Merge pull request #1879 from erwincoumans/master

fix internal build / pybullet version bump

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -390,6 +390,13 @@ void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
 	{
 		gEnableRenderLoop = (enable!=0);
 	}
+
+	if (flag == COV_ENABLE_SINGLE_STEP_RENDERING)
+    {
+        singleStepSimulation = true;
+    }
+
+
     if (flag == COV_ENABLE_SHADOWS)
     {
         useShadowMap = enable;

examples/OpenGLWindow/X11OpenGLWindow.cpp

@@ -6,11 +6,7 @@
 
 #include<stdio.h>
 #include<stdlib.h>
-#ifdef GLEW_STATIC
 #include "glad/gl.h"
-#else
-#include <GL/glew.h>
-#endif//GLEW_STATIC
 
 #ifdef GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS
 #include "glad/glx.h"

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1824,6 +1824,8 @@ void PhysicsServerCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiH
 		guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld);
 	} else
 	{
+		//state loggers use guiHelper, so remove them before the guiHelper is deleted
+		deleteStateLoggers();
 		if (m_data->m_guiHelper && m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getDebugDrawer())
 		{
 

examples/SharedMemory/SharedMemoryPublic.h

@@ -793,7 +793,7 @@ enum b3ConfigureDebugVisualizerEnum
 	COV_ENABLE_DEPTH_BUFFER_PREVIEW,
 	COV_ENABLE_SEGMENTATION_MARK_PREVIEW,
 	COV_ENABLE_PLANAR_REFLECTION,
-	
+	COV_ENABLE_SINGLE_STEP_RENDERING,
 };
 
 enum b3AddUserDebugItemEnum

examples/SharedMemory/grpc/main.cpp

@@ -28,7 +28,7 @@ typedef SharedMemoryCommandProcessor MyCommandProcessor;
 #include <grpc++/grpc++.h>
 #include <grpc/support/log.h>
 
-#include "proto/pybullet.grpc.pb.h"
+#include "SharedMemory/grpc/proto/pybullet.grpc.pb.h"
 
 
 using grpc::Server;

examples/pybullet/examples/collisionFilter.py

@@ -14,4 +14,5 @@ p.setCollisionFilterPair(planeId, cubeId,-1,-1,enableCollision )
 p.setRealTimeSimulation(1)
 p.setGravity(0,0,-10)
 while (p.isConnected()):
-	time.sleep(1)
+	time.sleep(1./240.)
+	p.setGravity(0,0,-10)

examples/pybullet/examples/mylittleminitaur.py

@@ -1,21 +0,0 @@
-import pybullet as p
-import time
-import math
-import sys
-sys.path.append(".")
-
-from minitaur import Minitaur
-p.connect(p.GUI)
-p.setTimeOut(5)
-#p.setPhysicsEngineParameter(numSolverIterations=50)
-p.setGravity(0,0,-10)
-p.setTimeStep(0.01)
-
-urdfRoot = ''
-p.loadURDF("%s/plane.urdf" % urdfRoot)
-minitaur = Minitaur(urdfRoot)
-
-while (True):
-	p.stepSimulation()
-	time.sleep(0.01)
-  

examples/pybullet/pybullet.c

@@ -9815,6 +9815,7 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "COV_ENABLE_DEPTH_BUFFER_PREVIEW", COV_ENABLE_DEPTH_BUFFER_PREVIEW);
 	PyModule_AddIntConstant(m, "COV_ENABLE_SEGMENTATION_MARK_PREVIEW", COV_ENABLE_SEGMENTATION_MARK_PREVIEW);
 	PyModule_AddIntConstant(m, "COV_ENABLE_PLANAR_REFLECTION", COV_ENABLE_PLANAR_REFLECTION);
+	PyModule_AddIntConstant(m, "COV_ENABLE_SINGLE_STEP_RENDERING", COV_ENABLE_SINGLE_STEP_RENDERING);
 
 
 	PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);

setup.py

@@ -42,7 +42,6 @@ CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
 CXX_FLAGS += '-DBT_ENABLE_ENET '
 CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
 CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
-CXX_FLAGS += '-DBT_USE_EGL '
 
 EGL_CXX_FLAGS = ''
 
@@ -451,6 +450,10 @@ egl_renderer_sources = \
 +["examples/OpenGLWindow/LoadShader.cpp"] \
 +["src/LinearMath/btQuickprof.cpp"]
 
+if 'BT_USE_EGL' in CXX_FLAGS:
+    sources += ['examples/ThirdPartyLibs/glad/egl.c']
+    sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
+
 if _platform == "linux" or _platform == "linux2":
     libraries = ['dl','pthread']
     CXX_FLAGS += '-D_LINUX '
@@ -468,9 +471,6 @@ if _platform == "linux" or _platform == "linux2":
     +["examples/ThirdPartyLibs/glad/gl.c"]\
     +["examples/ThirdPartyLibs/glad/glx.c"]
     include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
-    if 'BT_USE_EGL' in CXX_FLAGS:
-        sources += ['examples/ThirdPartyLibs/glad/egl.c']
-        sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
 
     if 'BT_USE_EGL' in EGL_CXX_FLAGS:
         egl_renderer_sources = egl_renderer_sources\
@@ -545,7 +545,7 @@ eglRender = Extension("eglRenderer",
 
 setup(
 	name = 'pybullet',
-	version='2.1.5',
+	version='2.1.6',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',