0efc67841d
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])
284 lines
8.2 KiB
Lua
284 lines
8.2 KiB
Lua
project "App_BulletExampleBrowser"
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language "C++"
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kind "ConsoleApp"
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if os.is("Linux") then
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buildoptions{"-fPIC"}
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end
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if _OPTIONS["enable_grpc"] then
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initGRPC()
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defines{"ENABLE_STATIC_GRPC_PLUGIN"}
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files {
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"../../examples/SharedMemory/PhysicsClientGRPC.cpp",
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"../../examples/SharedMemory/PhysicsClientGRPC.h",
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"../../examples/SharedMemory/PhysicsClientGRPC_C_API.cpp",
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"../../examples/SharedMemory/PhysicsClientGRPC_C_API.h",
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"../../examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp",
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}
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end
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hasCL = findOpenCL("clew")
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if (hasCL) then
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initOpenCL("clew")
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end
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links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
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initOpenGL()
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initGlew()
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includedirs {
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".",
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"../../src",
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"../../examples/SharedMemory",
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"../ThirdPartyLibs",
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}
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if os.is("MacOSX") then
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links{"Cocoa.framework"}
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end
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if (hasCL) then
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links {
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"Bullet3OpenCL_clew",
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"Bullet3Dynamics",
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"Bullet3Collision",
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"Bullet3Geometry",
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"Bullet3Common",
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}
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end
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if _OPTIONS["audio"] then
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files {"../TinyAudio/*.cpp"}
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defines {"B3_ENABLE_TINY_AUDIO"}
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if os.is("Windows") then
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links {"winmm","Wsock32","dsound"}
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defines {"WIN32","__WINDOWS_MM__","__WINDOWS_DS__"}
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end
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if os.is("Linux") then initX11()
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defines {"__OS_LINUX__","__LINUX_ALSA__"}
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links {"asound","pthread"}
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end
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if os.is("MacOSX") then
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links{"Cocoa.framework"}
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links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
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defines {"__OS_MACOSX__","__MACOSX_CORE__"}
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end
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end
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if _OPTIONS["lua"] then
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includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
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links {"lua-5.2.3"}
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defines {"ENABLE_LUA"}
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files {"../LuaDemo/LuaPhysicsSetup.cpp"}
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end
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defines {"INCLUDE_CLOTH_DEMOS"}
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files {
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"main.cpp",
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"ExampleEntries.cpp",
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"../InverseKinematics/*",
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"../TinyRenderer/geometry.cpp",
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"../TinyRenderer/model.cpp",
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"../TinyRenderer/tgaimage.cpp",
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"../TinyRenderer/our_gl.cpp",
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"../TinyRenderer/TinyRenderer.cpp",
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"../SharedMemory/IKTrajectoryHelper.cpp",
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"../SharedMemory/IKTrajectoryHelper.h",
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"../SharedMemory/PhysicsClientC_API.cpp",
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"../SharedMemory/PhysicsClientC_API.h",
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"../SharedMemory/PhysicsServerExample.cpp",
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"../SharedMemory/PhysicsServerExampleBullet2.cpp",
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"../SharedMemory/PhysicsClientExample.cpp",
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"../SharedMemory/PhysicsServer.cpp",
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"../SharedMemory/PhysicsServerSharedMemory.cpp",
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"../SharedMemory/PhysicsClientSharedMemory.cpp",
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"../SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
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"../SharedMemory/PhysicsClientSharedMemory_C_API.h",
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"../SharedMemory/PhysicsClientSharedMemory2.cpp",
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"../SharedMemory/PhysicsClientSharedMemory2.h",
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"../SharedMemory/PhysicsClientSharedMemory2_C_API.cpp",
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"../SharedMemory/PhysicsClientSharedMemory2_C_API.h",
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"../SharedMemory/SharedMemoryCommandProcessor.cpp",
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"../SharedMemory/SharedMemoryCommandProcessor.h",
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"../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
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"../SharedMemory/PhysicsClient.cpp",
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"../SharedMemory/PosixSharedMemory.cpp",
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"../SharedMemory/Win32SharedMemory.cpp",
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"../SharedMemory/InProcessMemory.cpp",
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"../SharedMemory/PhysicsDirect.cpp",
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"../SharedMemory/PhysicsDirect.h",
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"../SharedMemory/PhysicsDirectC_API.cpp",
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"../SharedMemory/PhysicsDirectC_API.h",
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"../SharedMemory/PhysicsLoopBack.cpp",
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"../SharedMemory/PhysicsLoopBack.h",
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"../SharedMemory/PhysicsLoopBackC_API.cpp",
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"../SharedMemory/PhysicsLoopBackC_API.h",
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"../SharedMemory/PhysicsServerCommandProcessor.cpp",
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"../SharedMemory/PhysicsServerCommandProcessor.h",
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"../SharedMemory/b3PluginManager.cpp",
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"../SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
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"../SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
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"../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
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"../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
