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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erwincoumans
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#ifndef TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#define TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
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struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
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{
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struct TinyRendererVisualShapeConverterInternalData* m_data;
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TinyRendererVisualShapeConverter();
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virtual ~TinyRendererVisualShapeConverter();
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virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
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virtual int getNumVisualShapes(int bodyUniqueId);
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virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
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virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4]);
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virtual void removeVisualShape(int shapeUid);
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virtual void setUpAxis(int axis);
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virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
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virtual void clearBuffers(struct TGAColor& clearColor);
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virtual void resetAll();
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virtual void getWidthAndHeight(int& width, int& height);
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virtual void setWidthAndHeight(int width, int height);
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virtual void setLightDirection(float x, float y, float z);
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virtual void setLightColor(float x, float y, float z);
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virtual void setLightDistance(float dist);
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virtual void setLightAmbientCoeff(float ambientCoeff);
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virtual void setLightDiffuseCoeff(float diffuseCoeff);
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virtual void setLightSpecularCoeff(float specularCoeff);
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virtual void setShadow(bool hasShadow);
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virtual void setFlags(int flags);
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virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
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virtual void render();
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virtual void render(const float viewMat[16], const float projMat[16]);
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virtual int loadTextureFile(const char* filename);
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virtual int registerTexture(unsigned char* texels, int width, int height);
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virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
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virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
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};
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#endif //TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
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@@ -0,0 +1,57 @@
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project ("pybullet_tinyRendererPlugin")
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language "C++"
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kind "SharedLib"
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includedirs {".","../../../../src", "../../../../examples",
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"../../../ThirdPartyLibs"}
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defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
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hasCL = findOpenCL("clew")
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links{"BulletCollision", "Bullet3Common", "LinearMath"}
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if os.is("MacOSX") then
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-- targetextension {"so"}
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links{"Cocoa.framework","Python"}
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end
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files {
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"tinyRendererPlugin.cpp",
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"tinyRendererPlugin.h",
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"TinyRendererVisualShapeConverter.cpp",
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"TinyRendererVisualShapeConverter.h",
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"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
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"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
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"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
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"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.h",
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"../../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
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"../../../Importers/ImportObjDemo/LoadMeshFromObj.h",
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"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
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"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h",
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"../../../TinyRenderer/geometry.cpp",
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"../../../TinyRenderer/model.cpp",
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"../../../TinyRenderer/our_gl.cpp",
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"../../../TinyRenderer/tgaimage.cpp",
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"../../../TinyRenderer/TinyRenderer.cpp",
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"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
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"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
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"../../../ThirdPartyLibs/stb_image/stb_image.cpp",
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"../../../ThirdPartyLibs/stb_image/stb_image.h",
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"../../../ThirdPartyLibs/tinyxml/tinystr.cpp",
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"../../../ThirdPartyLibs/tinyxml/tinystr.h",
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"../../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
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"../../../ThirdPartyLibs/tinyxml/tinyxml.h",
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"../../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
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"../../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
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"../../../OpenGLWindow/SimpleCamera.cpp",
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"../../../OpenGLWindow/SimpleCamera.h",
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"../../../Utils/b3Clock.cpp",
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"../../../Utils/b3Clock.h",
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"../../../Utils/b3ResourcePath.cpp",
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"../../../Utils/b3ResourcePath.h",
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}
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//tinyRenderer plugin
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/*
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import pybullet as p
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p.connect(p.GUI)
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pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
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commandUid = 0
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argument = "plane.urdf"
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p.executePluginCommand(pluginUid,commandUid,argument)
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p.unloadPlugin(pluginUid)
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*/
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#include "tinyRendererPlugin.h"
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#include "TinyRendererVisualShapeConverter.h"
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#include "../../SharedMemoryPublic.h"
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#include "../b3PluginContext.h"
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#include <stdio.h>
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struct MyRendererPluginClass
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{
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TinyRendererVisualShapeConverter m_renderer;
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MyRendererPluginClass()
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{
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}
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virtual ~MyRendererPluginClass()
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{
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}
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};
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B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
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{
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MyRendererPluginClass* obj = new MyRendererPluginClass();
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context->m_userPointer = obj;
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return SHARED_MEMORY_MAGIC_NUMBER;
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}
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B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
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{
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return -1;
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}
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B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
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{
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MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
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delete obj;
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context->m_userPointer = 0;
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}
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//all the APIs below are optional
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B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
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{
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MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
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return &obj->m_renderer;
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}
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@@ -0,0 +1,25 @@
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#ifndef TINY_RENDERER_PLUGIN_H
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#define TINY_RENDERER_PLUGIN_H
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#include "../b3PluginAPI.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
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B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
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B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
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B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
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//all the APIs below are optional
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B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context);
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#ifdef __cplusplus
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};
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#endif
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#endif//#define TEST_PLUGIN_H
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