work-in-progress

add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 13:15:10 -07:00
parent c2ca88bf44
commit 9708392322
52 changed files with 2104 additions and 214 deletions
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -3,6 +3,7 @@ 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
 		${PYTHON_INCLUDE_DIRS}
  )
 IF(BUILD_PYBULLET_NUMPY)
@@ -16,7 +17,7 @@ SET(pybullet_SRCS
 		../../examples/SharedMemory/IKTrajectoryHelper.cpp
 		../../examples/SharedMemory/IKTrajectoryHelper.h
 		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
-    ../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
 		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
@@ -42,6 +43,9 @@ SET(pybullet_SRCS
 		../../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/Win32SharedMemory.cpp
@@ -69,20 +73,55 @@ SET(pybullet_SRCS
 		../../examples/MultiThreading/b3PosixThreadSupport.cpp
 		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
 		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+		
 )

 IF(WIN32)
-LINK_LIBRARIES(
+	LINK_LIBRARIES(
 		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 	)
-
+	IF(BUILD_PYBULLET_ENET)
+		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
+	ENDIF(BUILD_PYBULLET_ENET)
 ENDIF(WIN32)

-ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
+
+IF(BUILD_PYBULLET_ENET)
+	ADD_LIBRARY(pybullet SHARED ${pybullet_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
+	)
+ELSE(BUILD_PYBULLET_ENET)
+	ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
+ENDIF(BUILD_PYBULLET_ENET)

 SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
-
-TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common ${PYTHON_LIBRARIES})
+SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
+
+
+IF(WIN32)
+	IF(BUILD_PYBULLET_ENET)
+		TARGET_LINK_LIBRARIES(pybullet ws2_32 )
+	ENDIF(BUILD_PYBULLET_ENET)
+
+	SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
+ENDIF(WIN32)
+
+
+
+
+TARGET_LINK_LIBRARIES(pybullet ws2_32 BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common ${PYTHON_LIBRARIES})


--- a/examples/pybullet/premake4.lua
+++ b/examples/pybullet/premake4.lua
@@ -33,12 +33,37 @@ project ("pybullet")
 			}
 		end

+if not _OPTIONS["no-enet"] then
+
+		includedirs {"../../examples/ThirdPartyLibs/enet/include"}
+	
+		if os.is("Windows") then 
+			defines { "WIN32" }
+			links {"Ws2_32","Winmm"}
+		end
+		if os.is("Linux") then
+		end
+		if os.is("MacOSX") then
+		end		
+		
+		links {"enet"}		
+
+		files {
+			"../../examples/SharedMemory/PhysicsClientUDP.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP.h",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
+		}	
+		defines {"BT_ENABLE_ENET"}
+	end
+
+
 		files {
 			"pybullet.c",
 			"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
 			"../../examples/SharedMemory/IKTrajectoryHelper.h",
 			"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
-    	"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
+			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
 			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
 			"../../examples/OpenGLWindow/SimpleCamera.cpp",
 			"../../examples/OpenGLWindow/SimpleCamera.h",
@@ -64,6 +89,8 @@ project ("pybullet")
 			"../../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/Win32SharedMemory.cpp",
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1,7 +1,9 @@
 #include "../SharedMemory/PhysicsClientC_API.h"
 #include "../SharedMemory/PhysicsDirectC_API.h"
 #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
-
+#ifdef BT_ENABLE_ENET
+#include "../SharedMemory/PhysicsClientUDP_C_API.h"
+#endif //BT_ENABLE_ENET

 #ifdef __APPLE__
 #include <Python/Python.h>
@@ -22,6 +24,7 @@ enum eCONNECT_METHOD {
  eCONNECT_GUI = 1,
  eCONNECT_DIRECT = 2,
  eCONNECT_SHARED_MEMORY = 3,
+  eCONNECT_UDP = 4,
 };

 static PyObject* SpamError;
@@ -60,8 +63,8 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args) {
    int method = eCONNECT_GUI;
    if (!PyArg_ParseTuple(args, "i", &method)) {
      PyErr_SetString(SpamError,
-                      "connectPhysicsServer expected argument  eCONNECT_GUI, "
-                      "eCONNECT_DIRECT or eCONNECT_SHARED_MEMORY");
+                      "connectPhysicsServer expected argument  GUI, "
+                      "DIRECT, SHARED_MEMORY or UDP");
      return NULL;
    }

@@ -85,6 +88,18 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args) {
        sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
        break;
      }
+	  case eCONNECT_UDP: 
+	{
+#ifdef BT_ENABLE_ENET
+
+		  sm = b3ConnectPhysicsUDP("localhost", 1234);
+#else
+ 		PyErr_SetString(SpamError, "UDP is not enabled in this pybullet build");
+		return NULL;
+#endif //BT_ENABLE_ENET
+
+		  break;
+	}

      default: {
        PyErr_SetString(SpamError, "connectPhysicsServer unexpected argument");
@@ -2401,6 +2416,8 @@ initpybullet(void)
                          eCONNECT_SHARED_MEMORY);        // user read
  PyModule_AddIntConstant(m, "DIRECT", eCONNECT_DIRECT);  // user read
  PyModule_AddIntConstant(m, "GUI", eCONNECT_GUI);        // user read
+  PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP);        // user read
+

  PyModule_AddIntConstant(m, "TORQUE_CONTROL", CONTROL_MODE_TORQUE);
  PyModule_AddIntConstant(m, "VELOCITY_CONTROL",