Merge pull request #1869 from erwincoumans/master

fixes in eglRendererPlugin
2018-09-10 07:51:39 -07:00
parent 233a7083d1 6992195ba8
commit 1a047901ce
22 changed files with 351 additions and 290 deletions
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -73,6 +73,15 @@
 		description = "Use Midi controller to control parameters"
 	}
 	
+	
+	newoption
+	{
+		trigger = "enable_egl",
+		value       = false,
+		description = "Build an experimental eglPlugin"
+	}
+
+	
 	newoption
 	{
 		trigger = "enable_grpc",
@@ -145,6 +154,13 @@
 		_OPTIONS["protobuf_lib_dir"] = default_protobuf_lib_dir
 	end	
 	
+
+	if _OPTIONS["enable_egl"] then
+		function initEGL()
+			defines {"BT_USE_EGL"}
+		end
+	end	
+	
 	
 	if _OPTIONS["enable_grpc"] then
 	function initGRPC()
--- a/build_visual_studio_vr_pybullet_double.bat
+++ b/build_visual_studio_vr_pybullet_double.bat
@@ -12,16 +12,17 @@ set /p myvar1= < tmp1234.txt
 set myvar=c:/%myvar1%
 del tmp1234.txt

-#you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
-#SET myvar=c:\python-3.5.2
+rem you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
+rem SET myvar=c:\python-3.5.2

 cd build3


 premake4  --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
-#premake4  --double --grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 

-#premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+rem premake4  --double   --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 

 start vs2010

--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -599,10 +599,11 @@ void ConvertURDF2BulletInternal(

                if (mbLinkIndex>=0) //???? double-check +/- 1
                {
+					
                    cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col;
-					if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_PARENT)
+					if (flags&CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
 					{
-						cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
+						cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags &= ~BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
 					}
 					if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
 					{
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -31,6 +31,7 @@ enum ConvertURDFFlags {
  CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
  CUF_ENABLE_SLEEPING=2048,
  CUF_INITIALIZE_SAT_FEATURES=4096,
+  CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
 };

 struct UrdfVisualShapeCache
--- a/examples/OpenGLWindow/EGLOpenGLWindow.cpp
+++ b/examples/OpenGLWindow/EGLOpenGLWindow.cpp
@@ -30,11 +30,12 @@

 #ifdef BT_USE_EGL

-#include <pthread.h>
+
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include <unistd.h>
+

 #include "OpenGLInclude.h"

@@ -213,7 +214,7 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) {
        exit(EXIT_FAILURE);
    }

-    if (!gladLoadGL(eglGetProcAddress)) {
+    if (!gladLoadGL((GLADloadfunc) eglGetProcAddress)) {
        fprintf(stderr, "failed to load GL with glad.\n");
        exit(EXIT_FAILURE);
    }
@@ -228,8 +229,8 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) {
    const GLubyte* sl = glGetString(GL_SHADING_LANGUAGE_VERSION);
    printf("GL_SHADING_LANGUAGE_VERSION=%s\n", sl);
    
-    int i = pthread_getconcurrency();
-    printf("pthread_getconcurrency()=%d\n", i);
+    //int i = pthread_getconcurrency();
+    //printf("pthread_getconcurrency()=%d\n", i);
 }

 void EGLOpenGLWindow::closeWindow() {
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -4,6 +4,11 @@
 #include "ShapeData.h"


+#ifdef BT_USE_EGL
+#include "EGLOpenGLWindow.h"
+#else
+#endif //BT_USE_EGL
+
 #ifdef B3_USE_GLFW
 #include "GLFWOpenGLWindow.h"
 #else
@@ -19,10 +24,6 @@
 //let's cross the fingers it is Linux/X11
 #include "X11OpenGLWindow.h"
 #define BT_USE_X11  // for runtime backend selection, move to build?
-#ifdef BT_USE_EGL
-#include "EGLOpenGLWindow.h"
-#else
-#endif //BT_USE_EGL
 #endif //_WIN32
 #endif//__APPLE__
 #endif //B3_USE_GLFW
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -68,6 +68,11 @@
 #endif


+#ifdef STATIC_EGLRENDERER_PLUGIN
+#include "plugins/eglPlugin/eglRendererPlugin.h"
+#endif//STATIC_EGLRENDERER_PLUGIN
+
+
 #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
 #include "plugins/tinyRendererPlugin/tinyRendererPlugin.h"
 #endif
@@ -1709,10 +1714,22 @@ struct PhysicsServerCommandProcessorInternalData
 	}
 #endif //ENABLE_STATIC_GRPC_PLUGIN

+#ifdef STATIC_EGLRENDERER_PLUGIN
+	{
+		bool initPlugin = false;
+		int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin,0,0,getRenderInterface_eglRendererPlugin,0, initPlugin);
+		m_pluginManager.selectPluginRenderer(renderPluginId);
+	}
+#endif//STATIC_EGLRENDERER_PLUGIN
+
+

 #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
+	{
+
 			int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin,0);
 			m_pluginManager.selectPluginRenderer(renderPluginId);
+	}
 #endif
 		}

