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2328 Commits

Author SHA1 Message Date
erwincoumans
2a3a60ac64 Merge pull request #1874 from erwincoumans/master 
more egl plugin fixes, create stb_image_write.cpp (instead of magic defines in various source files)
 2018-09-11 14:14:40 -07:00
Erwin Coumans
23ecbab7b3 fix setup.py and pybullet to work better with eglPlugin on Linux 2018-09-11 13:24:35 -07:00
Tigran Gasparian
58699258dd Change b3GetLinkState to use numLinks in status handle 
Changes the b3GetLinkState function to use numLinks from the
SharedMemoryStatus returned from RequestActualState instead of the
cached number of link value returned by b3GetNumJoints.

The cached value can be outdated when a new body is added and
SyncBodyInfo isn't used, while using the value in the status is always
up-to-date.
 2018-09-11 14:44:06 +02:00
erwincoumans
5b1588fc3f fix createProtobufs.bat script 2018-09-10 23:32:51 -07:00
Erwin Coumans
9fa3e44539 fixes related to egl plugin 2018-09-10 23:31:54 -07:00
Erwin Coumans
3b0a44e1be fix createProtobufs.sh script 2018-09-10 23:24:00 -07:00
erwincoumans
684a9f6a99 move stb_image/stb_image_write.cpp into a cpp file instead of random files with the magic 'STB_IMAGE_WRITE_IMPLEMENTATION' define 
move setup.py back to eglRenderer extension, use pkgutil.get_loader('eglRenderer').get_filename()
disable dlmopen by default, unless B3_USE_DLMOPEN is defined.
 2018-09-10 23:18:34 -07:00
Erwin Coumans
f26d4fdc4c pybullet eglPlugin: fix Mac OSX build 2018-09-10 08:55:47 -07:00
bla
6992195ba8 add pybullet example for eglRendererPlugin, will use EGL in a plugin on Linux, Win32OpenGLWindow in a plugin on Windows 2018-09-09 23:03:07 -07:00
bla
8f711462e0 fix setup.py to work better on Windows and Linux (with default eglPlugin static built-in, 
just use pybullet.loadPlugin("eglRendererPlugin") before loading/creating any objects.
use end/startRendering (swap buffers) before the rendering in the eglPlugin
 2018-09-09 22:58:08 -07:00
erwincoumans
9698c3d600 PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). 
postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread.
When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
 2018-09-09 21:08:47 -07:00
erwincoumans
7369005402 pybullet, use eglPlugin statically instead of dynamic loading an Extension -DSTATIC_EGLRENDERER_PLUGIN 
Fix compile errors of pybullet on Windows.
 2018-09-09 15:23:26 -07:00
erwincoumans
adb5c049c7 Thanks to @dchichkov for some of the fixes in the eglRendererPlugin! 
Rename tinyRenderer -> eglRenderer in the eglRendererPlugin.
Allow to run the eglRendererPlugin to run on Windows (not in EGL mode but Win32OpenGLWindow mode)

Here is a script I tested on Windows:
~~~~~~~~~~~~
mport pybullet as p
import time

p.connect(p.DIRECT)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_eglRendererPlugin_vs2010_x64_debug.dll","_eglRendererPlugin")
print("plugin=",plugin)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf",[0,0,-1])
p.loadURDF("r2d2.urdf")
pixelWidth = 320
pixelHeight = 220
while (1):
	p.stepSimulation()
	viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
	projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]

	#img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	img_arr = p.getCameraImage(pixelWidth, pixelHeight, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	#print("img_arr=",img_arr)
	time.sleep(1)
~~~~~~~~~~~~~
 2018-09-09 13:37:49 -07:00
erwincoumans
dc7feb9027 Merge remote-tracking branch 'bp/master' 2018-09-09 10:48:58 -07:00
erwincoumans
233a7083d1 Merge pull request #1790 from BlGene/egl-plugin 
OpenGL render plugin
 2018-09-09 09:27:15 -07:00
Joshua Aduol
cc4c02edc7 Fixed bugs mistaking forearm_roll_joint for upper_arm_roll_joint 2018-09-09 00:17:06 +01:00
erwincoumans
63f4a63e15 since parent collision is always disabled by default for self-collision, we add a new flag 
URDF_USE_SELF_COLLISION_INCLUDE_PARENT, to force self-collision between direct parent/child (not recommended in general)
 2018-09-08 14:46:43 -07:00
Erwin Coumans
7376c26e4b remove gl libs from openvr 2018-09-07 16:06:42 -07:00
erwincoumans
5164f2f9a7 remove pre-build proto/grpc files (they differ for each platform and proto/grpc version) 2018-09-07 15:44:33 -07:00
erwincoumans
0efc67841d allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system) 
add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes.
example script to start server from pybullet:
import pybullet as p
p.connect(p.GUI)
#if statically linked plugin
id = p.loadPlugin("grpcPlugin")
#dynamics loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")

