added egl plugin commit
This commit is contained in:
Max Argus
@@ -1367,7 +1367,9 @@ void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
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UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
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if (linkPtr)
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{
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m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
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//(gdb) p *model.m_links.m_valueArray.m_data[0]
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std::cout << "mvp " << (*linkPtr)->m_visualArray.size() << std::endl;
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m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
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}
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}
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}
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@@ -36,8 +36,11 @@
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#include <string.h>
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#include <unistd.h>
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#include <glad/gl.h>
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#include <glad/egl.h>
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#include "OpenGLInclude.h"
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#include "EGL/egl.h"
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#include "EGL/eglext.h"
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#include "GL/gl.h"
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#include "EGLOpenGLWindow.h"
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@@ -220,7 +220,13 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
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}
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else
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{
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b3Warning("Warning: couldn't load plugin %s\n", pluginPath);
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#ifdef _WIN32
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#else
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b3Warning("Error: %s\n", dlerror() );
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#endif
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}
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if (!ok)
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{
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25
examples/SharedMemory/plugins/eglPlugin/bullet.py
Normal file
25
examples/SharedMemory/plugins/eglPlugin/bullet.py
Normal file
@@ -0,0 +1,25 @@
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import os
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import time
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import subprocess
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import pybullet as p
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#subprocess.call(["hardening-check", p.__file__])
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p.connect(p.DIRECT)
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plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
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plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
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print("plugin =",plugin)
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path = '/home/argusm/lang/bullet3/examples/pybullet/gym/pybullet_data/r2d2.urdf'
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path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka_weiss_bolt.sdf'
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#p.loadURDF(path)
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p.loadSDF(path)
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start = time.time()
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for i in range(2000):
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p.getCameraImage(80,80)
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if i % 100 == 0 and i > 0:
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print("FPS",100/(time.time()-start))
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start = time.time()
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@@ -0,0 +1,62 @@
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//tinyRenderer plugin
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/*
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import pybullet as p
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p.connect(p.GUI)
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plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
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print("plugin=",plugin)
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p.loadURDF("r2d2.urdf")
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while (1):
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p.getCameraImage(320,200)
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*/
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#include "eglRendererPlugin.h"
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#include "eglRendererVisualShapeConverter.h"
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#include "../../SharedMemoryPublic.h"
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#include "../b3PluginContext.h"
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#include <stdio.h>
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struct MyRendererPluginClass
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{
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TinyRendererVisualShapeConverter m_renderer;
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MyRendererPluginClass()
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{
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}
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virtual ~MyRendererPluginClass()
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{
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}
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};
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B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
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{
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MyRendererPluginClass* obj = new MyRendererPluginClass();
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context->m_userPointer = obj;
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return SHARED_MEMORY_MAGIC_NUMBER;
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}
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B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
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{
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return -1;
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}
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B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
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{
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MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
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delete obj;
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context->m_userPointer = 0;
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}
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//all the APIs below are optional
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B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
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{
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MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
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return &obj->m_renderer;
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}
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25
examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h
Normal file
25
examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h
Normal file
@@ -0,0 +1,25 @@
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#ifndef TINY_RENDERER_PLUGIN_H
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#define TINY_RENDERER_PLUGIN_H
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#include "../b3PluginAPI.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
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B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
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B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
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B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
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//all the APIs below are optional
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B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context);
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#ifdef __cplusplus
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};
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#endif
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#endif//#define TEST_PLUGIN_H
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,63 @@
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#ifndef EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#define EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
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#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
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struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
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{
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struct TinyRendererVisualShapeConverterInternalData* m_data;
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TinyRendererVisualShapeConverter();
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virtual ~TinyRendererVisualShapeConverter();
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virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
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virtual int getNumVisualShapes(int bodyUniqueId);
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virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
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virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]);
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virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId);
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virtual void removeVisualShape(int shapeUid);
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virtual void setUpAxis(int axis);
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virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
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virtual void clearBuffers(struct TGAColor& clearColor);
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virtual void resetAll();
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virtual void getWidthAndHeight(int& width, int& height);
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virtual void setWidthAndHeight(int width, int height);
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virtual void setLightDirection(float x, float y, float z);
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virtual void setLightColor(float x, float y, float z);
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virtual void setLightDistance(float dist);
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virtual void setLightAmbientCoeff(float ambientCoeff);
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virtual void setLightDiffuseCoeff(float diffuseCoeff);
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virtual void setLightSpecularCoeff(float specularCoeff);
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virtual void setShadow(bool hasShadow);