--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -830,6 +830,7 @@ enum eURDF_Flags
 	URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024,
    URDF_ENABLE_SLEEPING=2048,
 	URDF_INITIALIZE_SAT_FEATURES = 4096,
+	URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
 };

 enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
--- a/examples/SharedMemory/b3PluginManager.cpp
+++ b/examples/SharedMemory/b3PluginManager.cpp
@@ -34,6 +34,7 @@ struct b3Plugin
 {
 	B3_DYNLIB_HANDLE m_pluginHandle;
 	bool m_ownsPluginHandle;
+	bool m_isInitialized;
 	std::string m_pluginPath;
 	int m_pluginUniqueId;
 	PFN_INIT m_initFunc;
@@ -52,6 +53,7 @@ struct b3Plugin
 	b3Plugin()
 		:m_pluginHandle(0),
 		m_ownsPluginHandle(false),
+		m_isInitialized(false),
 		m_pluginUniqueId(-1),
 		m_initFunc(0),
 		m_exitFunc(0),
@@ -80,6 +82,7 @@ struct b3Plugin
 		m_processClientCommandsFunc = 0;
 		m_getRendererFunc = 0;
 		m_userPointer = 0;
+		m_isInitialized = false;
 	}
 };

@@ -171,8 +174,20 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 	int* pluginUidPtr = m_data->m_pluginMap.find(pluginPath);
 	if (pluginUidPtr)
 	{
+		
 		//already loaded
 		pluginUniqueId = *pluginUidPtr;
+		b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
+		if (!plugin->m_isInitialized)
+		{
+			b3PluginContext context = {0};
+			context.m_userPointer = 0;
+			context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
+			context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
+			int result = plugin->m_initFunc(&context);
+			plugin->m_isInitialized = true;
+			plugin->m_userPointer = context.m_userPointer;
+		}
 	}
 	else
 	{
@@ -211,16 +226,18 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)

 			if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
 			{
-
+				
 				b3PluginContext context;
 				context.m_userPointer = plugin->m_userPointer;
 				context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
 				context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
 				int version = plugin->m_initFunc(&context);
+				plugin->m_isInitialized = true;
 				//keep the user pointer persistent
 				plugin->m_userPointer = context.m_userPointer;
 				if (version == SHARED_MEMORY_MAGIC_NUMBER)
 				{
+					
 					ok = true;
 					plugin->m_ownsPluginHandle = true;
 					plugin->m_pluginHandle = pluginHandle;
@@ -286,7 +303,12 @@ void b3PluginManager::unloadPlugin(int pluginUniqueId)
 		context.m_userPointer = plugin->m_userPointer;
 		context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;

-		plugin->m_exitFunc(&context);
+		if (plugin->m_isInitialized)
+		{
+			plugin->m_exitFunc(&context);
+			plugin->m_userPointer = 0;
+			plugin->m_isInitialized = false;
+		}
 		m_data->m_pluginMap.remove(plugin->m_pluginPath.c_str());
 		m_data->m_plugins.freeHandle(pluginUniqueId);
 	}
@@ -411,7 +433,7 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
 }


-int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc)
+int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, bool initPlugin)
 {

 	b3Plugin orgPlugin;
@@ -440,12 +462,14 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT

 	m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);

+	if (initPlugin)
 	{
 		b3PluginContext context = {0};
 		context.m_userPointer = 0;
 		context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
 		context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
 		int result = pluginHandle->m_initFunc(&context);
+		pluginHandle->m_isInitialized = true;
 		pluginHandle->m_userPointer = context.m_userPointer;
 	}
 	return pluginUniqueId;
--- a/examples/SharedMemory/b3PluginManager.h
+++ b/examples/SharedMemory/b3PluginManager.h
@@ -30,7 +30,7 @@ class b3PluginManager
 		
 		void tickPlugins(double timeStep, b3PluginManagerTickMode tickMode);

