port render server

.gitignore

@@ -1,12 +1,13 @@
 /build
+*/build
 /sapien_build
 /docker_sapien_build
 compile_commands.json
 .vscode
 .pyc
 cmake-build-debug
 /cmake-build-debug/
-/.ccls-cache/
+.ccls-cache/
 /.dir-locals.el
 /sapien.egg-info/
 __pycache__
@@ -30,3 +31,7 @@ imgui.ini
 /docker/cuda-11.4/
 
 apidoc
+
+*.pb.cc
+*.pb.h
+python/py_package/*.so

include/sapien/scene.h

@@ -22,6 +22,13 @@ class Scene : public std::enable_shared_from_this<Scene> {
   void addSystem(std::shared_ptr<component::System> system);
   std::shared_ptr<component::System> getSystem(std::string const &name) const;
 
+  template <class T> std::shared_ptr<T> getSystemWithType(std::string const &name) const {
+    if (auto s = std::dynamic_pointer_cast<T>(getSystem(name))) {
+      return s;
+    }
+    throw std::runtime_error("failed to get system: type mismatch");
+  }
+
   std::vector<std::shared_ptr<Entity>> getEntities() const { return mEntities; };
 
   // for convenience

pinocchio/cmake/pybind11.cmake

@@ -7,7 +7,6 @@ FetchContent_Declare(
   pybind11
   GIT_REPOSITORY https://github.com/pybind/pybind11.git
   GIT_TAG smart_holder
-  # GIT_TAG v2.10.4
   GIT_SHALLOW TRUE
   GIT_PROGRESS TRUE
 )

python/py_package/__init__.pyi

@@ -61,5 +61,5 @@ __all__ = [
 
 def set_log_level(level: str) -> None:
     pass
-__version__ = '3.0.0.dev20231112'
+__version__ = '3.0.0.dev20231115'
 SceneConfig = sapien.pysapien.physx.PhysxSceneConfig

render_server/CMakeLists.txt

@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.18 FATAL_ERROR)
+project(sapien-render-server LANGUAGES C CXX)
+
+set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3 -Wall")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g0 -Wall")
+set(BUILD_SHARED_LIBS OFF CACHE BOOL "")
+
+add_compile_definitions("$<$<CONFIG:DEBUG>:_DEBUG>")
+add_compile_definitions("$<$<NOT:$<CONFIG:Debug>>:NDEBUG>")
+
+set(CMAKE_DEBUG_POSTFIX "")
+
+list(PREPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+include(eigen)
+include(grpc)
+include(pybind11)
+
+protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${CMAKE_CURRENT_SOURCE_DIR}/proto proto/render_server.proto)
+grpc_generate_cpp(GRPC_SRCS GRPC_HDRS ${CMAKE_CURRENT_SOURCE_DIR}/proto proto/render_server.proto)
+
+find_package(sapien REQUIRED)
+
+file(GLOB_RECURSE RENDER_SERVER_SRC "src/*.cpp")
+
+pybind11_add_module(pysapien_render_server ${RENDER_SERVER_SRC} ${PROTO_SRCS} ${GRPC_SRCS} NO_EXTRAS)
+# add_library(sapien_render_server ${RENDER_SERVER_SRC} ${PROTO_SRCS} ${GRPC_SRCS})
+target_link_libraries(pysapien_render_server PRIVATE grpc++ sapien::sapien eigen)
+target_include_directories(pysapien_render_server PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})

render_server/cmake/eigen.cmake

@@ -0,0 +1,21 @@
+if(TARGET Eigen3::Eigen)
+  return()
+endif()
+
+include(FetchContent)
+FetchContent_Declare(
+  eigen
+  GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+  GIT_TAG 3.4.0
+  GIT_SHALLOW TRUE
+  GIT_PROGRESS TRUE
+  OVERRIDE_FIND_PACKAGE
+)
+
+set(EIGEN_BUILD_DOC OFF CACHE BOOL "" FORCE)
+set(BUILD_TESTING OFF)
+set(EIGEN_BUILD_PKGCONFIG OFF)
+
+FetchContent_MakeAvailable(eigen)
+
+set(Eigen3_DIR ${eigen_BINARY_DIR})

