mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-13 15:44:36 +00:00
* Adjustment: Initial CMake reworking.
This commit is contained in:
Robert MacGregor
parent
516163fd5d
commit
d7cdf54661
5394 changed files with 2615532 additions and 8711 deletions
88
Engine/lib/bullet/examples/pybullet/CMakeLists.txt
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88
Engine/lib/bullet/examples/pybullet/CMakeLists.txt
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@ -0,0 +1,88 @@
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/examples
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
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${PYTHON_INCLUDE_DIRS}
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)
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IF(BUILD_PYBULLET_NUMPY)
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INCLUDE_DIRECTORIES(
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${PYTHON_NUMPY_INCLUDE_DIR}
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)
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ENDIF()
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SET(pybullet_SRCS
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pybullet.c
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../../examples/SharedMemory/IKTrajectoryHelper.cpp
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../../examples/SharedMemory/IKTrajectoryHelper.h
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../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
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../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
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../../examples/OpenGLWindow/SimpleCamera.cpp
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../../examples/OpenGLWindow/SimpleCamera.h
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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/SharedMemory/InProcessMemory.cpp
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../../examples/SharedMemory/PhysicsClient.cpp
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../../examples/SharedMemory/PhysicsClient.h
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../../examples/SharedMemory/PhysicsServer.cpp
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../../examples/SharedMemory/PhysicsServer.h
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../../examples/SharedMemory/PhysicsServerExample.cpp
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../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
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../../examples/SharedMemory/PhysicsServerSharedMemory.h
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../../examples/SharedMemory/PhysicsDirect.cpp
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../../examples/SharedMemory/PhysicsDirect.h
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../../examples/SharedMemory/PhysicsDirectC_API.cpp
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../../examples/SharedMemory/PhysicsDirectC_API.h
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../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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../../examples/SharedMemory/PhysicsServerCommandProcessor.h
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../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
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../../examples/SharedMemory/PhysicsClientSharedMemory.h
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../../examples/SharedMemory/PhysicsClientC_API.cpp
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../../examples/SharedMemory/PhysicsClientC_API.h
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../../examples/SharedMemory/Win32SharedMemory.cpp
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../../examples/SharedMemory/Win32SharedMemory.h
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../../examples/SharedMemory/PosixSharedMemory.cpp
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../../examples/SharedMemory/PosixSharedMemory.h
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../../examples/Utils/b3ResourcePath.cpp
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../../examples/Utils/b3ResourcePath.h
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../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
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../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
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../../examples/ThirdPartyLibs/stb_image/stb_image.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/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
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../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
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../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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../../examples/MultiThreading/b3PosixThreadSupport.cpp
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../../examples/MultiThreading/b3Win32ThreadSupport.cpp
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../../examples/MultiThreading/b3ThreadSupportInterface.cpp
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)
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IF(WIN32)
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LINK_LIBRARIES(
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${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ENDIF(WIN32)
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ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
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SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
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TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common ${PYTHON_LIBRARIES})
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107
Engine/lib/bullet/examples/pybullet/premake4.lua
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107
Engine/lib/bullet/examples/pybullet/premake4.lua
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@ -0,0 +1,107 @@
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project ("pybullet")
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language "C++"
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kind "SharedLib"
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includedirs {"../../src", "../../examples",
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"../../examples/ThirdPartyLibs"}
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defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
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hasCL = findOpenCL("clew")
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links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","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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"../ThirdPartyLibs",
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}
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if os.is("MacOSX") then
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links{"Cocoa.framework","Python"}
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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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files {
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"pybullet.c",
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"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
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"../../examples/SharedMemory/IKTrajectoryHelper.h",
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"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
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"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
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"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
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"../../examples/OpenGLWindow/SimpleCamera.cpp",
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"../../examples/OpenGLWindow/SimpleCamera.h",
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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/SharedMemory/InProcessMemory.cpp",
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"../../examples/SharedMemory/PhysicsClient.cpp",
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"../../examples/SharedMemory/PhysicsClient.h",
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"../../examples/SharedMemory/PhysicsServer.cpp",
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"../../examples/SharedMemory/PhysicsServer.h",
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"../../examples/SharedMemory/PhysicsServerExample.cpp",
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"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
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"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
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"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
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"../../examples/SharedMemory/PhysicsDirect.cpp",
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"../../examples/SharedMemory/PhysicsDirect.h",
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"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
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"../../examples/SharedMemory/PhysicsDirectC_API.h",
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"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
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"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
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"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
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"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
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"../../examples/SharedMemory/PhysicsClientC_API.cpp",
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"../../examples/SharedMemory/PhysicsClientC_API.h",
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"../../examples/SharedMemory/Win32SharedMemory.cpp",
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"../../examples/SharedMemory/Win32SharedMemory.h",
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"../../examples/SharedMemory/PosixSharedMemory.cpp",
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"../../examples/SharedMemory/PosixSharedMemory.h",
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"../../examples/Utils/b3ResourcePath.cpp",
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"../../examples/Utils/b3ResourcePath.h",
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"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
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"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
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"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
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"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
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"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
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"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
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"../../examples/ThirdPartyLibs/stb_image/stb_image.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/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
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"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
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"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
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"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
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"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
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"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
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"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
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"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
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"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
