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Merge pull request #624 from erwincoumans/master

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Allow to compile pybullet on Windows, using CMake
This commit is contained in:
erwincoumans
2016-05-10 01:12:00 -07:00
parent fa043429fe 99073e03f7
commit bad3ff9699
4 changed files with 241 additions and 39 deletions
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10
CMakeLists.txt
View File

@@ -192,9 +192,15 @@ ENDIF()
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
IF(BUILD_PYBULLET)
FIND_PACKAGE(PythonLibs 2.7 REQUIRED)
SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
IF(WIN32)
FIND_PACKAGE(PythonLibs 3.4 REQUIRED)
SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
ELSE(WIN32)
FIND_PACKAGE(PythonLibs 2.7 REQUIRED)
SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
ENDIF(WIN32)
ENDIF(BUILD_PYBULLET)
IF(BUILD_BULLET3)

13
examples/pybullet/CMakeLists.txt
View File

@@ -1,4 +1,3 @@
IF (BUILD_SHARED_LIBS)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
@@ -12,13 +11,19 @@ SET(pybullet_SRCS
../../examples/ExampleBrowser/ExampleEntries.cpp
)
IF(WIN32)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_LIBRARY(pybullet ${pybullet_SRCS})
ENDIF(WIN32)
ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})
ENDIF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})

