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Merge pull request #1855 from erwincoumans/master

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more work on grpc/proto/pybullet.proto
This commit is contained in:
erwincoumans
2018-09-04 12:11:03 -07:00
committed by GitHub
parent c4842220a8 9b66074949
commit 710e660763
27 changed files with 36029 additions and 476 deletions
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16
examples/pybullet/pybullet.c
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@@ -14,6 +14,9 @@
#include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h"
#endif
#ifdef BT_ENABLE_GRPC
#include "../SharedMemory/PhysicsClientGRPC_C_API.h"
#endif
#ifdef BT_ENABLE_CLSOCKET
#include "../SharedMemory/PhysicsClientTCP_C_API.h"
#endif //BT_ENABLE_CLSOCKET
@@ -431,7 +434,15 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
break;
}
#endif
case eCONNECT_GRPC:
{
#ifdef BT_ENABLE_GRPC
sm = b3ConnectPhysicsGRPC(hostName.c_str(), tcpPort);
#else
PyErr_SetString(SpamError, "GRPC is not enabled in this pybullet build");
#endif
break;
}
case eCONNECT_SHARED_MEMORY:
{
sm = b3ConnectSharedMemory(key);
@@ -9625,6 +9636,9 @@ initpybullet(void)
#ifdef BT_ENABLE_MUJOCO
PyModule_AddIntConstant(m, "MuJoCo", eCONNECT_MUJOCO); // user read
#endif
#ifdef BT_ENABLE_GRPC
PyModule_AddIntConstant(m, "GRPC", eCONNECT_GRPC); // user read
#endif
PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY", SHARED_MEMORY_KEY);