Add C++ version VRGloveSimulatorMain example, using the serial library.
First run the App_PhysicsServer_SharedMemory_VR_vs2010.exe to run the VR server, then run App_VRGloveHandSimulator. You likely need to tune the minV/maxV for each finger (check values using Arduino IDE Serial Monitor)
This commit is contained in:
Erwin Coumans
@@ -2,7 +2,6 @@
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#include "b3RobotSimulatorClientAPI.h"
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#include "Bullet3Common/b3HashMap.h"
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#include "../Utils/b3HashString.h"
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struct MinitaurSetupInternalData
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{
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@@ -16,7 +16,7 @@ int main(int argc, char* argv[])
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//sim->connect(eCONNECT_UDP, "localhost", 1234);
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sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
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// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
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sim->setTimeOut(12345);
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sim->setTimeOut(10);
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//syncBodies is only needed when connecting to an existing physics server that has already some bodies
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sim->syncBodies();
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b3Scalar fixedTimeStep = 1./240.;
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@@ -33,18 +33,14 @@ int main(int argc, char* argv[])
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//b3BodyInfo bodyInfo;
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//sim->getBodyInfo(blockId,&bodyInfo);
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sim->loadURDF("plane_with_collision_audio.urdf");
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sim->loadURDF("plane.urdf");
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b3RobotSimulatorLoadUrdfFileArgs args;
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args.m_startPosition.setValue(0,0,2);
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for (int i=0;i<10;i++)
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{
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args.m_startPosition[0] = 0.5*i;
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args.m_startPosition[1] = 0.5*i;
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args.m_startPosition[2] = 2+i*2;
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int r2d2 = sim->loadURDF("cube.urdf",args);
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}
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MinitaurSetup minitaur;
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int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,.3));
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//b3RobotSimulatorLoadUrdfFileArgs args;
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//args.m_startPosition.setValue(2,0,1);
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//int r2d2 = sim->loadURDF("r2d2.urdf",args);
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//b3RobotSimulatorLoadFileResults sdfResults;
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@@ -127,8 +123,8 @@ int main(int argc, char* argv[])
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yaw+=0.1;
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b3Vector3 basePos;
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b3Quaternion baseOrn;
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// sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
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// sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
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sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
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sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
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}
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b3Clock::usleep(1000.*1000.*fixedTimeStep);
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}
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@@ -144,4 +140,3 @@ int main(int argc, char* argv[])
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}
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295
examples/RobotSimulator/VRGloveSimulatorMain.cpp
Normal file
295
examples/RobotSimulator/VRGloveSimulatorMain.cpp
Normal file
@@ -0,0 +1,295 @@
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//VR Glove hand simulator is a C++ conversion from the Python pybullet vrhand_vive_tracker.py
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//For more details about the VR glove, see also https://docs.google.com/document/d/1_qwXJRBTGKmhktdBtVQ6zdOdxwud1K30jt0G5dkAr10/edit
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#include "b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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#include "Bullet3Common/b3CommandLineArgs.h"
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#include <string.h>
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#include <stdio.h>
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#include <assert.h>
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#include "serial/serial.h"
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#include "../Importers/ImportURDFDemo/urdfStringSplit.h"
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double convertSensor(int inputV, int minV, int maxV)
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{
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b3Clamp(inputV,minV,maxV);
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double outVal =(double)inputV;
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double b = (outVal-(double)minV)/float(maxV-minV);
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return (b);
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}
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void setJointMotorPositionControl(b3RobotSimulatorClientAPI* sim, int obUid, int linkIndex, double targetPosition)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
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controlArgs.m_maxTorqueValue = 50.;
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controlArgs.m_targetPosition = targetPosition;
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controlArgs.m_targetVelocity = 0;
