b6dea7ba64
if PYBULLET_EGL environment is set, try to enable EGL for faster rendering bump up pybullet to 2.6.2
48 lines
1.4 KiB
Python
48 lines
1.4 KiB
Python
"""A wrapper for pybullet to manage different clients."""
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from __future__ import absolute_import
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from __future__ import division
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import functools
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import inspect
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import pybullet
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class BulletClient(object):
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"""A wrapper for pybullet to manage different clients."""
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def __init__(self, connection_mode=None):
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"""Creates a Bullet client and connects to a simulation.
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Args:
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connection_mode:
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`None` connects to an existing simulation or, if fails, creates a
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new headless simulation,
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`pybullet.GUI` creates a new simulation with a GUI,
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`pybullet.DIRECT` creates a headless simulation,
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`pybullet.SHARED_MEMORY` connects to an existing simulation.
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"""
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self._shapes = {}
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if connection_mode is None:
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self._client = pybullet.connect(pybullet.SHARED_MEMORY)
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if self._client >= 0:
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return
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else:
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connection_mode = pybullet.DIRECT
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self._client = pybullet.connect(connection_mode)
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def __del__(self):
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"""Clean up connection if not already done."""
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if self._client>=0:
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try:
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pybullet.disconnect(physicsClientId=self._client)
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self._client = -1
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except pybullet.error:
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pass
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def __getattr__(self, name):
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"""Inject the client id into Bullet functions."""
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attribute = getattr(pybullet, name)
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if name=="disconnect":
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self._client = -1
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return attribute
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