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Add preliminary GRPC server for PyBullet and BulletRobotics.

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Will add GRPC client and PyBullet GRPC server plugin.
Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages.
Run the server, then test using the pybullet_client.py
This commit is contained in:
erwincoumans
2018-08-29 21:12:13 -07:00
parent 65175425b0
commit 4f7dfc2069
18 changed files with 6556 additions and 29 deletions
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3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -338,13 +338,14 @@ B3_SHARED_API int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit2(b3SharedMemoryCommandHandle commandHandle, const char* urdfFileName);
B3_SHARED_API int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
B3_SHARED_API int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
B3_SHARED_API int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);