PyBullet: soft bodies are rendered, so we don't need to also render wireframes in regular mode.

Use glBufferSubData instead of glMapBuffer/glUnmapBuffer, much faster soft body vertex sync.
Don't use a separate btSoftBodyWorldInfo, use the existing one in btSoftMultiBodyDynamicsWorld.

examples/pybullet/examples/load_soft_body.py

@@ -6,15 +6,17 @@ physicsClient = p.connect(p.GUI)
 p.setGravity(0,0,-10)
 planeId = p.loadURDF("plane.urdf")
 bunnyId = p.loadSoftBody("bunny.obj")
-
+p.loadURDF("cube_small.urdf",[1,0,1])
 useRealTimeSimulation = 1
 
 if (useRealTimeSimulation):
 	p.setRealTimeSimulation(1)
 
-while 1:
+while p.isConnected():
+	p.setGravity(0,0,-10)
 	if (useRealTimeSimulation):
-		p.setGravity(0,0,-10)
+
 		sleep(0.01) # Time in seconds.
+		#p.getCameraImage(320,200,renderer=p.ER_BULLET_HARDWARE_OPENGL )
 	else:
 		p.stepSimulation()