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"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
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}
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includedirs {
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_OPTIONS["python_include_dir"],
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}
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libdirs {
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_OPTIONS["python_lib_dir"]
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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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2288
Engine/lib/bullet/examples/pybullet/pybullet.c
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2288
Engine/lib/bullet/examples/pybullet/pybullet.c
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File diff suppressed because it is too large
Load diff
30
Engine/lib/bullet/examples/pybullet/robotcontrol.py
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30
Engine/lib/bullet/examples/pybullet/robotcontrol.py
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@ -0,0 +1,30 @@
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import pybullet as p
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p.connect(p.GUI) #or p.SHARED_MEMORY or p.DIRECT
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p.loadURDF("plane.urdf")
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p.setGravity(0,0,-10)
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huskypos = [0,0,0.1]
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husky = p.loadURDF("husky/husky.urdf",huskypos[0],huskypos[1],huskypos[2])
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numJoints = p.getNumJoints(husky)
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for joint in range (numJoints) :
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print (p.getJointInfo(husky,joint))
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targetVel = 10 #rad/s
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maxForce = 100 #Newton
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for joint in range (2,6) :
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p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
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for step in range (300):
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p.stepSimulation()
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targetVel=-10
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for joint in range (2,6) :
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p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
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for step in range (400):
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p.stepSimulation()
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p.getContactPointData(husky)
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p.disconnect()
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8
Engine/lib/bullet/examples/pybullet/saveWorld.py
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8
Engine/lib/bullet/examples/pybullet/saveWorld.py
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@ -0,0 +1,8 @@
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import pybullet as p
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import time
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p.connect(p.SHARED_MEMORY)
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timestr = time.strftime("%Y%m%d-%H%M%S")
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filename = "saveWorld" + timestr + ".py"
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p.saveWorld(filename)
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p.disconnect()
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36
Engine/lib/bullet/examples/pybullet/test.py
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36
Engine/lib/bullet/examples/pybullet/test.py
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import pybullet
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import time
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#choose connection method: GUI, DIRECT, SHARED_MEMORY
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pybullet.connect(pybullet.GUI)
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#load URDF, given a relative or absolute file+path
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obj = pybullet.loadURDF("r2d2.urdf")
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posX=0
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posY=3
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posZ=2
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obj2 = pybullet.loadURDF("kuka_lwr/kuka.urdf",posX,posY,posZ)
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#query the number of joints of the object
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numJoints = pybullet.getNumJoints(obj)
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print (numJoints)
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#set the gravity acceleration
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pybullet.setGravity(0,0,-9.8)
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#step the simulation for 5 seconds
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t_end = time.time() + 5
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while time.time() < t_end:
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pybullet.stepSimulation()
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posAndOrn = pybullet.getBasePositionAndOrientation(obj)
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print (posAndOrn)
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print ("finished")
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#remove all objects
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pybullet.resetSimulation()
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#disconnect from the physics server
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pybullet.disconnect()
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46
Engine/lib/bullet/examples/pybullet/testrender.py
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46
Engine/lib/bullet/examples/pybullet/testrender.py
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import numpy as np
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import matplotlib.pyplot as plt
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import pybullet
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pybullet.connect(pybullet.GUI)
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pybullet.loadURDF("r2d2.urdf")
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camTargetPos = [0,0,0]
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cameraUp = [0,0,1]
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cameraPos = [1,1,1]
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yaw = 40
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pitch = 10.0
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roll=0
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upAxisIndex = 2
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camDistance = 4
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pixelWidth = 320
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pixelHeight = 240
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nearPlane = 0.01
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farPlane = 1000
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fov = 60
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#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
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#renderImage(w, h, view[16], projection[16])
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#img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
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for pitch in range (0,360,10) :
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img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov)
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w=img_arr[0] #width of the image, in pixels
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h=img_arr[1] #height of the image, in pixels
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rgb=img_arr[2] #color data RGB
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dep=img_arr[3] #depth data
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#print 'width = %d height = %d' % (w,h)
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# reshape creates np array
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np_img_arr = np.reshape(rgb, (h, w, 4))
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np_img_arr = np_img_arr*(1./255.)
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#show
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plt.imshow(np_img_arr,interpolation='none')
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#plt.show()
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plt.pause(0.01)
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pybullet.resetSimulation()
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50
Engine/lib/bullet/examples/pybullet/testrender_np.py
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50
Engine/lib/bullet/examples/pybullet/testrender_np.py
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import numpy as np
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import matplotlib.pyplot as plt
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import pybullet
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import time
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pybullet.connect(pybullet.DIRECT)
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pybullet.loadURDF("r2d2.urdf")
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camTargetPos = [0,0,0]
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cameraUp = [0,0,1]
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cameraPos = [1,1,1]
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yaw = 40
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pitch = 10.0
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roll=0
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upAxisIndex = 2
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camDistance = 4
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pixelWidth = 1920
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pixelHeight = 1080
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nearPlane = 0.01
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farPlane = 1000
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fov = 60
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main_start = time.time()
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#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
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#renderImage(w, h, view[16], projection[16])
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#img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
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for pitch in range (0,360,10) :
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start = time.time()
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img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov)
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stop = time.time()
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print "renderImage %f" % (stop - start)
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w=img_arr[0] #width of the image, in pixels
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h=img_arr[1] #height of the image, in pixels
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rgb=img_arr[2] #color data RGB
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dep=img_arr[3] #depth data
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#print 'width = %d height = %d' % (w,h)
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#show
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plt.imshow(rgb,interpolation='none')
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#plt.show()
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plt.pause(0.01)
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main_stop = time.time()
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print "Total time %f" % (main_stop - main_start)
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pybullet.resetSimulation()
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