Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

40
build3/premake4.lua
View File

@@ -85,12 +85,36 @@
newoption newoption
{ {
trigger = "python", trigger = "enable_pybullet",
description = "Enable Python scripting (experimental, use Physics Server in Example Browser). " 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 { newoption {
trigger = "targetdir", trigger = "targetdir",
value = "path such as ../bin", value = "path such as ../bin",
@@ -140,7 +164,7 @@
platforms {"x32"} platforms {"x32"}
end end
else else
platforms {"x32", "x64"} platforms {"x64"}
end end
configuration {"x32"} configuration {"x32"}
@@ -191,6 +215,14 @@
targetdir( _OPTIONS["targetdir"] or "../bin" ) targetdir( _OPTIONS["targetdir"] or "../bin" )
location("./" .. act .. postfix) 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() .. "/../" projectRootDir = os.getcwd() .. "/../"
print("Project root directory: " .. projectRootDir); print("Project root directory: " .. projectRootDir);
@@ -222,7 +254,7 @@
if _OPTIONS["lua"] then if _OPTIONS["lua"] then
include "../examples/ThirdPartyLibs/lua-5.2.3" include "../examples/ThirdPartyLibs/lua-5.2.3"
end end
if _OPTIONS["python"] then if _OPTIONS["enable_pybullet"] then
include "../examples/pybullet" include "../examples/pybullet"
end end

58
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -626,6 +626,7 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
return bodyId; return bodyId;
} }
int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle, int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId, int* bodyUniqueId,
int* numDegreeOfFreedomQ, int* numDegreeOfFreedomQ,
@@ -1097,3 +1098,60 @@ void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUn
command->m_externalForceArguments.m_numForcesAndTorques++; command->m_externalForceArguments.m_numForcesAndTorques++;
} }
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CALCULATE_INVERSE_DYNAMICS;
command->m_updateFlags = 0;
command->m_calculateInverseDynamicsArguments.m_bodyUniqueId = bodyIndex;
int numJoints = cl->getNumJoints(bodyIndex);
for (int i = 0; i < numJoints;i++)
{
command->m_calculateInverseDynamicsArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
command->m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i] = jointVelocitiesQdot[i];
command->m_calculateInverseDynamicsArguments.m_jointAccelerations[i] = jointAccelerations[i];
}
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointForces)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED);
if (status->m_type != CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
return false;
if (dofCount)
{
*dofCount = status->m_inverseDynamicsResultArgs.m_dofCount;
}
if (bodyUniqueId)
{
*bodyUniqueId = status->m_inverseDynamicsResultArgs.m_bodyUniqueId;
}
if (jointForces)
{
for (int i = 0; i < status->m_inverseDynamicsResultArgs.m_dofCount; i++)
{
jointForces[i] = status->m_inverseDynamicsResultArgs.m_jointForces[i];
}
}
return true;
}

10
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -97,6 +97,16 @@ int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody); int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase); int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointForces);
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName); b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead ///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead

