Add preliminary GRPC server for PyBullet and BulletRobotics.

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
2018-08-29 21:12:13 -07:00
parent 65175425b0
commit 4f7dfc2069
18 changed files with 6556 additions and 29 deletions
--- a/examples/SharedMemory/grpc/premake4.lua
+++ b/examples/SharedMemory/grpc/premake4.lua
@@ -0,0 +1,150 @@
+
+project ("App_PhysicsServerSharedMemoryBridgeGRPC")
+
+	language "C++"
+			
+	kind "ConsoleApp"
+	
+	includedirs {"../../ThirdPartyLibs/clsocket/src","../../../src",".."}
+		
+
+	if os.is("Windows") then
+          defines { "WIN32", "_WIN32_WINNT=0x0600" }
+          links {"grpc","grpc++","grpc++_reflection","gpr",
+          "libprotobuf","crypto","ssl","zlibstaticd","Ws2_32","Winmm"  }
+        end
+        if os.is("Linux") then
+                defines {"_LINUX"}
+        end
+        if os.is("MacOSX") then
+                defines {"_DARWIN"}
+        end
+			
+		links {
+			"BulletFileLoader",
+			"Bullet3Common", 
+			"LinearMath"
+		}
+	
+	files {
+		"main.cpp",
+		"../PhysicsClient.cpp",
+		"../PhysicsClient.h",
+		"../PhysicsDirect.cpp",
+		"../PhysicsDirect.h",
+		"../PhysicsCommandProcessorInterface.h",
+		"../SharedMemoryCommandProcessor.cpp",
+		"../SharedMemoryCommandProcessor.h",
+		"../PhysicsClientC_API.cpp",
+		"../PhysicsClientC_API.h",
+		"../Win32SharedMemory.cpp",
+		"../Win32SharedMemory.h",
+		"../PosixSharedMemory.cpp",
+		"../PosixSharedMemory.h",
+		"../../Utils/b3ResourcePath.cpp",
+		"../../Utils/b3ResourcePath.h",
+		"../../Utils/b3Clock.cpp",
+		"../../Utils/b3Clock.h",		
+	}
+
+
+project "App_PhysicsServerGRPC"
+
+if _OPTIONS["ios"] then
+	kind "WindowedApp"
+else	
+	kind "ConsoleApp"
+end
+
+defines { "NO_SHARED_MEMORY" }
+						
+includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/clsocket/src"}
+
+links {
+	"clsocket","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletSoftBody", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
+}
+
+
+
+	if os.is("Windows") then
+          defines { "WIN32", "_WIN32_WINNT=0x0600" }
+          links {"grpc","grpc++","grpc++_reflection","gpr",
+          "libprotobuf","crypto","ssl","zlibstaticd","Ws2_32","Winmm"  }
+        end
+        if os.is("Linux") then
+                defines {"_LINUX"}
+                links{"dl"}
+        end
+        if os.is("MacOSX") then
+                defines {"_DARWIN"}
+        end
+
+language "C++"
+
+myfiles = 
+{
+	"../IKTrajectoryHelper.cpp",
+	"../IKTrajectoryHelper.h",
+	"../SharedMemoryCommands.h",
+	"../SharedMemoryPublic.h",
+	"../PhysicsServerCommandProcessor.cpp",
+	"../PhysicsServerCommandProcessor.h",
+	"../b3PluginManager.cpp",
+	"../PhysicsDirect.cpp",
+	"../PhysicsClientC_API.cpp",
+	"../PhysicsClient.cpp",
+	"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
+	"../plugins/pdControlPlugin/pdControlPlugin.cpp",
+	"../plugins/pdControlPlugin/pdControlPlugin.h",
+	"../b3RobotSimulatorClientAPI_NoDirect.cpp",
+	"../b3RobotSimulatorClientAPI_NoDirect.h",
+  "../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+	"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+	"../../TinyRenderer/geometry.cpp",
+	"../../TinyRenderer/model.cpp",
+	"../../TinyRenderer/tgaimage.cpp",
+	"../../TinyRenderer/our_gl.cpp",
+	"../../TinyRenderer/TinyRenderer.cpp",
+	"../../OpenGLWindow/SimpleCamera.cpp",
+	"../../OpenGLWindow/SimpleCamera.h",
+	"../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
+	"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
+	"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+	"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
+	"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
+	"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
+	"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+	"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
+	"../../Importers/ImportURDFDemo/UrdfParser.cpp",
+ 	"../../Importers/ImportURDFDemo/urdfStringSplit.cpp",
+	"../../Importers/ImportURDFDemo/UrdfParser.cpp",
+	"../../Importers/ImportURDFDemo/UrdfParser.h",
+	"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
+	"../../Importers/ImportURDFDemo/URDF2Bullet.h",
+	"../../Utils/b3ResourcePath.cpp",
+	"../../Utils/b3Clock.cpp",
+	"../../Utils/ChromeTraceUtil.cpp",
+	"../../Utils/ChromeTraceUtil.h",
+	"../../Utils/RobotLoggingUtil.cpp",
+	"../../Utils/RobotLoggingUtil.h",
+	"../../../Extras/Serialize/BulletWorldImporter/*",
+	"../../../Extras/Serialize/BulletFileLoader/*",	
+	"../../Importers/ImportURDFDemo/URDFImporterInterface.h",
+	"../../Importers/ImportURDFDemo/URDFJointTypes.h",
+	"../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+	"../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+	"../../Importers/ImportSTLDemo/ImportSTLSetup.h",
+	"../../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
+	"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+	"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
+	"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",	
+	"../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
+	"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+	"../../ThirdPartyLibs/stb_image/stb_image.cpp",     
+}
+
+files {
+	myfiles,
+	"main.cpp",
+}
+