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Merge pull request #1297 from erwincoumans/master

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Add Extras/BulletRobotics library for Roboschool, 	Re-enable Physics Server (Logging) and Physics Server (Replay Log), small fixes
This commit is contained in:
erwincoumans
2017-09-06 23:01:15 -07:00
committed by GitHub
parent db8c0853b3 7a2de3ea08
commit 920031c488
22 changed files with 635 additions and 89 deletions
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34
CMakeLists.txt
View File

@@ -38,6 +38,20 @@ IF (BULLET2_USE_THREAD_LOCKS)
ENDIF (MSVC)
ENDIF (BULLET2_USE_THREAD_LOCKS)
IF(NOT WIN32)
SET(DL dl)
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
SET(OSDEF -D_LINUX)
ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
IF(APPLE)
SET(OSDEF -D_DARWIN)
ELSE(APPLE)
SET(OSDEF -D_BSD)
SET(DL "")
ENDIF(APPLE)
ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
ENDIF(NOT WIN32)
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
@@ -392,7 +406,6 @@ IF(BUILD_EXTRAS)
ENDIF(BUILD_EXTRAS)
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
SUBDIRS(src)
@@ -407,7 +420,15 @@ ELSE()
ENDIF()
ENDIF()
IF(INSTALL_LIBS)
#INSTALL of other files requires CMake 2.6
IF(BUILD_EXTRAS)
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
ENDIF(BUILD_EXTRAS)
SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
## the following are directories where stuff will be installed to
@@ -421,12 +442,8 @@ IF(INSTALL_LIBS)
DESTINATION
${PKGCONFIG_INSTALL_PREFIX})
ENDIF(NOT MSVC)
ENDIF(INSTALL_LIBS)
ENDIF()
#INSTALL of other files requires CMake 2.6
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
@@ -437,9 +454,8 @@ ENDIF()
set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
list (APPEND BULLET_LIBRARIES LinearMath)
IF(BUILD_BULLET3)
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
ENDIF(BUILD_BULLET3)
list (APPEND BULLET_LIBRARIES Bullet3Common)
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
list (APPEND BULLET_LIBRARIES BulletCollision)
list (APPEND BULLET_LIBRARIES BulletDynamics)
list (APPEND BULLET_LIBRARIES BulletSoftBody)

188
Extras/BulletRobotics/CMakeLists.txt Normal file
View File

@@ -0,0 +1,188 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
)
SET(BulletRobotics_SRCS
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/Utils/b3Clock.cpp
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ERPCFMHelper.hpp
../../examples/Utils/b3ReferenceFrameHelper.hpp
../../examples/Utils/ChromeTraceUtil.cpp
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
../../examples/ThirdPartyLibs/BussIK/Misc.cpp
../../examples/ThirdPartyLibs/BussIK/Node.cpp
../../examples/ThirdPartyLibs/BussIK/Tree.cpp
../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
ENDIF(BUILD_CLSOCKET)
IF(WIN32)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DWIN32)
ENDIF(BUILD_CLSOCKET)
ELSE(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
ENDIF(WIN32)
IF(BUILD_ENET)
set(BulletRobotics_SRCS ${BulletRobotics_SRCS}
../../examples/SharedMemory/PhysicsClientUDP.cpp
../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
../../examples/SharedMemory/PhysicsClientUDP.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/ThirdPartyLibs/enet/win32.c
../../examples/ThirdPartyLibs/enet/unix.c
../../examples/ThirdPartyLibs/enet/callbacks.c
../../examples/ThirdPartyLibs/enet/compress.c
../../examples/ThirdPartyLibs/enet/host.c
../../examples/ThirdPartyLibs/enet/list.c
../../examples/ThirdPartyLibs/enet/packet.c
../../examples/ThirdPartyLibs/enet/peer.c
../../examples/ThirdPartyLibs/enet/protocol.c
)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
set(BulletRobotics_SRCS ${BulletRobotics_SRCS}
../../examples/SharedMemory/PhysicsClientTCP.cpp
../../examples/SharedMemory/PhysicsClientTCP.h
../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
)
ENDIF()
ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
ADD_LIBRARY(BulletRobotics ${BulletRobotics_SRCS})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
ENDIF (BUILD_SHARED_LIBS)
IF (INSTALL_EXTRA_LIBS)
INSTALL(FILES
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h
DESTINATION include/bullet
)
INSTALL(TARGETS
BulletRobotics
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX}
)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES FRAMEWORK true)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (INSTALL_EXTRA_LIBS)