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sim->setJointMotorControl(obUid,linkIndex,controlArgs);
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}
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int main(int argc, char* argv[])
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{
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b3CommandLineArgs args(argc,argv);
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std::string port="COM10";
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args.GetCmdLineArgument("port",port);
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int baud = 115200;
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args.GetCmdLineArgument("speed",baud);
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std::string mode = "SHARED_MEMORY";
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args.GetCmdLineArgument("mode",mode);
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int disableGui = 0;
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args.GetCmdLineArgument("disableGui",disableGui);
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int disableShadows = 0;
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args.GetCmdLineArgument("disableShadows",disableShadows);
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printf("port=%s, speed=%d, connection mode=%s\n", port.c_str(), baud,mode.c_str());
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// port, baudrate, timeout in milliseconds
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serial::Serial my_serial(port, baud, serial::Timeout::simpleTimeout(1));
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if (!my_serial.isOpen())
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{
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printf("Cannot open serial port\n");
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return -1;
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}
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b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
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//Can also use eCONNECT_UDP,eCONNECT_TCP, for example: sim->connect(eCONNECT_UDP, "localhost", 1234);
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if (mode=="GUI")
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{
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sim->connect(eCONNECT_GUI);
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} else
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{
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if (mode=="DIRECT")
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{
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sim->connect(eCONNECT_DIRECT);
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} else
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{
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sim->connect(eCONNECT_SHARED_MEMORY);
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}
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}
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sim->setRealTimeSimulation(true);
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sim->setInternalSimFlags(0);
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sim->resetSimulation();
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if (disableGui)
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{
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sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
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}
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if (disableShadows)
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{
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sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);
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}
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sim->setTimeOut(12345);
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//syncBodies is only needed when connecting to an existing physics server that has already some bodies
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sim->syncBodies();
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b3Scalar fixedTimeStep = 1./240.;
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sim->setTimeStep(fixedTimeStep);
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b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1,0.2,0.3));
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b3Vector3 rpy;
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rpy = sim->getEulerFromQuaternion(q);
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sim->setGravity(b3MakeVector3(0,0,-9.8));
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sim->setContactBreakingThreshold(0.001);
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sim->loadURDF("plane_with_collision_audio.urdf");
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sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.300000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
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sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.200000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
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sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.100000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
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sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.000000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
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sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.900000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
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sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.800000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
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sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.700000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
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sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.600000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
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sim->loadURDF("table/table.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.000000,-0.200000,0.000000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
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sim->loadURDF("cube_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3( 0.950000,-0.100000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
