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pybullet, use eglPlugin statically instead of dynamic loading an Extension -DSTATIC_EGLRENDERER_PLUGIN

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Fix compile errors of pybullet on Windows.
This commit is contained in:
erwincoumans
2018-09-09 15:23:26 -07:00
parent c4fe0f7357
commit 7369005402
4 changed files with 36 additions and 65 deletions
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15
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -68,6 +68,11 @@
#endif
#ifdef STATIC_EGLRENDERER_PLUGIN
#include "plugins/eglPlugin/eglRendererPlugin.h"
#endif//STATIC_EGLRENDERER_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
#include "plugins/tinyRendererPlugin/tinyRendererPlugin.h"
#endif
@@ -1709,10 +1714,20 @@ struct PhysicsServerCommandProcessorInternalData
}
#endif //ENABLE_STATIC_GRPC_PLUGIN
#ifdef STATIC_EGLRENDERER_PLUGIN
{
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin,0,0,getRenderInterface_eglRendererPlugin,0);
m_pluginManager.selectPluginRenderer(renderPluginId);
}
#endif//STATIC_EGLRENDERER_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
{
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin,0);
m_pluginManager.selectPluginRenderer(renderPluginId);
}
#endif
}

11
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
View File

@@ -13,10 +13,6 @@ subject to the following restrictions:
#include "eglRendererVisualShapeConverter.h"
#include "../Importers/ImportURDFDemo/URDFImporterInterface.h"
#include "btBulletCollisionCommon.h"
#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
@@ -251,7 +247,8 @@ void EGLRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
m_data->m_hasLightSpecularCoeff = true;
}
void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
///todo: merge into single file with TinyRendererVisualShapeConverter
static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
{
visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
@@ -737,8 +734,8 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_rgbaColor[2] = rgbaColor[2];
visualShape.m_rgbaColor[3] = rgbaColor[3];
{
B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
B3_PROFILE("convertURDFToVisualShape2");
convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
}
m_data->m_visualShapes.push_back(visualShape);