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

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This commit is contained in:
Erwin Coumans 2017-11-08 22:19:12 -08:00
commit e261d55cee
3 changed files with 44 additions and 40 deletions
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12
examples/pybullet/pybullet.c
View File

@ -5987,17 +5987,19 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3GetCameraImageData(sm, &imageData);
// TODO(hellojas): error handling if image size is 0
pyResultList = PyTuple_New(5);
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
int bytesPerPixel = 4; // Red, Green, Blue, and Alpha each 8 bit values
npy_intp rgb_dims[3] = {imageData.m_pixelHeight, imageData.m_pixelWidth,
bytesPerPixel};
npy_intp dep_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
npy_intp seg_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
pyResultList = PyTuple_New(5);
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
pyRGB = PyArray_SimpleNew(3, rgb_dims, NPY_UINT8);
pyDep = PyArray_SimpleNew(2, dep_dims, NPY_FLOAT32);
pySeg = PyArray_SimpleNew(2, seg_dims, NPY_INT32);

2
setup.py
View File

@ -441,7 +441,7 @@ print("-----")
setup(
name = 'pybullet',
version='1.6.3',
version='1.6.4',
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',

70
src/LinearMath/btQuickprof.cpp
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@ -680,47 +680,49 @@ void CProfileManager::dumpAll()
CProfileManager::Release_Iterator(profileIterator);
}
// clang-format off
#if defined(_WIN32) && (defined(__MINGW32__) || defined(__MINGW64__))
#define BT_HAVE_TLS 1
#elif __APPLE__ && !TARGET_OS_IPHONE
// TODO: Modern versions of iOS support TLS now with updated version checking.
#define BT_HAVE_TLS 1
#elif __linux__
#define BT_HAVE_TLS 1
#endif
// __thread is broken on Andorid clang until r12b. See
// https://github.com/android-ndk/ndk/issues/8
#if defined(__ANDROID__) && defined(__clang__)
#if __has_include(<android/ndk-version.h>)
#include <android/ndk-version.h>
#endif // __has_include(<android/ndk-version.h>)
#if defined(__NDK_MAJOR__) && \
((__NDK_MAJOR__ < 12) || ((__NDK_MAJOR__ == 12) && (__NDK_MINOR__ < 1)))
#undef BT_HAVE_TLS
#endif
#endif // defined(__ANDROID__) && defined(__clang__)
// clang-format on
unsigned int btQuickprofGetCurrentThreadIndex2() {
const unsigned int kNullIndex = ~0U;
unsigned int btQuickprofGetCurrentThreadIndex2()
{
#if BT_THREADSAFE
return btGetCurrentThreadIndex();
#else // #if BT_THREADSAFE
const unsigned int kNullIndex = ~0U;
#ifdef _WIN32
#if defined(__MINGW32__) || defined(__MINGW64__)
static __thread unsigned int sThreadIndex = kNullIndex;
#else
__declspec( thread ) static unsigned int sThreadIndex = kNullIndex;
#endif
return btGetCurrentThreadIndex();
#elif defined(BT_HAVE_TLS)
static __thread unsigned int sThreadIndex = kNullIndex;
#elif defined(_WIN32)
__declspec(thread) static unsigned int sThreadIndex = kNullIndex;
#else
#ifdef __APPLE__
#if TARGET_OS_IPHONE
unsigned int sThreadIndex = 0;
return -1;
#else
static __thread unsigned int sThreadIndex = kNullIndex;
#endif
#else//__APPLE__
#if __linux__
static __thread unsigned int sThreadIndex = kNullIndex;
#else
unsigned int sThreadIndex = 0;
return -1;
unsigned int sThreadIndex = 0;
return -1;
#endif
#endif//__APPLE__
#endif
static int gThreadCounter=0;
if ( sThreadIndex == kNullIndex )
{
sThreadIndex = gThreadCounter++;
}
return sThreadIndex;
#endif // #else // #if BT_THREADSAFE
static int gThreadCounter = 0;
if (sThreadIndex == kNullIndex) {
sThreadIndex = gThreadCounter++;
}
return sThreadIndex;
}
void btEnterProfileZoneDefault(const char* name)