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sim->loadURDF("sphere_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.850000,-0.400000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
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int handUid = -1;
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b3RobotSimulatorLoadFileResults mjcfResults;
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const char* mjcfFileName = "MPL/mpl2.xml";
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if (sim->loadMJCF(mjcfFileName,mjcfResults))
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{
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printf("mjcfResults = %d\n", mjcfResults.m_uniqueObjectIds.size());
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if (mjcfResults.m_uniqueObjectIds.size()==1)
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{
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handUid = mjcfResults.m_uniqueObjectIds[0];
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}
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}
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if (handUid<0)
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{
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printf("Cannot load MJCF file %s\n", mjcfFileName);
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}
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b3Quaternion handOrn = sim->getQuaternionFromEuler(b3MakeVector3(3.14,-3.14/2,0));
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b3Vector3 handPos = b3MakeVector3(-0.05,0,0.02);
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b3JointInfo jointInfo;
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jointInfo.m_jointType = eFixedType;
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b3Vector3 handStartPosWorld = b3MakeVector3(0.500000,0.300006,0.900000);
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b3Quaternion handStartOrnWorld = b3Quaternion ::getIdentity();
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jointInfo.m_childFrame[0] = handStartPosWorld[0];
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jointInfo.m_childFrame[1] = handStartPosWorld[1];
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jointInfo.m_childFrame[2] = handStartPosWorld[2];
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jointInfo.m_childFrame[3] = handStartOrnWorld[0];
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jointInfo.m_childFrame[4] = handStartOrnWorld[1];
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jointInfo.m_childFrame[5] = handStartOrnWorld[2];
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jointInfo.m_childFrame[6] = handStartOrnWorld[3];
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jointInfo.m_parentFrame[0] = handPos[0];
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jointInfo.m_parentFrame[1] = handPos[1];
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jointInfo.m_parentFrame[2] = handPos[2];
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jointInfo.m_parentFrame[3] = handOrn[0];
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jointInfo.m_parentFrame[4] = handOrn[1];
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jointInfo.m_parentFrame[5] = handOrn[2];
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jointInfo.m_parentFrame[6] = handOrn[3];
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int handConstraintId = sim->createConstraint(handUid,-1,-1,-1,&jointInfo);
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double maxFingerForce = 50;
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for (int j=0; j<sim->getNumJoints(handUid);j++)
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{
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b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
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controlArgs.m_maxTorqueValue = maxFingerForce ;
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controlArgs.m_targetPosition = 0;
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controlArgs.m_targetVelocity = 0;
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sim->setJointMotorControl(handUid,j,controlArgs);
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}
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b3Clock clock;
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double startTime = clock.getTimeInSeconds();
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double simWallClockSeconds = 20.;
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int vidLogId = -1;
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int minitaurLogId = -1;
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int rotateCamera = 0;
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while (sim->canSubmitCommand())
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{
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b3VREventsData vrEvents;
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int deviceTypeFilter = VR_DEVICE_GENERIC_TRACKER;
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sim->getVREvents(&vrEvents, deviceTypeFilter);
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//instead of iterating over all vr events, we just take the most up-to-date one
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if (vrEvents.m_numControllerEvents)
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{
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int i = vrEvents.m_numControllerEvents - 1;
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b3VRControllerEvent& e = vrEvents.m_controllerEvents[i];
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// printf("e.pos=%f,%f,%f\n",e.m_pos[0],e.m_pos[1],e.m_pos[2]);
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b3JointInfo changeConstraintInfo;
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changeConstraintInfo.m_flags = 0;
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changeConstraintInfo.m_jointMaxForce = 50;
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changeConstraintInfo.m_flags |= eJointChangeMaxForce;
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changeConstraintInfo.m_childFrame[0] = e.m_pos[0];
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changeConstraintInfo.m_childFrame[1] = e.m_pos[1];
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changeConstraintInfo.m_childFrame[2] = e.m_pos[2];
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changeConstraintInfo.m_flags |= eJointChangeChildFramePosition;
