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Merge pull request #876 from erwincoumans/master

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add a textured tray URDF/OBJ/MTL/JPG
This commit is contained in:
erwincoumans
2016-11-29 20:37:01 -08:00
committed by GitHub
parent 273f04e0de 898517b1e3
commit 81d9305d8d
9 changed files with 355 additions and 28 deletions
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2
build_cmake_pybullet_win32.bat
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@@ -1,4 +1,4 @@
mkdir cm mkdir cm
cd cm cd cm
cmake -DBUILD_PYBULLET=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35_d.lib .. cmake -DBUILD_PYBULLET=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib ..
start . start .

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data/tray/tray.jpg Normal file
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13
data/tray/tray_textured2.mtl Normal file
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@@ -0,0 +1,13 @@
# Blender MTL File: 'tray_textured2.blend'
# Material Count: 1
newmtl None
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd tray.jpg

255
data/tray/tray_textured2.obj Normal file
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@@ -0,0 +1,255 @@
# Blender v2.78 (sub 0) OBJ File: 'tray_textured2.blend'
# www.blender.org
mtllib tray_textured2.mtl
o edge_1_Cube.003
v 0.580000 0.590083 0.250354
v -0.419960 0.426691 -0.001860
v -0.580000 0.590083 0.250354
v 0.580000 0.573309 0.261247
v 0.420014 0.426691 -0.001059
v -0.580000 0.573309 0.261247
v 0.420014 0.409917 0.009834
v -0.419960 0.409917 0.009033
vt 0.8346 0.9187
vt 0.2203 0.8574
vt 0.1480 0.9187
vt 0.8346 0.9129
vt 0.7623 0.8574
vt 0.1480 0.9129
vt 0.7623 0.8511
vt 0.2203 0.8511
vn 0.0004 0.8386 -0.5448
vn 0.0001 0.8391 -0.5439
vn -0.0000 0.8393 -0.5437
vn 0.8823 -0.2564 -0.3948
vn -0.0004 -0.8392 0.5439
vn -0.0001 -0.8386 0.5447
vn 0.0000 -0.8385 0.5449
vn -0.8826 -0.2560 -0.3942
vn 0.0008 -0.5446 -0.8387
vn -0.0000 0.5446 0.8387
vn 0.0005 0.8383 -0.5452
vn -0.0005 -0.8394 0.5435
usemtl None
s 1
f 1/1/1 2/2/2 3/3/3
f 4/4/4 5/5/4 1/1/4
f 6/6/5 7/7/6 4/4/7
f 3/3/8 8/8/8 6/6/8
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f 1/1/1 5/5/11 2/2/2
f 4/4/4 7/7/4 5/5/4
f 6/6/5 8/8/12 7/7/6
f 3/3/8 2/2/8 8/8/8
f 5/5/9 7/7/9 8/8/9
f 4/4/10 1/1/10 3/3/10
o edge_2_Cube
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v 0.409917 0.420060 0.009390
v 0.573309 0.580000 0.261247
v 0.590083 -0.580000 0.250354
v 0.426691 0.420060 -0.001503
v 0.573309 -0.580000 0.261247
v 0.426691 -0.419158 -0.002053
v 0.409917 -0.419158 0.008840
vt 0.9410 0.8520
vt 0.7523 0.8566
vt 0.9234 0.8524
vt 0.8896 0.1426
vt 0.7698 0.8562
vt 0.8721 0.1430
vt 0.7185 0.1468
vt 0.7009 0.1472
vn -0.2561 0.8826 -0.3943
vn 0.8394 0.0003 -0.5435
vn 0.8390 0.0001 -0.5441
vn 0.8389 0.0000 -0.5442
vn -0.2569 -0.8818 -0.3956
vn -0.8390 -0.0003 0.5441
vn -0.8394 -0.0001 0.5436
vn -0.8395 -0.0000 0.5434
vn -0.5446 0.0005 -0.8387
vn 0.5446 -0.0000 0.8387
vn 0.8396 0.0004 -0.5433
vn -0.8388 -0.0004 0.5444
usemtl None
s 1
f 9/9/13 10/10/13 11/11/13
f 12/12/14 13/13/15 9/9/16
f 14/14/17 15/15/17 12/12/17
f 11/11/18 16/16/19 14/14/20
f 13/13/21 16/16/21 10/10/21
f 12/12/22 11/11/22 14/14/22
f 9/9/13 13/13/13 10/10/13
f 12/12/14 15/15/23 13/13/15
f 14/14/17 16/16/17 15/15/17
f 11/11/18 10/10/24 16/16/19
f 13/13/21 15/15/21 16/16/21
f 12/12/22 9/9/22 11/11/22
o edge_3_Cube.002
v 0.580000 -0.573309 0.261247
v -0.419400 -0.409917 0.008678
v -0.580000 -0.573309 0.261247
v 0.580000 -0.590083 0.250354
v 0.419883 -0.409917 0.009162
v -0.580000 -0.590083 0.250354
v 0.419883 -0.426691 -0.001731
v -0.419400 -0.426691 -0.002215
vt 0.8690 0.1040
vt 0.1365 0.1739
vt 0.0188 0.1040
vt 0.8690 0.0968
vt 0.7517 0.1739
vt 0.0188 0.0968
