Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add yapf style and apply yapf to format all Python files

Browse Source 
This recreates pull request #2192
This commit is contained in:
Erwin Coumans
2019-04-27 07:31:15 -07:00
parent c591735042
commit ef9570c315
347 changed files with 70304 additions and 22752 deletions
Download Patch File Download Diff File Expand all files Collapse all files

312
setup.py
View File

@@ -1,11 +1,9 @@
from setuptools import find_packages
from sys import platform as _platform
import sys
import glob
import os
from distutils.core import setup
from distutils.extension import Extension
from distutils.util import get_platform
@@ -16,43 +14,57 @@ import multiprocessing
import multiprocessing.pool
def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=None, debug=0, extra_preargs=None, extra_postargs=None, depends=None):
# those lines are copied from distutils.ccompiler.CCompiler directly
macros, objects, extra_postargs, pp_opts, build = self._setup_compile(output_dir, macros, include_dirs, sources, depends, extra_postargs)
cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
# parallel code
N = 2*multiprocessing.cpu_count()# number of parallel compilations
def parallelCCompile(self,
sources,
output_dir=None,
macros=None,
include_dirs=None,
debug=0,
extra_preargs=None,
extra_postargs=None,
depends=None):
# those lines are copied from distutils.ccompiler.CCompiler directly
macros, objects, extra_postargs, pp_opts, build = self._setup_compile(
output_dir, macros, include_dirs, sources, depends, extra_postargs)
cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
# parallel code
N = 2 * multiprocessing.cpu_count() # number of parallel compilations
try:
# On Unix-like platforms attempt to obtain the total memory in the
# machine and limit the number of parallel jobs to the number of Gbs
# of RAM (to avoid killing smaller platforms like the Pi)
mem = os.sysconf('SC_PHYS_PAGES') * os.sysconf('SC_PAGE_SIZE') # bytes
except (AttributeError, ValueError):
# Couldn't query RAM; don't limit parallelism (it's probably a well
# equipped Windows / Mac OS X box)
pass
else:
mem = max(1, int(round(mem / 1024**3))) # convert to Gb
N = min(mem, N)
def _single_compile(obj):
try:
# On Unix-like platforms attempt to obtain the total memory in the
# machine and limit the number of parallel jobs to the number of Gbs
# of RAM (to avoid killing smaller platforms like the Pi)
mem = os.sysconf('SC_PHYS_PAGES') * os.sysconf('SC_PAGE_SIZE') # bytes
except (AttributeError, ValueError):
# Couldn't query RAM; don't limit parallelism (it's probably a well
# equipped Windows / Mac OS X box)
pass
else:
mem = max(1, int(round(mem / 1024 ** 3))) # convert to Gb
N = min(mem, N)
def _single_compile(obj):
try: src, ext = build[obj]
except KeyError: return
newcc_args = cc_args
if _platform == "darwin":
if src.endswith('.cpp'):
newcc_args = cc_args + ["-stdlib=libc++"]
self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts)
# convert to list, imap is evaluated on-demand
pool = multiprocessing.pool.ThreadPool(N)
list(pool.imap(_single_compile,objects))
return objects
src, ext = build[obj]
except KeyError:
return
newcc_args = cc_args
if _platform == "darwin":
if src.endswith('.cpp'):
newcc_args = cc_args + ["-stdlib=libc++"]
self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts)
# convert to list, imap is evaluated on-demand
pool = multiprocessing.pool.ThreadPool(N)
list(pool.imap(_single_compile, objects))
return objects
import distutils.ccompiler
distutils.ccompiler.CCompiler.compile=parallelCCompile
distutils.ccompiler.CCompiler.compile = parallelCCompile
#see http://stackoverflow.com/a/8719066/295157
import os
platform = get_platform()
print(platform)
@@ -68,27 +80,24 @@ CXX_FLAGS += '-DB3_USE_ZIPFILE_FILEIO '
CXX_FLAGS += '-DBT_THREADSAFE=1 '
CXX_FLAGS += '-DSTATIC_LINK_SPD_PLUGIN '
EGL_CXX_FLAGS = ''
# libraries += [current_python]
libraries = []
include_dirs = []
try:
import numpy
NP_DIRS = [numpy.get_include()]
import numpy
NP_DIRS = [numpy.get_include()]
except:
print("numpy is disabled. getCameraImage maybe slower.")
print("numpy is disabled. getCameraImage maybe slower.")
else:
print("numpy is enabled.")