226
examples/pybullet/pybullet.c
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@@ -1,5 +1,8 @@
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
#ifdef __APPLE__
#include <Python/Python.h>
@@ -7,6 +10,13 @@
#include <Python.h>
#endif
enum eCONNECT_METHOD
{
eCONNECT_GUI=1,
eCONNECT_DIRECT=2,
eCONNECT_SHARED_MEMORY=3,
};
static PyObject *SpamError;
static b3PhysicsClientHandle sm=0;
@@ -20,18 +30,19 @@ pybullet_stepSimulation(PyObject *self, PyObject *args)
return NULL;
}
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
statusType = b3GetStatusType(statusHandle);
}
}
if (b3CanSubmitCommand(sm))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
statusType = b3GetStatusType(statusHandle);
}
}
return PyLong_FromLong(1);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *
@@ -44,10 +55,51 @@ pybullet_connectPhysicsServer(PyObject *self, PyObject *args)
}
{
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
int method=eCONNECT_GUI;
if (!PyArg_ParseTuple(args, "i", &method))
{
PyErr_SetString(SpamError, "connectPhysicsServer expected argument eCONNECT_GUI, eCONNECT_DIRECT or eCONNECT_SHARED_MEMORY");
return NULL;
}
switch (method)
{
case eCONNECT_GUI:
{
int argc=0;
char* argv[1]={0};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
#else
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
#endif
break;
}
case eCONNECT_DIRECT:
{
sm = b3ConnectPhysicsDirect();
break;
}
case eCONNECT_SHARED_MEMORY:
{
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
break;
}
default:
{
PyErr_SetString(SpamError, "connectPhysicsServer unexpected argument");
return NULL;
}
};
}
return PyLong_FromLong(1);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *
@@ -63,18 +115,15 @@ pybullet_disconnectPhysicsServer(PyObject *self, PyObject *args)
sm = 0;
}
return PyLong_FromLong(1);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *
pybullet_loadURDF(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
int size= PySequence_Size(args);
int bodyIndex = -1;
@@ -87,6 +136,11 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
float startOrnZ = 0;
float startOwnW = 1;
printf("size=%d\n", size);
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (size==1)
{
if (!PyArg_ParseTuple(args, "s", &urdfFileName))
@@ -106,11 +160,11 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
return NULL;
}
{
printf("urdf filename = %s\n", urdfFileName);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
printf("urdf filename = %s\n", urdfFileName);
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -136,43 +190,157 @@ pybullet_resetSimulation(PyObject* self, PyObject* args)
{
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
// ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RESET_SIMULATION_COMPLETED);
}
return PyLong_FromLong(1);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *
pybullet_setGravity(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
float gravX=0;
float gravY=0;
float gravZ=-10;
int ret;
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
if (!PyArg_ParseTuple(args, "fff", &gravX,&gravY,&gravZ))
{
PyErr_SetString(SpamError, "setGravity expected (x,y,z) values.");
return NULL;
}
ret = b3PhysicsParamSetGravity(command, gravX,gravY, gravZ);
//ret = b3PhysicsParamSetTimeStep(command, timeStep);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
//ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
}
if (1)
{
PyObject *pylist;
PyObject *item;
int i;
int num=3;
pylist = PyTuple_New(num);
for (i = 0; i < num; i++)
{
item = PyFloat_FromDouble(i);
PyTuple_SetItem(pylist, i, item);
}
return pylist;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject *
pybullet_getNumJoints(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
int bodyIndex = -1;
int numJoints=0;
if (!PyArg_ParseTuple(args, "i", &bodyIndex ))
{
PyErr_SetString(SpamError, "Expected a body index (integer).");
return NULL;
}
numJoints = b3GetNumJoints(sm,bodyIndex);
#if PY_MAJOR_VERSION >= 3
return PyLong_FromLong(numJoints);
#else
return PyInt_FromLong(numJoints);
#endif
}
}
static PyMethodDef SpamMethods[] = {
{"loadURDF", pybullet_loadURDF, METH_VARARGS,
"Create a multibody by loading a URDF file."},
{"connect", pybullet_connectPhysicsServer, METH_VARARGS,
"Connect to an existing physics server (using shared memory by default)."},
{"disconnect", pybullet_disconnectPhysicsServer, METH_VARARGS,
"Disconnect from the physics server."},
{"resetSimulation", pybullet_resetSimulation, METH_VARARGS,
"Reset the simulation: remove all objects and start from an empty world."},
{"stepSimulation", pybullet_stepSimulation, METH_VARARGS,
{"stepSimulation", pybullet_stepSimulation, METH_VARARGS,
"Step the simulation using forward dynamics."},
{"setGravity", pybullet_setGravity, METH_VARARGS,
"Set the gravity acceleration (x,y,z)."},
{"getNumsetGravity", pybullet_setGravity, METH_VARARGS,
"Set the gravity acceleration (x,y,z)."},
{
"getNumJoints", pybullet_getNumJoints, METH_VARARGS,
"Get the number of joints for an object."},
{NULL, NULL, 0, NULL} /* Sentinel */
};
#if PY_MAJOR_VERSION >= 3
static struct PyModuleDef moduledef = {
PyModuleDef_HEAD_INIT,
"pybullet", /* m_name */
"Python bindings for Bullet", /* m_doc */
-1, /* m_size */
SpamMethods, /* m_methods */
NULL, /* m_reload */
NULL, /* m_traverse */
NULL, /* m_clear */
NULL, /* m_free */
};
#endif
PyMODINIT_FUNC
#if PY_MAJOR_VERSION >= 3
PyInit_pybullet(void)
#else
initpybullet(void)
#endif
{
PyObject *m;
m = Py_InitModule("pybullet", SpamMethods);
#if PY_MAJOR_VERSION >= 3
m = PyModule_Create(&moduledef);
#else
m = Py_InitModule3("pybullet",
SpamMethods, "Python bindings for Bullet");
#endif
if (m == NULL)
return;
return m;
PyModule_AddIntConstant (m, "SHARED_MEMORY", eCONNECT_SHARED_MEMORY); // user read
PyModule_AddIntConstant (m, "DIRECT", eCONNECT_DIRECT); // user read
PyModule_AddIntConstant (m, "GUI", eCONNECT_GUI); // user read
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError);
PyModule_AddObject(m, "error", SpamError);
#if PY_MAJOR_VERSION >= 3
return m;
#endif
}

31
examples/pybullet/test.py
View File

@@ -1,7 +1,30 @@
import pybullet
pybullet.loadURDF('r2d2.urdf')
pybullet.loadURDF('kuka_lwr/kuka.urdf',3,0,0)
import time
#choose connection method: GUI, DIRECT, SHARED_MEMORY
pybullet.connect(pybullet.GUI)
#load URDF, given a relative or absolute file+path
obj = pybullet.loadURDF("C:/develop/bullet3/data/r2d2.urdf")
#query the number of joints of the object
numJoints = pybullet.getNumJoints(obj)
print (numJoints)
#set the gravity acceleration
pybullet.setGravity(0,0,-0.01)
#step the simulation for 5 seconds
t_end = time.time() + 5
while time.time() < t_end:
pybullet.stepSimulation()
print ("finished")
#remove all objects
pybullet.resetSimulation()
#disconnect from the physics server
pybullet.disconnect()
for x in range(0, 1000000):
pybullet.step()