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Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit.

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Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and
b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage.
Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option
Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc])
Thanks to Jeff Bingham for the suggestion.
This commit is contained in:
erwin coumans
2016-08-09 18:40:12 -07:00
parent b880ddf76b
commit a9b1544a9f
15 changed files with 575 additions and 118 deletions
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40
build3/premake4.lua
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@@ -85,12 +85,36 @@
newoption
{
trigger = "python",
description = "Enable Python scripting (experimental, use Physics Server in Example Browser). "
trigger = "enable_pybullet",
description = "Enable high-level Python scripting of Bullet with URDF/SDF import and synthetic camera."
}
if os.is("Linux") then
default_python_include_dir = "/usr/include/python2.7"
default_python_lib_dir = "/usr/local/lib/"
end
if os.is("Windows") then
default_python_include_dir = "C:/Python34/include"
default_python_lib_dir = "C:/Python34/libs"
end
newoption
{
trigger = "python_include_dir",
value = default_python_include_dir,
description = "Python (2.x or 3.x) include directory"
}
newoption
{
trigger = "python_lib_dir",
value = default_python_lib_dir,
description = "Python (2.x or 3.x) library directory "
}
newoption {
trigger = "targetdir",
value = "path such as ../bin",
@@ -140,7 +164,7 @@
platforms {"x32"}
end
else
platforms {"x32", "x64"}
platforms {"x64"}
end
configuration {"x32"}
@@ -191,6 +215,14 @@
targetdir( _OPTIONS["targetdir"] or "../bin" )
location("./" .. act .. postfix)
if not _OPTIONS["python_include_dir"] then
_OPTIONS["python_include_dir"] = default_python_include_dir
end
if not _OPTIONS["python_lib_dir"] then
_OPTIONS["python_lib_dir"] = default_python_lib_dir
end
projectRootDir = os.getcwd() .. "/../"
print("Project root directory: " .. projectRootDir);
@@ -222,7 +254,7 @@
if _OPTIONS["lua"] then
include "../examples/ThirdPartyLibs/lua-5.2.3"
end
if _OPTIONS["python"] then
if _OPTIONS["enable_pybullet"] then
include "../examples/pybullet"
end