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PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin

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Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
This commit is contained in:
Erwin Coumans
2018-06-05 11:41:41 +10:00
parent e4cd88e24f
commit 7bd84740d7
23 changed files with 719 additions and 198 deletions
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24
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -45,6 +45,9 @@
#include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#ifdef STATIC_PD_CONTROL_PLUGIN
#include "plugins/pdControlPlugin/pdControlPlugin.h"
#endif //STATIC_PD_CONTROL_PLUGIN
#ifdef STATIC_LINK_VR_PLUGIN
#include "plugins/vrSyncPlugin/vrSyncPlugin.h"
@@ -1647,7 +1650,7 @@ struct PhysicsServerCommandProcessorInternalData
btVector3 m_hitPos;
btScalar m_oldPickingDist;
bool m_prevCanSleep;
int m_pdControlPlugin;
#ifdef B3_ENABLE_TINY_AUDIO
b3SoundEngine m_soundEngine;
#endif
@@ -1679,15 +1682,23 @@ struct PhysicsServerCommandProcessorInternalData
m_verboseOutput(false),
m_pickedBody(0),
m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0)
m_pickingMultiBodyPoint2Point(0),
m_pdControlPlugin(-1)
{
{
//register static plugins:
#ifdef STATIC_LINK_VR_PLUGIN
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin,preTickPluginCallback_vrSyncPlugin,0,0);
m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin, preTickPluginCallback_vrSyncPlugin, 0, 0);
#endif //STATIC_LINK_VR_PLUGIN
#ifdef STATIC_PD_CONTROL_PLUGIN
{
m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin, preTickPluginCallback_pdControlPlugin, postTickPluginCallback_pdControlPlugin, 0);
}
#endif //STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin);
m_pluginManager.selectPluginRenderer(renderPluginId);
@@ -4949,6 +4960,13 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
switch (clientCmd.m_sendDesiredStateCommandArgument.m_controlMode)
{
/* case CONTROL_MODE_PD:
{
b3PluginArguments args;
m_data->m_pluginManager.executePluginCommand(pdControlPlugin, args);
//#p.executePluginCommand(plugin ,"r2d2.urdf", [1,2,3],[50.0,3.3])
}
*/
case CONTROL_MODE_TORQUE:
{
if (m_data->m_verboseOutput)