6
Extras/CMakeLists.txt
View File

@@ -1,8 +1,6 @@
SUBDIRS( obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
SUBDIRS( InverseDynamics BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
IF(BUILD_BULLET3)
SUBDIRS( InverseDynamics)
ENDIF()
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com

5
Extras/ConvexDecomposition/CMakeLists.txt
View File

@@ -49,7 +49,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS ConvexDecomposition DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS ConvexDecomposition DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS ConvexDecomposition
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

5
Extras/GIMPACTUtils/CMakeLists.txt
View File

@@ -22,7 +22,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS GIMPACTUtils DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS GIMPACTUtils DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS GIMPACTUtils
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

6
Extras/HACD/CMakeLists.txt
View File

@@ -36,7 +36,11 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS HACD DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS HACD DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS HACD
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN "*.inl" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

5
Extras/InverseDynamics/CMakeLists.txt
View File

@@ -32,7 +32,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletInverseDynamicsUtils
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

5
Extras/Serialize/BulletFileLoader/CMakeLists.txt
View File

@@ -34,7 +34,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletFileLoader DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletFileLoader DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletFileLoader
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(
DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN

5
Extras/Serialize/BulletWorldImporter/CMakeLists.txt
View File

@@ -25,7 +25,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletWorldImporter DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletWorldImporter DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletWorldImporter
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

6
Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt
View File

@@ -32,7 +32,11 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletXmlWorldImporter DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletXmlWorldImporter DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletXmlWorldImporter
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

2
build_visual_studio_vr_pybullet_double_cmake.bat
View File

@@ -1,4 +1,4 @@
mkdir build_cmake
cd build_cmake
cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=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 -G "Visual Studio 14 2015" ..
cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.3.amd64\include -DPYTHON_LIBRARY=c:\python-3.5.3.amd64\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.3.amd64\libs\python35_d.lib -G "Visual Studio 14 2015 Win64" ..
start .

11
examples/CMakeLists.txt
View File

@@ -1,16 +1,5 @@
SUBDIRS( HelloWorld BasicDemo )
IF(BUILD_BULLET3)
SET(DL dl)
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
SET(OSDEF -D_LINUX)
ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
IF(APPLE)
SET(OSDEF -D_DARWIN)
ELSE(APPLE)
SET(OSDEF -D_BSD)
SET(DL "")
ENDIF(APPLE)
ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow )
ENDIF()
IF(BUILD_PYBULLET)

9
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -40,6 +40,7 @@
#include "../DynamicControlDemo/MotorDemo.h"
#include "../RollingFrictionDemo/RollingFrictionDemo.h"
#include "../SharedMemory/PhysicsServerExampleBullet2.h"
#include "../SharedMemory/PhysicsServerExample.h"
#include "../SharedMemory/PhysicsClientExample.h"
#include "../Constraints/TestHingeTorque.h"
#include "../RenderingExamples/TimeSeriesExample.h"
@@ -141,10 +142,10 @@ static ExampleEntry gDefaultExamples[]=
PhysicsServerCreateFuncBullet2),
ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
// ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
// PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
// ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
// PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
//
// ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),

2
examples/SharedMemory/CMakeLists.txt
View File

@@ -324,4 +324,4 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
ENDIF(WIN32)
ENDIF(WIN32 OR APPLE)

