more PyBullet PhysX preliminary work.

build3/premake4.lua

@@ -60,6 +60,11 @@
 		description = "Statically link vr plugin (in examples/SharedMemory/plugins/vrSyncPlugin)"
 	}
 	
+	newoption
+	{
+		trigger = "enable_physx",
+		description = "Allow optional PhysX backend for PyBullet, use pybullet.connect(pybullet.PhysX)."
+	}
 
 	newoption
 	{
@@ -638,4 +643,7 @@ end
 	include "../src/BulletDynamics"
 	include "../src/BulletCollision"
 	include "../src/LinearMath"
+	if _OPTIONS["enable_physx"] then
+		include "../src/physx"
+	end
 

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp

@@ -250,6 +250,7 @@ static void SimpleResizeCallback(float widthf, float heightf)
 	//	gApp->m_primRenderer->setScreenSize(width, height);
 }
 
+#if 0
 static void SimpleKeyboardCallback(int key, int state)
 {
 	if (key == B3G_ESCAPE) //&& gApp && gApp->m_window)
@@ -261,7 +262,7 @@ static void SimpleKeyboardCallback(int key, int state)
 		//gApp->defaultKeyboardCallback(key,state);
 	}
 }
-
+#endif
 static void SimpleMouseButtonCallback(int button, int state, float x, float y)
 {
 	if (gWindow)

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h

@@ -11,7 +11,7 @@ struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
 
 	virtual ~EGLRendererVisualShapeConverter();
 
-	virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
+	virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int orgGraphicsUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
 
 	virtual int getNumVisualShapes(int bodyUniqueId);
 

examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h

@@ -11,7 +11,7 @@ struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
 
 	virtual ~TinyRendererVisualShapeConverter();
 
-	virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int collisionObjectUniqueId, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
+	virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int unused, int bodyUniqueId, struct CommonFileIOInterface* fileIO);
 
 	virtual int getNumVisualShapes(int bodyUniqueId);
 

examples/pybullet/examples/otherPhysicsEngine.py

@@ -1,32 +1,14 @@
 import pybullet as p
 import time
 
-#p.connect(p.DIRECT)
+p.connect(p.PhysX)
-#p.connect(p.DART)
+p.loadPlugin("eglRendererPlugin")
-p.connect(p.MuJoCo)
-
-#p.connect(p.GUI)
-bodies = p.loadMJCF("mjcf/capsule.xml")
-print("bodies=",bodies)
-
-numBodies = p.getNumBodies()
-print("numBodies=",numBodies)
-for i in range (numBodies):
-	print("bodyInfo[",i,"]=",p.getBodyInfo(i))
 
+p.loadURDF("plane.urdf")
+for i in range (50):
+	p.loadURDF("r2d2.urdf",[0,0,1+i*2])
 p.setGravity(0,0,-10)
-timeStep = 1./240.
-p.setPhysicsEngineParameter(fixedTimeStep=timeStep)
 
-#while (p.isConnected()):
+while (1):
-for i in range (1000):
 	p.stepSimulation()
-
+	time.sleep(1./240.)
-	for b in bodies:
-		pos,orn=p.getBasePositionAndOrientation(b)
-		print("pos[",b,"]=",pos)
-		print("orn[",b,"]=",orn)
-		linvel,angvel=p.getBaseVelocity(b)
-		print("linvel[",b,"]=",linvel)
-		print("angvel[",b,"]=",angvel)
-	time.sleep(timeStep)

examples/pybullet/premake4.lua

@@ -20,7 +20,7 @@ project ("pybullet")
 		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
 	hasCL = findOpenCL("clew")
 
-	links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
+	links{ "BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
 	initOpenGL()
 	initGlew()
 
@@ -172,6 +172,54 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
 			}
 
+	if _OPTIONS["enable_physx"] then
+  	defines {"BT_ENABLE_PHYSX","PX_PHYSX_STATIC_LIB", "PX_FOUNDATION_DLL=0"}
+		
+		configuration {"x64", "debug"}			
+				defines {"_DEBUG"}
+		configuration {"x86", "debug"}
+				defines {"_DEBUG"}
+		configuration {"x64", "release"}
+				defines {"NDEBUG"}
+		configuration {"x86", "release"}
+				defines {"NDEBUG"}
+		configuration{}
+
+		includedirs {
+                ".",
+                "../../src/PhysX/physx/include",
+						    "../../src/PhysX/physx/include/characterkinematic",
+						    "../../src/PhysX/physx/include/common",
+						    "../../src/PhysX/physx/include/cooking",
+						    "../../src/PhysX/physx/include/extensions",
+						    "../../src/PhysX/physx/include/geometry",
+						    "../../src/PhysX/physx/include/geomutils",
+						    "../../src/PhysX/physx/include/vehicle",
+						    "../../src/PhysX/pxshared/include",
+                }
+		links {
+				"PhysX",
+			}
+			
+			files {
+				"../../examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp",
+				"../../examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h",
+				"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp",
+				"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h",
+				"../../examples/SharedMemory/physx/PhysXC_API.cpp",
+				"../../examples/SharedMemory/physx/PhysXClient.cpp",
+				"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.cpp",
+				"../../examples/SharedMemory/physx/PhysXUrdfImporter.cpp",
+				"../../examples/SharedMemory/physx/URDF2PhysX.cpp",
+				"../../examples/SharedMemory/physx/PhysXC_API.h",
+				"../../examples/SharedMemory/physx/PhysXClient.h",
+				"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.h",
+				"../../examples/SharedMemory/physx/PhysXUrdfImporter.h",
+				"../../examples/SharedMemory/physx/URDF2PhysX.h",
+				"../../examples/SharedMemory/physx/PhysXUserData.h",
+				}
+  end
+  			
 if (_OPTIONS["enable_static_vr_plugin"]) then
 		files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
 end