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Merge remote-tracking branch 'origin/master'

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This commit is contained in:
yunfeibai
2016-10-17 13:20:31 -07:00
parent 14fc8ae8c2 292dd5ced4
commit 3ffd95fbab
32 changed files with 922 additions and 107 deletions
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22
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -30,7 +30,27 @@ b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClien
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SAVE_WORLD;
int len = strlen(sdfFileName);
if (len<MAX_SDF_FILENAME_LENGTH)
{
strcpy(command->m_sdfArguments.m_sdfFileName,sdfFileName);
} else
{
command->m_sdfArguments.m_sdfFileName[0] = 0;
}
command->m_updateFlags = SDF_ARGS_FILE_NAME;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{

3
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -146,6 +146,9 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);

8
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -5,6 +5,7 @@
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "SharedMemoryCommon.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "PhysicsClientC_API.h"
#include "PhysicsClient.h"
//#include "SharedMemoryCommands.h"
@@ -451,6 +452,12 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_SAVE_WORLD:
{
b3SharedMemoryCommandHandle commandHandle = b3SaveWorldCommandInit(m_physicsClientHandle, "saveWorld.py");
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
{
b3Error("Unknown buttonId");
@@ -525,6 +532,7 @@ void PhysicsClientExample::createButtons()
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Load SDF",CMD_LOAD_SDF, isTrigger);
createButton("Save World",CMD_SAVE_WORLD, isTrigger);
createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);

22
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -615,9 +615,27 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Contact Point Information Request failed");
break;
}
case CMD_SAVE_WORLD_COMPLETED:
break;
case CMD_SAVE_WORLD_FAILED:
{
b3Warning("Saving world failed");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
{
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED:
{
b3Warning("Calculate Inverse Kinematics Request failed");
break;
}
default: {
b3Error("Unknown server status\n");
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);
}
};