vt 0.7517 0.1668
vt 0.1365 0.1668
vn -0.0002 0.8392 0.5438
vn -0.0000 0.8395 0.5433
vn -0.0000 0.8396 0.5432
vn 0.8825 0.2562 -0.3945
vn 0.0002 -0.8396 -0.5433
vn 0.0000 -0.8392 -0.5438
vn 0.0000 -0.8391 -0.5439
vn -0.8821 0.2565 -0.3950
vn 0.0005 0.5446 -0.8387
vn 0.0000 -0.5446 0.8387
vn -0.0003 0.8391 0.5440
vn 0.0003 -0.8397 -0.5430
usemtl None
s 1
f 17/17/25 18/18/26 19/19/27
f 20/20/28 21/21/28 17/17/28
f 22/22/29 23/23/30 20/20/31
f 19/19/32 24/24/32 22/22/32
f 21/21/33 24/24/33 18/18/33
f 20/20/34 19/19/34 22/22/34
f 17/17/25 21/21/35 18/18/26
f 20/20/28 23/23/28 21/21/28
f 22/22/29 24/24/36 23/23/30
f 19/19/32 18/18/32 24/24/32
f 21/21/33 23/23/33 24/24/33
f 20/20/34 17/17/34 19/19/34
o edge_5_Cube.005
v -0.153309 0.580000 0.261247
v -0.006691 0.419400 -0.002214
v -0.170083 0.580000 0.250354
v -0.153309 -0.580000 0.261247
v 0.010083 0.419400 0.008679
v -0.170083 -0.580000 0.250354
v 0.010083 -0.419883 0.009732
v -0.006691 -0.419883 -0.001161
vt 0.0506 0.8517
vt 0.1935 0.8492
vt 0.0342 0.8520
vt 0.0164 0.1914
vt 0.2099 0.8489
vt 0.0001 0.1917
vt 0.1757 0.1886
vt 0.1594 0.1889
vn 0.2565 0.8821 -0.3950
vn 0.8387 0.0005 0.5446
vn 0.8394 0.0001 0.5434
vn 0.8396 0.0000 0.5432
vn 0.2565 -0.8822 -0.3950
vn -0.8395 -0.0005 -0.5434
vn -0.8388 -0.0001 -0.5445
vn -0.8386 -0.0000 -0.5448
vn 0.5446 -0.0011 -0.8387
vn -0.5446 -0.0000 0.8387
vn 0.8384 0.0007 0.5451
vn -0.8398 -0.0007 -0.5429
usemtl None
s 1
f 25/25/37 26/26/37 27/27/37
f 28/28/38 29/29/39 25/25/40
f 30/30/41 31/31/41 28/28/41
f 27/27/42 32/32/43 30/30/44
f 29/29/45 32/32/45 26/26/45
f 28/28/46 27/27/46 30/30/46
f 25/25/37 29/29/37 26/26/37
f 28/28/38 31/31/47 29/29/39
f 30/30/41 32/32/41 31/31/41
f 27/27/42 26/26/48 32/32/43
f 29/29/45 31/31/45 32/32/45
f 28/28/46 25/25/46 27/27/46
o edge_4_Cube.001
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v -0.426691 0.419400 -0.002214
v -0.590083 0.580000 0.250354
v -0.573309 -0.580000 0.261247
v -0.409917 0.419400 0.008679
v -0.590083 -0.580000 0.250354
v -0.409917 -0.419400 0.009162
v -0.426691 -0.419400 -0.001731
vt 0.9046 0.2397
vt 0.7929 0.2434
vt 0.9174 0.2393
vt 0.9537 0.7559
vt 0.7801 0.2438
vt 0.9664 0.7554
vt 0.8291 0.7599
vt 0.8419 0.7595
vn 0.2565 0.8821 -0.3950
vn 0.8392 0.0002 0.5438
vn 0.8395 0.0000 0.5433
vn 0.8396 0.0000 0.5432
vn 0.2568 -0.8819 -0.3954
vn -0.8396 -0.0002 -0.5433
vn -0.8392 -0.0000 -0.5438
vn -0.8391 -0.0000 -0.5439
vn 0.5446 -0.0005 -0.8387
vn -0.5446 -0.0000 0.8387
vn 0.8391 0.0003 0.5440
vn -0.8397 -0.0003 -0.5430
usemtl None
s 1
f 33/33/49 34/34/49 35/35/49
f 36/36/50 37/37/51 33/33/52
f 38/38/53 39/39/53 36/36/53
f 35/35/54 40/40/55 38/38/56
f 37/37/57 40/40/57 34/34/57
f 36/36/58 35/35/58 38/38/58
f 33/33/49 37/37/49 34/34/49
f 36/36/50 39/39/59 37/37/51
f 38/38/53 40/40/53 39/39/53
f 35/35/54 34/34/60 40/40/55
f 37/37/57 39/39/57 40/40/57
f 36/36/58 33/33/58 35/35/58
o base_Cube.004
v 0.420000 0.420000 0.010000
v -0.420000 0.420000 -0.010000
v -0.420000 0.420000 0.010000
v 0.420000 -0.420000 0.010000
v 0.420000 0.420000 -0.010000
v -0.420000 -0.420000 0.010000
v 0.420000 -0.420000 -0.010000
v -0.420000 -0.420000 -0.010000
vt 0.7524 0.8072
vt -0.3038 0.8371
vt -0.3038 0.8371
vt 0.7012 0.1905
vt 0.7524 0.8072
vt -0.3550 0.2204
vt 0.7012 0.1905
vt -0.3550 0.2204
vn -0.0000 1.0000 0.0000
vn 1.0000 0.0000 0.0000
vn 0.0000 -1.0000 0.0000
vn -1.0000 -0.0000 0.0000
vn -0.0000 0.0000 -1.0000
vn 0.0000 -0.0000 1.0000
usemtl None
s 1
f 41/41/61 42/42/61 43/43/61
f 44/44/62 45/45/62 41/41/62
f 46/46/63 47/47/63 44/44/63
f 43/43/64 48/48/64 46/46/64
f 45/45/65 48/48/65 42/42/65
f 44/44/66 43/43/66 46/46/66
f 41/41/61 45/45/61 42/42/61
f 44/44/62 47/47/62 45/45/62
f 46/46/63 48/48/63 47/47/63
f 43/43/64 42/42/64 48/48/64
f 45/45/65 47/47/65 48/48/65
f 44/44/66 41/41/66 43/43/66