-		int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc);
+		int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, bool initPlugin=true);
 		void selectPluginRenderer(int pluginUniqueId);
 		UrdfRenderingInterface* getRenderInterface();
 };
--- a/examples/SharedMemory/plugins/eglPlugin/bullet.py
+++ b/examples/SharedMemory/plugins/eglPlugin/bullet.py
@@ -1,85 +0,0 @@
-import os 
-import sys
-import time
-import subprocess
-import pybullet as p
-from pdb import set_trace
-import matplotlib.pyplot as plt
-import numpy as np
-#subprocess.call(["hardening-check", p.__file__])
-
-
-
-p.connect(p.DIRECT)
-logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "debugTimings")
-
-plugin = True
-if plugin:
-    plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
-    plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
-    if plugin < 0:
-        print("\nPlugin Failed to load!\n")
-        sys.exit()
-    print("plugin =",plugin)
-
-path = '/home/argusm/lang/bullet3/examples/pybullet/gym/pybullet_data/duck_vhacd.urdf'
-p.loadURDF(path,globalScaling=12)
-#path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka_weiss_bolt.sdf'
-#p.loadSDF(path)
-
-start = time.time()
-
-camTargetPos = [0,0,0]
-upAxisIndex = 2
-nearPlane = 0.01
-farPlane = 100
-camDistance = 2
-pixelWidth = 128
-pixelHeight = 128
-fov = 60
-
-plot = False
-anim = True
-if plot:
-    plt.ion()
-if anim:
-    import matplotlib.animation as manimation
-    FFMpegWriter = manimation.writers['ffmpeg']
-    metadata = dict(title='Movie Test', artist='Matplotlib',
-                    comment='Movie support!')
-    writer = FFMpegWriter(fps=15, metadata=metadata)
-if plot or anim:
-    fig = plt.figure()
-    img = np.random.rand(pixelWidth,pixelHeight)
-    image = plt.imshow(img,interpolation='none',animated=True,label="blah")
-    ax = plt.gca()
-    ax.set_axis_off()
-    ax.set_aspect('equal')
-    plt.subplots_adjust(wspace=0, hspace=0, left=0, bottom=0, right=1, top=1)
-
-
-try:
-    iter = range(0,360,10)
-    with writer.saving(fig, "debug.mp4", len(iter)):
-        for i,yaw in enumerate(iter):
-            viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, 0, yaw-90, 0, upAxisIndex)
-            aspect = pixelWidth / pixelHeight;
-            projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
-
-            hight, width, img_arr, deept_arr, obj_arr = p.getCameraImage(pixelWidth,pixelHeight,viewMatrix,projectionMatrix)
-            if plot:
-                image.set_data(img_arr)#np_img_arr)
-                ax.plot([0])
-                #plt.draw()
-                #plt.show()
-                plt.pause(0.01)
-            if anim:
-                image.set_data(img_arr)#np_img_arr)
-                ax.plot([0])
-                writer.grab_frame()
-
-            if i % 100 == 0 and i > 0:
-                print("FPS",100/(time.time()-start))
-            start = time.time()
-finally:
-    p.stopStateLogging(logId)
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp
@@ -1,15 +1,7 @@

-//tinyRenderer plugin
+//eglRenderer plugin

-/*
-import pybullet as p
-p.connect(p.GUI)
-plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
-print("plugin=",plugin)
-p.loadURDF("r2d2.urdf")
-while (1):
-	p.getCameraImage(320,200)
-*/
+//see Bullet/examples/pybullet/examples/eglRendererTest.py

 #include "eglRendererPlugin.h"
 #include "eglRendererVisualShapeConverter.h"
@@ -20,43 +12,43 @@ while (1):



-struct MyRendererPluginClass
+struct EGLRendererPluginClass
 {
 	
-	TinyRendererVisualShapeConverter m_renderer;
-	MyRendererPluginClass()
+	EGLRendererVisualShapeConverter m_renderer;
+	EGLRendererPluginClass()
 	{
 	}
-	virtual ~MyRendererPluginClass()
+	virtual ~EGLRendererPluginClass()
 	{
 	}
 };

-B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+B3_SHARED_API int initPlugin_eglRendererPlugin(struct b3PluginContext* context)
 {
-	MyRendererPluginClass* obj = new MyRendererPluginClass();
+	EGLRendererPluginClass* obj = new EGLRendererPluginClass();
 	context->m_userPointer = obj;
 	return SHARED_MEMORY_MAGIC_NUMBER;
 }


-B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+B3_SHARED_API int executePluginCommand_eglRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
 {
 		return -1;
 }


-B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+B3_SHARED_API void exitPlugin_eglRendererPlugin(struct b3PluginContext* context)
 {
-	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
 	delete obj;
 	context->m_userPointer = 0;
 }

 //all the APIs below are optional
-B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugin(struct b3PluginContext* context)
 {
-	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
 	return &obj->m_renderer;
 }

--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h
@@ -1,5 +1,5 @@
-#ifndef TINY_RENDERER_PLUGIN_H
-#define TINY_RENDERER_PLUGIN_H
+#ifndef EGL_RENDERER_PLUGIN_H
+#define EGL_RENDERER_PLUGIN_H

 #include "../b3PluginAPI.h"

@@ -9,12 +9,12 @@ extern "C"
 #endif

 //initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
-B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
-B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
-B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
+B3_SHARED_API int initPlugin_eglRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API void exitPlugin_eglRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API int executePluginCommand_eglRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);

 //all the APIs below are optional
-B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugin(struct b3PluginContext* context);



@@ -22,4 +22,4 @@ B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlug
 };
 #endif

-#endif//#define TEST_PLUGIN_H
+#endif//#define EGL_RENDERER_PLUGIN_H
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
@@ -13,10 +13,6 @@ subject to the following restrictions:


 #include "eglRendererVisualShapeConverter.h"
-
-
-
-
 #include "../Importers/ImportURDFDemo/URDFImporterInterface.h"
 #include "btBulletCollisionCommon.h"
 #include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
@@ -38,9 +34,21 @@ subject to the following restrictions:
 #include "stb_image/stb_image.h"


