add HelloBulletRobotics C++ example with similar API to PyBullet

Add ANYmal quadruped robot URDF to pybullet_data
n33r4j · May 24, 2018 · ff4d0b1 · ff4d0b1
1 parent 8ace925
commit ff4d0b1
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Showing 26 changed files with 162,202 additions and 11 deletions.
diff --git a/Extras/BulletRobotics/CMakeLists.txt b/Extras/BulletRobotics/CMakeLists.txt
@@ -2,6 +2,7 @@
 INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/src
 		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
@@ -90,18 +91,15 @@ SET(BulletRobotics_SRCS
 		../../examples/MultiThreading/b3PosixThreadSupport.cpp
 		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
 		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
-
-
+		../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
+		../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
 )
 
 IF(BUILD_CLSOCKET)
  ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
 ENDIF(BUILD_CLSOCKET)
 
 IF(WIN32)
-	LINK_LIBRARIES(
-		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-	)
 	IF(BUILD_ENET)
 		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
 	ENDIF(BUILD_ENET)
@@ -120,7 +118,7 @@ ELSE(WIN32)
 
 	IF(NOT APPLE)
 		LINK_LIBRARIES(  pthread ${DL} )
-	ENDIF(APPLE)
+	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
 IF(BUILD_ENET)
@@ -176,6 +174,7 @@ IF (INSTALL_EXTRA_LIBS)
 		../../examples/SharedMemory/PhysicsClientTCP_C_API.h
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
 		../../examples/SharedMemory/SharedMemoryPublic.h
+		../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
 		DESTINATION include/bullet
 		)
 	INSTALL(TARGETS

diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
@@ -80,6 +80,7 @@ ENDIF(BUILD_SHARED_LIBS)
 INCLUDE_DIRECTORIES(
         .
         ${BULLET_PHYSICS_SOURCE_DIR}/src
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
         ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 )
 

diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
@@ -21,6 +21,7 @@ project "App_BulletExampleBrowser"
         includedirs {
                 ".",
                 "../../src",
+		"../../examples/SharedMemory",
                 "../ThirdPartyLibs",
                 }
 

diff --git a/examples/RobotSimulator/CMakeLists.txt b/examples/RobotSimulator/CMakeLists.txt
@@ -1,6 +1,7 @@
 INCLUDE_DIRECTORIES( 
 		${BULLET_PHYSICS_SOURCE_DIR}/src
 		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
@@ -11,8 +12,6 @@ SET(RobotSimulator_SRCS
 RobotSimulatorMain.cpp
 	b3RobotSimulatorClientAPI.cpp
 	b3RobotSimulatorClientAPI.h	
-	b3RobotSimulatorClientAPI_NoGUI.cpp
-	b3RobotSimulatorClientAPI_NoGUI.h	
 	MinitaurSetup.cpp
 	MinitaurSetup.h
 	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
@@ -86,15 +85,14 @@ TARGET_LINK_LIBRARIES(App_RobotSimulator BulletRobotics BulletExampleBrowserLib
 INCLUDE_DIRECTORIES( 
 		${BULLET_PHYSICS_SOURCE_DIR}/src
 		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
   )
 
 SET(RobotSimulator_NoGUI_SRCS
 	RobotSimulatorMain.cpp
-	b3RobotSimulatorClientAPI_NoGUI.cpp
-	b3RobotSimulatorClientAPI_NoGUI.h	
 	MinitaurSetup.cpp
 	MinitaurSetup.h
 )
@@ -123,6 +121,39 @@ TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI BulletRobotics BulletFileLoader B
 
 
 
+########
+
+INCLUDE_DIRECTORIES(
+                ${BULLET_PHYSICS_SOURCE_DIR}/src
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+  )
+
+SET(App_HelloBulletRobotics_SRCS
+        HelloBulletRobotics.cpp
+)
+
+ADD_EXECUTABLE(App_HelloBulletRobotics  ${App_HelloBulletRobotics_SRCS})
+
+SET_TARGET_PROPERTIES(App_HelloBulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(App_HelloBulletRobotics PROPERTIES DEBUG_POSTFIX "_d")
+
+
+IF(WIN32)
+        IF(BUILD_ENET OR BUILD_CLSOCKET)
+                TARGET_LINK_LIBRARIES(App_HelloBulletRobotics ws2_32 )
+        ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
+ELSE()
+        IF(APPLE)
+        ELSE(APPLE)
+                TARGET_LINK_LIBRARIES( App_HelloBulletRobotics pthread ${DL} )
+        ENDIF(APPLE)
+ENDIF(WIN32)
+
+TARGET_LINK_LIBRARIES(App_HelloBulletRobotics BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath Bullet3Common)
 
 
 

diff --git a/examples/RobotSimulator/HelloBulletRobotics.cpp b/examples/RobotSimulator/HelloBulletRobotics.cpp
@@ -0,0 +1,37 @@
+
+#include "b3RobotSimulatorClientAPI_NoGUI.h"
+
+int main(int argc, char* argv[])
+{
+	b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
+
+	bool isConnected = sim->connect(eCONNECT_SHARED_MEMORY);
+	if (!isConnected)
+	{
+		printf("Using Direct mode\n");
+		isConnected = sim->connect(eCONNECT_DIRECT);
+	} else
+	{
+		printf("Using shared memory\n");
+	}
+	//remove all existing objects (if any)
+	sim->resetSimulation();
+
+	int planeUid = sim->loadURDF("plane.urdf");
+	printf("planeUid = %d\n", planeUid);
+
+	int r2d2Uid = sim->loadURDF("r2d2.urdf");
+	printf("r2d2 #joints = %d\n", sim->getNumJoints(r2d2Uid));
+
+	b3Vector3 basePosition = b3MakeVector3(0,0,1);
+	b3Quaternion baseOrientation = b3Quaternion(0,0,0,1);
+
+	sim->resetBasePositionAndOrientation(r2d2Uid, basePosition, baseOrientation);	
+	sim->setGravity(b3MakeVector3(0,0,-10));
+
+	while (sim->isConnected())
+	{
+		sim->stepSimulation();
+	}
+	delete sim;
+}
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h b/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
@@ -1,7 +1,7 @@
 #ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
 #define B3_ROBOT_SIMULATOR_CLIENT_API_H
 
-#include "../SharedMemory/SharedMemoryPublic.h"
+#include "SharedMemoryPublic.h"
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3Transform.h"

diff --git a/examples/RobotSimulator/premake4.lua b/examples/RobotSimulator/premake4.lua
@@ -80,6 +80,7 @@ project ("App_RobotSimulator")
   	includedirs {
                 ".",
                 "../../src",
+		"../../examples/SharedMemory",
                 "../ThirdPartyLibs",
                 }
 

diff --git a/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.mtl b/examples/pybullet/gym/pybullet_data/quadruped/ANYmal/anymal_base_2.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None.001
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2