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update pybullet quickstart quide PDF

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hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
This commit is contained in:
Erwin Coumans
2016-12-31 14:43:15 -08:00
parent 63d3374c00
commit c940f0ec47
18 changed files with 288 additions and 138 deletions
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BIN
docs/pybullet_quickstartguide.pdf
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17
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -121,6 +121,9 @@ struct BulletMJCFImporterInternalData
btAlignedObjectArray<UrdfModel*> m_models;
int m_activeModel;
//those collision shapes are deleted by caller (todo: make sure this happens!)
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
BulletMJCFImporterInternalData()
:m_activeModel(-1)
{
@@ -794,7 +797,7 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
m_data->m_pathPrefix[0] = 0;
if (!fileFound){
std::cerr << "URDF file not found" << std::endl;
std::cerr << "MJCF file not found" << std::endl;
return false;
} else
{
@@ -1017,6 +1020,8 @@ int BulletMJCFImporter::getBodyUniqueId() const
class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
{
btCompoundShape* compound = new btCompoundShape();
m_data->m_allocatedCollisionShapes.push_back(compound);
const UrdfLink* link = m_data->getLink(m_data->m_activeModel,linkIndex);
if (link)
{
@@ -1075,6 +1080,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
}
if (childShape)
{
m_data->m_allocatedCollisionShapes.push_back(childShape);
compound->addChildShape(col->m_linkLocalFrame,childShape);
}
}
@@ -1082,6 +1088,15 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
return compound;
}
int BulletMJCFImporter::getNumAllocatedCollisionShapes() const
{
return m_data->m_allocatedCollisionShapes.size();
}
class btCollisionShape* BulletMJCFImporter::getAllocatedCollisionShape(int index)
{
return m_data->m_allocatedCollisionShapes[index];
}
int BulletMJCFImporter::getNumModels() const
{

7
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -27,9 +27,6 @@ public:
virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
int getNumModels() const;
void activateModel(int modelIndex);
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
{
@@ -71,6 +68,10 @@ public:
virtual int getBodyUniqueId() const;
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const ;
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
virtual int getNumModels() const;
virtual void activateModel(int modelIndex);
};

4
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
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@@ -77,7 +77,7 @@ struct ImportMJCFInternalData
ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
:CommonMultiBodyBase(helper),
m_grav(-10),
m_grav(0),
m_upAxis(2)
{
m_data = new ImportMJCFInternalData;
@@ -238,7 +238,7 @@ void ImportMJCFSetup::initPhysics()
ConvertURDF2Bullet(importer,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,importer.getPathPrefix(),CUF_USE_MJCF);
mb = creation.getBulletMultiBody();
if (mb)
if (0)//mb)
{
printf("first MJCF file converted!\n");
std::string* name = new std::string(importer.getLinkName(importer.getRootLinkIndex()));

6
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -53,6 +53,12 @@ public:
virtual int getBodyUniqueId() const { return 0;}
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
virtual int getNumAllocatedCollisionShapes() const = 0;
virtual class btCollisionShape* getAllocatedCollisionShape(int index) = 0;
virtual int getNumModels() const=0;
virtual void activateModel(int modelIndex)=0;
};
#endif //URDF_IMPORTER_INTERFACE_H

5
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -146,11 +146,11 @@ b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClie
int len = strlen(fileName);
if (len < MAX_URDF_FILENAME_LENGTH)
{
strcpy(command->m_fileArguments.m_fileName, fileName);
strcpy(command->m_mjcfArguments.m_mjcfFileName, fileName);
}
else
{
command->m_fileArguments.m_fileName[0] = 0;
command->m_mjcfArguments.m_mjcfFileName[0] = 0;
}
command->m_updateFlags = 0;
@@ -849,6 +849,7 @@ int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyInd
{
switch (status->m_type)
{
case CMD_MJCF_LOADING_COMPLETED:
case CMD_BULLET_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
{