#start the GRPC server at hostname, port
if (id>=0):
	p.executePluginCommand(id, "localhost:1234")

Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs:
numRPC = 10
while (1):
	p.executePluginCommand(id, intArgs=[numRPC])
 2018-09-05 17:58:14 -07:00
Erwin Coumans
31b06f508a only add notifications if there is a plugin that needs them 
call the 'reportNotifications' in GRPC server main
 2018-09-04 19:24:31 -07:00
Erwin Coumans
18b782847d make GRPC work on Linux, 2018-09-04 16:56:34 -07:00
Erwin Coumans
51f9a6fd0d make grpc work on Mac OSX with premake 2018-09-04 14:49:12 -07:00
erwincoumans
710e660763 Merge pull request #1855 from erwincoumans/master 
more work on grpc/proto/pybullet.proto
 2018-09-04 12:11:03 -07:00
erwincoumans
c4842220a8 Merge pull request #1852 from RanTig/remove-visual-shape 
Removes visual shape data when a body gets removed.
 2018-09-04 09:42:48 -07:00
erwincoumans
9b66074949 add some missing GRPC files 2018-09-04 09:10:57 -07:00
erwincoumans
9e2f6c7935 more GRPC work 2018-09-03 23:13:15 -07:00
Tigran Gasparian
a670041793 Small fix in executePluginCommand, now you can pass int arguments while keeping floats null without errors. 2018-09-03 10:41:38 +02:00
Tigran Gasparian
93145f3979 Adding space to make compiler happy. 2018-09-03 10:37:22 +02:00
erwincoumans
23e84ca9b6 more work on proto/pybullet.proto 2018-09-01 13:49:56 -07:00
Tigran Gasparian
9799f356de . 2018-08-31 15:35:35 +02:00
Tigran Gasparian
f132b4d16b Only make the change for Linux, since OSX doesn't have dlmopen() 2018-08-31 15:33:08 +02:00
Tigran Gasparian
c062bfc2d5 Removes visual shape data when a body gets removed. 
Problem description:
When you add a body, remove it and then add a new
body, the body id may be reused by Bullet.
Because the visual shape data was not being removed when a body was
removed, requesting the visual shape data for a 'recycled' body id
results in both the visual shape data of the new body as well as the old
one.
Removing the visual shape data when the body gets removed fixes this.

Changes the btAlignedObjectArray for visual shapes to a hashmap, so
that removing is faster. Additionally, functions like getNumVisualShape
don't perform a linear search anymore.
 2018-08-31 15:12:28 +02:00
Tigran Gasparian
6036c027bf Uses dlmopen() instead of dlopen() in b3PluginManager.cpp. This allows plugins to be loaded in a separate namespace, avoiding symbol conflicts. 2018-08-31 10:53:46 +02:00
Erwin Coumans
40a15053bd add createProtobufs.sh script for Mac/Linux (only tested on Mac so far) 2018-08-30 10:09:00 -07:00
Max Argus
425ecbd3e6 fix cmake, linux only (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus
964a5116eb fix cmake + apple (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus
902818894c fix cmake (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus
c1d6c6b07d clean test scripts 2018-08-30 13:24:25 +02:00
Max Argus
bdc0f82a8b added syncronized render test script 2018-08-30 13:24:25 +02:00
Max Argus
e15fb0866c rendertest + parallel pip + no debug for plugin 2018-08-30 13:24:25 +02:00
Max Argus
35b30359e3 nearly working 2018-08-30 13:24:25 +02:00
Max Argus
5f71aa859f wip 2018-08-30 13:24:25 +02:00
Max Argus
21462d1c02 update GLIR camera 2018-08-30 13:24:25 +02:00
Max Argus
a6a8b091ca wip 2018-08-30 13:24:25 +02:00
Max Argus
05f82e8867 egl plugin working 2018-08-30 13:24:25 +02:00
Max Argus
f80f0c76a4 added egl plugin commit 2018-08-30 13:24:25 +02:00
Max Argus
2707b7acb4 apple issue 2018-08-30 13:24:25 +02:00
Max Argus
1b95961617 fix build 2018-08-30 13:24:25 +02:00
Max Argus
9328d0bb5f fix build 2018-08-30 13:24:25 +02:00