-#include "../OpenGLWindow/EGLOpenGLWindow.h"
-#include "../OpenGLWindow/GLInstancingRenderer.h"
-#include "../OpenGLWindow/GLRenderToTexture.h"
+#ifdef _WIN32
+#include "OpenGLWindow/Win32OpenGLWindow.h"
+typedef Win32OpenGLWindow DefaultOpenGLWindow;
+#else
+#ifdef BT_USE_EGL
+#include "OpenGLWindow/EGLOpenGLWindow.h"
+typedef EGLOpenGLWindow DefaultOpenGLWindow;
+#else
+#include "OpenGLWindow/X11OpenGLWindow.h"
+typedef X11OpenGLWindow DefaultOpenGLWindow;
+#endif
+#endif
+
+#include "OpenGLWindow/GLInstancingRenderer.h"
+#include "OpenGLWindow/GLRenderToTexture.h"

 static void printGLString(const char *name, GLenum s) {
    const char *v = (const char *) glGetString(s);
@@ -62,6 +70,7 @@ struct TinyRendererObjectArray
  btAlignedObjectArray<  TinyRenderObjectData*> m_renderObjects;
  int m_objectUniqueId;
  int m_linkIndex;
+  int m_graphicsInstanceId;
  btTransform m_worldTransform;
  btVector3 m_localScaling;

@@ -69,13 +78,14 @@ struct TinyRendererObjectArray
  {
 	  m_worldTransform.setIdentity();
 	  m_localScaling.setValue(1,1,1);
+	  m_graphicsInstanceId = -1;
  }
 };

 #define START_WIDTH 640
 #define START_HEIGHT 480

-struct TinyRendererVisualShapeConverterInternalData
+struct EGLRendererVisualShapeConverterInternalData
 {
    class CommonWindowInterface* m_window;
    class GLInstancingRenderer* m_instancingRenderer;
@@ -111,7 +121,7 @@ struct TinyRendererVisualShapeConverterInternalData
 	SimpleCamera m_camera;
 	
 	
-	TinyRendererVisualShapeConverterInternalData()
+	EGLRendererVisualShapeConverterInternalData()
 	:m_upAxis(2),
 	m_swWidth(START_WIDTH),
 	m_swHeight(START_HEIGHT),
@@ -137,7 +147,7 @@ struct TinyRendererVisualShapeConverterInternalData

            // OpenGL window
            bool allowRetina=true;
-            m_window = new EGLOpenGLWindow();
+            m_window = new DefaultOpenGLWindow();
            m_window->setAllowRetina(allowRetina);
            b3gWindowConstructionInfo ci;
            ci.m_title = "Title";
@@ -156,6 +166,8 @@ struct TinyRendererVisualShapeConverterInternalData
            glClearColor(.7f, .7f, .8f, 1.f);

            m_window->startRendering();
+			
+

            b3Assert(glGetError() ==GL_NO_ERROR);

@@ -165,21 +177,34 @@ struct TinyRendererVisualShapeConverterInternalData
            int maxNumObjectCapacity = 128 * 1024;
            int maxShapeCapacityInBytes = 128 * 1024 * 1024;
            m_instancingRenderer = new GLInstancingRenderer(maxNumObjectCapacity, maxShapeCapacityInBytes);
+			b3Assert(glGetError() ==GL_NO_ERROR);
            m_instancingRenderer->init();
+			b3Assert(glGetError() ==GL_NO_ERROR);
            m_instancingRenderer->resize(m_swWidth,m_swHeight);
            m_instancingRenderer->InitShaders();
+			b3Assert(glGetError() ==GL_NO_ERROR);
            m_instancingRenderer->setActiveCamera(&m_camera);
+			b3Assert(glGetError() ==GL_NO_ERROR);
            m_instancingRenderer->updateCamera();
+			b3Assert(glGetError() ==GL_NO_ERROR);
            m_instancingRenderer->setLightPosition(m_lightDirection);
+			m_window->endRendering();
 	}
 	
+	virtual ~EGLRendererVisualShapeConverterInternalData()
+	{
+		delete m_instancingRenderer;
+		m_window->closeWindow();
+		delete m_window;
+	}
+
 };



-TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()
+EGLRendererVisualShapeConverter::EGLRendererVisualShapeConverter()
 {
-        m_data = new TinyRendererVisualShapeConverterInternalData();
+	m_data = new EGLRendererVisualShapeConverterInternalData();
 	
 	float dist = 1.5;
 	float pitch = -10;
@@ -190,59 +215,60 @@ TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()


 }
-TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter()
+EGLRendererVisualShapeConverter::~EGLRendererVisualShapeConverter()
 {
 	resetAll();
 	delete m_data;
 }
 	
-void TinyRendererVisualShapeConverter::setLightDirection(float x, float y, float z)
+void EGLRendererVisualShapeConverter::setLightDirection(float x, float y, float z)
 {
 	m_data->m_lightDirection.setValue(x, y, z);
 	m_data->m_hasLightDirection = true;
 }

-void TinyRendererVisualShapeConverter::setLightColor(float x, float y, float z)
+void EGLRendererVisualShapeConverter::setLightColor(float x, float y, float z)
 {
    m_data->m_lightColor.setValue(x, y, z);
    m_data->m_hasLightColor = true;
 }

-void TinyRendererVisualShapeConverter::setLightDistance(float dist)
+void EGLRendererVisualShapeConverter::setLightDistance(float dist)
 {
    m_data->m_lightDistance = dist;
    m_data->m_hasLightDistance = true;
 }

-void TinyRendererVisualShapeConverter::setShadow(bool hasShadow)
+void EGLRendererVisualShapeConverter::setShadow(bool hasShadow)
 {
    m_data->m_hasShadow = hasShadow;
 }
-void TinyRendererVisualShapeConverter::setFlags(int flags)
+void EGLRendererVisualShapeConverter::setFlags(int flags)
 {
 	m_data->m_flags = flags;
 }


