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add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
This commit is contained in:
erwincoumans
2016-11-04 13:15:10 -07:00
parent c2ca88bf44
commit 9708392322
52 changed files with 2104 additions and 214 deletions
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23
examples/pybullet/pybullet.c
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@@ -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",