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move stb_image/stb_image_write.cpp into a cpp file instead of random files with the magic 'STB_IMAGE_WRITE_IMPLEMENTATION' define

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move setup.py back to eglRenderer extension, use pkgutil.get_loader('eglRenderer').get_filename()
disable dlmopen by default, unless B3_USE_DLMOPEN is defined.
This commit is contained in:
erwincoumans
2018-09-10 23:18:34 -07:00
parent f26d4fdc4c
commit 684a9f6a99
19 changed files with 210 additions and 44 deletions
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2
examples/ExampleBrowser/CMakeLists.txt
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@@ -344,7 +344,7 @@ SET(BulletExampleBrowser_SRCS
../ThirdPartyLibs/stb_image/stb_image.cpp
../ThirdPartyLibs/stb_image/stb_image.h
../ThirdPartyLibs/stb_image/stb_image_write.cpp
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/tinyxml2/tinyxml2.cpp

2
examples/ExampleBrowser/premake4.lua
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@@ -182,7 +182,7 @@ project "App_BulletExampleBrowser"
"../MultiBody/MultiBodyConstraintFeedback.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../RigidBody/RigidBodySoftContact.cpp",
"../ThirdPartyLibs/stb_image/*",
"../ThirdPartyLibs/stb_image/stb_image.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/BussIK/*",
"../GyroscopicDemo/GyroscopicSetup.cpp",

1
examples/OpenGLWindow/CMakeLists.txt
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@@ -51,6 +51,7 @@ IF(BUILD_EGL)
SET(OpenGLWindow_SRCS ${OpenGLWindow_SRCS} ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad/egl.c)
ENDIF(BUILD_EGL)
SET(OpenGLWindow_SRCS ${OpenGLWindow_SRCS} ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/stb_image/stb_image_write.cpp)
ADD_LIBRARY(OpenGLWindow ${OpenGLWindow_SRCS} ${OpenGLWindow_HDRS})

5
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -80,6 +80,7 @@ float shadowMapWorldSize=10;
#include "Shaders/linesVS.h"
#include "GLRenderToTexture.h"
#include "stb_image/stb_image_write.h"
@@ -1542,10 +1543,6 @@ void GLInstancingRenderer::updateCamera(int upAxis)
#ifdef STB_AGAIN // first defn in examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
#define STB_IMAGE_WRITE_IMPLEMENTATION
#endif //STB_AGAIN
#include "stb_image/stb_image_write.h"
void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName, int numComponents)
{

1
examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
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@@ -9,7 +9,6 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#define STB_IMAGE_WRITE_IMPLEMENTATION
#include "stb_image/stb_image_write.h"

5
examples/OpenGLWindow/premake4.lua
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@@ -25,9 +25,12 @@
"*.h",
"OpenGLWindow/*.c",
"OpenGLWindow/*.h",
"OpenGLWindow/GL/*.h"
"OpenGLWindow/GL/*.h",
"../ThirdPartyLibs/stb_image/stb_image_write.cpp",
}
if not os.is("Windows") then
excludes {
"Win32OpenGLWindow.cpp",

22
examples/SharedMemory/b3PluginManager.cpp
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@@ -18,13 +18,13 @@
#define B3_DYNLIB_IMPORT GetProcAddress
#else
#include <dlfcn.h>
typedef void* B3_DYNLIB_HANDLE;
#ifdef __APPLE__
#define B3_DYNLIB_OPEN(path) dlopen(path, RTLD_NOW | RTLD_GLOBAL)
#else
#ifdef B3_USE_DLMOPEN
#define B3_DYNLIB_OPEN(path) dlmopen(LM_ID_NEWLM, path, RTLD_LAZY)
#else
#define B3_DYNLIB_OPEN(path) dlopen(path, RTLD_NOW | RTLD_GLOBAL)
#endif
#define B3_DYNLIB_CLOSE dlclose
#define B3_DYNLIB_IMPORT dlsym
@@ -40,16 +40,16 @@ struct b3Plugin
PFN_INIT m_initFunc;
PFN_EXIT m_exitFunc;
PFN_EXECUTE m_executeCommandFunc;
PFN_TICK m_preTickFunc;
PFN_TICK m_postTickFunc;
PFN_TICK m_processNotificationsFunc;
PFN_TICK m_processClientCommandsFunc;
PFN_GET_RENDER_INTERFACE m_getRendererFunc;
void* m_userPointer;
b3Plugin()
:m_pluginHandle(0),
m_ownsPluginHandle(false),
@@ -332,7 +332,7 @@ void b3PluginManager::tickPlugins(double timeStep, b3PluginManagerTickMode tickM
{
continue;
}
PFN_TICK tick = 0;
switch (tickMode)
{
@@ -355,7 +355,7 @@ void b3PluginManager::tickPlugins(double timeStep, b3PluginManagerTickMode tickM
{
}
}
if (tick)
{
b3PluginContext context = { 0 };
@@ -437,7 +437,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
{
b3Plugin orgPlugin;
int pluginUniqueId = m_data->m_plugins.allocHandle();
b3PluginHandle* pluginHandle = m_data->m_plugins.getHandle(pluginUniqueId);
pluginHandle->m_pluginHandle = 0;
@@ -453,7 +453,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_pluginPath = pluginPath;
pluginHandle->m_userPointer = 0;
if (pluginHandle->m_processNotificationsFunc)
{

