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Merge pull request #614 from erwincoumans/master

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add BasicExampleGui for cmake, preliminary pybullet
This commit is contained in:
erwincoumans
2016-05-04 00:35:34 -07:00
parent 50d86b98ff 194009f46e
commit ec5806a979
22 changed files with 564 additions and 115 deletions
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1
CMakeLists.txt
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@@ -191,6 +191,7 @@ IF (APPLE)
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_BULLET3)
IF(APPLE)

11
data/door.urdf
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@@ -1,10 +1,17 @@
<?xml version="0.0" ?>
<robot name="urdf_door">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="baseLink"/>
<origin xyz="0 0 0"/>
</joint>
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<mass value="1.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>

69
examples/BasicDemo/CMakeLists.txt
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@@ -29,3 +29,72 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(App_BasicExample PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(App_BasicExample PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
#################
# Standalone BasicExampleGui using OpenGL (but not the example browser)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/btgui
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
)
SET(AppBasicExampleGui_SRCS
BasicExample.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
../StandaloneMain/main_opengl_single_example.cpp
../ExampleBrowser/OpenGLGuiHelper.cpp
../ExampleBrowser/GL_ShapeDrawer.cpp
)
#this define maps StandaloneExampleCreateFunc to the right 'CreateFunc'
ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)
LINK_LIBRARIES(
BulletDynamics BulletCollision LinearMath OpenGLWindow Bullet3Common ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
#some code to support OpenGL and Glew cross platform
IF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
)
ADD_DEFINITIONS(-DGLEW_STATIC)
ELSE(WIN32)
IF(APPLE)
find_library(COCOA NAMES Cocoa)
MESSAGE(${COCOA})
link_libraries(${COCOA})
ELSE(APPLE)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
LINK_LIBRARIES( X11 pthread dl Xext)
ENDIF(APPLE)
ENDIF(WIN32)
ADD_EXECUTABLE(AppBasicExampleGui
${AppBasicExampleGui_SRCS}
)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppBasicExampleGui PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppBasicExampleGui PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppBasicExampleGui PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

6
examples/CMakeLists.txt
View File

@@ -1,5 +1,7 @@
SUBDIRS( HelloWorld BasicDemo )
IF(BUILD_BULLET3)
SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen OpenGLWindow)
SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen OpenGLWindow )
ENDIF()
IF(BUILD_PYBULLET)
SUBDIRS(pybullet)
ENDIF(BUILD_PYBULLET)

2
examples/CommonInterfaces/CommonWindowInterface.h
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@@ -120,6 +120,8 @@ class CommonWindowInterface
virtual float getRetinaScale() const =0;
virtual void setAllowRetina(bool allow) =0;
virtual int getWidth() const = 0;
virtual int getHeight() const = 0;
virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;