-void TinyRendererVisualShapeConverter::setLightAmbientCoeff(float ambientCoeff)
+void EGLRendererVisualShapeConverter::setLightAmbientCoeff(float ambientCoeff)
 {
    m_data->m_lightAmbientCoeff = ambientCoeff;
    m_data->m_hasLightAmbientCoeff = true;
 }

-void TinyRendererVisualShapeConverter::setLightDiffuseCoeff(float diffuseCoeff)
+void EGLRendererVisualShapeConverter::setLightDiffuseCoeff(float diffuseCoeff)
 {
    m_data->m_lightDiffuseCoeff = diffuseCoeff;
    m_data->m_hasLightDiffuseCoeff = true;
 }

-void TinyRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
+void EGLRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
 {
    m_data->m_lightSpecularCoeff = specularCoeff;
    m_data->m_hasLightSpecularCoeff = true;
 }

-void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
+///todo: merge into single file with TinyRendererVisualShapeConverter
+static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
 {

 	visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
@@ -609,7 +635,7 @@ static btVector4 sColors[4] =
 // If you are getting segfaults in this function it may be ecause you are
 // compliling the plugin with differently from pybullet, try complining the
 // plugin with distutils too.
-void TinyRendererVisualShapeConverter::convertVisualShapes(
+void EGLRendererVisualShapeConverter::convertVisualShapes(
 	int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
 	const UrdfLink* linkPtr, const UrdfModel* model,
 	int collisionObjectUniqueId, int bodyUniqueId)
@@ -728,8 +754,8 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
            visualShape.m_rgbaColor[2] = rgbaColor[2];
            visualShape.m_rgbaColor[3] = rgbaColor[3];
            {
-                    B3_PROFILE("convertURDFToVisualShape");
-                    convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
+                    B3_PROFILE("convertURDFToVisualShape2");
+                    convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
            }
            m_data->m_visualShapes.push_back(visualShape);

@@ -739,14 +765,17 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 				unsigned char* textureImage1=0;
 				int textureWidth=0;
 				int textureHeight=0;
-                                bool isCached = false;
+				bool isCached = false;
+				int textureIndex = -1;
+
 				if (textures.size())
 				{
 					textureImage1 = textures[0].textureData1;
 					textureWidth = textures[0].m_width;
 					textureHeight = textures[0].m_height;
 					isCached = textures[0].m_isCached;
-                                }
+					textureIndex =  m_data->m_instancingRenderer->registerTexture(textureImage1, textureWidth, textureHeight);
+                }
 				
 				{
 					B3_PROFILE("registerMeshShape");
@@ -760,10 +789,11 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
                 B3_PROFILE("m_instancingRenderer register");

                // register mesh to m_instancingRenderer too.
-                int textureIndex =  m_data->m_instancingRenderer->registerTexture(textureImage1, textureWidth, textureHeight);
-                int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),textureIndex);
+                
+                int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES, textureIndex);
                btVector3 scaling(1,1,1);
-                m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0],scaling);
+				visuals->m_graphicsInstanceId = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0],scaling);
+	
                m_data->m_instancingRenderer->writeTransforms();
                }
            }
@@ -778,7 +808,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 	}
 }

-int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
+int EGLRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
 {
 	int start = -1;
 	//find first one, then count how many
@@ -810,7 +840,7 @@ int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
 	return count;
 }

-int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)
+int EGLRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)
 {
 	int start = -1;
 	//find first one, then count how many
@@ -837,7 +867,7 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int



-void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])
+void EGLRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])
 {
    //int start = -1;
    for (int i = 0; i < m_data->m_visualShapes.size(); i++)
@@ -874,7 +904,7 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin



-void TinyRendererVisualShapeConverter::setUpAxis(int axis)
+void EGLRendererVisualShapeConverter::setUpAxis(int axis)
 {
    m_data->m_upAxis = axis;
    m_data->m_camera.setCameraUpAxis(axis);
@@ -882,7 +912,7 @@ void TinyRendererVisualShapeConverter::setUpAxis(int axis)
    m_data->m_instancingRenderer->updateCamera();

 }
-void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
+void EGLRendererVisualShapeConverter::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 {
    m_data->m_camera.setCameraDistance(camDist);
    m_data->m_camera.setCameraPitch(pitch);
@@ -892,7 +922,7 @@ void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, flo
    m_data->m_camera.update();
 }

-void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
+void EGLRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
 {
 	float farPlane = m_data->m_camera.getCameraFrustumFar();
    for(int y=0;y<m_data->m_swHeight;++y)
@@ -908,8 +938,10 @@ void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)

