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Merge pull request #611 from erwincoumans/master

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add initial Python pybullet module, using the shared memory C API
This commit is contained in:
erwincoumans
2016-05-01 15:59:30 -07:00
parent 5351b20f9d 984c880b2c
commit 927d846bb0
12 changed files with 620 additions and 249 deletions
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11
build3/premake4.lua
View File

@@ -73,6 +73,14 @@
description = "Enable Lua scipting support in Example Browser"
}
newoption
{
trigger = "python",
description = "Enable Python scripting (experimental, use Physics Server in Example Browser). "
}
newoption {
trigger = "targetdir",
value = "path such as ../bin",
@@ -192,6 +200,9 @@
if _OPTIONS["lua"] then
include "../examples/ThirdPartyLibs/lua-5.2.3"
end
if _OPTIONS["python"] then
include "../examples/pybullet"
end
if not _OPTIONS["no-test"] then
include "../test/SharedMemory"

4
examples/BasicDemo/BasicExample.cpp
View File

@@ -140,7 +140,11 @@ void BasicExample::renderScene()
CommonExampleInterface* BasicExampleCreateFunc(CommonExampleOptions& options)
{
return new BasicExample(options.m_guiHelper);
}
B3_STANDALONE_EXAMPLE(BasicExampleCreateFunc)

244
examples/BasicDemo/main.cpp
View File

@@ -26,248 +26,6 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btHashMap.h"
#ifdef USE_GUI
#include "../TinyRenderer/TinyRenderer.h"
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#include <stdio.h>
#include "../ExampleBrowser/OpenGLGuiHelper.h"
class SW_And_OpenGLGuiHelper : public OpenGLGuiHelper
{
btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
btHashMap<btHashInt,int> m_swInstances;
int m_swWidth;
int m_swHeight;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
int m_textureHandle;
unsigned char* m_image;
GLPrimitiveRenderer* m_primRenderer;
public:
SW_And_OpenGLGuiHelper (CommonGraphicsApp* glApp, bool useOpenGL2, int swWidth, int swHeight, GLPrimitiveRenderer* primRenderer)
:OpenGLGuiHelper(glApp,useOpenGL2),
m_swWidth(swWidth),
m_swHeight(swHeight),
m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB),
m_primRenderer(primRenderer)
{
m_depthBuffer.resize(swWidth*swHeight);
CommonRenderInterface* render = getRenderInterface();
m_image=new unsigned char[m_swWidth*m_swHeight*4];
m_textureHandle = render->registerTexture(m_image,m_swWidth,m_swHeight);
}
void clearBuffers(TGAColor& clearColor)
{
for(int y=0;y<m_swHeight;++y)
{
for(int x=0;x<m_swWidth;++x)
{
m_rgbColorBuffer.set(x,y,clearColor);
m_depthBuffer[x+y*m_swWidth] = -1e30f;
}
}
}
const TGAImage& getFrameBuffer() const
{
return m_rgbColorBuffer;
}
virtual ~SW_And_OpenGLGuiHelper()
{
for (int i=0;i<m_swRenderObjects.size();i++)
{
TinyRenderObjectData** d = m_swRenderObjects[i];
if (d && *d)
{
delete *d;
}
}
}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
{
OpenGLGuiHelper::createCollisionObjectGraphicsObject(obj,color);
int colIndex = obj->getUserIndex();
int shapeIndex = obj->getCollisionShape()->getUserIndex();
if (colIndex>=0 && shapeIndex>=0)
{
m_swInstances.insert(colIndex,shapeIndex);
}
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
{
int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
if (shapeIndex>=0)
{
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
//swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
}
return shapeIndex;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
int instanceId = OpenGLGuiHelper::registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
return instanceId ;
}
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
OpenGLGuiHelper::createCollisionShapeGraphicsObject(collisionShape);
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::syncPhysicsToGraphics(rbWorld);
}
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::render(rbWorld);
//clear the color buffer
TGAColor clearColor;
clearColor.bgra[0] = 255;
clearColor.bgra[1] = 255;
clearColor.bgra[2] = 255;
clearColor.bgra[3] = 255;
clearBuffers(clearColor);
ATTRIBUTE_ALIGNED16(float modelMat[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
CommonRenderInterface* render = getRenderInterface();
render->getActiveCamera()->getCameraViewMatrix(viewMat);
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
int colObjIndex = colObj->getUserIndex();
int shapeIndex = colObj->getCollisionShape()->getUserIndex();
if (colObjIndex>=0 && shapeIndex>=0)
{
TinyRenderObjectData* renderObj = 0;
int* cptr = m_swInstances[colObjIndex];
if (cptr)
{
int c = *cptr;
TinyRenderObjectData** sptr = m_swRenderObjects[c];
if (sptr)
{
renderObj = *sptr;
}
}
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
{
for (int j=0;j<4;j++)
{
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
}
}
TinyRenderer::renderObject(*renderObj);
}
}
for(int y=0;y<m_swHeight;++y)
{
unsigned char* pi=m_image+(y)*m_swWidth*3;
for(int x=0;x<m_swWidth;++x)
{
const TGAColor& color = getFrameBuffer().get(x,y);
pi[0] = color.bgra[2];
pi[1] = color.bgra[1];
pi[2] = color.bgra[0];
pi+=3;
}
}
render->activateTexture(m_textureHandle);
render->updateTexture(m_textureHandle,m_image);
static int counter=0;
counter++;
if (counter>10)
{
counter=0;
getFrameBuffer().write_tga_file("/Users/erwincoumans/develop/bullet3/framebuf.tga",true);
}
float color[4] = {1,1,1,1};
m_primRenderer->drawTexturedRect(0,0,m_swWidth, m_swHeight,color,0,0,1,1,true);
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::autogenerateGraphicsObjects(rbWorld);
}
};
int main(int argc, char* argv[])
{
SimpleOpenGL3App* app = new SimpleOpenGL3App("BasicDemoGui",1024,768,true);
int textureWidth = 640;
int textureHeight = 480;
SW_And_OpenGLGuiHelper gui(app,false,textureWidth,textureHeight,app->m_primRenderer);
CommonExampleOptions options(&gui);
CommonExampleInterface* example = BasicExampleCreateFunc(options);
example->initPhysics();
do
{
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera();
example->stepSimulation(1./60.);
example->renderScene();
app->drawGrid();
app->swapBuffer();
} while (!app->m_window->requestedExit());
example->exitPhysics();
delete example;
delete app;
return 0;
}
#else
int main(int argc, char* argv[])
{
@@ -285,5 +43,5 @@ int main(int argc, char* argv[])
return 0;
}
#endif

