a9b1544a9f
Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage. Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc]) Thanks to Jeff Bingham for the suggestion.
286 lines
7.5 KiB
Lua
286 lines
7.5 KiB
Lua
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project "App_SharedMemoryPhysics"
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if _OPTIONS["ios"] then
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kind "WindowedApp"
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else
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kind "ConsoleApp"
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end
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includedirs {".","../../src", "../ThirdPartyLibs",}
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links {
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"Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath"
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}
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language "C++"
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myfiles =
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{
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"PhysicsClient.cpp",
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"PhysicsClientSharedMemory.cpp",
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"PhysicsClientExample.cpp",
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"PhysicsServerExample.cpp",
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"PhysicsServerSharedMemory.cpp",
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"PhysicsServerSharedMemory.h",
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"PhysicsServer.cpp",
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"PhysicsServer.h",
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"PhysicsClientC_API.cpp",
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"SharedMemoryCommands.h",
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"SharedMemoryPublic.h",
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"PhysicsServer.cpp",
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"PosixSharedMemory.cpp",
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"Win32SharedMemory.cpp",
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"InProcessMemory.cpp",
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"PhysicsDirect.cpp",
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"PhysicsDirect.h",
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"PhysicsDirectC_API.cpp",
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"PhysicsDirectC_API.h",
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"PhysicsLoopBack.cpp",
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"PhysicsLoopBack.h",
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"PhysicsLoopBackC_API.cpp",
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"PhysicsLoopBackC_API.h",
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"PhysicsServerCommandProcessor.cpp",
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"PhysicsServerCommandProcessor.h",
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"TinyRendererVisualShapeConverter.cpp",
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"TinyRendererVisualShapeConverter.h",
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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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"../OpenGLWindow/SimpleCamera.cpp",
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"../OpenGLWindow/SimpleCamera.h",
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"../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
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"../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
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"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
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"../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
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"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
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"../Importers/ImportURDFDemo/BulletUrdfImporter.h",
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"../Importers/ImportURDFDemo/UrdfParser.cpp",
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"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
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"../Importers/ImportURDFDemo/UrdfParser.cpp",
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"../Importers/ImportURDFDemo/UrdfParser.h",
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"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
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"../Importers/ImportURDFDemo/URDF2Bullet.h",
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"../Utils/b3ResourcePath.cpp",
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"../Utils/b3Clock.cpp",
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"../../Extras/Serialize/BulletWorldImporter/*",
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"../../Extras/Serialize/BulletFileLoader/*",
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"../Importers/ImportURDFDemo/URDFImporterInterface.h",
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"../Importers/ImportURDFDemo/URDFJointTypes.h",
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"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
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"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
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"../Importers/ImportSTLDemo/ImportSTLSetup.h",
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"../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
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"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
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"../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
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"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
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"../ThirdPartyLibs/tinyxml/tinystr.cpp",
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"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
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"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
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"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
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"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
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"../ThirdPartyLibs/stb_image/stb_image.cpp",
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}
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files {
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myfiles,
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"main.cpp",
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}
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files {
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"../MultiThreading/b3ThreadSupportInterface.cpp",
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"../MultiThreading/b3ThreadSupportInterface.h"
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}
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if os.is("Windows") then
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files {
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"../MultiThreading/b3Win32ThreadSupport.cpp",
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"../MultiThreading/b3Win32ThreadSupport.h"
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}
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--links {"winmm"}
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--defines {"__WINDOWS_MM__", "WIN32"}
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end
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if os.is("Linux") then
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files {
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"../MultiThreading/b3PosixThreadSupport.cpp",
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"../MultiThreading/b3PosixThreadSupport.h"
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}
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links {"pthread"}
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end
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if os.is("MacOSX") then
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files {
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"../MultiThreading/b3PosixThreadSupport.cpp",
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"../MultiThreading/b3PosixThreadSupport.h"
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}
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links {"pthread"}
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--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
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--defines {"__MACOSX_CORE__"}
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end
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project "App_SharedMemoryPhysics_GUI"
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if _OPTIONS["ios"] then
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kind "WindowedApp"
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else
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kind "ConsoleApp"
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end
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defines {"B3_USE_STANDALONE_EXAMPLE"}
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includedirs {"../../src"}
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links {
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"BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
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}
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initOpenGL()
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initGlew()
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language "C++"
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files {
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myfiles,
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"../StandaloneMain/main_opengl_single_example.cpp",
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"../ExampleBrowser/OpenGLGuiHelper.cpp",
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"../ExampleBrowser/GL_ShapeDrawer.cpp",
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"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
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}
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if os.is("Linux") then initX11() end
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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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files {
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"../MultiThreading/b3ThreadSupportInterface.cpp",
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"../MultiThreading/b3ThreadSupportInterface.h"
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}
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if os.is("Windows") then
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files {
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"../MultiThreading/b3Win32ThreadSupport.cpp",
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"../MultiThreading/b3Win32ThreadSupport.h"
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}
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--links {"winmm"}
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--defines {"__WINDOWS_MM__", "WIN32"}
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end
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if os.is("Linux") then
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files {
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"../MultiThreading/b3PosixThreadSupport.cpp",
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"../MultiThreading/b3PosixThreadSupport.h"
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}
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links {"pthread"}
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end
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if os.is("MacOSX") then
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files {
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"../MultiThreading/b3PosixThreadSupport.cpp",
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"../MultiThreading/b3PosixThreadSupport.h"
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}
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links {"pthread"}
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--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
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--defines {"__MACOSX_CORE__"}
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end
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if os.is("Windows") then
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project "App_SharedMemoryPhysics_VR"
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--for now, only enable VR under Windows, until compilation issues are resolved on Mac/Linux
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defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
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if _OPTIONS["ios"] then
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kind "WindowedApp"
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else
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kind "ConsoleApp"
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end
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includedirs {
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".","../../src", "../ThirdPartyLibs",
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"../ThirdPartyLibs/openvr/headers",
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"../ThirdPartyLibs/openvr/samples/shared"
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}
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links {
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"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
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}
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language "C++"
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initOpenGL()
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initGlew()
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files
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{
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myfiles,
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"../StandaloneMain/hellovr_opengl_main.cpp",
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"../ExampleBrowser/OpenGLGuiHelper.cpp",
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"../ExampleBrowser/GL_ShapeDrawer.cpp",
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"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
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"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
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"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
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"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
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"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
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"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
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"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
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"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
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}
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if os.is("Windows") then
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libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
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end
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if os.is("Linux") then initX11() end
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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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files {
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"../MultiThreading/b3ThreadSupportInterface.cpp",
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"../MultiThreading/b3ThreadSupportInterface.h"
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}
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if os.is("Windows") then
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files {
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"../MultiThreading/b3Win32ThreadSupport.cpp",
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"../MultiThreading/b3Win32ThreadSupport.h"
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}
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--links {"winmm"}
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--defines {"__WINDOWS_MM__", "WIN32"}
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end
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if os.is("Linux") then
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files {
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"../MultiThreading/b3PosixThreadSupport.cpp",
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"../MultiThreading/b3PosixThreadSupport.h"
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}
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links {"pthread"}
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end
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if os.is("MacOSX") then
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files {
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"../MultiThreading/b3PosixThreadSupport.cpp",
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"../MultiThreading/b3PosixThreadSupport.h"
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}
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links {"pthread"}
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--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
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--defines {"__MACOSX_CORE__"}
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end
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end |