Merge pull request #624 from erwincoumans/master

Allow to compile pybullet on Windows, using CMake

CMakeLists.txt

@@ -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)
+	IF(WIN32)
-	SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
+		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)

examples/pybullet/CMakeLists.txt

@@ -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})
+TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})
-ENDIF (BUILD_SHARED_LIBS)
+
 
 

examples/pybullet/pybullet.c

@@ -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;
+            statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
-            int statusType;
+            statusType = b3GetStatusType(statusHandle);
+        } 
+    }
 
-            if (b3CanSubmitCommand(sm))
+	Py_INCREF(Py_None);
-            {
+	return Py_None;
-                statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
-                statusType = b3GetStatusType(statusHandle);
-            } 
-        }
-
-return PyLong_FromLong(1);
 }
 
 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
 }
 
-

examples/pybullet/test.py

@@ -1,7 +1,30 @@
 import pybullet
-pybullet.loadURDF('r2d2.urdf')
+import time
-pybullet.loadURDF('kuka_lwr/kuka.urdf',3,0,0)
+
+#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()