 }

-void TinyRendererVisualShapeConverter::render()
+void EGLRendererVisualShapeConverter::render()
 {
+	m_data->m_window->endRendering();
+	m_data->m_window->startRendering();
    /*
    ATTRIBUTE_ALIGNED16(float viewMat[16]);
    ATTRIBUTE_ALIGNED16(float projMat[16]);
@@ -920,13 +952,21 @@ void TinyRendererVisualShapeConverter::render()
    cout<<viewMat[4*2 + 0]<<" "<<viewMat[4*2+1]<<" "<<viewMat[4*2+2]<<" "<<viewMat[4*2+3] << endl;
    cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
    */
+	
    B3_PROFILE("m_instancingRenderer render");
-    m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera);
-    m_data->m_instancingRenderer->updateCamera();
+	m_data->m_instancingRenderer->writeTransforms();
+	if (m_data->m_hasLightDirection)
+	{
+		m_data->m_instancingRenderer->setLightPosition(m_data->m_lightDirection);
+	}
+	m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera);
+	m_data->m_instancingRenderer->updateCamera(m_data->m_upAxis);
+
    m_data->m_instancingRenderer->renderScene();
+
 }

-void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
+void EGLRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
 {
    // This code is very similar to that of
    // PhysicsServerCommandProcessor::processRequestCameraImageCommand
@@ -934,10 +974,10 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo

    // Tiny allows rendering with viewMat, projMat explicitly, but
    // GLInstancingRender calls m_activeCamera, so set this.
-    m_data->m_camera.setVRCamera(viewMat,projMat);
-    m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera);
-    m_data->m_instancingRenderer->updateCamera();
-    m_data->m_instancingRenderer->renderScene();
+	
+	m_data->m_camera.setVRCamera(viewMat,projMat);
+
+	render();

    //cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl;
    //cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl;
@@ -945,14 +985,14 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
    //cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
 }

-void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height)
+void EGLRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height)
 {
    width = m_data->m_swWidth;
    height = m_data->m_swHeight;
 }


-void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
+void EGLRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
 {
 	m_data->m_swWidth = width;
 	m_data->m_swHeight = height;
@@ -966,7 +1006,7 @@ void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
 }

 //copied from OpenGLGuiHelper.cpp
-void TinyRendererVisualShapeConverter::copyCameraImageDataGL(
+void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
        unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
        float* depthBuffer, int depthBufferSizeInPixels,
        int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,
@@ -1079,7 +1119,7 @@ void TinyRendererVisualShapeConverter::copyCameraImageDataGL(
    }
 }

-void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
+void EGLRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
                                                            float* depthBuffer, int depthBufferSizeInPixels,
                                                            int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,
                                                            int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
@@ -1091,7 +1131,7 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
            startPixelIndex,  widthPtr, heightPtr, numPixelsCopied);
 }

-void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqueId)
+void EGLRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqueId)
 {
 	TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[collisionObjectUniqueId];
 	if (ptrptr && *ptrptr)
@@ -1110,7 +1150,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniq
 }


-void TinyRendererVisualShapeConverter::resetAll()
+void EGLRendererVisualShapeConverter::resetAll()
 {
 	for (int i=0;i<m_data->m_swRenderInstances.size();i++)
 	{
@@ -1142,7 +1182,7 @@ void TinyRendererVisualShapeConverter::resetAll()
 }


-void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
+void EGLRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
 {
 	btAssert(textureUniqueId < m_data->m_textures.size());
 	if (textureUniqueId >= 0 && textureUniqueId < m_data->m_textures.size())
@@ -1170,7 +1210,7 @@ void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, in
 	}
 }

-int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)
+int EGLRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)
 {
    MyTexture2 texData;
    texData.m_width = width;
@@ -1181,7 +1221,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
    return m_data->m_textures.size()-1;
 }

-int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
+int EGLRendererVisualShapeConverter::loadTextureFile(const char* filename)
 {
 	B3_PROFILE("loadTextureFile");
    int width,height,n;
@@ -1194,7 +1234,7 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
    return -1;
 }

-void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
+void EGLRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
 {
        TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
        if (renderObjPtr)
@@ -1202,5 +1242,11 @@ void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId
                TinyRendererObjectArray* renderObj = *renderObjPtr;
                renderObj->m_worldTransform = worldTransform;
                renderObj->m_localScaling = localScaling;
+				if (renderObj->m_graphicsInstanceId>=0)
+				{
+					btVector3 pos = worldTransform.getOrigin();
+					btQuaternion orn = worldTransform.getRotation();
+					m_data->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos, orn, renderObj->m_graphicsInstanceId);
+				}
        }
 }
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
@@ -3,15 +3,14 @@

 #include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"

-struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
+struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
 {
-        int frame = 0;
-
-        struct TinyRendererVisualShapeConverterInternalData* m_data;
+        
+	struct EGLRendererVisualShapeConverterInternalData* m_data;
 	
-        TinyRendererVisualShapeConverter();
+	EGLRendererVisualShapeConverter();
 	
-        virtual ~TinyRendererVisualShapeConverter();
+	virtual ~EGLRendererVisualShapeConverter();
 	
 	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
 	
--- a/examples/SharedMemory/plugins/eglPlugin/premake4.lua
+++ b/examples/SharedMemory/plugins/eglPlugin/premake4.lua
@@ -3,25 +3,36 @@
 project ("pybullet_eglRendererPlugin")
 		language "C++"
 		kind "SharedLib"
+		initEGL()
 		
 		includedirs {".","../../../../src", "../../../../examples",
-		"../../../ThirdPartyLibs"}
-		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+		"../../../ThirdPartyLibs", "../../examples/ThirdPartyLibs/glad"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STB_AGAIN"}
 	hasCL = findOpenCL("clew")

 	links{"BulletCollision", "Bullet3Common", "LinearMath"}

+	initOpenGL()
+
+	if os.is("Windows") then
+		files {"../../../OpenGLWindow/Win32OpenGLWindow.cpp",
+		"../../../OpenGLWindow/Win32GLWindow.cpp",}
+		
+	end
 	if os.is("MacOSX") then
 --		targetextension {"so"}
-		links{"Cocoa.framework","Python"}
+		links{"Cocoa.framework"}
 	end