107
examples/ExampleBrowser/CMakeLists.txt
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@@ -1,21 +1,19 @@
INCLUDE_DIRECTORIES(
.
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
)
FILE(GLOB ExampleBrowser_SRCS "*" "GwenGUISupport/*" )
FILE(GLOB ExampleBrowser_HDRS "*" "GwenGUISupport/*" )
FILE(GLOB GwenGUISupport_SRCS "GwenGUISupport/*" )
FILE(GLOB GwenGUISupport_HDRS "GwenGUISupport/*" )
SET(App_ExampleBrowser_SRCS
main.cpp
ExampleEntries.cpp
ExampleEntries.h
SET(BulletExampleBrowser_SRCS
OpenGLExampleBrowser.cpp
OpenGLGuiHelper.cpp
InProcessExampleBrowser.cpp
GL_ShapeDrawer.cpp
../SharedMemory/PhysicsServer.cpp
../SharedMemory/PhysicsClientSharedMemory.cpp
../SharedMemory/PhysicsClient.cpp
@@ -97,8 +95,10 @@ SET(App_ExampleBrowser_SRCS
../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
../../Extras/Serialize/BulletFileLoader/bChunk.cpp ../../Extras/Serialize/BulletFileLoader/bFile.cpp
../../Extras/Serialize/BulletFileLoader/bDNA.cpp ../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
../../Extras/Serialize/BulletFileLoader/bChunk.cpp
../../Extras/Serialize/BulletFileLoader/bFile.cpp
../../Extras/Serialize/BulletFileLoader/bDNA.cpp
../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
../Importers/ImportBsp/BspLoader.h
../Importers/ImportBsp/ImportBspExample.h
@@ -168,44 +168,83 @@ SET(App_ExampleBrowser_SRCS
../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp
../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp
../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp
../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp
../ThirdPartyLibs/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h
../ThirdPartyLibs/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h
../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h
../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h
../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h
../ThirdPartyLibs/tinyxml/tinystr.cpp
../ThirdPartyLibs/tinyxml/tinyxml.cpp
../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h
../ThirdPartyLibs/urdf/boost_replacement/shared_ptr.h
../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp
../ThirdPartyLibs/urdf/boost_replacement/printf_console.h
../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp
../ThirdPartyLibs/urdf/boost_replacement/string_split.h
../Utils/b3Clock.cpp
../Utils/b3Clock.h
../Utils/b3ResourcePath.cpp
../Utils/b3ResourcePath.h
${ExampleBrowser_SRCS}
${ExampleBrowser_HDRS}
${GwenGUISupport_SRCS}
${GwenGUISupport_HDRS}
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
IF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
)
ADD_DEFINITIONS(-DGLEW_STATIC)
ELSE(WIN32)
IF(APPLE)
find_library(COCOA NAMES Cocoa)
ELSE(APPLE)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
ENDIF(APPLE)
ENDIF(WIN32)
ADD_LIBRARY(BulletExampleBrowserLib ${BulletExampleBrowser_SRCS} )
SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
IF (WIN32)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ELSE(WIN32)
IF(APPLE)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ELSE(APPLE)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
pthread dl
)
ENDIF(APPLE)
ENDIF(WIN32)
ENDIF(BUILD_SHARED_LIBS)
####################
#
# Bullet Example Browser main app
#
####################
INCLUDE_DIRECTORIES(
.
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
)
LINK_LIBRARIES(
Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
)
IF (WIN32)
SET(App_ExampleBrowser_SRCS ${App_ExampleBrowser_SRCS} )
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
@@ -229,7 +268,9 @@ ENDIF(WIN32)
ADD_EXECUTABLE(App_ExampleBrowser
${App_ExampleBrowser_SRCS}
main.cpp
ExampleEntries.cpp
ExampleEntries.h
)

20
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -274,17 +274,17 @@ struct ExampleEntriesInternalData
btAlignedObjectArray<ExampleEntry> m_allExamples;
};
ExampleEntries::ExampleEntries()
ExampleEntriesAll::ExampleEntriesAll()
{
m_data = new ExampleEntriesInternalData;
}
ExampleEntries::~ExampleEntries()
ExampleEntriesAll::~ExampleEntriesAll()
{
delete m_data;
}
void ExampleEntries::initOpenCLExampleEntries()
void ExampleEntriesAll::initOpenCLExampleEntries()
{
#ifdef B3_USE_CLEW
#ifndef NO_OPENGL3
@@ -297,7 +297,7 @@ void ExampleEntries::initOpenCLExampleEntries()
#endif //B3_USE_CLEW
}
void ExampleEntries::initExampleEntries()
void ExampleEntriesAll::initExampleEntries()
{
m_data->m_allExamples.clear();
@@ -330,33 +330,33 @@ void ExampleEntries::initExampleEntries()
}
void ExampleEntries::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
void ExampleEntriesAll::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
{
ExampleEntry e( menuLevel,name,description, createFunc, option);
gAdditionalRegisteredExamples.push_back(e);
}
int ExampleEntries::getNumRegisteredExamples()
int ExampleEntriesAll::getNumRegisteredExamples()
{
return m_data->m_allExamples.size();
}
CommonExampleInterface::CreateFunc* ExampleEntries::getExampleCreateFunc(int index)
CommonExampleInterface::CreateFunc* ExampleEntriesAll::getExampleCreateFunc(int index)
{
return m_data->m_allExamples[index].m_createFunc;
}
int ExampleEntries::getExampleOption(int index)
int ExampleEntriesAll::getExampleOption(int index)
{
return m_data->m_allExamples[index].m_option;
}
const char* ExampleEntries::getExampleName(int index)
const char* ExampleEntriesAll::getExampleName(int index)
{
return m_data->m_allExamples[index].m_name;
}
const char* ExampleEntries::getExampleDescription(int index)
const char* ExampleEntriesAll::getExampleDescription(int index)
{
return m_data->m_allExamples[index].m_description;
}