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"../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
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"../SharedMemory/SharedMemoryCommands.h",
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"../SharedMemory/SharedMemoryPublic.h",
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"../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
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"../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
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"../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
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"../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
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"../MultiThreading/MultiThreadingExample.cpp",
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"../MultiThreading/b3PosixThreadSupport.cpp",
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"../MultiThreading/b3Win32ThreadSupport.cpp",
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"../MultiThreading/b3ThreadSupportInterface.cpp",
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"../InverseDynamics/InverseDynamicsExample.cpp",
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"../InverseDynamics/InverseDynamicsExample.h",
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"../RobotSimulator/b3RobotSimulatorClientAPI.cpp",
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"../RobotSimulator/b3RobotSimulatorClientAPI.h",
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"../BasicDemo/BasicExample.*",
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"../Tutorial/*",
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"../ExtendedTutorials/*",
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"../Utils/RobotLoggingUtil.cpp",
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"../Utils/RobotLoggingUtil.h",
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"../Evolution/NN3DWalkers.cpp",
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"../Evolution/NN3DWalkers.h",
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"../Collision/*",
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"../RoboticsLearning/*",
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"../Collision/Internal/*",
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"../Benchmarks/*",
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"../MultiThreadedDemo/*",
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"../CommonInterfaces/*.h",
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"../ForkLift/ForkLiftDemo.*",
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"../Importers/**",
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"../../Extras/Serialize/BulletWorldImporter/*",
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"../../Extras/Serialize/BulletFileLoader/*",
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"../Planar2D/Planar2D.*",
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"../RenderingExamples/*",
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"../VoronoiFracture/*",
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"../SoftDemo/*",
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"../RollingFrictionDemo/*",
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"../FractureDemo/*",
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"../DynamicControlDemo/*",
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"../Constraints/*",
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"../Vehicles/*",
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"../Raycast/*",
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"../MultiBody/MultiDofDemo.cpp",
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"../MultiBody/SerialChains.cpp",
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"../MultiBody/TestJointTorqueSetup.cpp",
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"../MultiBody/Pendulum.cpp",
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"../MultiBody/MultiBodySoftContact.cpp",
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"../MultiBody/MultiBodyConstraintFeedback.cpp",
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"../MultiBody/InvertedPendulumPDControl.cpp",
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"../RigidBody/RigidBodySoftContact.cpp",
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"../ThirdPartyLibs/stb_image/*",
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"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
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"../ThirdPartyLibs/BussIK/*",
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"../GyroscopicDemo/GyroscopicSetup.cpp",
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"../GyroscopicDemo/GyroscopicSetup.h",
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"../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
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"../ThirdPartyLibs/tinyxml2/tinyxml2.h",
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}
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if (hasCL and findOpenGL3()) then
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files {
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"../OpenCL/broadphase/*",
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"../OpenCL/CommonOpenCL/*",
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"../OpenCL/rigidbody/GpuConvexScene.cpp",
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"../OpenCL/rigidbody/GpuRigidBodyDemo.cpp",
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}
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end
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if (_OPTIONS["enable_static_vr_plugin"]) then
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files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
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end
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if os.is("Linux") then
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initX11()
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end
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project "BulletExampleBrowserLib"
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hasCL = findOpenCL("clew")
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if (hasCL) then
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-- project ("App_Bullet3_OpenCL_Demos_" .. vendor)
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initOpenCL("clew")
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end
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language "C++"
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kind "StaticLib"
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includedirs {
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".",
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"../../src",
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"../ThirdPartyLibs",
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}
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if os.is("Linux") then
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buildoptions{"-fPIC"}
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end
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if _OPTIONS["lua"] then
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includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
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links {"lua-5.2.3"}
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defines {"ENABLE_LUA"}
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files {"../LuaDemo/LuaPhysicsSetup.cpp"}
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end
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initOpenGL()
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initGlew()
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defines {"INCLUDE_CLOTH_DEMOS"}
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files {
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"OpenGLExampleBrowser.cpp",
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"OpenGLGuiHelper.cpp",
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"OpenGLExampleBrowser.cpp",
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"../Utils/b3Clock.cpp",
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"../Utils/b3Clock.h",
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"../Utils/ChromeTraceUtil.cpp",
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"../Utils/ChromeTraceUtil.h",
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"*.h",
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"GwenGUISupport/*.cpp",
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"GwenGUISupport/*.h",
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"CollisionShape2TriangleMesh.cpp",
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"CollisionShape2TriangleMesh.h",
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"../Utils/b3ResourcePath.*",
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"GL_ShapeDrawer.cpp",
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"InProcessExampleBrowser.cpp",
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}
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if os.is("Linux") then
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initX11()
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end
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