+  if os.is("Linux") then
+  		files {"../../../ThirdPartyLibs/glad/glx.c",}
+  end

 		files {
 			"eglRendererPlugin.cpp",
 			"eglRendererPlugin.h",
-			"TinyRendererVisualShapeConverter.cpp",
-			"TinyRendererVisualShapeConverter.h",
+			"eglRendererVisualShapeConverter.cpp",
+			"eglRendererVisualShapeConverter.h",
 			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
 			"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
@@ -35,14 +46,22 @@ project ("pybullet_eglRendererPlugin")
 			"../../../TinyRenderer/our_gl.cpp",
 			"../../../TinyRenderer/tgaimage.cpp",
 			"../../../TinyRenderer/TinyRenderer.cpp",
-			"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.cpp",
-			"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.h",
+			"../../../ThirdPartyLibs/glad/gl.c",
+			"../../../ThirdPartyLibs/glad/egl.c",
+			"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+			"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
 			"../../../ThirdPartyLibs/stb_image/stb_image.cpp",
 			"../../../ThirdPartyLibs/stb_image/stb_image.h",
-			"../../../ThirdPartyLibs/eglxml2/eglxml2.cpp",
-			"../../../ThirdPartyLibs/eglxml2/eglxml2.h",
+			"../../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
+			"../../../ThirdPartyLibs/tinyxml2/tinyxml2.h",
 			"../../../OpenGLWindow/SimpleCamera.cpp",
 			"../../../OpenGLWindow/SimpleCamera.h",
+			"../../../OpenGLWindow/GLInstancingRenderer.cpp",
+			"../../../OpenGLWindow/GLInstancingRenderer.h",
+			"../../../OpenGLWindow/LoadShader.cpp",
+			"../../../OpenGLWindow/LoadShader.h",
+			"../../../OpenGLWindow/GLRenderToTexture.cpp",
+			"../../../OpenGLWindow/GLRenderToTexture.h",
 			"../../../Utils/b3Clock.cpp",
 			"../../../Utils/b3Clock.h",
 			"../../../Utils/b3ResourcePath.cpp",
--- a/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
@@ -120,6 +120,10 @@ struct TinyRendererVisualShapeConverterInternalData
 	    m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
 	}
 	
+	virtual ~TinyRendererVisualShapeConverterInternalData()
+	{
+		printf("~TinyRendererVisualShapeConverterInternalData()\n");
+	}
 };


--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -474,6 +474,10 @@ include "plugins/tinyRendererPlugin"
 include "plugins/pdControlPlugin"
 include "plugins/collisionFilterPlugin"

+if _OPTIONS["enable_egl"] then
+		include "plugins/eglPlugin"
+end
+
 if _OPTIONS["enable_grpc"] then
 		include "grpc"
 		include "plugins/grpcPlugin"
--- a/examples/pybullet/examples/testrender.py
+++ b/examples/pybullet/examples/testrender.py
@@ -15,6 +15,8 @@ ax = plt.gca()


 pybullet.connect(pybullet.DIRECT)
+
+#pybullet.loadPlugin("eglRendererPlugin")
 pybullet.loadURDF("plane.urdf",[0,0,-1])
 pybullet.loadURDF("r2d2.urdf")

--- a/examples/pybullet/examples/testrender_egl.py
+++ b/examples/pybullet/examples/testrender_egl.py
@@ -0,0 +1,86 @@
+#using the eglRendererPlugin (hardware OpenGL acceleration)
+#using EGL on Linux and default OpenGL window on Win32.
+
+#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
+#otherwise use testrender.py (slower but compatible without numpy)
+#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
+
+import numpy as np
+import matplotlib.pyplot as plt
+import pybullet
+import time
+
+
+plt.ion()
+
+img = np.random.rand(200, 320)
+#img = [tandard_normal((50,100))
+image = plt.imshow(img,interpolation='none',animated=True,label="blah")
+ax = plt.gca()
+    
+pybullet.connect(pybullet.DIRECT)
+
+pybullet.loadPlugin("eglRendererPlugin")
+pybullet.loadURDF("plane.urdf",[0,0,-1])
+pybullet.loadURDF("r2d2.urdf")
+
+camTargetPos = [0,0,0]
+cameraUp = [0,0,1]
+cameraPos = [1,1,1]
+pybullet.setGravity(0,0,-10)
+
+pitch = -10.0
+
+roll=0
+upAxisIndex = 2
+camDistance = 4
+pixelWidth = 320
+pixelHeight = 200
+nearPlane = 0.01
+farPlane = 100
+
+fov = 60
+
+main_start = time.time()
+while (1):
+  for yaw in range (0,360,10):
+    pybullet.stepSimulation()
+    start = time.time()
+    
+    viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
+    aspect = pixelWidth / pixelHeight;
+    projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
+    img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
+    stop = time.time()
+    print ("renderImage %f" % (stop - start))
+
+    w=img_arr[0] #width of the image, in pixels
+    h=img_arr[1] #height of the image, in pixels
+    rgb=img_arr[2] #color data RGB
+    dep=img_arr[3] #depth data
+
+    print ('width = %d height = %d' % (w,h))
+
+    #note that sending the data to matplotlib is really slow
+
+    #reshape is not needed
+    #np_img_arr = np.reshape(rgb, (h, w, 4))
+    #np_img_arr = np_img_arr*(1./255.)
+    
+    #show
+    #plt.imshow(np_img_arr,interpolation='none',extent=(0,1600,0,1200))
+    #image = plt.imshow(np_img_arr,interpolation='none',animated=True,label="blah")
+
+    image.set_data(rgb)#np_img_arr)
+    ax.plot([0])
+    #plt.draw()
+    #plt.show()
+    plt.pause(0.01)
+    #image.draw()
+    
+
+main_stop = time.time()
+
+print ("Total time %f" % (main_stop - main_start))
+
+pybullet.resetSimulation()
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -9596,7 +9596,7 @@ PyMODINIT_FUNC
 #if PY_MAJOR_VERSION >= 3
 PyInit_pybullet(void)
 #else
-#ifdef BT_USE_EGL
+#ifdef BT_USE_EGL2
 initpybullet_egl(void)
 #else
 #ifdef BT_PYBULLET_GRPC
@@ -9760,6 +9760,8 @@ initpybullet(void)