44
examples/ExampleBrowser/ExampleEntries.h
View File

@@ -6,32 +6,56 @@
class ExampleEntries
{
public:
virtual ~ExampleEntries() {}
virtual void initExampleEntries()=0;
virtual void initOpenCLExampleEntries()=0;
virtual int getNumRegisteredExamples()=0;
virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
virtual const char* getExampleName(int index)=0;
virtual const char* getExampleDescription(int index)=0;
virtual int getExampleOption(int index)=0;
};
class ExampleEntriesAll : public ExampleEntries
{
struct ExampleEntriesInternalData* m_data;
public:
ExampleEntries();
virtual ~ExampleEntries();
ExampleEntriesAll();
virtual ~ExampleEntriesAll();
static void registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0);
void initExampleEntries();
virtual void initExampleEntries();
void initOpenCLExampleEntries();
virtual void initOpenCLExampleEntries();
int getNumRegisteredExamples();
virtual int getNumRegisteredExamples();
CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
const char* getExampleName(int index);
virtual const char* getExampleName(int index);
const char* getExampleDescription(int index);
virtual const char* getExampleDescription(int index);
int getExampleOption(int index);
virtual int getExampleOption(int index);
};

150
examples/ExampleBrowser/InProcessExampleBrowser.cpp
View File

@@ -13,7 +13,7 @@
#include "../Utils/b3Clock.h"
#include "ExampleEntries.h"
#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3Scalar.h"
#include "../SharedMemory/InProcessMemory.h"
void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory);
@@ -22,9 +22,19 @@ void* ExampleBrowserMemoryFunc();
#include <stdio.h>
//#include "BulletMultiThreaded/PlatformDefinitions.h"
#include "Bullet3Common/b3Logging.h"
#include "ExampleEntries.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "EmptyExample.h"
#include "../SharedMemory/PhysicsServerExample.h"
#include "../SharedMemory/PhysicsClientExample.h"
#ifndef _WIN32
#include "../MultiThreading/b3PosixThreadSupport.h"
static b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
{
b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
@@ -38,6 +48,7 @@ static b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThread
}
#elif defined( _WIN32)
#include "../MultiThreading/b3Win32ThreadSupport.h"
@@ -52,6 +63,138 @@ b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
class ExampleEntriesPhysicsServer : public ExampleEntries
{
struct ExampleEntriesInternalData2* m_data;
public:
ExampleEntriesPhysicsServer();
virtual ~ExampleEntriesPhysicsServer();
static void registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0);
virtual void initExampleEntries();
virtual void initOpenCLExampleEntries();
virtual int getNumRegisteredExamples();
virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
virtual const char* getExampleName(int index);
virtual const char* getExampleDescription(int index);
virtual int getExampleOption(int index);
};
struct ExampleEntryPhysicsServer
{
int m_menuLevel;
const char* m_name;
const char* m_description;
CommonExampleInterface::CreateFunc* m_createFunc;
int m_option;
ExampleEntryPhysicsServer(int menuLevel, const char* name)
:m_menuLevel(menuLevel), m_name(name), m_description(0), m_createFunc(0), m_option(0)
{
}
ExampleEntryPhysicsServer(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0)
:m_menuLevel(menuLevel), m_name(name), m_description(description), m_createFunc(createFunc), m_option(option)
{
}
};
struct ExampleEntriesInternalData2
{
btAlignedObjectArray<ExampleEntryPhysicsServer> m_allExamples;
};
static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
{
ExampleEntryPhysicsServer(0,"Robotics Control"),
ExampleEntryPhysicsServer(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
ExampleEntryPhysicsServer(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntryPhysicsServer(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
};
ExampleEntriesPhysicsServer::ExampleEntriesPhysicsServer()
{
m_data = new ExampleEntriesInternalData2;
}
ExampleEntriesPhysicsServer::~ExampleEntriesPhysicsServer()
{
delete m_data;
}
void ExampleEntriesPhysicsServer::initOpenCLExampleEntries()
{
}
void ExampleEntriesPhysicsServer::initExampleEntries()
{
m_data->m_allExamples.clear();
int numDefaultEntries = sizeof(gDefaultExamplesPhysicsServer)/sizeof(ExampleEntryPhysicsServer);
for (int i=0;i<numDefaultEntries;i++)
{
m_data->m_allExamples.push_back(gDefaultExamplesPhysicsServer[i]);
}
}
void ExampleEntriesPhysicsServer::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
{
}
int ExampleEntriesPhysicsServer::getNumRegisteredExamples()
{
return m_data->m_allExamples.size();
}
CommonExampleInterface::CreateFunc* ExampleEntriesPhysicsServer::getExampleCreateFunc(int index)
{
return m_data->m_allExamples[index].m_createFunc;
}
int ExampleEntriesPhysicsServer::getExampleOption(int index)
{
return m_data->m_allExamples[index].m_option;
}
const char* ExampleEntriesPhysicsServer::getExampleName(int index)
{
return m_data->m_allExamples[index].m_name;
}
const char* ExampleEntriesPhysicsServer::getExampleDescription(int index)
{
return m_data->m_allExamples[index].m_description;
}
struct ExampleBrowserArgs
{
ExampleBrowserArgs()
@@ -91,7 +234,7 @@ void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
b3Clock clock;
ExampleEntries examples;
ExampleEntriesPhysicsServer examples;
examples.initExampleEntries();
DefaultBrowser* exampleBrowser = new DefaultBrowser(&examples);
@@ -147,6 +290,7 @@ struct btInProcessExampleBrowserInternalData
};
btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2)
{
@@ -231,7 +375,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
struct btInProcessExampleBrowserMainThreadInternalData
{
ExampleEntries m_examples;
ExampleEntriesPhysicsServer m_examples;
DefaultBrowser* m_exampleBrowser;
SharedMemoryInterface* m_sharedMem;
b3Clock m_clock;