24
data/tray/tray_textured2.urdf Normal file
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@@ -0,0 +1,24 @@
<robot name="tabletop">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="tray_material">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
</geometry>
</collision>
</link>
</robot>

72
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -43,11 +43,12 @@ bool gCloseToKuka=false;
bool gEnableRealTimeSimVR=false; bool gEnableRealTimeSimVR=false;
bool gCreateDefaultRobotAssets = false; bool gCreateDefaultRobotAssets = false;
int gInternalSimFlags = 0; int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gHuskyId = -1; int gHuskyId = -1;
btTransform huskyTr = btTransform::getIdentity(); btTransform huskyTr = btTransform::getIdentity();
int gCreateObjectSimVR = -1; int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0; int gEnableKukaControl = 1;
btScalar simTimeScalingFactor = 1; btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f; btScalar gRhsClamp = 1.f;
@@ -718,6 +719,19 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
} }
void PhysicsServerCommandProcessor::deleteCachedInverseKinematicsBodies()
{
for (int i = 0; i < m_data->m_inverseKinematicsHelpers.size(); i++)
{
IKTrajectoryHelper** ikHelperPtr = m_data->m_inverseKinematicsHelpers.getAtIndex(i);
if (ikHelperPtr)
{
IKTrajectoryHelper* ikHelper = *ikHelperPtr;
delete ikHelper;
}
}
m_data->m_inverseKinematicsHelpers.clear();
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies() void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
{ {
for (int i = 0; i < m_data->m_inverseDynamicsBodies.size(); i++) for (int i = 0; i < m_data->m_inverseDynamicsBodies.size(); i++)
@@ -736,7 +750,7 @@ void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
void PhysicsServerCommandProcessor::deleteDynamicsWorld() void PhysicsServerCommandProcessor::deleteDynamicsWorld()
{ {
deleteCachedInverseDynamicsBodies(); deleteCachedInverseDynamicsBodies();
deleteCachedInverseKinematicsBodies();
for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++) for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++)
{ {
@@ -2439,29 +2453,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION: case CMD_RESET_SIMULATION:
{ {
//clean up all data
deleteCachedInverseDynamicsBodies(); resetSimulation();
if (m_data && m_data->m_guiHelper)
{
m_data->m_guiHelper->removeAllGraphicsInstances();
}
if (m_data)
{
m_data->m_visualConverter.resetAll();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
m_data->exitHandles();
m_data->initHandles();
SharedMemoryStatus& serverCmd =serverStatusOut; SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED; serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
hasStatus = true; hasStatus = true;
m_data->m_hasGround = false;
m_data->m_gripperRigidbodyFixed = 0;
break; break;
} }
case CMD_CREATE_RIGID_BODY: case CMD_CREATE_RIGID_BODY:
@@ -3950,6 +3947,12 @@ double gDtInSec = 0.f;
double gSubStep = 0.f; double gSubStep = 0.f;
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{ {
if (gResetSimulation)
{
resetSimulation();
gResetSimulation = false;
}
if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper) if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
{ {
@@ -4007,7 +4010,30 @@ void PhysicsServerCommandProcessor::applyJointDamping(int bodyUniqueId)
} }
} }
void PhysicsServerCommandProcessor::resetSimulation()
{
//clean up all data
deleteCachedInverseDynamicsBodies();
if (m_data && m_data->m_guiHelper)
{
m_data->m_guiHelper->removeAllGraphicsInstances();
}
if (m_data)
{
m_data->m_visualConverter.resetAll();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
m_data->exitHandles();
m_data->initHandles();
m_data->m_hasGround = false;
m_data->m_gripperRigidbodyFixed = 0;
}
//todo: move this to Python/scripting //todo: move this to Python/scripting
void PhysicsServerCommandProcessor::createDefaultRobotAssets() void PhysicsServerCommandProcessor::createDefaultRobotAssets()
{ {
@@ -4151,7 +4177,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
btTransform objectLocalTr[] = { btTransform objectLocalTr[] = {
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.0, 0.0, 0.0)), btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.0, 0.0, 0.0)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.0, 0.15, 0.64)), btTransform(btQuaternion(btVector3(0,0,1),-SIMD_HALF_PI), btVector3(0.0, 0.15, 0.64)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.1, 0.15, 0.85)), btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.1, 0.15, 0.85)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.4, 0.05, 0.85)), btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.4, 0.05, 0.85)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.3, -0.05, 0.7)), btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.3, -0.05, 0.7)),
@@ -4178,7 +4204,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
// Table area // Table area
loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("tray.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("tray/tray_textured.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());