46
examples/BasicDemo/premake4.lua
View File

@@ -28,7 +28,44 @@ if _OPTIONS["ios"] then
else
kind "ConsoleApp"
end
defines {"USE_GUI"}
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
"BasicExample.cpp",
"*.h",
"../StandaloneMain/main_opengl_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_BasicExampleGuiWithSoftwareRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
@@ -43,8 +80,9 @@ links {
language "C++"
files {
"**.cpp",
"**.h",
"BasicExample.cpp",
"*.h",
"../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../TinyRenderer/geometry.cpp",
@@ -60,4 +98,4 @@ if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end

11
examples/CommonInterfaces/CommonExampleInterface.h
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@@ -48,6 +48,17 @@ public:
};
CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options);
#ifdef B3_USE_STANDALONE_EXAMPLE
#define B3_STANDALONE_EXAMPLE(ExampleFunc) CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options)\
{\
return ExampleFunc(options);\
}
#else//B3_USE_STANDALONE_EXAMPLE
#define B3_STANDALONE_EXAMPLE(ExampleFunc)
#endif //B3_USE_STANDALONE_EXAMPLE
#endif //COMMON_EXAMPLE_INTERFACE_H

46
examples/StandaloneMain/main_console_single_example.cpp Normal file
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@@ -0,0 +1,46 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btHashMap.h"
int main(int argc, char* argv[])
{
DummyGUIHelper noGfx;
CommonExampleOptions options(&noGfx);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
example->stepSimulation(1.f/60.f);
example->exitPhysics();
delete example;
return 0;
}

65
examples/StandaloneMain/main_opengl_single_example.cpp Normal file
View File

@@ -0,0 +1,65 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btHashMap.h"
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#include <stdio.h>
#include "../ExampleBrowser/OpenGLGuiHelper.h"
int main(int argc, char* argv[])
{
SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet Standalone Example",1024,768,true);
OpenGLGuiHelper gui(app,false);
CommonExampleOptions options(&gui);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
do
{
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera();
example->stepSimulation(1./60.);
example->renderScene();
app->drawGrid();
app->swapBuffer();
} while (!app->m_window->requestedExit());
example->exitPhysics();
delete example;
delete app;
return 0;
}

266
examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp Normal file
View File