10
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -723,6 +723,8 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
char title[1024];
sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
simpleApp = new SimpleOpenGL3App(title,width,height, gAllowRetina);
s_app = simpleApp;
}
#endif
@@ -734,7 +736,11 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
#endif
s_instancingRenderer = s_app->m_renderer;
s_window = s_app->m_window;
s_window = s_app->m_window;
width = s_window->getWidth();
height = s_window->getHeight();
prevMouseMoveCallback = s_window->getMouseMoveCallback();
s_window->setMouseMoveCallback(MyMouseMoveCallback);
@@ -818,8 +824,6 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
///add some demos to the gAllExamples
int numDemos = gAllExamples->getNumRegisteredExamples();
//char nodeText[1024];

2
examples/ExampleBrowser/main.cpp
View File

@@ -22,7 +22,7 @@ int main(int argc, char* argv[])
b3Clock clock;
ExampleEntries examples;
ExampleEntriesAll examples;
examples.initExampleEntries();
ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);

2
examples/OpenGLWindow/CMakeLists.txt
View File

@@ -59,7 +59,7 @@ if (BUILD_SHARED_LIBS)
else()
set (CMAKE_THREAD_PREFER_PTHREAD TRUE)
FIND_PACKAGE(Threads)
target_link_libraries(OpenGLWindow ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries(OpenGLWindow dl ${CMAKE_THREAD_LIBS_INIT})
endif()
endif()

3
examples/OpenGLWindow/MacOpenGLWindow.h
View File

@@ -101,6 +101,9 @@ public:
virtual float getTimeInSeconds();
virtual int getWidth() const;
virtual int getHeight() const;
virtual void setRenderCallback( b3RenderCallback renderCallback);