206
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -31,6 +31,7 @@
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "../SoftDemo/BunnyMesh.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
btVector3 gLastPickPos(0, 0, 0);
bool gCloseToKuka=false;
@@ -305,6 +306,12 @@ struct CommandLogPlayback
}
};
struct SaveWorldObjectData
{
b3AlignedObjectArray<int> m_bodyUniqueIds;
std::string m_fileName;
};
struct PhysicsServerCommandProcessorInternalData
{
///handle management
@@ -401,6 +408,8 @@ struct PhysicsServerCommandProcessorInternalData
btMultiBody* m_kukaGripperMultiBody;
btMultiBodyPoint2Point* m_kukaGripperRevolute1;
btMultiBodyPoint2Point* m_kukaGripperRevolute2;
int m_huskyId;
int m_KukaId;
int m_sphereId;
@@ -414,7 +423,7 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
btHashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;
btAlignedObjectArray<btBulletWorldImporter*> m_worldImporters;
@@ -457,6 +466,10 @@ struct PhysicsServerCommandProcessorInternalData
:m_hasGround(false),
m_gripperRigidbodyFixed(0),
m_gripperMultiBody(0),
m_kukaGripperFixed(0),
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(false),
m_huskyId(-1),
m_KukaId(-1),
@@ -817,6 +830,9 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
{
b3Printf("loaded %s OK!", fileName);
}
SaveWorldObjectData sd;
sd.m_fileName = fileName;
for (int m =0; m<u2b.getNumModels();m++)
{
@@ -830,6 +846,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
sd.m_bodyUniqueIds.push_back(bodyUniqueId);
u2b.setBodyUniqueId(bodyUniqueId);
{
@@ -860,6 +877,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
if (mb)
mb->setUserIndex2(bodyUniqueId);
if (mb)
{
bodyHandle->m_multiBody = mb;
@@ -904,6 +922,9 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
}
}
m_data->m_saveWorldBodyData.push_back(sd);
}
return loadOk;
}
@@ -936,6 +957,14 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
if (bodyUniqueIdPtr)
*bodyUniqueIdPtr= bodyUniqueId;
//quick prototype of 'save world' for crude world editing
{
SaveWorldObjectData sd;
sd.m_fileName = fileName;
sd.m_bodyUniqueIds.push_back(bodyUniqueId);
m_data->m_saveWorldBodyData.push_back(sd);
}
u2b.setBodyUniqueId(bodyUniqueId);
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
@@ -1342,6 +1371,154 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_SAVE_WORLD:
{
///this is a very rudimentary way to save the state of the world, for scene authoring
///many todo's, for example save the state of motor controllers etc.
{
//saveWorld(clientCmd.m_sdfArguments.m_sdfFileName);
FILE* f = fopen(clientCmd.m_sdfArguments.m_sdfFileName,"w");
if (f)
{
char line[1024];
{
sprintf(line,"import pybullet as p\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
{
sprintf(line,"p.connect(p.SHARED_MEMORY)\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
//for each objects ...
for (int i=0;i<m_data->m_saveWorldBodyData.size();i++)
{
SaveWorldObjectData& sd = m_data->m_saveWorldBodyData[i];
for (int i=0;i<sd.m_bodyUniqueIds.size();i++)
{
{
int bodyUniqueId = sd.m_bodyUniqueIds[i];
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body)
{
if (body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
btTransform comTr = mb->getBaseWorldTransform();
btTransform tr = comTr * body->m_rootLocalInertialFrame.inverse();
if (strstr(sd.m_fileName.c_str(),".urdf"))
{
sprintf(line,"objects = [p.loadURDF(\"%s\", %f,%f,%f,%f,%f,%f,%f)]\n",sd.m_fileName.c_str(),
tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2],
tr.getRotation()[0],tr.getRotation()[1],tr.getRotation()[2],tr.getRotation()[3]);
int len = strlen(line);
fwrite(line,len,1,f);
}
if (strstr(sd.m_fileName.c_str(),".sdf") && i==0)
{
sprintf(line,"objects = p.loadSDF(\"%s\")\n",sd.m_fileName.c_str());
int len = strlen(line);
fwrite(line,len,1,f);
}
if (strstr(sd.m_fileName.c_str(),".sdf") || ((strstr(sd.m_fileName.c_str(),".urdf")) && mb->getNumLinks()) )
{
sprintf(line,"ob = objects[%d]\n",i);
int len = strlen(line);
fwrite(line,len,1,f);
}
if (strstr(sd.m_fileName.c_str(),".sdf"))
{
sprintf(line,"p.resetBasePositionAndOrientation(ob,[%f,%f,%f],[%f,%f,%f,%f])\n",
comTr.getOrigin()[0],comTr.getOrigin()[1],comTr.getOrigin()[2],
comTr.getRotation()[0],comTr.getRotation()[1],comTr.getRotation()[2],comTr.getRotation()[3]);
int len = strlen(line);
fwrite(line,len,1,f);
}
if (mb->getNumLinks())
{
{
sprintf(line,"jointPositions=[");
int len = strlen(line);
fwrite(line,len,1,f);
}
for (int i=0;i<mb->getNumLinks();i++)
{
btScalar jointPos = mb->getJointPosMultiDof(i)[0];
if (i<mb->getNumLinks()-1)
{
sprintf(line," %f,",jointPos);
int len = strlen(line);
fwrite(line,len,1,f);
} else
{
sprintf(line," %f ",jointPos);
int len = strlen(line);
fwrite(line,len,1,f);
}
}
{
sprintf(line,"]\nfor jointIndex in range (p.getNumJoints(ob)):\n\tp.resetJointState(ob,jointIndex,jointPositions[jointIndex])\n\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
}
} else
{
//todo: btRigidBody/btSoftBody etc case
}
}
}
}
//for URDF, load at origin, then reposition...
struct SaveWorldObjectData
{
b3AlignedObjectArray<int> m_bodyUniqueIds;
std::string m_fileName;
};
}
{
btVector3 grav=this->m_data->m_dynamicsWorld->getGravity();
sprintf(line,"p.setGravity(%f,%f,%f)\n",grav[0],grav[1],grav[2]);
int len = strlen(line);
fwrite(line,len,1,f);
}
{
sprintf(line,"p.stepSimulation()\np.disconnect()\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
fclose(f);
}
serverStatusOut.m_type = CMD_SAVE_WORLD_COMPLETED;
hasStatus = true;
break;
}
serverStatusOut.m_type = CMD_SAVE_WORLD_FAILED;
hasStatus = true;
break;
}
case CMD_LOAD_SDF:
{
const SdfArgs& sdfArgs = clientCmd.m_sdfArguments;
@@ -1846,16 +2023,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btVector3 linkLocalInertialOrigin = body->m_linkLocalInertialFrames[l].getOrigin();
btQuaternion linkLocalInertialRotation = body->m_linkLocalInertialFrames[l].getRotation();
btVector3 linkOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin();
btQuaternion linkRotation = mb->getLink(l).m_cachedWorldTransform.getRotation();
btVector3 linkCOMOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin();
btQuaternion linkCOMRotation = mb->getLink(l).m_cachedWorldTransform.getRotation();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = linkOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = linkOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = linkOrigin.getZ();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = linkRotation.x();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = linkRotation.y();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkRotation.z();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkRotation.w();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = linkCOMOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = linkCOMOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = linkCOMOrigin.getZ();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = linkCOMRotation.x();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = linkCOMRotation.y();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = linkLocalInertialOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = linkLocalInertialOrigin.getY();
@@ -2744,12 +2921,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
}
btTransform endEffectorTransformWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform * bodyHandle->m_linkLocalInertialFrames[endEffectorLinkIndex].inverse();
btVector3DoubleData endEffectorWorldPosition;
btVector3DoubleData endEffectorWorldOrientation;
btVector3 endEffectorPosWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getOrigin();
btQuaternion endEffectorOriWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getRotation();
btVector3 endEffectorPosWorld = endEffectorTransformWorld.getOrigin();
btQuaternion endEffectorOriWorld = endEffectorTransformWorld.getRotation();
btVector4 endEffectorOri(endEffectorOriWorld.x(),endEffectorOriWorld.y(),endEffectorOriWorld.z(),endEffectorOriWorld.w());
endEffectorPosWorld.serializeDouble(endEffectorWorldPosition);
@@ -3000,6 +3179,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
gBufferServerToClient.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int bodyId = 0;
if (gCreateObjectSimVR >= 0)
{
gCreateObjectSimVR = -1;
@@ -3189,7 +3369,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
//loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));