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changeConstraintInfo.m_childFrame[3] = e.m_orn[0];
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changeConstraintInfo.m_childFrame[4] = e.m_orn[1];
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changeConstraintInfo.m_childFrame[5] = e.m_orn[2];
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changeConstraintInfo.m_childFrame[6] = e.m_orn[3];
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changeConstraintInfo.m_flags |= eJointChangeChildFrameOrientation;
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sim->changeConstraint(handConstraintId, &changeConstraintInfo);
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}
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//read the serial output from the hand, extract into parts
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std::string result = my_serial.readline();
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//my_serial.flush();
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if (result.length())
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{
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int res = result.find("\n");
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while (res<0)
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{
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result += my_serial.readline();
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res = result.find("\n");
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}
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btAlignedObjectArray<std::string> pieces;
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btAlignedObjectArray<std::string> separators;
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separators.push_back(",");
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urdfStringSplit( pieces, result, separators);
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//printf("serial: %s\n", result.c_str());
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if (pieces.size()==6)
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{
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double pinkTarget = 0;
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double middleTarget = 0;
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double indexTarget = 0;
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double thumbTarget = 0;
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{
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int pink = atoi(pieces[1].c_str());
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int middle = atoi(pieces[2].c_str());
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int index = atoi(pieces[3].c_str());
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int thumb = atoi(pieces[4].c_str());
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pinkTarget = convertSensor(pink,250,400);
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middleTarget = convertSensor(middle,250,400);
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indexTarget = convertSensor(index,250,400);
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thumbTarget = convertSensor(thumb,250,400);
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}
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//printf("pink = %d, middle=%d, index=%d, thumb=%d\n", pink,middle,index,thumb);
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setJointMotorPositionControl(sim,handUid,5,1.3);
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setJointMotorPositionControl(sim,handUid,7,thumbTarget);
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setJointMotorPositionControl(sim,handUid,9,thumbTarget);
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setJointMotorPositionControl(sim,handUid,11,thumbTarget);
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setJointMotorPositionControl(sim,handUid,15,indexTarget);
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setJointMotorPositionControl(sim,handUid,17,indexTarget);
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setJointMotorPositionControl(sim,handUid,19,indexTarget);
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setJointMotorPositionControl(sim,handUid,22,middleTarget);
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setJointMotorPositionControl(sim,handUid,24,middleTarget);
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setJointMotorPositionControl(sim,handUid,27,middleTarget);
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double ringTarget = 0.5f*(pinkTarget+middleTarget);
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setJointMotorPositionControl(sim,handUid,30,ringTarget);
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setJointMotorPositionControl(sim,handUid,32,ringTarget);
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setJointMotorPositionControl(sim,handUid,34,ringTarget);
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setJointMotorPositionControl(sim,handUid,38,pinkTarget);
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setJointMotorPositionControl(sim,handUid,40,pinkTarget);
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setJointMotorPositionControl(sim,handUid,42,pinkTarget);
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}
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}
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b3KeyboardEventsData keyEvents;
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sim->getKeyboardEvents(&keyEvents);
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//sim->stepSimulation();
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if (rotateCamera)
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{
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static double yaw=0;
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double distance = 1;
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yaw+=0.1;
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b3Vector3 basePos;
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b3Quaternion baseOrn;
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// sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
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// sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
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}
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//b3Clock::usleep(1000.*1000.*fixedTimeStep);
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}
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printf("serial.close()\n");
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my_serial.close();
