ImportURDFDemo/URDFJointTypes.h
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@@ -1,6 +1,7 @@
#ifndef URDF_JOINT_TYPES_H
#define URDF_JOINT_TYPES_H
#include "LinearMath/btScalar.h"
enum UrdfJointTypes
{
@@ -11,7 +12,6 @@ enum UrdfJointTypes
URDFPlanarJoint,
URDFFixedJoint,
};
#include "LinearMath/btScalar.h"
enum URDF_LinkContactFlags
{

2
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -6,9 +6,9 @@
#include "LinearMath/btHashMap.h"
#include "URDFJointTypes.h"
#include "SDFAudioTypes.h"
#include <string>
#define btArray btAlignedObjectArray
#include <string>
struct ErrorLogger
{

8
examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h → examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
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@@ -1,12 +1,12 @@
#ifndef LINK_VISUAL_SHAPES_CONVERTER_H
#define LINK_VISUAL_SHAPES_CONVERTER_H
#ifndef URDF_RENDERING_INTERFACE_H
#define URDF_RENDERING_INTERFACE_H
struct UrdfLink;
struct UrdfModel;
class btTransform;
class btCollisionObject;
struct LinkVisualShapesConverter
struct UrdfRenderingInterface
{
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0;