23
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -316,6 +316,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (m_data->m_verboseOutput) {
b3Printf("Server completed command");
}
break;
}
case CMD_MJCF_LOADING_COMPLETED:
{
if (m_data->m_verboseOutput) {
b3Printf("Server loading the MJCF OK\n");
}
break;
}
case CMD_SDF_LOADING_COMPLETED: {
@@ -400,6 +408,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
processBodyJointInfo(bodyUniqueId, serverCmd);
break;
}
case CMD_MJCF_LOADING_FAILED:
{
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the MJCF...\n");
}
break;
}
case CMD_SDF_LOADING_FAILED: {
@@ -778,11 +793,6 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Save .bullet failed");
break;
}
case CMD_MJCF_LOADING_FAILED:
{
b3Warning("Load .mjcf failed");
break;
}
case CMD_USER_DEBUG_DRAW_COMPLETED:
{
break;
@@ -819,7 +829,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
m_data->m_waitingForServer = true;
}
if (serverCmd.m_type == CMD_SDF_LOADING_COMPLETED)
if ((serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_MJCF_LOADING_COMPLETED))
{
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
if (numBodies>0)

2
examples/SharedMemory/PhysicsDirect.cpp
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@@ -653,6 +653,8 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
break;
}
case CMD_MJCF_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
{
//we'll stream further info from the physics server

129
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -18,7 +18,7 @@
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btTransform.h"
#include "../Importers/ImportMJCFDemo/BulletMJCFImporter.h"
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "LinearMath/btSerializer.h"
@@ -909,29 +909,10 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
}
}
bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody)
bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, URDFImporterInterface& u2b)
{
btAssert(m_data->m_dynamicsWorld);
if (!m_data->m_dynamicsWorld)
{
b3Error("loadSdf: No valid m_dynamicsWorld");
return false;
}
bool loadOk = true;
m_data->m_sdfRecentLoadedBodies.clear();
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
bool useFixedBase = false;
bool loadOk = u2b.loadSDF(fileName, useFixedBase);
if (loadOk)
{
for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
{
btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
m_data->m_collisionShapes.push_back(shape);
}
btTransform rootTrans;
rootTrans.setIdentity();
@@ -974,7 +955,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
MyMultiBodyCreator creation(m_data->m_guiHelper);
u2b.getRootTransformInWorld(rootTrans);
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),CUF_USE_SDF);
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
@@ -1030,10 +1011,78 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
bodyHandle->m_rigidBody = rb;
}
}
for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
{
btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
m_data->m_collisionShapes.push_back(shape);
}
m_data->m_saveWorldBodyData.push_back(sd);
return loadOk;
}
struct MyMJCFLogger2 : public MJCFErrorLogger
{
virtual void reportError(const char* error)
{
b3Error(error);
}
virtual void reportWarning(const char* warning)
{
b3Warning(warning);
}
virtual void printMessage(const char* msg)
{
b3Printf(msg);
}
};
bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags)
{
btAssert(m_data->m_dynamicsWorld);
if (!m_data->m_dynamicsWorld)
{
b3Error("loadSdf: No valid m_dynamicsWorld");
return false;
}
m_data->m_sdfRecentLoadedBodies.clear();
BulletMJCFImporter u2b(m_data->m_guiHelper); //, &m_data->m_visualConverter
bool useFixedBase = false;
MyMJCFLogger2 logger;
bool loadOk = u2b.loadMJCF(fileName, &logger, useFixedBase);
if (loadOk)
{
processImportedObjects(fileName,bufferServerToClient,bufferSizeInBytes,useMultiBody,flags, u2b);
}
return loadOk;
}
bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags)
{
btAssert(m_data->m_dynamicsWorld);
if (!m_data->m_dynamicsWorld)
{
b3Error("loadSdf: No valid m_dynamicsWorld");
return false;
}
m_data->m_sdfRecentLoadedBodies.clear();
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
bool forceFixedBase = false;
bool loadOk =u2b.loadSDF(fileName,forceFixedBase);
if (loadOk)
{
processImportedObjects(fileName,bufferServerToClient,bufferSizeInBytes,useMultiBody,flags, u2b);
}
return loadOk;
}
@@ -1767,9 +1816,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? sdfArgs.m_useMultiBody : true;
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody);
int flags = CUF_USE_SDF; //CUF_USE_URDF_INERTIA
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
if (completedOk)
{
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
//serverStatusOut.m_type = CMD_SDF_LOADING_FAILED;
serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size();
int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies);
@@ -3812,8 +3864,33 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_MJCF_LOADING_FAILED;
const MjcfArgs& mjcfArgs = clientCmd.m_mjcfArguments;
if (m_data->m_verboseOutput)
{
b3Printf("Processed CMD_LOAD_MJCF:%s", mjcfArgs.m_mjcfFileName);
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? mjcfArgs.m_useMultiBody : true;
int flags = CUF_USE_MJCF;//CUF_USE_URDF_INERTIA
bool completedOk = loadMjcf(mjcfArgs.m_mjcfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
if (completedOk)
{
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size();
int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies);
for (int i=0;i<maxBodies;i++)
{
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = m_data->m_sdfRecentLoadedBodies[i];
}
serverStatusOut.m_type = CMD_MJCF_LOADING_COMPLETED;
} else
{
serverStatusOut.m_type = CMD_MJCF_LOADING_FAILED;
}
hasStatus = true;
break;
}
case CMD_USER_DEBUG_DRAW:
@@ -4376,7 +4453,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
#if 1
// Load one motor gripper for kuka
loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true,CUF_USE_SDF);
m_data->m_gripperId = bodyId + 1;
{
InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
@@ -4503,7 +4580,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
//loadUrdf("Apple/apple.urdf", objectWorldTr[8].getOrigin(), objectWorldTr[8].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// Shelf area
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true, CUF_USE_SDF);
loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("cube_small.urdf", btVector3(0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());