@@ -0,0 +1,266 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btHashMap.h"
#include "../TinyRenderer/TinyRenderer.h"
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#include <stdio.h>
#include "../ExampleBrowser/OpenGLGuiHelper.h"
class SW_And_OpenGLGuiHelper : public OpenGLGuiHelper
{
btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
btHashMap<btHashInt,int> m_swInstances;
int m_swWidth;
int m_swHeight;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
int m_textureHandle;
unsigned char* m_image;
GLPrimitiveRenderer* m_primRenderer;
public:
SW_And_OpenGLGuiHelper (CommonGraphicsApp* glApp, bool useOpenGL2, int swWidth, int swHeight, GLPrimitiveRenderer* primRenderer)
:OpenGLGuiHelper(glApp,useOpenGL2),
m_swWidth(swWidth),
m_swHeight(swHeight),
m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB),
m_primRenderer(primRenderer)
{
m_depthBuffer.resize(swWidth*swHeight);
CommonRenderInterface* render = getRenderInterface();
m_image=new unsigned char[m_swWidth*m_swHeight*4];
m_textureHandle = render->registerTexture(m_image,m_swWidth,m_swHeight);
}
void clearBuffers(TGAColor& clearColor)
{
for(int y=0;y<m_swHeight;++y)
{
for(int x=0;x<m_swWidth;++x)
{
m_rgbColorBuffer.set(x,y,clearColor);
m_depthBuffer[x+y*m_swWidth] = -1e30f;
}
}
}
const TGAImage& getFrameBuffer() const
{
return m_rgbColorBuffer;
}
virtual ~SW_And_OpenGLGuiHelper()
{
for (int i=0;i<m_swRenderObjects.size();i++)
{
TinyRenderObjectData** d = m_swRenderObjects[i];
if (d && *d)
{
delete *d;
}
}
}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
{
OpenGLGuiHelper::createCollisionObjectGraphicsObject(obj,color);
int colIndex = obj->getUserIndex();
int shapeIndex = obj->getCollisionShape()->getUserIndex();
if (colIndex>=0 && shapeIndex>=0)
{
m_swInstances.insert(colIndex,shapeIndex);
}
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
{
int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
if (shapeIndex>=0)
{
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
//swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
}
return shapeIndex;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
int instanceId = OpenGLGuiHelper::registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
return instanceId ;
}
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
OpenGLGuiHelper::createCollisionShapeGraphicsObject(collisionShape);
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::syncPhysicsToGraphics(rbWorld);
}
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::render(rbWorld);
//clear the color buffer
TGAColor clearColor;
clearColor.bgra[0] = 255;
clearColor.bgra[1] = 255;
clearColor.bgra[2] = 255;
clearColor.bgra[3] = 255;
clearBuffers(clearColor);
ATTRIBUTE_ALIGNED16(float modelMat[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
CommonRenderInterface* render = getRenderInterface();
render->getActiveCamera()->getCameraViewMatrix(viewMat);
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
int colObjIndex = colObj->getUserIndex();
int shapeIndex = colObj->getCollisionShape()->getUserIndex();
if (colObjIndex>=0 && shapeIndex>=0)
{
TinyRenderObjectData* renderObj = 0;
int* cptr = m_swInstances[colObjIndex];
if (cptr)
{
int c = *cptr;
TinyRenderObjectData** sptr = m_swRenderObjects[c];
if (sptr)
{
renderObj = *sptr;
}
}
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
{
for (int j=0;j<4;j++)
{
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
}
}
TinyRenderer::renderObject(*renderObj);
}
}
for(int y=0;y<m_swHeight;++y)
{
unsigned char* pi=m_image+(y)*m_swWidth*3;
for(int x=0;x<m_swWidth;++x)
{
const TGAColor& color = getFrameBuffer().get(x,y);
pi[0] = color.bgra[2];
pi[1] = color.bgra[1];
pi[2] = color.bgra[0];
pi+=3;
}
}
render->activateTexture(m_textureHandle);
render->updateTexture(m_textureHandle,m_image);
static int counter=0;
counter++;
if (counter>10)
{
counter=0;
getFrameBuffer().write_tga_file("/Users/erwincoumans/develop/bullet3/framebuf.tga",true);
}
float color[4] = {1,1,1,1};
m_primRenderer->drawTexturedRect(0,0,m_swWidth, m_swHeight,color,0,0,1,1,true);
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::autogenerateGraphicsObjects(rbWorld);
}
};
int main(int argc, char* argv[])
{
SimpleOpenGL3App* app = new SimpleOpenGL3App("Standalone Example (Software Renderer, TinyRenderer)",1024,768,true);
int textureWidth = 640;
int textureHeight = 480;
SW_And_OpenGLGuiHelper gui(app,false,textureWidth,textureHeight,app->m_primRenderer);
CommonExampleOptions options(&gui);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
do
{
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera();
example->stepSimulation(1./60.);
example->renderScene();
app->drawGrid();
app->swapBuffer();
} while (!app->m_window->requestedExit());
example->exitPhysics();
delete example;
delete app;
return 0;
}