8
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -15,7 +15,15 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
#include "PhysicsClientSharedMemory_C_API.h"
#include "PhysicsClientSharedMemory2_C_API.h"
#include "PhysicsDirectC_API.h"
#ifdef BT_ENABLE_ENET
#include "PhysicsClientUDP_C_API.h"
#endif
#ifdef BT_ENABLE_CLSOCKET
#include "PhysicsClientTCP_C_API.h"
#endif
#include "SharedMemoryInProcessPhysicsC_API.h"
#ifdef __cplusplus

253
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -293,29 +293,108 @@ struct CommandLogger
void logCommand(const SharedMemoryCommand& command)
{
btCommandChunk chunk;
chunk.m_chunkCode = command.m_type;
chunk.m_oldPtr = 0;
chunk.m_dna_nr = 0;
chunk.m_length = sizeof(SharedMemoryCommand);
chunk.m_number = 1;
fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
fwrite((const char*)&command,sizeof(SharedMemoryCommand),1,m_file);
if (m_file)
{
btCommandChunk chunk;
chunk.m_chunkCode = command.m_type;
chunk.m_oldPtr = 0;
chunk.m_dna_nr = 0;
chunk.m_length = sizeof(SharedMemoryCommand);
chunk.m_number = 1;
fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
switch (command.m_type)
{
case CMD_LOAD_MJCF:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_mjcfArguments , sizeof(MjcfArgs),1,m_file);
break;
}
case CMD_REQUEST_BODY_INFO:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_sdfRequestInfoArgs, sizeof(SdfRequestInfoArgs),1,m_file);
break;
}
case CMD_REQUEST_VISUAL_SHAPE_INFO:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_requestVisualShapeDataArguments, sizeof(RequestVisualShapeDataArgs),1,m_file);
break;
}
case CMD_LOAD_URDF:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_urdfArguments, sizeof(UrdfArgs),1,m_file);
break;
}
case CMD_INIT_POSE:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
break;
};
case CMD_REQUEST_ACTUAL_STATE:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_requestActualStateInformationCommandArgument,
sizeof(RequestActualStateArgs),1,m_file);
break;
};
case CMD_SEND_DESIRED_STATE:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_sendDesiredStateCommandArgument,sizeof(SendDesiredStateArgs),1,m_file);
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_physSimParamArgs, sizeof(SendPhysicsSimulationParameters), 1,m_file);
break;
}
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_requestContactPointArguments,sizeof(RequestContactDataArgs),1,m_file);
break;
}
case CMD_STEP_FORWARD_SIMULATION:
case CMD_RESET_SIMULATION:
case CMD_REQUEST_INTERNAL_DATA:
{
break;
};
default:
{
fwrite((const char*)&command,sizeof(SharedMemoryCommand),1,m_file);
}
};
}
}
CommandLogger(const char* fileName)
{
m_file = fopen(fileName,"wb");
unsigned char buf[15];
buf[12] = 12;
buf[13] = 13;
buf[14] = 14;
writeHeader(buf);
fwrite(buf,12,1,m_file);
if (m_file)
{
unsigned char buf[15];
buf[12] = 12;
buf[13] = 13;
buf[14] = 14;
writeHeader(buf);
fwrite(buf,12,1,m_file);
}
}
virtual ~CommandLogger()
{
fclose(m_file);
if (m_file)
{
fclose(m_file);
}
}
};
@@ -355,28 +434,162 @@ struct CommandLogPlayback
}
bool processNextCommand(SharedMemoryCommand* cmd)
{
//for a little while, keep this flag to be able to read 'old' log files
//#define BACKWARD_COMPAT
#if BACKWARD_COMPAT
SharedMemoryCommand unused;
#endif//BACKWARD_COMPAT
bool result = false;
if (m_file)
{
size_t s = 0;
int commandType = -1;