3
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -23,6 +23,8 @@ class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
//todo: move this to physics client side / Python //todo: move this to physics client side / Python
void createDefaultRobotAssets(); void createDefaultRobotAssets();
void resetSimulation();
protected: protected:
@@ -37,6 +39,7 @@ protected:
int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes); int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
void deleteCachedInverseDynamicsBodies(); void deleteCachedInverseDynamicsBodies();
void deleteCachedInverseKinematicsBodies();
public: public:
PhysicsServerCommandProcessor(); PhysicsServerCommandProcessor();

11
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -39,6 +39,7 @@ extern bool gEnableRealTimeSimVR;
extern bool gCreateDefaultRobotAssets; extern bool gCreateDefaultRobotAssets;
extern int gInternalSimFlags; extern int gInternalSimFlags;
extern int gCreateObjectSimVR; extern int gCreateObjectSimVR;
extern bool gResetSimulation;
extern int gEnableKukaControl; extern int gEnableKukaControl;
int gGraspingController = -1; int gGraspingController = -1;
extern btScalar simTimeScalingFactor; extern btScalar simTimeScalingFactor;
@@ -273,7 +274,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_physicsServerPtr->removePickingConstraint(); args->m_physicsServerPtr->removePickingConstraint();
} }
if (!gEnableKukaControl) // if (!gEnableKukaControl)
{ {
if (args->m_isVrControllerPicking[c]) if (args->m_isVrControllerPicking[c])
{ {
@@ -1670,7 +1671,8 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
{ {
if (button == 1 && state == 0) if (button == 1 && state == 0)
{ {
// gVRTeleportPos = gLastPickPos; gResetSimulation = true;
//gVRTeleportPos1 = gLastPickPos;
} }
} else } else
{ {
@@ -1682,7 +1684,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
} else } else
{ {
gDebugRenderToggle = 0; gDebugRenderToggle = 0;
#if 0//it confuses people, make it into a debug option in a VR GUI?
if (simTimeScalingFactor==0) if (simTimeScalingFactor==0)
{ {
simTimeScalingFactor = 1; simTimeScalingFactor = 1;
@@ -1697,6 +1699,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
simTimeScalingFactor = 0; simTimeScalingFactor = 0;
} }
} }
#endif
} }
} else } else
{ {
@@ -1714,7 +1717,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
} }
else else
{ {
gEnableKukaControl = !gEnableKukaControl; // gEnableKukaControl = !gEnableKukaControl;
} }
} }

3
examples/pybullet/CMakeLists.txt
View File

@@ -110,6 +110,9 @@ ELSE(BUILD_PYBULLET_ENET)
ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS}) ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
ENDIF(BUILD_PYBULLET_ENET) ENDIF(BUILD_PYBULLET_ENET)
SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "")
SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "")
SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION}) SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION}) SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d") SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")