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printf("sim->disconnect\n");
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sim->disconnect();
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printf("delete sim\n");
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delete sim;
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printf("exit\n");
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}
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@@ -560,21 +560,70 @@ bool b3RobotSimulatorClientAPI::getJointInfo(int bodyUniqueId, int jointIndex, b
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return (b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, jointInfo) != 0);
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}
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void b3RobotSimulatorClientAPI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
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int b3RobotSimulatorClientAPI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
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{
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if (!isConnected())
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{
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b3Warning("Not connected");
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return;
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return -1;
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}
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b3SharedMemoryStatusHandle statusHandle;
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b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
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if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
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{
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statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitCreateUserConstraintCommand(m_data->m_physicsClientHandle, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
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int statusType = b3GetStatusType(statusHandle);
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if (statusType == CMD_USER_CONSTRAINT_COMPLETED)
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{
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int userConstraintUid = b3GetStatusUserConstraintUniqueId(statusHandle);
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return userConstraintUid;
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}
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}
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return -1;
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}
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int b3RobotSimulatorClientAPI::changeConstraint(int constraintId, b3JointInfo* jointInfo)
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{
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if (!isConnected())
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{
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b3Warning("Not connected");
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return -1;
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}
|
||||
b3SharedMemoryCommandHandle commandHandle = b3InitChangeUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
|
||||
|
||||
if (jointInfo->m_flags & eJointChangeMaxForce)
|
||||
{
|
||||
b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_jointMaxForce);
|
||||
}
|
||||
|
||||
if (jointInfo->m_flags & eJointChangeChildFramePosition)
|
||||
{
|
||||
b3InitChangeUserConstraintSetPivotInB(commandHandle, &jointInfo->m_childFrame[0]);
|
||||
}
|
||||
if (jointInfo->m_flags & eJointChangeChildFrameOrientation)
|
||||
{
|
||||
b3InitChangeUserConstraintSetFrameInB(commandHandle, &jointInfo->m_childFrame[3]);
|
||||
}
|
||||
|
||||
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
|
||||
int statusType = b3GetStatusType(statusHandle);
|
||||
return statusType;
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::removeConstraint(int constraintId)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
b3SharedMemoryCommandHandle commandHandle = b3InitRemoveUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
|
||||
b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
|
||||
int statusType = b3GetStatusType(statusHandle);
|
||||
}
|
||||
|
||||
|
||||
bool b3RobotSimulatorClientAPI::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state)
|
||||
{
|
||||
if (!isConnected())
|
||||
@@ -685,6 +734,21 @@ void b3RobotSimulatorClientAPI::setNumSolverIterations(int numIterations)
|
||||
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::setContactBreakingThreshold(double threshold)
|
||||
{
|
||||
if (!isConnected())
|
||||
{
|
||||
b3Warning("Not connected");
|
||||
return;
|
||||
}
|
||||
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3PhysicsParamSetContactBreakingThreshold(command,threshold);
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
|
||||
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
|
||||
}
|
||||
|
||||
|
||||
void b3RobotSimulatorClientAPI::setTimeStep(double timeStepInSeconds)
|
||||
{
|
||||
if (!isConnected())
|
||||
@@ -815,7 +879,7 @@ void b3RobotSimulatorClientAPI::configureDebugVisualizer(b3ConfigureDebugVisuali
|
||||
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
|
||||
}
|
||||
|
||||
void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData)
|
||||
void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData,int deviceTypeFilter)
|
||||
{
|
||||
vrEventsData->m_numControllerEvents = 0;
|
||||
vrEventsData->m_controllerEvents = 0;
|
||||
@@ -826,6 +890,7 @@ void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData)
|
||||
}
|
||||
|
||||
b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(m_data->m_physicsClientHandle);
|
||||
b3VREventsSetDeviceTypeFilter(commandHandle, deviceTypeFilter);
|
||||
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
|
||||
b3GetVREventsData(m_data->m_physicsClientHandle, vrEventsData);
|
||||
}
|
||||
|
||||
@@ -132,6 +132,8 @@ class b3RobotSimulatorClientAPI
|
||||
struct b3RobotSimulatorClientAPI_InternalData* m_data;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
b3RobotSimulatorClientAPI();
|
||||
virtual ~b3RobotSimulatorClientAPI();
|
||||
|
||||
@@ -167,7 +169,11 @@ public:
|
||||
|
||||
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
|
||||
|
||||
void createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
|
||||
int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
|
||||
|
||||
int changeConstraint(int constraintId, b3JointInfo* jointInfo);