CXX_FLAGS += '-DPYBULLET_USE_NUMPY '
for d in NP_DIRS:
print("numpy_include_dirs = %s" % d)
include_dirs += NP_DIRS
print("numpy is enabled.")
CXX_FLAGS += '-DPYBULLET_USE_NUMPY '
for d in NP_DIRS:
print("numpy_include_dirs = %s" % d)
include_dirs += NP_DIRS
sources = ["examples/pybullet/pybullet.c"]\
+["src/btLinearMathAll.cpp"]\
@@ -358,71 +367,70 @@ egl_renderer_sources = \
+["examples/OpenGLWindow/LoadShader.cpp"]
if 'BT_USE_EGL' in CXX_FLAGS:
sources += ['examples/ThirdPartyLibs/glad/egl.c']
sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
sources += ['examples/ThirdPartyLibs/glad/egl.c']
sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
if _platform == "linux" or _platform == "linux2":
libraries = ['dl','pthread']
CXX_FLAGS += '-D_LINUX '
CXX_FLAGS += '-DGLEW_STATIC '
CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '
CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-fno-inline-functions-called-once '
CXX_FLAGS += '-fvisibility=hidden '
CXX_FLAGS += '-fvisibility-inlines-hidden '
EGL_CXX_FLAGS += '-DBT_USE_EGL '
EGL_CXX_FLAGS += '-fPIC ' # for plugins
libraries = ['dl', 'pthread']
CXX_FLAGS += '-D_LINUX '
CXX_FLAGS += '-DGLEW_STATIC '
CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '
CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-fno-inline-functions-called-once '
CXX_FLAGS += '-fvisibility=hidden '
CXX_FLAGS += '-fvisibility-inlines-hidden '
EGL_CXX_FLAGS += '-DBT_USE_EGL '
EGL_CXX_FLAGS += '-fPIC ' # for plugins
sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/gl.c"]\
+["examples/ThirdPartyLibs/glad/glx.c"]
include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
if 'BT_USE_EGL' in EGL_CXX_FLAGS:
egl_renderer_sources = egl_renderer_sources\
+["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
+['examples/ThirdPartyLibs/glad/egl.c']
else:
egl_renderer_sources = egl_renderer_sources\
+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/gl.c"]\
+["examples/ThirdPartyLibs/glad/glx.c"]
include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
if 'BT_USE_EGL' in EGL_CXX_FLAGS:
egl_renderer_sources = egl_renderer_sources\
+["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
+['examples/ThirdPartyLibs/glad/egl.c']
else:
egl_renderer_sources = egl_renderer_sources\
+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/glx.c"]
elif _platform == "win32":
print("win32!")
libraries = ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
CXX_FLAGS += '-DWIN32 '
CXX_FLAGS += '-DGLEW_STATIC '
sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
+["examples/OpenGLWindow/Win32Window.cpp"]\
+["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/gl.c"]
print("win32!")
libraries = ['Ws2_32', 'Winmm', 'User32', 'Opengl32', 'kernel32', 'glu32', 'Gdi32', 'Comdlg32']
CXX_FLAGS += '-DWIN32 '
CXX_FLAGS += '-DGLEW_STATIC '
sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
+["examples/OpenGLWindow/Win32Window.cpp"]\
+["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/gl.c"]
elif _platform == "darwin":
print("darwin!")
os.environ['LDFLAGS'] = '-framework Cocoa -stdlib=libc++ -framework OpenGL'
CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-D_DARWIN '
# CXX_FLAGS += '-framework Cocoa '
sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
+["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/gl.c"]\
+["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
print("darwin!")
os.environ['LDFLAGS'] = '-framework Cocoa -stdlib=libc++ -framework OpenGL'
CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-D_DARWIN '
# CXX_FLAGS += '-framework Cocoa '
sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
+["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/gl.c"]\
+["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
else:
print("bsd!")
libraries = ['GL','GLEW','pthread']
os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
CXX_FLAGS += '-D_BSD '
CXX_FLAGS += '-I/usr/X11R6/include '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-fno-inline-functions-called-once'
sources = ["examples/ThirdPartyLibs/enet/unix.c"]\
+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/gl.c"]\
+ sources
print("bsd!")