58
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -413,6 +413,33 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle); b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break; break;
} }
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
if (m_selectedBody >= 0)
{
btAlignedObjectArray<double> jointPositionsQ;
btAlignedObjectArray<double> jointVelocitiesQdot;
btAlignedObjectArray<double> jointAccelerations;
int numJoints = b3GetNumJoints(m_physicsClientHandle, m_selectedBody);
if (numJoints)
{
b3Printf("Compute inverse dynamics for joint accelerations:");
jointPositionsQ.resize(numJoints);
jointVelocitiesQdot.resize(numJoints);
jointAccelerations.resize(numJoints);
for (int i = 0; i < numJoints; i++)
{
jointAccelerations[i] = 100;
b3Printf("Desired joint acceleration[%d]=%f", i, jointAccelerations[i]);
}
b3SharedMemoryCommandHandle commandHandle = b3CalculateInverseDynamicsCommandInit(m_physicsClientHandle,
m_selectedBody, &jointPositionsQ[0], &jointVelocitiesQdot[0], &jointAccelerations[0]);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
}
break;
}
default: default:
{ {
b3Error("Unknown buttonId"); b3Error("Unknown buttonId");
@@ -490,6 +517,7 @@ void PhysicsClientExample::createButtons()
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger); createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger); createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
createButton("Set gravity", CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, isTrigger); createButton("Set gravity", CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, isTrigger);
createButton("Compute Inverse Dynamics", CMD_CALCULATE_INVERSE_DYNAMICS, isTrigger);
if (m_bodyUniqueIds.size()) if (m_bodyUniqueIds.size())
{ {
@@ -695,6 +723,36 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
// b3Printf(msg); // b3Printf(msg);
} }
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
{
int bodyUniqueId;
int dofCount;
b3GetStatusInverseDynamicsJointForces(status,
&bodyUniqueId,
&dofCount,
0);
btAlignedObjectArray<double> jointForces;
if (dofCount)
{
jointForces.resize(dofCount);
b3GetStatusInverseDynamicsJointForces(status,
0,
0,
&jointForces[0]);
for (int i = 0; i < dofCount; i++)
{
b3Printf("jointForces[%d]=%f", i, jointForces[i]);
}
}
}
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_FAILED)
{
b3Warning("Inverse Dynamics computations failed");
}
if (statusType == CMD_CAMERA_IMAGE_FAILED) if (statusType == CMD_CAMERA_IMAGE_FAILED)
{ {
b3Warning("Camera image FAILED\n"); b3Warning("Camera image FAILED\n");

10
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -542,7 +542,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Camera image FAILED\n"); b3Warning("Camera image FAILED\n");
break; break;
} }
case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED:
{
break;
}
case CMD_CALCULATED_INVERSE_DYNAMICS_FAILED:
{
b3Warning("Inverse Dynamics computations failed");
break;
}
default: { default: {
b3Error("Unknown server status\n"); b3Error("Unknown server status\n");
btAssert(0); btAssert(0);

95
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -4,13 +4,15 @@
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h" #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
#include "TinyRendererVisualShapeConverter.h" #include "TinyRendererVisualShapeConverter.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h" #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h" #include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "LinearMath/btHashMap.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "btBulletDynamicsCommon.h" #include "btBulletDynamicsCommon.h"
@@ -383,6 +385,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime; btScalar m_physicsDeltaTime;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks; btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
@@ -548,8 +551,25 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0)); m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
} }
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
{
for (int i = 0; i < m_data->m_inverseDynamicsBodies.size(); i++)
{
btInverseDynamics::MultiBodyTree** treePtrPtr = m_data->m_inverseDynamicsBodies.getAtIndex(i);
if (treePtrPtr)
{
btInverseDynamics::MultiBodyTree* tree = *treePtrPtr;
delete tree;
}
}
m_data->m_inverseDynamicsBodies.clear();
}
void PhysicsServerCommandProcessor::deleteDynamicsWorld() void PhysicsServerCommandProcessor::deleteDynamicsWorld()
{ {
deleteCachedInverseDynamicsBodies();
for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++) for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++)
{ {
@@ -1869,9 +1889,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION: case CMD_RESET_SIMULATION:
{ {
//clean up all data //clean up all data
deleteCachedInverseDynamicsBodies();
if (m_data && m_data->m_guiHelper) if (m_data && m_data->m_guiHelper)
{ {
m_data->m_guiHelper->removeAllGraphicsInstances(); m_data->m_guiHelper->removeAllGraphicsInstances();
@@ -2066,6 +2085,74 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true; hasStatus = true;
break; break;
} }
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
btInverseDynamics::MultiBodyTree** treePtrPtr =
m_data->m_inverseDynamicsBodies.find(bodyHandle->m_multiBody);
btInverseDynamics::MultiBodyTree* tree = 0;
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
if (treePtrPtr)
{
tree = *treePtrPtr;
}
else
{
btInverseDynamics::btMultiBodyTreeCreator id_creator;
if (-1 == id_creator.createFromBtMultiBody(bodyHandle->m_multiBody, false))
{
b3Error("error creating tree\n");
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
}
else
{
tree = btInverseDynamics::CreateMultiBodyTree(id_creator);
m_data->m_inverseDynamicsBodies.insert(bodyHandle->m_multiBody, tree);
}
}
if (tree)
{
int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
const int num_dofs = bodyHandle->m_multiBody->getNumDofs();
btInverseDynamics::vecx nu(num_dofs+baseDofs), qdot(num_dofs + baseDofs), q(num_dofs + baseDofs), joint_force(num_dofs + baseDofs);
for (int i = 0; i < num_dofs; i++)
{
q[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[i];
qdot[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i];
nu[i+baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointAccelerations[i];
}
if (-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
{
serverCmd.m_inverseDynamicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
serverCmd.m_inverseDynamicsResultArgs.m_dofCount = num_dofs;
for (int i = 0; i < num_dofs; i++)
{
serverCmd.m_inverseDynamicsResultArgs.m_jointForces[i] = joint_force[i+baseDofs];
}
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED;
}
else
{
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
}
}
}
else
{
serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
}
hasStatus = true;
break;
}
case CMD_APPLY_EXTERNAL_FORCE: case CMD_APPLY_EXTERNAL_FORCE:
{ {
if (m_data->m_verboseOutput) if (m_data->m_verboseOutput)

