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Add option GUI_MAIN_THREAD for running OpenGL in the main thread (Python thread). This already happens on Mac OSX by default.

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Pass all argc/argc from options to InProcessPhysicsClientSharedMemoryMainThread
This commit is contained in:
erwincoumans
2018-02-14 16:49:44 -08:00
parent 5e08d6d334
commit d3fe21ef17
5 changed files with 20 additions and 12 deletions
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14
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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@@ -21,15 +21,15 @@ public:
InProcessPhysicsClientSharedMemoryMainThread(int argc, char* argv[], bool useInProcessMemory) InProcessPhysicsClientSharedMemoryMainThread(int argc, char* argv[], bool useInProcessMemory)
{ {
int newargc = argc+2; int newargc = argc+3;
char** newargv = (char**)malloc(sizeof(void*)*newargc); char** newargv = (char**)malloc(sizeof(void*)*newargc);
for (int i=0;i<argc;i++) char* t0 = (char*)"--unused";
newargv[i] = argv[i]; newargv[0] = t0;
for (int i=0;i<argc;i++)
newargv[i+1] = argv[i];
newargv[argc+1]=(char*)"--logtostderr";
newargv[argc+2]=(char*)"--start_demo_name=Physics Server";
char* t0 = (char*)"--logtostderr";
char* t1 = (char*)"--start_demo_name=Physics Server";
newargv[argc] = t0;
newargv[argc+1] = t1;
m_data = btCreateInProcessExampleBrowserMainThread(newargc,newargv, useInProcessMemory); m_data = btCreateInProcessExampleBrowserMainThread(newargc,newargv, useInProcessMemory);
SharedMemoryInterface* shMem = btGetSharedMemoryInterfaceMainThread(m_data); SharedMemoryInterface* shMem = btGetSharedMemoryInterfaceMainThread(m_data);

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -664,6 +664,7 @@ enum eCONNECT_METHOD {
eCONNECT_TCP = 5, eCONNECT_TCP = 5,
eCONNECT_EXISTING_EXAMPLE_BROWSER=6, eCONNECT_EXISTING_EXAMPLE_BROWSER=6,
eCONNECT_GUI_SERVER=7, eCONNECT_GUI_SERVER=7,
eCONNECT_GUI_MAIN_THREAD=8,
}; };
enum eURDF_Flags enum eURDF_Flags

5
examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
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@@ -6,11 +6,12 @@ import pybullet
class BulletClient(object): class BulletClient(object):
"""A wrapper for pybullet to manage different clients.""" """A wrapper for pybullet to manage different clients."""
def __init__(self, connection_mode=pybullet.DIRECT): def __init__(self, connection_mode=pybullet.DIRECT, options=""):
"""Create a simulation and connect to it.""" """Create a simulation and connect to it."""
self._client = pybullet.connect(pybullet.SHARED_MEMORY) self._client = pybullet.connect(pybullet.SHARED_MEMORY)
if(self._client<0): if(self._client<0):
self._client = pybullet.connect(connection_mode) print("options=",options)
self._client = pybullet.connect(connection_mode,options=options)
self._shapes = {} self._shapes = {}
def __del__(self): def __del__(self):

6
examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py
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@@ -40,8 +40,8 @@ class PyBulletSimGymEnv(gym.Env):
render_sleep=False, render_sleep=False,
debug_visualization=True, debug_visualization=True,
hard_reset = False, hard_reset = False,
render_width=740, render_width=240,
render_height=740, render_height=240,
action_repeat=1, action_repeat=1,
time_step = 1./240., time_step = 1./240.,
num_bullet_solver_iterations=50, num_bullet_solver_iterations=50,
@@ -190,7 +190,7 @@ class PyBulletSimGymEnv(gym.Env):
proj_matrix=[1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0] proj_matrix=[1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
(_, _, px, _, _) = self._pybullet_client.getCameraImage( (_, _, px, _, _) = self._pybullet_client.getCameraImage(
width=self._render_width, height=self._render_height, viewMatrix=view_matrix, width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) projectionMatrix=proj_matrix, renderer=pybullet.ER_TINY_RENDERER)
rgb_array = np.array(px, dtype=np.uint8) rgb_array = np.array(px, dtype=np.uint8)
rgb_array = np.reshape(rgb_array, (self._render_height, self._render_width, 4)) rgb_array = np.reshape(rgb_array, (self._render_height, self._render_width, 4))
rgb_array = rgb_array[:, :, :3] rgb_array = rgb_array[:, :, :3]

6
examples/pybullet/pybullet.c
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@@ -382,6 +382,11 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
#endif #endif
break; break;
} }
case eCONNECT_GUI_MAIN_THREAD:
{
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
break;
}
case eCONNECT_GUI_SERVER: case eCONNECT_GUI_SERVER:
{ {
@@ -8776,6 +8781,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP); // user read PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP); // user read
PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP); // user read PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP); // user read
PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER); // user read PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER); // user read
PyModule_AddIntConstant(m, "GUI_MAIN_THREAD", eCONNECT_GUI_MAIN_THREAD); // user read
PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType); // user read PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType); // user read
PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType); // user read PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType); // user read