7
examples/TinyRenderer/main.cpp
View File

@@ -82,8 +82,11 @@ int main(int argc, char* argv[])
int textureWidth = gWidth;
int textureHeight = gHeight;
TinyRenderObjectData renderData(textureWidth, textureHeight);//, "african_head/african_head.obj");//floor.obj");
TGAImage rgbColorBuffer(gWidth,gHeight,TGAImage::RGB);
b3AlignedObjectArray<float> depthBuffer;
depthBuffer.resize(gWidth*gHeight);
TinyRenderObjectData renderData(textureWidth, textureHeight,rgbColorBuffer,depthBuffer);//, "african_head/african_head.obj");//floor.obj");
//renderData.loadModel("african_head/african_head.obj");
//renderData.loadModel("floor.obj");

48
examples/pybullet/premake4.lua Normal file
View File

@@ -0,0 +1,48 @@
project ("pybullet")
language "C++"
kind "SharedLib"
targetsuffix ("")
targetprefix ("")
targetextension (".so")
includedirs {"../../src", "../../examples",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
initOpenGL()
initGlew()
includedirs {
".",
"../../src",
"../ThirdPartyLibs",
}
if os.is("MacOSX") then
links{"Cocoa.framework","Python"}
end
if (hasCL) then
links {
"Bullet3OpenCL_clew",
"Bullet3Dynamics",
"Bullet3Collision",
"Bullet3Geometry",
"Bullet3Common",
}
end
files {
"pybullet.c",
"../../examples/ExampleBrowser/ExampleEntries.cpp",
}
if os.is("Linux") then
initX11()
end

114
examples/pybullet/pybullet.c Normal file
View File

@@ -0,0 +1,114 @@
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#ifdef __APPLE__
#include <Python/Python.h>
#else
#include <Python.h>
#endif
static PyObject *SpamError;
static b3PhysicsClientHandle sm;
static PyObject *
spam_step(PyObject *self, PyObject *args)
{
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
statusType = b3GetStatusType(statusHandle);
}
}
return PyLong_FromLong(1);
}
static PyObject *
spam_loadURDF(PyObject* self, PyObject* args)
{
int size= PySequence_Size(args);
int bodyIndex = -1;
const char* urdfFileName=0;
float startPosX =0;
float startPosY =0;
float startPosZ = 1;
float startOrnX = 0;
float startOrnY = 0;
float startOrnZ = 0;
float startOwnW = 1;
printf("size=%d\n", size);
if (size==1)
{
if (!PyArg_ParseTuple(args, "s", &urdfFileName))
return NULL;
}
if (size == 4)
{
if (!PyArg_ParseTuple(args, "sfff", &urdfFileName,
&startPosX,&startPosY,&startPosZ))
return NULL;
}
if (size==7)
{
if (!PyArg_ParseTuple(args, "sfffffff", &urdfFileName,
&startPosX,startPosY,&startPosZ,
&startOrnX,&startOrnY,&startOrnZ, &startOwnW))
return NULL;
}
printf("urdf filename = %s\n", urdfFileName);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
//setting the initial position, orientation and other arguments are optional
int ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_URDF_LOADING_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load URDF file.");
return NULL;
}
bodyIndex = b3GetStatusBodyIndex(statusHandle);
return PyLong_FromLong(bodyIndex);
}
static PyMethodDef SpamMethods[] = {
{"step", spam_step, METH_VARARGS,
"Step the simulation forward."},
{"loadURDF", spam_loadURDF, METH_VARARGS,
"Create a multibody by loading a URDF file."},
{NULL, NULL, 0, NULL} /* Sentinel */
};
PyMODINIT_FUNC
initpybullet(void)
{
b3PhysicsClientHandle h;
PyObject *m;
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
//#ifdef __APPLE__
//sm = b3CreateInProcessPhysicsServerAndConnectMainThread(0,0);
//#else
//sm = b3CreateInProcessPhysicsServerAndConnect(0,0);
//#endif
m = Py_InitModule("pybullet", SpamMethods);
if (m == NULL)
return;
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError);
PyModule_AddObject(m, "error", SpamError);
}

7
examples/pybullet/test.py Normal file
View File

@@ -0,0 +1,7 @@
import pybullet
pybullet.loadURDF('r2d2.urdf')
pybullet.loadURDF('kuka_lwr/kuka.urdf',3,0,0)
for x in range(0, 1000000):
pybullet.step()