2
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -29,6 +29,7 @@ protected:
bool supportsJointMotor(class btMultiBody* body, int linkIndex); bool supportsJointMotor(class btMultiBody* body, int linkIndex);
int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes); int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
void deleteCachedInverseDynamicsBodies();
public: public:
PhysicsServerCommandProcessor(); PhysicsServerCommandProcessor();
@@ -38,6 +39,7 @@ public:
virtual void createEmptyDynamicsWorld(); virtual void createEmptyDynamicsWorld();
virtual void deleteDynamicsWorld(); virtual void deleteDynamicsWorld();
virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes ); virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes );

19
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -348,6 +348,23 @@ enum EnumSdfRequestInfoFlags
//SDF_REQUEST_INFO_CAMERA=2, //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 struct SharedMemoryCommand
{ {
int m_type; int m_type;
@@ -374,6 +391,7 @@ struct SharedMemoryCommand
struct RequestPixelDataArgs m_requestPixelDataArguments; struct RequestPixelDataArgs m_requestPixelDataArguments;
struct PickBodyArgs m_pickBodyArguments; struct PickBodyArgs m_pickBodyArguments;
struct ExternalForceArgs m_externalForceArguments; struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
}; };
}; };
@@ -397,6 +415,7 @@ struct SharedMemoryStatus
struct SendDebugLinesArgs m_sendDebugLinesArgs; struct SendDebugLinesArgs m_sendDebugLinesArgs;
struct SendPixelDataArgs m_sendPixelDataArguments; struct SendPixelDataArgs m_sendPixelDataArguments;
struct RigidBodyCreateArgs m_rigidBodyCreateArgs; struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
}; };
}; };