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virtual void setFlags(int flags);
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virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
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virtual void render();
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virtual void render(const float viewMat[16], const float projMat[16]);
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virtual int loadTextureFile(const char* filename);
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virtual int registerTexture(unsigned char* texels, int width, int height);
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virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
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};
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#endif //EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
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53
examples/SharedMemory/plugins/eglPlugin/premake4.lua
Normal file
53
examples/SharedMemory/plugins/eglPlugin/premake4.lua
Normal file
@@ -0,0 +1,53 @@
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project ("pybullet_eglRendererPlugin")
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language "C++"
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kind "SharedLib"
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includedirs {".","../../../../src", "../../../../examples",
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"../../../ThirdPartyLibs"}
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defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
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hasCL = findOpenCL("clew")
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links{"BulletCollision", "Bullet3Common", "LinearMath"}
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if os.is("MacOSX") then
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-- targetextension {"so"}
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links{"Cocoa.framework","Python"}
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end
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files {
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"eglRendererPlugin.cpp",
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"eglRendererPlugin.h",
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"TinyRendererVisualShapeConverter.cpp",
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"TinyRendererVisualShapeConverter.h",
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"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
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"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
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"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
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"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.h",
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"../../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
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"../../../Importers/ImportObjDemo/LoadMeshFromObj.h",
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"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
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"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h",
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"../../../TinyRenderer/geometry.cpp",
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"../../../TinyRenderer/model.cpp",
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"../../../TinyRenderer/our_gl.cpp",
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"../../../TinyRenderer/tgaimage.cpp",
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"../../../TinyRenderer/TinyRenderer.cpp",
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"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.cpp",
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"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.h",
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"../../../ThirdPartyLibs/stb_image/stb_image.cpp",
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"../../../ThirdPartyLibs/stb_image/stb_image.h",
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"../../../ThirdPartyLibs/eglxml2/eglxml2.cpp",
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"../../../ThirdPartyLibs/eglxml2/eglxml2.h",
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"../../../OpenGLWindow/SimpleCamera.cpp",
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"../../../OpenGLWindow/SimpleCamera.h",
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"../../../Utils/b3Clock.cpp",
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"../../../Utils/b3Clock.h",
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"../../../Utils/b3ResourcePath.cpp",
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"../../../Utils/b3ResourcePath.h",
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}
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50
setup.py
50
setup.py
@@ -394,6 +394,7 @@ if _platform == "linux" or _platform == "linux2":
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CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
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CXX_FLAGS += '-DHAS_SOCKLEN_T '
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CXX_FLAGS += '-fno-inline-functions-called-once '
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CXX_FLAGS += '-fPIC ' # for plugins
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sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
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+["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
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+["examples/ThirdPartyLibs/glad/gl.c"]\
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@@ -438,6 +439,7 @@ else:
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+["examples/ThirdPartyLibs/glad/gl.c"]\
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+ sources
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setup_py_dir = os.path.dirname(os.path.realpath(__file__))
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need_files = []
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@@ -458,6 +460,52 @@ print("packages")
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print(find_packages('examples/pybullet/gym'))
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print("-----")
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egl_renderer_sources = \
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["examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp"]\
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+["examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp"]\
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+["examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp"]\
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+["examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp"]\
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+["examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp"]\
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+["examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp"]\
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+["examples/TinyRenderer/geometry.cpp"]\
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+["examples/TinyRenderer/model.cpp"]\
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+["examples/TinyRenderer/tgaimage.cpp"]\
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+["examples/TinyRenderer/our_gl.cpp"]\
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+["examples/TinyRenderer/TinyRenderer.cpp"]\
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+["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
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+["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\
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+["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
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+["examples/OpenGLWindow/SimpleCamera.cpp"]\
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+["examples/Utils/b3Clock.cpp"]\
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+["examples/Utils/b3ResourcePath.cpp"]\
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+["src/BulletCollision/CollisionShapes/btShapeHull.cpp"]\
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+["src/BulletCollision/CollisionShapes/btConvexHullShape.cpp"]\
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+["src/BulletCollision/CollisionShapes/btBoxShape.cpp"]\
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+["src/BulletCollision/CollisionShapes/btSphereShape.cpp"]\
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+["src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"]\
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+["src/BulletCollision/CollisionShapes/btConvexShape.cpp"]\
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+["src/BulletCollision/CollisionShapes/btCollisionShape.cpp"]\
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+["src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"]\
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+["src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp"]\
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+["src/Bullet3Common/b3Logging.cpp"]\
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+["src/LinearMath/btAlignedAllocator.cpp"]\
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+["src/LinearMath/btGeometryUtil.cpp"]\
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+["src/LinearMath/btConvexHull.cpp"]\
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+["src/LinearMath/btConvexHullComputer.cpp"]\
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+["src/Bullet3Common/b3AlignedAllocator.cpp"] \
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+["examples/ThirdPartyLibs/glad/glad.c"]\
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+["examples/ThirdPartyLibs/glad/glad_glx.c"] \
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+["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
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+["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
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+["examples/OpenGLWindow/GLRenderToTexture.cpp"]\
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eglRender = Extension("eglRenderer",
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sources = egl_renderer_sources,
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libraries = libraries,
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extra_compile_args=(CXX_FLAGS+'-DBT_USE_EGL ').split(),
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include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
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)
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setup(
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name = 'pybullet',
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version='2.1.3',
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@@ -469,7 +517,7 @@ setup(
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license='zlib',
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platforms='any',
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keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl'],
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ext_modules = [Extension("pybullet",
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ext_modules = [eglRender, Extension("pybullet",
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sources = sources,
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libraries = libraries,
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extra_compile_args=CXX_FLAGS.split(),
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