render_server/cmake/grpc.cmake

@@ -0,0 +1,111 @@
+if(TARGET grpc++)
+    return()
+endif()
+
+set(gRPC_ZLIB_PROVIDER "package")
+set(gRPC_BUILD_TESTS OFF CACHE BOOL "" FORCE)
+
+set(CMAKE_CXX_STANDARD 14)
+
+include(FetchContent)
+FetchContent_Declare(
+  grpc
+  GIT_REPOSITORY https://github.com/grpc/grpc
+  GIT_TAG        v1.51.1
+)
+
+set(FETCHCONTENT_QUIET OFF)
+FetchContent_MakeAvailable(grpc)
+set(FETCHCONTENT_QUIET ON)
+
+set(CMAKE_CXX_STANDARD 20)
+
+if (zlib_SOURCE_DIR)
+  target_include_directories(grpc PRIVATE ${zlib_SOURCE_DIR} ${zlib_BINARY_DIR})
+  target_include_directories(grpc++ PRIVATE ${zlib_SOURCE_DIR} ${zlib_BINARY_DIR})
+endif()
+
+
+# MIT License
+
+# Copyright (c) 2018 Ivan Safonov
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+function(PROTOBUF_GENERATE_CPP SRCS HDRS DEST)
+  if(NOT ARGN)
+    message(SEND_ERROR "Error: PROTOBUF_GENERATE_CPP() called without any proto files")
+    return()
+  endif()
+
+  set(${SRCS})
+  set(${HDRS})
+  foreach(FIL ${ARGN})
+    get_filename_component(ABS_FIL ${FIL} ABSOLUTE)
+    get_filename_component(FIL_WE ${FIL} NAME_WE)
+    get_filename_component(_protobuf_include_path ${ABS_FIL} DIRECTORY)
+
+    list(APPEND ${SRCS} "${DEST}/${FIL_WE}.pb.cc")
+    list(APPEND ${HDRS} "${DEST}/${FIL_WE}.pb.h")
+
+    add_custom_command(
+      OUTPUT "${DEST}/${FIL_WE}.pb.cc"
+             "${DEST}/${FIL_WE}.pb.h"
+      COMMAND protobuf::protoc
+      ARGS --cpp_out ${DEST} -I${_protobuf_include_path} ${ABS_FIL}
+      DEPENDS ${ABS_FIL} protobuf::protoc
+      COMMENT "Running C++ protocol buffer compiler on ${FIL}"
+      VERBATIM )
+  endforeach()
+  set_source_files_properties(${${SRCS}} ${${HDRS}} PROPERTIES GENERATED TRUE)
+  set(${SRCS} ${${SRCS}} PARENT_SCOPE)
+  set(${HDRS} ${${HDRS}} PARENT_SCOPE)
+endfunction()
+
+
+function(GRPC_GENERATE_CPP SRCS HDRS DEST)
+  if(NOT ARGN)
+    message(SEND_ERROR "Error: GRPC_GENERATE_CPP() called without any proto files")
+    return()
+  endif()
+
+  set(${SRCS})
+  set(${HDRS})
+  foreach(FIL ${ARGN})
+    get_filename_component(ABS_FIL ${FIL} ABSOLUTE)
+    get_filename_component(FIL_WE ${FIL} NAME_WE)
+    get_filename_component(_protobuf_include_path ${ABS_FIL} DIRECTORY)
+
+    list(APPEND ${SRCS} "${DEST}/${FIL_WE}.grpc.pb.cc")
+    list(APPEND ${HDRS} "${DEST}/${FIL_WE}.grpc.pb.h")
+
+    add_custom_command(
+      OUTPUT "${DEST}/${FIL_WE}.grpc.pb.cc"
+             "${DEST}/${FIL_WE}.grpc.pb.h"
+      COMMAND protobuf::protoc
+      ARGS --grpc_out ${DEST} -I${_protobuf_include_path} --plugin=protoc-gen-grpc=$<TARGET_FILE:grpc_cpp_plugin> ${ABS_FIL}
+      DEPENDS ${ABS_FIL} protobuf::protoc grpc_cpp_plugin
+      COMMENT "Running C++ gRPC compiler on ${FIL}"
+      VERBATIM )
+  endforeach()
+
+  set_source_files_properties(${${SRCS}} ${${HDRS}} PROPERTIES GENERATED TRUE)
+  set(${SRCS} ${${SRCS}} PARENT_SCOPE)
+  set(${HDRS} ${${HDRS}} PARENT_SCOPE)
+endfunction()

render_server/cmake/pybind11.cmake

@@ -0,0 +1,14 @@
+if(TARGET pybind11)
+  return()
+endif()
+
+include(FetchContent)
+FetchContent_Declare(
+  pybind11
+  GIT_REPOSITORY https://github.com/pybind/pybind11.git
+  GIT_TAG smart_holder
+  GIT_SHALLOW TRUE
+  GIT_PROGRESS TRUE
+)
+
+FetchContent_MakeAvailable(pybind11)