if (m_fileIs64bit)
{
bCommandChunkPtr8 chunk8;
s = fread((void*)&chunk8,sizeof(bCommandChunkPtr8),1,m_file);
commandType = chunk8.code;
} else
{
bCommandChunkPtr4 chunk4;
s = fread((void*)&chunk4,sizeof(bCommandChunkPtr4),1,m_file);
commandType = chunk4.code;
}
if (s==1)
{
s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
return (s==1);
memset(cmd,0,sizeof(SharedMemoryCommand));
cmd->m_type = commandType;
#ifdef BACKWARD_COMPAT
s = fread(&unused,sizeof(SharedMemoryCommand),1,m_file);
cmd->m_updateFlags = unused.m_updateFlags;
#endif
switch (commandType)
{
case CMD_LOAD_MJCF:
{
#ifdef BACKWARD_COMPAT
cmd->m_mjcfArguments = unused.m_mjcfArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_mjcfArguments,sizeof(MjcfArgs),1,m_file);
#endif
result=true;
break;
}
case CMD_REQUEST_BODY_INFO:
{
#ifdef BACKWARD_COMPAT
cmd->m_sdfRequestInfoArgs = unused.m_sdfRequestInfoArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_sdfRequestInfoArgs,sizeof(SdfRequestInfoArgs),1,m_file);
#endif
result=true;
break;
}
case CMD_REQUEST_VISUAL_SHAPE_INFO:
{
#ifdef BACKWARD_COMPAT
cmd->m_requestVisualShapeDataArguments = unused.m_requestVisualShapeDataArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestVisualShapeDataArguments,sizeof(RequestVisualShapeDataArgs),1,m_file);
#endif
result=true;
break;
}
case CMD_LOAD_URDF:
{
#ifdef BACKWARD_COMPAT
cmd->m_urdfArguments = unused.m_urdfArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_urdfArguments,sizeof(UrdfArgs),1,m_file);
#endif
result=true;
break;
}
case CMD_INIT_POSE:
{
#ifdef BACKWARD_COMPAT
cmd->m_initPoseArgs = unused.m_initPoseArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
#endif
result=true;
break;
};
case CMD_REQUEST_ACTUAL_STATE:
{
#ifdef BACKWARD_COMPAT
cmd->m_requestActualStateInformationCommandArgument = unused.m_requestActualStateInformationCommandArgument;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestActualStateInformationCommandArgument,sizeof(RequestActualStateArgs),1,m_file);
#endif
result=true;
break;
};
case CMD_SEND_DESIRED_STATE:
{
#ifdef BACKWARD_COMPAT
cmd->m_sendDesiredStateCommandArgument = unused.m_sendDesiredStateCommandArgument;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_sendDesiredStateCommandArgument ,sizeof(SendDesiredStateArgs),1,m_file);
#endif
result = true;
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
#ifdef BACKWARD_COMPAT
cmd->m_physSimParamArgs = unused.m_physSimParamArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_physSimParamArgs ,sizeof(SendPhysicsSimulationParameters),1,m_file);
#endif
result = true;
break;
}
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
{
#ifdef BACKWARD_COMPAT
cmd->m_requestContactPointArguments = unused.m_requestContactPointArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestContactPointArguments ,sizeof(RequestContactDataArgs),1,m_file);
#endif
result = true;
break;
}
case CMD_STEP_FORWARD_SIMULATION:
case CMD_RESET_SIMULATION:
case CMD_REQUEST_INTERNAL_DATA:
{
result=true;
break;
}
default:
{
s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
result=(s==1);
}
};
}
}
return false;
return result;
}
};
@@ -3458,7 +3671,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(sdfInfoArgs.m_bodyUniqueId);
if (bodyHandle)
{
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName,bodyHandle->m_bodyName.c_str());