libraries = ['GL', 'GLEW', 'pthread']
os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
CXX_FLAGS += '-D_BSD '
CXX_FLAGS += '-I/usr/X11R6/include '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-fno-inline-functions-called-once'
sources = ["examples/ThirdPartyLibs/enet/unix.c"]\
+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+["examples/ThirdPartyLibs/glad/gl.c"]\
+ sources
setup_py_dir = os.path.dirname(os.path.realpath(__file__))
@@ -432,67 +440,75 @@ datadir = "examples/pybullet/gym/pybullet_data"
hh = setup_py_dir + "/" + datadir
for root, dirs, files in os.walk(hh):
for fn in files:
ext = os.path.splitext(fn)[1][1:]
if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml '.split():
fn = root + "/" + fn
need_files.append(fn[1+len(hh):])
for fn in files:
ext = os.path.splitext(fn)[1][1:]
if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml '.split(
):
fn = root + "/" + fn
need_files.append(fn[1 + len(hh):])
print("found resource files: %i" % len(need_files))
for n in need_files: print("-- %s" % n)
for n in need_files:
print("-- %s" % n)
print("packages")
print(find_packages('examples/pybullet/gym'))
print("-----")
extensions = []
pybullet_ext = Extension("pybullet",
sources = sources,
libraries = libraries,
extra_compile_args=CXX_FLAGS.split(),
include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
)
pybullet_ext = Extension(
"pybullet",
sources=sources,
libraries=libraries,
extra_compile_args=CXX_FLAGS.split(),
include_dirs=include_dirs + [
"src", "examples/ThirdPartyLibs", "examples/ThirdPartyLibs/glad",
"examples/ThirdPartyLibs/enet/include", "examples/ThirdPartyLibs/clsocket/src"
])
extensions.append(pybullet_ext)
if 'BT_USE_EGL' in EGL_CXX_FLAGS:
eglRender = Extension("eglRenderer",
sources = egl_renderer_sources,
libraries = libraries,
extra_compile_args=(CXX_FLAGS+EGL_CXX_FLAGS ).split(),
include_dirs = include_dirs + ["src","examples", "examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"])
extensions.append(eglRender)
eglRender = Extension(
"eglRenderer",
sources=egl_renderer_sources,
libraries=libraries,
extra_compile_args=(CXX_FLAGS + EGL_CXX_FLAGS).split(),
include_dirs=include_dirs + [
"src", "examples", "examples/ThirdPartyLibs", "examples/ThirdPartyLibs/glad",
"examples/ThirdPartyLibs/enet/include", "examples/ThirdPartyLibs/clsocket/src"
])
extensions.append(eglRender)
setup(
name = 'pybullet',
version='2.4.9',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',
author='Erwin Coumans, Yunfei Bai, Jasmine Hsu',
author_email='erwincoumans@google.com',
license='zlib',
platforms='any',
keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl'],
ext_modules = extensions,
classifiers=['Development Status :: 5 - Production/Stable',
'License :: OSI Approved :: zlib/libpng License',
'Operating System :: Microsoft :: Windows',
'Operating System :: POSIX :: Linux',
'Operating System :: MacOS',
'Intended Audience :: Science/Research',
"Programming Language :: Python",
'Programming Language :: Python :: 2.7',
'Programming Language :: Python :: 3.4',
'Programming Language :: Python :: 3.5',
'Programming Language :: Python :: 3.6',
'Topic :: Games/Entertainment :: Simulation',
'Topic :: Scientific/Engineering :: Artificial Intelligence',
'Framework :: Robot Framework'],
package_dir = { '': 'examples/pybullet/gym'},
name='pybullet',
version='2.4.9',
description=
'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description=
'pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',
author='Erwin Coumans, Yunfei Bai, Jasmine Hsu',
author_email='erwincoumans@google.com',
license='zlib',
platforms='any',
keywords=[
'game development', 'virtual reality', 'physics simulation', 'robotics',
'collision detection', 'opengl'
],
ext_modules=extensions,
classifiers=[
'Development Status :: 5 - Production/Stable',
'License :: OSI Approved :: zlib/libpng License',
'Operating System :: Microsoft :: Windows', 'Operating System :: POSIX :: Linux',
'Operating System :: MacOS', 'Intended Audience :: Science/Research',
"Programming Language :: Python", 'Programming Language :: Python :: 2.7',
'Programming Language :: Python :: 3.4', 'Programming Language :: Python :: 3.5',
'Programming Language :: Python :: 3.6', 'Topic :: Games/Entertainment :: Simulation',
'Topic :: Scientific/Engineering :: Artificial Intelligence',
'Framework :: Robot Framework'
],
package_dir={'': 'examples/pybullet/gym'},
packages=[x for x in find_packages('examples/pybullet/gym')],
package_data = { 'pybullet_data': need_files }
)
package_data={'pybullet_data': need_files})