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -27,6 +27,7 @@ enum EnumSharedMemoryClientCommand
CMD_REMOVE_PICKING_CONSTRAINT_BODY, CMD_REMOVE_PICKING_CONSTRAINT_BODY,
CMD_REQUEST_CAMERA_IMAGE_DATA, CMD_REQUEST_CAMERA_IMAGE_DATA,
CMD_APPLY_EXTERNAL_FORCE, CMD_APPLY_EXTERNAL_FORCE,
CMD_CALCULATE_INVERSE_DYNAMICS,
CMD_MAX_CLIENT_COMMANDS CMD_MAX_CLIENT_COMMANDS
}; };
@@ -59,6 +60,8 @@ enum EnumSharedMemoryServerStatus
CMD_BODY_INFO_COMPLETED, CMD_BODY_INFO_COMPLETED,
CMD_BODY_INFO_FAILED, CMD_BODY_INFO_FAILED,
CMD_INVALID_STATUS, CMD_INVALID_STATUS,
CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED,
CMD_CALCULATED_INVERSE_DYNAMICS_FAILED,
CMD_MAX_SERVER_COMMANDS CMD_MAX_SERVER_COMMANDS
}; };

6
examples/SharedMemory/premake4.lua
View File

@@ -10,7 +10,7 @@ end
includedirs {".","../../src", "../ThirdPartyLibs",} includedirs {".","../../src", "../ThirdPartyLibs",}
links { links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath" "Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath"
} }
language "C++" language "C++"
@@ -137,7 +137,7 @@ defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"} includedirs {"../../src"}
links { links {
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common" "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
} }
initOpenGL() initOpenGL()
initGlew() initGlew()
@@ -211,7 +211,7 @@ if os.is("Windows") then
} }
links { links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api" "BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
} }

109
examples/pybullet/CMakeLists.txt
View File

@@ -8,61 +8,60 @@ INCLUDE_DIRECTORIES(
SET(pybullet_SRCS SET(pybullet_SRCS
pybullet.c pybullet.c
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp ../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp ../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h ../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp ../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h ../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp ../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp ../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp ../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp ../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp ../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/InProcessMemory.cpp ../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp ../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h ../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp ../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h ../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerExample.cpp ../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp ../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp ../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h ../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp ../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h ../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp ../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h ../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp ../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h ../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp ../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h ../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientC_API.cpp ../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h ../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/Win32SharedMemory.cpp ../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h ../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp ../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h ../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp ../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h ../../examples/Utils/b3ResourcePath.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp ../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp ../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp ../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp ../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp ../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp ../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp ../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp ../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp ../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp ../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp ../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp ../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp ../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp ../../examples/MultiThreading/b3ThreadSupportInterface.cpp
) )
IF(WIN32) IF(WIN32)

68
examples/pybullet/premake4.lua
View File

@@ -1,7 +1,6 @@
project ("pybullet") project ("pybullet")
language "C++" language "C++"
kind "SharedLib" kind "SharedLib"
targetsuffix ("") targetsuffix ("")
@@ -12,7 +11,7 @@ project ("pybullet")
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"} defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew") hasCL = findOpenCL("clew")
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"} links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
initOpenGL() initOpenGL()
initGlew() initGlew()
@@ -20,10 +19,8 @@ project ("pybullet")
".", ".",
"../../src", "../../src",
"../ThirdPartyLibs", "../ThirdPartyLibs",
"/usr/include/python2.7",
} }
if os.is("MacOSX") then if os.is("MacOSX") then
links{"Cocoa.framework","Python"} links{"Cocoa.framework","Python"}
end end
@@ -40,8 +37,69 @@ project ("pybullet")
files { files {
"pybullet.c", "pybullet.c",
"../../examples/ExampleBrowser/ExampleEntries.cpp", "../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.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/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/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.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/ThirdPartyLibs/stb_image/stb_image.cpp",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.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/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
} }
includedirs {
_OPTIONS["python_include_dir"],
}
libdirs {
_OPTIONS["python_lib_dir"]
}
if os.is("Linux") then if os.is("Linux") then
initX11() initX11()
end end

