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enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp)

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add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
This commit is contained in:
erwincoumans
2018-06-05 15:59:01 -07:00
parent 49eb83c24e
commit b6f5cb4c34
23 changed files with 286 additions and 179 deletions
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65
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -1,6 +1,5 @@
#include "b3RobotSimulatorClientAPI_NoDirect.h"
#include "PhysicsClientC_API.h"
#include "b3RobotSimulatorClientAPI_InternalData.h"
@@ -35,71 +34,7 @@ b3RobotSimulatorClientAPI_NoDirect::~b3RobotSimulatorClientAPI_NoDirect()
}
bool b3RobotSimulatorClientAPI_NoDirect::connect(int mode, const std::string& hostName, int portOrKey)
{
if (m_data->m_physicsClientHandle)
{
b3Warning("Already connected, disconnect first.");
return false;
}
b3PhysicsClientHandle sm = 0;
int udpPort = 1234;
int tcpPort = 6667;
int key = SHARED_MEMORY_KEY;
bool connected = false;
switch (mode)
{
case eCONNECT_DIRECT:
{
break;
}
case eCONNECT_SHARED_MEMORY:
{
if (portOrKey >= 0)
{
key = portOrKey;
}
sm = b3ConnectSharedMemory(key);
break;
}
case eCONNECT_UDP:
{
if (portOrKey >= 0)
{
udpPort = portOrKey;
}
break;
}
case eCONNECT_TCP:
{
if (portOrKey >= 0)
{
tcpPort = portOrKey;
}
break;
}
default:
{
b3Warning("connectPhysicsServer unexpected argument");
}
};
if (sm)
{
m_data->m_physicsClientHandle = sm;
if (!b3CanSubmitCommand(m_data->m_physicsClientHandle))
{
disconnect();
return false;
}
return true;
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::isConnected() const
{