19
examples/OpenGLWindow/MacOpenGLWindow.mm
View File

@@ -423,8 +423,8 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
[m_internalData->m_window makeKeyAndOrderFront: nil];
[m_internalData->m_myview MakeCurrent];
//m_internalData->m_width = m_internalData->m_myview.GetWindowWidth;
//m_internalData->m_height = m_internalData->m_myview.GetWindowHeight;
m_internalData->m_width = m_internalData->m_myview.GetWindowWidth;
m_internalData->m_height = m_internalData->m_myview.GetWindowHeight;
[NSApp activateIgnoringOtherApps:YES];
@@ -1132,6 +1132,21 @@ void MacOpenGLWindow::getMouseCoordinates(int& x, int& y)
}
int MacOpenGLWindow::getWidth() const
{
if (m_internalData && m_internalData->m_myview && m_internalData->m_myview.GetWindowWidth)
return m_internalData->m_myview.GetWindowWidth;
return 0;
}
int MacOpenGLWindow::getHeight() const
{
if (m_internalData && m_internalData->m_myview && m_internalData->m_myview.GetWindowHeight)
return m_internalData->m_myview.GetWindowHeight;
return 0;
}
void MacOpenGLWindow::setResizeCallback(b3ResizeCallback resizeCallback)
{
[m_internalData->m_myview setResizeCallback:resizeCallback];

27
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -56,8 +56,11 @@ static void SimpleResizeCallback( float widthf, float heightf)
{
int width = (int)widthf;
int height = (int)heightf;
gApp->m_instancingRenderer->resize(width,height);
gApp->m_primRenderer->setScreenSize(width,height);
if (gApp && gApp->m_instancingRenderer)
gApp->m_instancingRenderer->resize(width,height);
if (gApp && gApp->m_primRenderer)
gApp->m_primRenderer->setScreenSize(width,height);
}
@@ -115,6 +118,7 @@ extern unsigned char OpenSansData[];
SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, bool allowRetina)
{
gApp = this;
m_data = new SimpleInternalData;
m_data->m_frameDumpPngFileName = 0;
m_data->m_renderTexture = 0;
@@ -123,6 +127,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, boo
m_data->m_upAxis = 1;
m_window = new b3gDefaultOpenGLWindow();
m_window->setAllowRetina(allowRetina);
b3gWindowConstructionInfo ci;
@@ -141,6 +146,9 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, boo
1.f);
m_window->startRendering();
width = m_window->getWidth();
height = m_window->getHeight();
b3Assert(glGetError() ==GL_NO_ERROR);
#ifndef __APPLE__
@@ -160,17 +168,21 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, boo
b3Assert(glGetError() ==GL_NO_ERROR);
m_primRenderer = new GLPrimitiveRenderer(width,height);
m_parameterInterface = 0;
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer = new GLInstancingRenderer(128*1024,64*1024*1024);
m_renderer = m_instancingRenderer ;
m_instancingRenderer->init();
m_instancingRenderer->resize(width,height);
m_primRenderer = new GLPrimitiveRenderer(width,height);
b3Assert(glGetError() ==GL_NO_ERROR);
m_renderer = m_instancingRenderer ;
m_window->setResizeCallback(SimpleResizeCallback);
m_instancingRenderer->init();
m_instancingRenderer->resize(width,height);
m_primRenderer->setScreenSize(width,height);
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer->InitShaders();
@@ -178,7 +190,6 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, boo
m_window->setMouseButtonCallback(SimpleMouseButtonCallback);
m_window->setKeyboardCallback(SimpleKeyboardCallback);
m_window->setWheelCallback(SimpleWheelCallback);
m_window->setResizeCallback(SimpleResizeCallback);
TwGenerateDefaultFonts();
m_data->m_fontTextureId = BindFont(g_DefaultNormalFont);

15
examples/OpenGLWindow/Win32OpenGLWindow.cpp
View File

@@ -180,6 +180,21 @@ int Win32OpenGLWindow::fileOpenDialog(char* fileName, int maxFileNameLength)
//return 0;
}
int Win32OpenGLWindow::getWidth() const
{
if (m_data)
return m_data->m_openglViewportWidth;
return 0;
}
int Win32OpenGLWindow::getHeight() const
{
if (m_data)
return m_data->m_openglViewportHeight;
return 0;
}
#endif

3
examples/OpenGLWindow/Win32OpenGLWindow.h
View File

@@ -53,6 +53,9 @@ public:
virtual float getRetinaScale() const {return 1.f;}
virtual void setAllowRetina(bool /*allowRetina*/) {};
virtual int getWidth() const;
virtual int getHeight() const;
virtual int fileOpenDialog(char* fileName, int maxFileNameLength);
};

