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

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

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

123
test/SharedMemory/CMakeLists.txt
View File

@@ -29,66 +29,69 @@ ENDIF()
ADD_EXECUTABLE(Test_PhysicsClientServer
gtestwrap.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../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/b3PluginManager.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/PhysicsLoopBack.cpp
../../examples/SharedMemory/PhysicsLoopBack.h
../../examples/SharedMemory/PhysicsLoopBackC_API.cpp
../../examples/SharedMemory/PhysicsLoopBackC_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/Utils/b3Clock.cpp
../../examples/Utils/b3Clock.h
../../examples/Utils/ChromeTraceUtil.cpp
../../examples/Utils/ChromeTraceUtil.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
../../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/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.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/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../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/b3PluginManager.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/PhysicsLoopBack.cpp
../../examples/SharedMemory/PhysicsLoopBack.h
../../examples/SharedMemory/PhysicsLoopBackC_API.cpp
../../examples/SharedMemory/PhysicsLoopBackC_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/Utils/b3Clock.cpp
../../examples/Utils/b3Clock.h
../../examples/Utils/ChromeTraceUtil.cpp
../../examples/Utils/ChromeTraceUtil.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
../../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/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.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/ThirdPartyLibs/stb_image/stb_image.cpp
)

16
test/SharedMemory/premake4.lua
View File

@@ -170,6 +170,10 @@ project ("Test_PhysicsServerLoopBack")
files {
"test.c",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
"../../examples/SharedMemory/IKTrajectoryHelper.h",
"../../examples/SharedMemory/PhysicsClient.cpp",
@@ -186,6 +190,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/SharedMemory/PhysicsLoopBack.h",
"../../examples/SharedMemory/PhysicsLoopBackC_API.cpp",
"../../examples/SharedMemory/PhysicsLoopBackC_API.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
@@ -224,7 +230,7 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
}
if (_OPTIONS["enable_static_plugins"]) then
@@ -256,6 +262,10 @@ end
files {
"test.c",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
"../../examples/SharedMemory/IKTrajectoryHelper.h",
"../../examples/SharedMemory/PhysicsClient.cpp",
@@ -360,6 +370,10 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
files {
"test.c",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
"../../examples/SharedMemory/IKTrajectoryHelper.h",
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",