|
||||
|
||||
void removeConstraint(int constraintId);
|
||||
|
||||
bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
|
||||
|
||||
@@ -188,6 +194,7 @@ public:
|
||||
void setTimeStep(double timeStepInSeconds);
|
||||
void setNumSimulationSubSteps(int numSubSteps);
|
||||
void setNumSolverIterations(int numIterations);
|
||||
void setContactBreakingThreshold(double threshold);
|
||||
|
||||
bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
|
||||
|
||||
@@ -201,7 +208,7 @@ public:
|
||||
int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
|
||||
void stopStateLogging(int stateLoggerUniqueId);
|
||||
|
||||
void getVREvents(b3VREventsData* vrEventsData);
|
||||
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
|
||||
void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
|
||||
};
|
||||
|
||||
|
||||
@@ -1,3 +1,67 @@
|
||||
|
||||
myfiles =
|
||||
{
|
||||
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
|
||||
"../../examples/SharedMemory/IKTrajectoryHelper.h",
|
||||
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
|
||||
"../../examples/SharedMemory/InProcessMemory.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClient.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClient.h",
|
||||
"../../examples/SharedMemory/PhysicsServer.cpp",
|
||||
"../../examples/SharedMemory/PhysicsServer.h",
|
||||
"../../examples/SharedMemory/PhysicsServerExample.cpp",
|
||||
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
|
||||
"../../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/Win32SharedMemory.cpp",
|
||||
"../../examples/SharedMemory/Win32SharedMemory.h",
|
||||
"../../examples/SharedMemory/PosixSharedMemory.cpp",
|
||||
"../../examples/SharedMemory/PosixSharedMemory.h",
|
||||
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
|
||||
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
|
||||
"../../examples/TinyRenderer/geometry.cpp",
|
||||
"../../examples/TinyRenderer/model.cpp",
|
||||
"../../examples/TinyRenderer/tgaimage.cpp",
|
||||
"../../examples/TinyRenderer/our_gl.cpp",
|
||||
"../../examples/TinyRenderer/TinyRenderer.cpp",
|
||||
"../../examples/Utils/b3ResourcePath.cpp",
|
||||
"../../examples/Utils/b3ResourcePath.h",
|
||||
"../../examples/Utils/RobotLoggingUtil.cpp",
|
||||
"../../examples/Utils/RobotLoggingUtil.h",
|
||||
"../../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/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/MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
|
||||
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
}
|
||||
|
||||
project ("App_RobotSimulator")
|
||||
|
||||
language "C++"
|
||||
@@ -128,66 +192,91 @@ if not _OPTIONS["no-enet"] then
|
||||
"b3RobotSimulatorClientAPI.h",
|
||||
"MinitaurSetup.cpp",
|
||||
"MinitaurSetup.h",
|
||||
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
|
||||
"../../examples/SharedMemory/IKTrajectoryHelper.h",
|
||||
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
|
||||
"../../examples/SharedMemory/InProcessMemory.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClient.cpp",
|
||||
"../../examples/SharedMemory/PhysicsClient.h",
|
||||
"../../examples/SharedMemory/PhysicsServer.cpp",
|
||||
"../../examples/SharedMemory/PhysicsServer.h",
|
||||
"../../examples/SharedMemory/PhysicsServerExample.cpp",
|
||||
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
|
||||
"../../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/Win32SharedMemory.cpp",
|
||||
"../../examples/SharedMemory/Win32SharedMemory.h",
|
||||
"../../examples/SharedMemory/PosixSharedMemory.cpp",
|
||||
"../../examples/SharedMemory/PosixSharedMemory.h",
|
||||
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
|
||||
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
|
||||
"../../examples/TinyRenderer/geometry.cpp",
|
||||
"../../examples/TinyRenderer/model.cpp",
|
||||
"../../examples/TinyRenderer/tgaimage.cpp",
|
||||
"../../examples/TinyRenderer/our_gl.cpp",
|
||||
"../../examples/TinyRenderer/TinyRenderer.cpp",
|
||||
"../../examples/Utils/b3ResourcePath.cpp",
|
||||
"../../examples/Utils/b3ResourcePath.h",
|
||||
"../../examples/Utils/RobotLoggingUtil.cpp",
|
||||
"../../examples/Utils/RobotLoggingUtil.h",
|
||||
"../../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/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/MultiThreading/b3PosixThreadSupport.cpp",
|
||||
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
|
||||
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
|
||||
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
||||
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
}
|
||||
myfiles
|
||||
}
|
||||
if os.is("Linux") then
|
||||
initX11()
|
||||
end
|
||||
|
||||
|
||||
|
||||
project ("App_VRGloveHandSimulator")
|
||||
|
||||
language "C++"
|
||||
kind "ConsoleApp"
|
||||
|
||||
includedirs {"../../src", "../../examples",
|
||||
"../../examples/ThirdPartyLibs"}
|
||||
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
|
||||
|
||||
hasCL = findOpenCL("clew")
|
||||
|
||||
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
includedirs {
|
||||
".",
|
||||
"../../src",
|
||||
"../ThirdPartyLibs",
|
||||
}
|
||||
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
end
|
||||
|
||||
if (hasCL) then
|
||||
links {
|
||||
"Bullet3OpenCL_clew",
|
||||
"Bullet3Dynamics",
|
||||
"Bullet3Collision",
|
||||
"Bullet3Geometry",
|
||||
"Bullet3Common",
|
||||
}
|
||||
end
|
||||
|
||||
if _OPTIONS["audio"] then
|
||||
files {
|
||||
"../TinyAudio/b3ADSR.cpp",
|
||||
"../TinyAudio/b3AudioListener.cpp",
|
||||
"../TinyAudio/b3ReadWavFile.cpp",
|
||||
"../TinyAudio/b3SoundEngine.cpp",
|
||||
"../TinyAudio/b3SoundSource.cpp",
|
||||
"../TinyAudio/b3WriteWavFile.cpp",
|
||||
"../TinyAudio/RtAudio.cpp",
|
||||
}
|
||||
defines {"B3_ENABLE_TINY_AUDIO"}
|
||||
|
||||
if _OPTIONS["serial"] then
|
||||
defines{"B3_ENABLE_SERIAL"}
|
||||
includedirs {"../../examples/ThirdPartyLibs/serial/include"}
|
||||
links {"serial"}
|
||||
end
|
||||
|
||||
if os.is("Windows") then
|
||||
links {"winmm","Wsock32","dsound"}
|
||||
defines {"WIN32","__WINDOWS_MM__","__WINDOWS_DS__"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then initX11()
|
||||
defines {"__OS_LINUX__","__LINUX_ALSA__"}
|
||||
links {"asound","pthread"}
|
||||
end
|
||||
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
|
||||
defines {"__OS_MACOSX__","__MACOSX_CORE__"}
|
||||
end
|
||||
end
|
||||
files {
|
||||
"VRGloveSimulatorMain.cpp",
|
||||
"b3RobotSimulatorClientAPI.cpp",
|
||||
"b3RobotSimulatorClientAPI.h",
|
||||
myfiles
|
||||
}
|
||||
if os.is("Linux") then
|
||||
initX11()
|
||||
end
|
||||
|
||||
Reference in New Issue
Block a user