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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/SharedMemory/plugins/b3PluginAPI.h
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@@ -30,6 +30,10 @@ extern "C" {
typedef B3_API_ENTRY void (B3_API_CALL * PFN_EXIT)(struct b3PluginContext* context);
typedef B3_API_ENTRY int (B3_API_CALL * PFN_EXECUTE)(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
typedef B3_API_ENTRY int (B3_API_CALL * PFN_TICK)(struct b3PluginContext* context);
typedef B3_API_ENTRY struct UrdfRenderingInterface* (B3_API_CALL * PFN_GET_RENDER_INTERFACE)(struct b3PluginContext* context);
#ifdef __cplusplus
}
#endif

2
examples/SharedMemory/plugins/b3PluginContext.h
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@@ -9,7 +9,7 @@ struct b3PluginContext
//plugin can modify the m_userPointer to store persistent object pointer (class or struct instance etc)
void* m_userPointer;
const struct b3VRControllerEvent* m_vrControllerEvents;
int m_numVRControllerEvents;
const struct b3KeyboardEvent* m_keyEvents;

4
examples/SharedMemory/plugins/testPlugin/testplugin.h
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@@ -13,10 +13,10 @@ B3_SHARED_API int initPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//preTickPluginCallback and postTickPluginCallback are optional.
//all the APIs below are optional
B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context);
B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context);
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface(struct b3PluginContext* context);
#ifdef __cplusplus

1213
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp Normal file
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61
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h Normal file
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@@ -0,0 +1,61 @@
#ifndef TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
#define TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
{
struct TinyRendererVisualShapeConverterInternalData* m_data;
TinyRendererVisualShapeConverter();
virtual ~TinyRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
virtual int getNumVisualShapes(int bodyUniqueId);
virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4]);
virtual void removeVisualShape(int shapeUid);
virtual void setUpAxis(int axis);
virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
virtual void clearBuffers(struct TGAColor& clearColor);
virtual void resetAll();
virtual void getWidthAndHeight(int& width, int& height);
virtual void setWidthAndHeight(int width, int height);
virtual void setLightDirection(float x, float y, float z);
virtual void setLightColor(float x, float y, float z);
virtual void setLightDistance(float dist);
virtual void setLightAmbientCoeff(float ambientCoeff);
virtual void setLightDiffuseCoeff(float diffuseCoeff);
virtual void setLightSpecularCoeff(float specularCoeff);
virtual void setShadow(bool hasShadow);
virtual void setFlags(int flags);
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
virtual void render();
virtual void render(const float viewMat[16], const float projMat[16]);
virtual int loadTextureFile(const char* filename);
virtual int registerTexture(unsigned char* texels, int width, int height);
virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
};
#endif //TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H

57
examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua Normal file
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@@ -0,0 +1,57 @@
project ("pybullet_tinyRendererPlugin")
language "C++"
kind "SharedLib"
includedirs {".","../../../../src", "../../../../examples",
"../../../ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletCollision", "Bullet3Common", "LinearMath"}
if os.is("MacOSX") then
-- targetextension {"so"}
links{"Cocoa.framework","Python"}
end
files {
"tinyRendererPlugin.cpp",
"tinyRendererPlugin.h",
"TinyRendererVisualShapeConverter.cpp",
"TinyRendererVisualShapeConverter.h",
"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.h",
"../../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../../Importers/ImportObjDemo/LoadMeshFromObj.h",
"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h",
"../../../TinyRenderer/geometry.cpp",
"../../../TinyRenderer/model.cpp",
"../../../TinyRenderer/our_gl.cpp",
"../../../TinyRenderer/tgaimage.cpp",
"../../../TinyRenderer/TinyRenderer.cpp",
"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../../ThirdPartyLibs/stb_image/stb_image.cpp",
"../../../ThirdPartyLibs/stb_image/stb_image.h",
"../../../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../../ThirdPartyLibs/tinyxml/tinystr.h",
"../../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../../ThirdPartyLibs/tinyxml/tinyxml.h",
"../../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../../OpenGLWindow/SimpleCamera.cpp",
"../../../OpenGLWindow/SimpleCamera.h",
"../../../Utils/b3Clock.cpp",
"../../../Utils/b3Clock.h",
"../../../Utils/b3ResourcePath.cpp",
"../../../Utils/b3ResourcePath.h",
}

62
examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp Normal file
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@@ -0,0 +1,62 @@
//tinyRenderer plugin
/*
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
*/
#include "tinyRendererPlugin.h"
#include "TinyRendererVisualShapeConverter.h"
#include "../../SharedMemoryPublic.h"
#include "../b3PluginContext.h"
#include <stdio.h>
struct MyRendererPluginClass
{
TinyRendererVisualShapeConverter m_renderer;
MyRendererPluginClass()
{
}
virtual ~MyRendererPluginClass()
{
}
};
B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
{
MyRendererPluginClass* obj = new MyRendererPluginClass();
context->m_userPointer = obj;
return SHARED_MEMORY_MAGIC_NUMBER;
}
B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
return -1;
}
B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
{
MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;
}
//all the APIs below are optional
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
{
MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
return &obj->m_renderer;
}

25
examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h Normal file
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@@ -0,0 +1,25 @@
#ifndef TINY_RENDERER_PLUGIN_H
#define TINY_RENDERER_PLUGIN_H
#include "../b3PluginAPI.h"
#ifdef __cplusplus
extern "C"
{
#endif
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//all the APIs below are optional
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif
#endif//#define TEST_PLUGIN_H

3
examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.h
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@@ -13,11 +13,10 @@ B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//preTickPluginCallback and postTickPluginCallback are optional.
//optional APIs
B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context);
#ifdef __cplusplus
};
#endif