121
examples/pybullet/pybullet.c
View File

@@ -1163,7 +1163,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
if (PyArg_ParseTuple(args, "iiOffffifff", &width, &height, &objTargetPos, &camDistance, &yaw, &pitch, &roll, &upAxisIndex, &nearVal, &farVal, &fov)) if (PyArg_ParseTuple(args, "iiOffffifff", &width, &height, &objTargetPos, &camDistance, &yaw, &pitch, &roll, &upAxisIndex, &nearVal, &farVal, &fov))
{ {
b3RequestCameraImageSetPixelResolution(command,width,height); b3RequestCameraImageSetPixelResolution(command,width,height);
if (pybullet_internalSetVector(objTargetPos, targetPos)) if (pybullet_internalSetVector(objTargetPos, targetPos))
{ {
//printf("width = %d, height = %d, targetPos = %f,%f,%f, distance = %f, yaw = %f, pitch = %f, upAxisIndex = %d, near=%f, far=%f, fov=%f\n",width,height,targetPos[0],targetPos[1],targetPos[2],camDistance,yaw,pitch,upAxisIndex,nearVal,farVal,fov); //printf("width = %d, height = %d, targetPos = %f,%f,%f, distance = %f, yaw = %f, pitch = %f, upAxisIndex = %d, near=%f, far=%f, fov=%f\n",width,height,targetPos[0],targetPos[1],targetPos[2],camDistance,yaw,pitch,upAxisIndex,nearVal,farVal,fov);
@@ -1521,6 +1521,123 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
return Py_None; return Py_None;
} }
///Given an object id, joint positions, joint velocities and joint accelerations,
///compute the joint forces using Inverse Dynamics
static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* args)
{
int size;
if (0 == sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
size = PySequence_Size(args);
if (size==4)
{
int bodyIndex;
PyObject* objPositionsQ;
PyObject* objVelocitiesQdot;
PyObject* objAccelerations;
if (PyArg_ParseTuple(args, "iOOO", &bodyIndex, &objPositionsQ, &objVelocitiesQdot, &objAccelerations))
{
int szObPos = PySequence_Size(objPositionsQ);
int szObVel = PySequence_Size(objVelocitiesQdot);
int szObAcc = PySequence_Size(objAccelerations);
int numJoints = b3GetNumJoints(sm, bodyIndex);
if (numJoints && (szObPos == numJoints) && (szObVel == numJoints) && (szObAcc == numJoints))
{
int szInBytes = sizeof(double)*numJoints;
int i;
PyObject* pylist = 0;
double* jointPositionsQ = (double*)malloc(szInBytes);
double* jointVelocitiesQdot = (double*)malloc(szInBytes);
double* jointAccelerations = (double*)malloc(szInBytes);
double* jointForcesOutput = (double*)malloc(szInBytes);
for (i = 0; i < numJoints; i++)
{
jointPositionsQ[i] = pybullet_internalGetFloatFromSequence(objPositionsQ, i);
jointVelocitiesQdot[i] = pybullet_internalGetFloatFromSequence(objVelocitiesQdot, i);
jointAccelerations[i] = pybullet_internalGetFloatFromSequence(objAccelerations, i);
}
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle commandHandle = b3CalculateInverseDynamicsCommandInit(sm,
bodyIndex, jointPositionsQ, jointVelocitiesQdot, jointAccelerations);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
{
int bodyUniqueId;
int dofCount;
b3GetStatusInverseDynamicsJointForces(statusHandle,
&bodyUniqueId,
&dofCount,
0);
if (dofCount)
{
b3GetStatusInverseDynamicsJointForces(statusHandle,
0,
0,
jointForcesOutput);
{
{
int i;
pylist = PyTuple_New(dofCount);
for (i = 0; i<dofCount; i++)
PyTuple_SetItem(pylist, i, PyFloat_FromDouble(jointForcesOutput[i]));
}
}
}
}
else
{
PyErr_SetString(SpamError, "Internal error in calculateInverseDynamics");
}
}
free(jointPositionsQ);
free(jointVelocitiesQdot);
free(jointAccelerations);
free(jointForcesOutput);
if (pylist)
return pylist;
}
else
{
PyErr_SetString(SpamError, "calculateInverseDynamics numJoints needs to be positive and [joint positions], [joint velocities], [joint accelerations] need to match the number of joints.");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "calculateInverseDynamics expects 4 arguments, body index, [joint positions], [joint velocities], [joint accelerations].");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "calculateInverseDynamics expects 4 arguments, body index, [joint positions], [joint velocities], [joint accelerations].");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyMethodDef SpamMethods[] = { static PyMethodDef SpamMethods[] = {
@@ -1587,6 +1704,8 @@ static PyMethodDef SpamMethods[] = {
{"getEulerFromQuaternion", pybullet_getEulerFromQuaternion, METH_VARARGS, {"getEulerFromQuaternion", pybullet_getEulerFromQuaternion, METH_VARARGS,
"Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF convention"}, "Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF convention"},
{ "calculateInverseDynamics", pybullet_calculateInverseDynamics, METH_VARARGS,
"Given an object id, joint positions, joint velocities and joint accelerations, compute the joint forces using Inverse Dynamics" },
//todo(erwincoumans) //todo(erwincoumans)
//saveSnapshot //saveSnapshot
//loadSnapshot //loadSnapshot

