fix cmake/premake builds

sttt · Mar 22, 2020 · 0b6457d · 0b6457d
1 parent 377069b
commit 0b6457d
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Showing 6 changed files with 34 additions and 7 deletions.
diff --git a/Extras/BulletRobotics/premake4.lua b/Extras/BulletRobotics/premake4.lua
@@ -71,7 +71,9 @@ if not _OPTIONS["no-enet"] then
                 links {"clsocket"}
 
                 files {
+			"../../examples/SharedMemory/RemoteGUIHelperTCP.cpp",
                         "../../examples/SharedMemory/PhysicsClientTCP.cpp",
+			"../../examples/SharedMemory/GraphicsServerExample.cpp",
                         "../../examples/SharedMemory/PhysicsClientTCP.h",
                         "../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
                         "../../examples/SharedMemory/PhysicsClientTCP_C_API.h",

diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -315,7 +315,6 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingEx
 }
 
 #ifdef BT_ENABLE_CLSOCKET
-
 #include "RemoteGUIHelperTCP.h"
 
 B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnectTCP(const char* hostName, int port)

diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
@@ -27,8 +27,9 @@ extern "C"
 	B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3(void* guiHelperPtr, int sharedMemoryKey);
 	//create a shared memory physics server, with a RemoteGUIHelper (connect to remote graphics server) and allow to set shared memory key
 	B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect4(void* guiHelperPtr, int sharedMemoryKey);
+#ifdef BT_ENABLE_CLSOCKET
 	B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnectTCP(const char* hostName, int port);
-
+#endif	
 	///ignore the following APIs, they are for internal use for example browser
 	void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle);
 	void b3InProcessDebugDrawInternal(b3PhysicsClientHandle clientHandle, int debugDrawMode);

diff --git a/examples/TwoJoint/CMakeLists.txt b/examples/TwoJoint/CMakeLists.txt
@@ -35,6 +35,7 @@ SET(RobotSimulator_SRCS
 		../SharedMemory/GraphicsServerExample.cpp
 		../SharedMemory/GraphicsClientExample.cpp
 		../SharedMemory/RemoteGUIHelper.cpp
+		../SharedMemory/RemoteGUIHelperTCP.cpp
 		../SharedMemory/GraphicsServerExample.h
 		../SharedMemory/GraphicsClientExample.h
 		../SharedMemory/RemoteGUIHelper.h

diff --git a/examples/pybullet/gym/pybullet_utils/graphicsClient.py b/examples/pybullet/gym/pybullet_utils/graphicsClient.py
@@ -8,11 +8,6 @@
 p.loadURDF("plane.urdf")
 p.loadURDF("r2d2.urdf", [0,0,3])
 p.setGravity(0,0,-10)
-gravId = p.addUserDebugParameter("gravity",0,10,0)
 while p.isConnected():
   p.stepSimulation()
 
-  grav = p.readUserDebugParameter(gravId)
-  #print("grav=",grav)
-  time.sleep(1./240.)
-
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
@@ -370,6 +370,33 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
 			}
 		end
 
+if not _OPTIONS["no-clsocket"] then
+
+                includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+
+                 if os.is("Windows") then
+                        defines { "WIN32" }
+                        links {"Ws2_32","Winmm"}
+                 end
+                if os.is("Linux") then
+                        defines {"_LINUX"}
+                end
+                if os.is("MacOSX") then
+                        defines {"_DARWIN"}
+                end
+
+                links {"clsocket"}
+
+                files {
+                        "../../examples/SharedMemory/PhysicsClientTCP.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP.h",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
+                }
+                defines {"BT_ENABLE_CLSOCKET"}
+        end
+
+
 		files {
 			"test.c",
 			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
@@ -380,6 +407,8 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
 			"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
 			"../../examples/SharedMemory/IKTrajectoryHelper.h",
 			"../../examples/SharedMemory/RemoteGUIHelper.cpp",
+			"../../examples/SharedMemory/RemoteGUIHelperTCP.cpp",
+			"../../examples/SharedMemory/GraphicsServerExample.cpp",
 			"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
 			"../../examples/SharedMemory/InProcessMemory.cpp",
 			"../../examples/SharedMemory/PhysicsClient.cpp",
-Original file line number
+Diff line change
@@ Expand Up @@
     }
     #ifdef BT_ENABLE_CLSOCKET
     #include "RemoteGUIHelperTCP.h"
     B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnectTCP(const char* hostName, int port)
@@ Expand Down @@