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graphicsServer to workaround OpenGL issues on some servers.

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This commit is contained in:
Erwin Coumans
2019-06-13 23:24:22 -07:00
parent dc9549b2b4
commit 6160b52fd7
22 changed files with 1091 additions and 21 deletions
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9
examples/pybullet/examples/inverse_kinematics.py
View File

@@ -5,7 +5,9 @@ from datetime import datetime
clid = p.connect(p.SHARED_MEMORY)
if (clid < 0):
p.connect(p.GUI)
#p.connect(p.GUI)
p.connect(p.SHARED_MEMORY_GUI)
p.loadURDF("plane.urdf", [0, 0, -0.3])
kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0])
p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1])
@@ -46,7 +48,9 @@ p.setRealTimeSimulation(useRealTimeSimulation)
#use 0 for no-removal
trailDuration = 15
while 1:
i=0
while i<5:
i+=1
p.getCameraImage(320,
200,
flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
@@ -115,3 +119,4 @@ while 1:
prevPose = pos
prevPose1 = ls[4]
hasPrevPose = 1
p.disconnect()

11
examples/pybullet/pybullet.c
View File

@@ -463,6 +463,14 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3(0, key);
break;
}
case eCONNECT_SHARED_MEMORY_GUI:
{
sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect4(0, key);
break;
}
case eCONNECT_DIRECT:
{
sm = b3ConnectPhysicsDirect();
@@ -10933,6 +10941,9 @@ initpybullet(void)
PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER); // user read
PyModule_AddIntConstant(m, "GUI_MAIN_THREAD", eCONNECT_GUI_MAIN_THREAD); // user read
PyModule_AddIntConstant(m, "SHARED_MEMORY_SERVER", eCONNECT_SHARED_MEMORY_SERVER); // user read
PyModule_AddIntConstant(m, "SHARED_MEMORY_GUI", eCONNECT_SHARED_MEMORY_GUI); // user read
#ifdef BT_ENABLE_DART
PyModule_AddIntConstant(m, "DART", eCONNECT_DART); // user read
#endif