52
examples/pybullet/examples/dumpLog.py
View File

@@ -31,29 +31,35 @@ def readLogFile(filename, verbose = True):
print('Columns:'),
print(ncols)
# Read data
wholeFile = f.read()
# split by alignment word
chunks = wholeFile.split(b'\xaa\xbb')
lenChunk = sz
log = list()
if verbose:
print("num chunks:")
print(len(chunks))
chunkIndex = 0
for chunk in chunks:
print("len(chunk)=",len(chunk)," sz = ", sz)
if len(chunk) == sz:
print("chunk #",chunkIndex)
chunkIndex=chunkIndex+1
values = struct.unpack(fmt, chunk)
record = list()
for i in range(ncols):
record.append(values[i])
if verbose:
print(" ",keys[i],"=",values[i])
log.append(record)
while (lenChunk):
check = f.read(2)
lenChunk = 0
if (check == b'\xaa\xbb'):
mychunk = f.read(sz)
lenChunk = len(mychunk)
chunks = [mychunk]
if verbose:
print("num chunks:")
print(len(chunks))
for chunk in chunks:
print("len(chunk)=",len(chunk)," sz = ", sz)
if len(chunk) == sz:
print("chunk #",chunkIndex)
chunkIndex=chunkIndex+1
values = struct.unpack(fmt, chunk)
record = list()
for i in range(ncols):
record.append(values[i])
if verbose:
print(" ",keys[i],"=",values[i])
log.append(record)
else:
print("Error, expected aabb terminal")
return log
@@ -64,11 +70,11 @@ print ('Argument List:', str(sys.argv))
fileName = "log.bin"
if (numArgs>1):
fileName = sys.argv[1]
fileName = sys.argv[1]
print("filename=")
print(fileName)
verbose = True
readLogFile(fileName,verbose)

107
examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf Normal file
View File

@@ -0,0 +1,107 @@
<sdf version='1.6'>
<world name='default'>
<gravity>0 0 -9.8</gravity>
<model name='roboschool/models_outdoor/stadium/part0.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d0'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1.00000 1.00000 1.000000 1</diffuse>
<specular>0.1 .1 .1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='roboschool/models_outdoor/stadium/part1.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d1'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision_1'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>0.600000 0.400000 0.000000 1</diffuse>
<specular>.5 .5 .5 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part2.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d2'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.000000 0.500000 0.000000 1</diffuse>
<specular>0.4 0.4 0.4 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
</world>
</sdf>

3
examples/pybullet/gym/pybullet_envs/__init__.py
View File

@@ -133,6 +133,3 @@ register(
reward_threshold=2500.0
)
def getList():
btenvs = ['- ' + spec.id for spec in gym.envs.registry.all() if spec.id.find('Bullet')>=0])
return btenvs

6
src/CMakeLists.txt
View File

@@ -1,10 +1,10 @@
IF(BUILD_BULLET3)
SUBDIRS( Bullet3OpenCL Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry Bullet3Common )
SUBDIRS( BulletInverseDynamics )
SUBDIRS( Bullet3OpenCL Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry )
ENDIF(BUILD_BULLET3)
SUBDIRS( BulletSoftBody BulletCollision BulletDynamics LinearMath )
SUBDIRS( BulletInverseDynamics BulletSoftBody BulletCollision BulletDynamics LinearMath Bullet3Common)
IF(INSTALL_LIBS)

4
test/SharedMemory/test.c
View File

@@ -335,9 +335,9 @@ int main(int argc, char* argv[])
#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
#ifdef __APPLE__
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc,argv,1);
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc,argv);
#else
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv,1);
b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
#endif //__APPLE__
#endif

2
test/enet/chat/client/main.cpp
View File

@@ -122,7 +122,7 @@ int main(int argc, char* argv[]) {
#ifdef _WIN32
gets_s(message, 1024);
#else
gets(message);
fgets(message,1024,stdin);
#endif
if (strcmp(message, "exit") == 0 ||
strcmp(message, "quit") == 0) {