114
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -12,6 +12,12 @@
#include "Bullet3Common/b3Matrix3x3.h"
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
#ifdef BT_ENABLE_VR
#include "../RenderingExamples/TinyVRGui.h"
#endif//BT_ENABLE_VR
#include "../CommonInterfaces/CommonParameterInterface.h"
#define MAX_VR_CONTROLLERS 8
@@ -546,6 +552,10 @@ class PhysicsServerExample : public SharedMemoryCommon
bool m_replay;
int m_options;
#ifdef BT_ENABLE_VR
TinyVRGui* m_tinyVrGui;
#endif
public:
PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
@@ -677,6 +687,9 @@ m_wantsShutdown(false),
m_isConnected(false),
m_replay(false),
m_options(options)
#ifdef BT_ENABLE_VR
,m_tinyVrGui(0)
#endif
{
m_multiThreadedHelper = helper;
b3Printf("Started PhysicsServer\n");
@@ -686,6 +699,9 @@ m_options(options)
PhysicsServerExample::~PhysicsServerExample()
{
#ifdef BT_ENABLE_VR
delete m_tinyVrGui;
#endif
bool deInitializeSharedMemory = true;
m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
m_isConnected = false;
@@ -942,7 +958,73 @@ extern double gSubStep;
void PhysicsServerExample::renderScene()
{
B3_PROFILE("PhysicsServerExample::RenderScene");
static char line0[1024];
static char line1[1024];
if (gEnableRealTimeSimVR)
{
static int frameCount=0;
static btScalar prevTime = m_clock.getTimeSeconds();
frameCount++;
static btScalar worseFps = 1000000;
int numFrames = 200;
static int count = 0;
count++;
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
btScalar fps = 1. / (curTime - prevTime);
prevTime = curTime;
if (fps < worseFps)
{
worseFps = fps;
}
if (count > numFrames)
{
count = 0;
sprintf(line0, "fps:%f frame:%d", worseFps, frameCount / 2);
sprintf(line1, "drop:%d tscale:%f dt:%f, substep %f)", gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
gDroppedSimulationSteps = 0;
worseFps = 1000000;
}
}
#ifdef BT_ENABLE_VR
if (m_tinyVrGui==0)
{
ComboBoxParams comboParams;
comboParams.m_comboboxId = 0;
comboParams.m_numItems = 0;
comboParams.m_startItem = 0;
comboParams.m_callback = 0;//MyComboBoxCallback;
comboParams.m_userPointer = 0;//this;
m_tinyVrGui = new TinyVRGui(comboParams,this->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface());
m_tinyVrGui->init();
}
if (m_tinyVrGui)
{
b3Transform tr;tr.setIdentity();
tr.setOrigin(b3MakeVector3(gVRController2Pos[0],gVRController2Pos[1],gVRController2Pos[2]));
tr.setRotation(b3Quaternion(gVRController2Orn[0],gVRController2Orn[1],gVRController2Orn[2],gVRController2Orn[3]));
tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
b3Scalar dt = 0.01;
m_tinyVrGui->clearTextArea();
m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255);
m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255);
m_tinyVrGui->tick(dt,tr);
}
#endif//BT_ENABLE_VR
}
///debug rendering
//m_args[0].m_cs->lock();
@@ -993,38 +1075,6 @@ void PhysicsServerExample::renderScene()
B3_PROFILE("Draw Debug HUD");
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
static int frameCount=0;
static btScalar prevTime = m_clock.getTimeSeconds();
frameCount++;
static char line0[1024];
static char line1[1024];
static btScalar worseFps = 1000000;
int numFrames = 200;
static int count = 0;
count++;
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
btScalar fps = 1. / (curTime - prevTime);
prevTime = curTime;
if (fps < worseFps)
{
worseFps = fps;
}
if (count > numFrames)
{
count = 0;
sprintf(line0, "Graphics FPS (worse) = %f, frame %d", worseFps, frameCount / 2);
sprintf(line1, "Physics Steps = %d, Drop = %d, time scale=%f, dt %f, Substep %f)", gNumSteps, gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
gDroppedSimulationSteps = 0;
worseFps = 1000000;
}
}
float pos[4];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);

5
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -33,6 +33,7 @@ enum EnumSharedMemoryClientCommand
CMD_CALCULATE_JACOBIAN,
CMD_CREATE_JOINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_SAVE_WORLD,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -75,6 +76,10 @@ enum EnumSharedMemoryServerStatus
CMD_CONTACT_POINT_INFORMATION_FAILED,
CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
CMD_SAVE_WORLD_COMPLETED,
CMD_SAVE_WORLD_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};

3
examples/SharedMemory/premake4.lua
View File

@@ -231,6 +231,9 @@ if os.is("Windows") then
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../RenderingExamples/TinyVRGui.cpp",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",