14
examples/OpenGLWindow/X11OpenGLWindow.cpp
View File

@@ -1076,6 +1076,20 @@ b3KeyboardCallback X11OpenGLWindow::getKeyboardCallback()
return m_data->m_keyboardCallback;
}
int X11OpenGLWindow::getWidth() const
{
if (m_data)
return m_data->m_glWidth;
return 0;
}
int X11OpenGLWindow::getHeight() const
{
if (m_data)
return m_data->m_glHeight;
return 0;
}
#include <stdio.h>
int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)

5
examples/OpenGLWindow/X11OpenGLWindow.h
View File

@@ -65,9 +65,14 @@ public:
virtual void setWindowTitle(const char* title);
virtual int getWidth() const;
virtual int getHeight() const;
int fileOpenDialog(char* filename, int maxNameLength);
};
#endif

24
examples/pybullet/CMakeLists.txt Normal file
View File

@@ -0,0 +1,24 @@
IF (BUILD_SHARED_LIBS)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
/usr/include/python2.7
)
SET(pybullet_SRCS
pybullet.c
../../examples/ExampleBrowser/ExampleEntries.cpp
)
ADD_LIBRARY(pybullet ${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)
ENDIF (BUILD_SHARED_LIBS)

1
examples/pybullet/premake4.lua
View File

@@ -20,6 +20,7 @@ project ("pybullet")
".",
"../../src",
"../ThirdPartyLibs",
"/usr/include/python2.7",
}

132
examples/pybullet/pybullet.c
View File

@@ -8,15 +8,21 @@
#endif
static PyObject *SpamError;
static b3PhysicsClientHandle sm;
static b3PhysicsClientHandle sm=0;
static PyObject *
spam_step(PyObject *self, PyObject *args)
pybullet_stepSimulation(PyObject *self, PyObject *args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
@@ -29,15 +35,53 @@ return PyLong_FromLong(1);
}
static PyObject *
spam_loadURDF(PyObject* self, PyObject* args)
pybullet_connectPhysicsServer(PyObject *self, PyObject *args)
{
if (0!=sm)
{
PyErr_SetString(SpamError, "Already connected to physics server, disconnect first.");
return NULL;
}
{
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
}
return PyLong_FromLong(1);
}
static PyObject *
pybullet_disconnectPhysicsServer(PyObject *self, PyObject *args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3DisconnectSharedMemory(sm);
sm = 0;
}
return PyLong_FromLong(1);
}
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;
const char* urdfFileName=0;
float startPosX =0;
float startPosY =0;
float startPosZ = 1;
float startPosY =0;
float startPosZ = 1;
float startOrnX = 0;
float startOrnY = 0;
float startOrnZ = 0;
@@ -61,29 +105,58 @@ spam_loadURDF(PyObject* self, PyObject* args)
&startOrnX,&startOrnY,&startOrnZ, &startOwnW))
return NULL;
}
printf("urdf filename = %s\n", urdfFileName);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
{
printf("urdf filename = %s\n", urdfFileName);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
//setting the initial position, orientation and other arguments are optional
int ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_URDF_LOADING_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load URDF file.");
return NULL;
}
bodyIndex = b3GetStatusBodyIndex(statusHandle);
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_URDF_LOADING_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load URDF file.");
return NULL;
}
bodyIndex = b3GetStatusBodyIndex(statusHandle);
}
return PyLong_FromLong(bodyIndex);
}
static PyObject *
pybullet_resetSimulation(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
// ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RESET_SIMULATION_COMPLETED);
}
return PyLong_FromLong(1);
}
static PyMethodDef SpamMethods[] = {
{"step", spam_step, METH_VARARGS,
"Step the simulation forward."},
{"loadURDF", spam_loadURDF, METH_VARARGS,
"Create a multibody by loading a URDF file."},
{"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,
"Step the simulation using forward dynamics."},
{NULL, NULL, 0, NULL} /* Sentinel */
};
@@ -92,16 +165,7 @@ PyMODINIT_FUNC
initpybullet(void)
{
b3PhysicsClientHandle h;
PyObject *m;
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
//#ifdef __APPLE__
//sm = b3CreateInProcessPhysicsServerAndConnectMainThread(0,0);
//#else
//sm = b3CreateInProcessPhysicsServerAndConnect(0,0);
//#endif
m = Py_InitModule("pybullet", SpamMethods);
if (m == NULL)
return;