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enable stable PD plugin in premake4.lua PyBullet

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add a normalize in the setRotation axis/angle to be sure.
Add more code from the DeepMimic project, training doesn't work yet.
This commit is contained in:
erwincoumans
2019-01-31 21:31:26 -08:00
parent 014c68388e
commit 5d871806eb
24 changed files with 2909 additions and 2 deletions
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18
examples/pybullet/premake4.lua
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@@ -17,7 +17,9 @@ project ("pybullet")
includedirs {"../../src", "../../examples",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STATIC_LINK_SPD_PLUGIN"}
hasCL = findOpenCL("clew")
links{ "BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
@@ -170,6 +172,20 @@ if not _OPTIONS["no-enet"] then
"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h",
"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp",
"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h",
}
if _OPTIONS["enable_physx"] then