Merge branch 'master' of github.com:erwincoumans/bullet3

CMakeLists.txt

@@ -95,7 +95,7 @@ IF(MSVC)
 	ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
 
 	IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
-		#We statically link to reduce dependancies
+		#We statically link to reduce dependencies
 		FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
 			IF(${flag_var} MATCHES "/MD")
 				STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")

examples/OpenGLWindow/X11OpenGLWindow.cpp

@@ -566,8 +566,10 @@ void X11OpenGLWindow::enableOpenGL()
 	//Access pthreads as a workaround for a bug in Linux/Ubuntu
 	//See https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-319/+bug/1248642
 
+#if !defined(__NetBSD__)
 	int i = pthread_getconcurrency();
 	printf("pthread_getconcurrency()=%d\n", i);
+#endif
 
 	//    const GLubyte* ext = glGetString(GL_EXTENSIONS);
 	//    printf("GL_EXTENSIONS=%s\n", ext);

examples/ThirdPartyLibs/zlib/gzguts.h

@@ -20,6 +20,7 @@
 
 #include <stdio.h>
 #include "zlib.h"
+#include <unistd.h>
 #ifdef STDC
 #include <string.h>
 #include <stdlib.h>

examples/pybullet/gym/pybullet_envs/deep_mimic/gym_env/deep_mimic_env.py

@@ -23,7 +23,6 @@ from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env import PyBulletDeepMim
 from pybullet_utils.arg_parser import ArgParser
 from pybullet_utils.logger import Logger
 
-from typing import Optional
 
 logger = logging.getLogger(__name__)
 
@@ -51,9 +50,9 @@ class HumanoidDeepBulletEnv(gym.Env):
       Logger.print2(arg_file)
     assert succ, Logger.print2('Failed to load args from: ' + arg_file)
 
-    self._p: Optional[BulletClient] = None
+    self._p = None
     self._time_step = time_step
-    self._internal_env: Optional[PyBulletDeepMimicEnv] = None
+    self._internal_env = None
     self._renders = renders
     self._discrete_actions = False
     self._arg_file = arg_file

setup.py

@@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
     name='pybullet',
-    version='2.8.7',
+    version='2.9.0',
     description=
     'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
     long_description=

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -356,12 +356,12 @@ public:
         }
     }
     
-    btVector3 getPushVelocity()
+    btVector3 getPushVelocity() const
     {
         return m_pushVelocity;
     }
     
-    btVector3 getTurnVelocity()
+    btVector3 getTurnVelocity() const
     {
         return m_turnVelocity;
     }

src/LinearMath/btConvexHullComputer.cpp

@@ -2673,6 +2673,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
 	}
 
 	vertices.resize(0);
+	original_vertex_index.resize(0);
 	edges.resize(0);
 	faces.resize(0);
 
@@ -2683,6 +2684,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
 	{
 		btConvexHullInternal::Vertex* v = oldVertices[copied];
 		vertices.push_back(hull.getCoordinates(v));
+		original_vertex_index.push_back(v->point.index);
 		btConvexHullInternal::Edge* firstEdge = v->edges;
 		if (firstEdge)
 		{

src/LinearMath/btConvexHullComputer.h

@@ -66,6 +66,9 @@ public:
 	// Vertices of the output hull
 	btAlignedObjectArray<btVector3> vertices;
 
+	// The original vertex index in the input coords array
+	btAlignedObjectArray<int> original_vertex_index;
+
 	// Edges of the output hull
 	btAlignedObjectArray<Edge> edges;