2
test/SharedMemory/CMakeLists.txt
View File

@@ -13,7 +13,7 @@ ADD_DEFINITIONS(-DPHYSICS_LOOP_BACK -DPHYSICS_SERVER_DIRECT -DENABLE_GTEST -D_VA
LINK_LIBRARIES( LINK_LIBRARIES(
BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest
) )
IF (NOT WIN32) IF (NOT WIN32)

92
test/SharedMemory/premake4.lua
View File

@@ -36,6 +36,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/ThirdPartyLibs"} "../../examples/ThirdPartyLibs"}
defines {"PHYSICS_LOOP_BACK"} defines {"PHYSICS_LOOP_BACK"}
links { links {
"BulletInverseDynamicsUtils",
"BulletInverseDynamics",
"BulletFileLoader", "BulletFileLoader",
"BulletWorldImporter", "BulletWorldImporter",
"Bullet3Common", "Bullet3Common",
@@ -104,6 +106,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/ThirdPartyLibs"} "../../examples/ThirdPartyLibs"}
defines {"PHYSICS_SERVER_DIRECT"} defines {"PHYSICS_SERVER_DIRECT"}
links { links {
"BulletInverseDynamicsUtils",
"BulletInverseDynamics",
"BulletFileLoader", "BulletFileLoader",
"BulletWorldImporter", "BulletWorldImporter",
"Bullet3Common", "Bullet3Common",
@@ -213,55 +217,55 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp", "../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
"../../examples/SharedMemory/InProcessMemory.cpp", "../../examples/SharedMemory/InProcessMemory.cpp",
"../../examples/SharedMemory/PhysicsClient.cpp", "../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h", "../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp", "../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h", "../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerExample.cpp", "../../examples/SharedMemory/PhysicsServerExample.cpp",
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp", "../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp", "../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h", "../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsDirect.cpp", "../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/SharedMemory/PhysicsDirect.h", "../../examples/SharedMemory/PhysicsDirect.h",
"../../examples/SharedMemory/PhysicsDirectC_API.cpp", "../../examples/SharedMemory/PhysicsDirectC_API.cpp",
"../../examples/SharedMemory/PhysicsDirectC_API.h", "../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp", "../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h", "../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp", "../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h", "../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp", "../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h", "../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp", "../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h", "../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp", "../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h", "../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp", "../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h", "../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
"../../examples/TinyRenderer/geometry.cpp", "../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp", "../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp", "../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp", "../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp", "../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp", "../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h", "../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp", "../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp", "../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp", "../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp", "../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h", "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp", "../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp", "../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp", "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp", "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp", "../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp", "../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp", "../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp", "../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp", "../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp", "../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", "../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp", "../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
} }
if os.is("Linux") then if os.is("Linux") then
initX11() initX11()