20
examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp
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@@ -1,4 +1,12 @@
#ifdef EGL_ADD_PYTHON_INIT
#if defined(__APPLE__) && (!defined(B3_NO_PYTHON_FRAMEWORK))
#include <Python/Python.h>
#else
#include <Python.h>
#endif
#endif //EGL_ADD_PYTHON_INIT
//eglRenderer plugin
//see Bullet/examples/pybullet/examples/eglRendererTest.py
@@ -52,3 +60,15 @@ B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugi
return &obj->m_renderer;
}
#ifdef EGL_ADD_PYTHON_INIT
PyMODINIT_FUNC
#if PY_MAJOR_VERSION >= 3
PyInit_eglRenderer(void)
#else
initeglRenderer(void)
#endif
{
return 0;
}
#endif //EGL_ADD_PYTHON_INIT

2
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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@@ -795,7 +795,7 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
// register mesh to m_instancingRenderer too.
int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES, textureIndex);
btVector3 scaling(1,1,1);
double scaling[3]={1,1,1};
visuals->m_graphicsInstanceId = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0],scaling);
m_data->m_instancingRenderer->writeTransforms();

5
examples/SharedMemory/plugins/eglPlugin/premake4.lua
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@@ -6,7 +6,7 @@ project ("pybullet_eglRendererPlugin")
initEGL()
includedirs {".","../../../../src", "../../../../examples",
"../../../ThirdPartyLibs", "../../examples/ThirdPartyLibs/glad"}
"../../../ThirdPartyLibs", "../../../ThirdPartyLibs/glad"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STB_AGAIN"}
hasCL = findOpenCL("clew")
@@ -25,7 +25,8 @@ project ("pybullet_eglRendererPlugin")
end
if os.is("Linux") then
files {"../../../ThirdPartyLibs/glad/glx.c",}
files {"../../../OpenGLWindow/EGLOpenGLWindow.cpp"}
end
files {

3
examples/SharedMemory/premake4.lua
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@@ -98,7 +98,8 @@ myfiles =
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../ThirdPartyLibs/stb_image/stb_image.cpp",
"../ThirdPartyLibs/stb_image/stb_image.cpp",
"../ThirdPartyLibs/stb_image/stb_image_write.cpp",
}

2
examples/ThirdPartyLibs/stb_image/stb_image_write.cpp Normal file
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@@ -0,0 +1,2 @@
#define STB_IMAGE_WRITE_IMPLEMENTATION
#include "stb_image_write.h"

1
examples/pybullet/CMakeLists.txt
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@@ -73,6 +73,7 @@ SET(pybullet_SRCS
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

40
examples/pybullet/examples/eglRenderTest.py Normal file
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@@ -0,0 +1,40 @@
import pybullet as p
import time
import pkgutil
egl = pkgutil.get_loader('eglRenderer')
p.connect(p.SHARED_MEMORY_SERVER)
plugin = p.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
print("plugin=",plugin)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf",[0,0,-1])
p.loadURDF("r2d2.urdf")
pixelWidth = 320
pixelHeight = 220
camTargetPos = [0,0,0]
camDistance = 4
pitch = -10.0
roll=0
upAxisIndex = 2
while (p.isConnected()):
for yaw in range (0,360,10) :
p.stepSimulation()
#viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
projectionMatrix = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]
img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1,lightDirection=[1,1,1])
#time.sleep(.1)
#print("img_arr=",img_arr)
p.unloadPlugin(plugin)

6
examples/pybullet/examples/testrender_egl.py
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@@ -9,7 +9,7 @@ import numpy as np
import matplotlib.pyplot as plt
import pybullet
import time
import pkgutil
plt.ion()
@@ -20,7 +20,9 @@ ax = plt.gca()
pybullet.connect(pybullet.DIRECT)
pybullet.loadPlugin("eglRendererPlugin")
egl = pkgutil.get_loader('eglRenderer')
pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
pybullet.loadURDF("plane.urdf",[0,0,-1])
pybullet.loadURDF("r2d2.urdf")

1
examples/pybullet/premake4.lua
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@@ -153,6 +153,7 @@ if not _OPTIONS["no-enet"] then
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
"../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",