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refactor b3RobotSimulatorClientAPI into a main part without GUI dependencies (no OpenGL, gwen, glew etc)

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so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.
This commit is contained in:
erwincoumans
2018-02-02 18:33:29 -08:00
parent b30401c1f7
commit df0305462d
14 changed files with 2698 additions and 2573 deletions
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24
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -1,5 +1,11 @@
#include "b3RobotSimulatorClientAPI.h"
#ifdef B3_USE_ROBOTSIM_GUI
#include "b3RobotSimulatorClientAPI.h"
#else
#include "b3RobotSimulatorClientAPI_NoGUI.h"
#endif
#include "../Utils/b3Clock.h"
#include <string.h>
@@ -7,11 +13,23 @@
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#include "MinitaurSetup.h"
int main(int argc, char* argv[])
{
#ifdef B3_USE_ROBOTSIM_GUI
b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
sim->connect(eCONNECT_GUI);
bool isConnected = sim->connect(eCONNECT_GUI);
#else
b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
bool isConnected = sim->connect(eCONNECT_DIRECT);
#endif
if (!isConnected)
{
printf("Cannot connect\n");
return -1;
}
//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);