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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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19
examples/SharedMemory/SharedMemoryCommands.h
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@@ -348,6 +348,23 @@ enum EnumSdfRequestInfoFlags
//SDF_REQUEST_INFO_CAMERA=2,
};
struct CalculateInverseDynamicsArgs
{
int m_bodyUniqueId;
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_jointVelocitiesQdot[MAX_DEGREE_OF_FREEDOM];
double m_jointAccelerations[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateInverseDynamicsResultArgs
{
int m_bodyUniqueId;
int m_dofCount;
double m_jointForces[MAX_DEGREE_OF_FREEDOM];
};
struct SharedMemoryCommand
{
int m_type;
@@ -374,6 +391,7 @@ struct SharedMemoryCommand
struct RequestPixelDataArgs m_requestPixelDataArguments;
struct PickBodyArgs m_pickBodyArguments;
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
};
};
@@ -397,6 +415,7 @@ struct SharedMemoryStatus
struct SendDebugLinesArgs m_sendDebugLinesArgs;
struct SendPixelDataArgs m_sendPixelDataArguments;
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
};
};