6
examples/SharedMemory/PhysicsServerCommandProcessor.h
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@@ -30,11 +30,15 @@ protected:
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody);
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
bool processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, class URDFImporterInterface& u2b);
bool supportsJointMotor(class btMultiBody* body, int linkIndex);
int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);

6
examples/SharedMemory/SharedMemoryCommands.h
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@@ -91,6 +91,11 @@ struct UrdfArgs
int m_useFixedBase;
};
struct MjcfArgs
{
char m_mjcfFileName[MAX_URDF_FILENAME_LENGTH];
int m_useMultiBody;
};
struct BulletDataStreamArgs
{
@@ -604,6 +609,7 @@ struct SharedMemoryCommand
{
struct UrdfArgs m_urdfArguments;
struct SdfArgs m_sdfArguments;
struct MjcfArgs m_mjcfArguments;
struct FileArgs m_fileArguments;
struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
struct InitPoseArgs m_initPoseArgs;

2
examples/SharedMemory/premake4.lua
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@@ -73,6 +73,8 @@ myfiles =
"../Importers/ImportURDFDemo/UrdfParser.h",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.h",
"../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
"../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3Clock.cpp",
"../../Extras/Serialize/BulletWorldImporter/*",

2
examples/SharedMemory/udp/premake4.lua
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@@ -90,6 +90,8 @@ myfiles =
"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
"../../Importers/ImportURDFDemo/UrdfParser.cpp",

1
examples/pybullet/CMakeLists.txt
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@@ -64,6 +64,7 @@ SET(pybullet_SRCS
../../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

1
examples/pybullet/premake4.lua
View File

@@ -109,6 +109,7 @@ if not _OPTIONS["no-enet"] then
"../../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",

23
examples/pybullet/pybullet.c
View File

@@ -495,7 +495,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
int statusType;
b3SharedMemoryCommandHandle command;
b3PhysicsClientHandle sm = 0;
int numBodies = 0;
int i;
int bodyIndicesOut[MAX_SDF_BODIES];
PyObject* pylist = 0;
int physicsClientId = 0;
static char *kwlist[] = { "mjcfFileName","physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &mjcfFileName,&physicsClientId))
@@ -518,8 +521,22 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
PyErr_SetString(SpamError, "Couldn't load .mjcf file.");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
numBodies =
b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
if (numBodies > MAX_SDF_BODIES) {
PyErr_SetString(SpamError, "SDF exceeds body capacity");
return NULL;
}
pylist = PyTuple_New(numBodies);
if (numBodies > 0 && numBodies <= MAX_SDF_BODIES) {
for (i = 0; i < numBodies; i++) {
PyTuple_SetItem(pylist, i, PyInt_FromLong(bodyIndicesOut[i]));
}
}
return pylist;
}
static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject *keywds)

1
test/SharedMemory/CMakeLists.txt
View File

@@ -74,6 +74,7 @@ ENDIF()
../../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

3
test/SharedMemory/premake4.lua
View File

@@ -93,6 +93,7 @@ project ("Test_PhysicsServerLoopBack")
"../../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",
@@ -166,6 +167,7 @@ project ("Test_PhysicsServerLoopBack")
"../../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",
@@ -266,6 +268,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../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",