 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
+	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_INCLUDE_PARENT", URDF_USE_SELF_COLLISION_INCLUDE_PARENT);
+	
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);

 	PyModule_AddIntConstant(m, "VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS", eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS);
--- a/setup.py
+++ b/setup.py
@@ -1,33 +1,14 @@

+
 from setuptools import find_packages
 from sys import platform as _platform
 import sys
-from glob import glob
+import glob

 from distutils.core import setup
 from distutils.extension import Extension
 from distutils.util import get_platform
-
-
-# monkey-patch for parallel compilation
-import multiprocessing
-import multiprocessing.pool
-def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=None, debug=0, extra_preargs=None, extra_postargs=None, depends=None):
-    # those lines are copied from distutils.ccompiler.CCompiler directly
-    macros, objects, extra_postargs, pp_opts, build = self._setup_compile(output_dir, macros, include_dirs, sources, depends, extra_postargs)
-    cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
-    # parallel code
-    N = 2*multiprocessing.cpu_count()# number of parallel compilations
-    def _single_compile(obj):
-        try: src, ext = build[obj]
-        except KeyError: return
-        self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
-    # convert to list, imap is evaluated on-demand
-    list(multiprocessing.pool.ThreadPool(N).imap(_single_compile,objects))
-    return objects
-import distutils.ccompiler
-distutils.ccompiler.CCompiler.compile=parallelCCompile
-
+from glob import glob

 #see http://stackoverflow.com/a/8719066/295157
 import os
@@ -42,7 +23,7 @@ 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 '  # uncomment for EGL (old EGL versions fail)
+CXX_FLAGS += '-DSTATIC_EGLRENDERER_PLUGIN '


 # libraries += [current_python]
@@ -69,6 +50,8 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/TinyRenderer/tgaimage.cpp"]\
 +["examples/TinyRenderer/our_gl.cpp"]\
 +["examples/TinyRenderer/TinyRenderer.cpp"]\
+["examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp"]\
+["examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp"]\
 +["examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp"]\
 +["examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp"]\
 +["examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp"]\
@@ -406,29 +389,26 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.cpp"]\

 if _platform == "linux" or _platform == "linux2":
-    libraries += ['dl','pthread']
+    libraries = ['dl','pthread']
    CXX_FLAGS += '-D_LINUX '
    CXX_FLAGS += '-DGLEW_STATIC '
    CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
    CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '
    CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
    CXX_FLAGS += '-DHAS_SOCKLEN_T '
-    CXX_FLAGS += '-fno-inline-functions-called-once '
-    CXX_FLAGS += '-fPIC '  # for plugins
+    CXX_FLAGS += '-DBT_USE_EGL '
+    CXX_FLAGS += '-fno-inline-functions-called-once'
    sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
    +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
    +["examples/ThirdPartyLibs/glad/gl.c"]\
-    +["examples/ThirdPartyLibs/glad/glx.c"]
-    include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
-    if 'BT_USE_EGL' in CXX_FLAGS:
-        # linking with bullet's Glew libraries causes segfault
-        # for some reason.
-        sources += ['examples/ThirdPartyLibs/glad/egl.c']
-        sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
+    +["examples/ThirdPartyLibs/glad/glx.c"]\
+    +["examples/ThirdPartyLibs/glad/egl.c"]\
+    +["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]

+    include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
 elif _platform == "win32":
    print("win32!")
-    libraries += ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
+    libraries = ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
    CXX_FLAGS += '-DWIN32 '
    CXX_FLAGS += '-DGLEW_STATIC '
    sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
@@ -448,7 +428,7 @@ elif _platform == "darwin":
    +["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
 else:
    print("bsd!")
-    libraries += ['GL','GLEW','pthread']
+    libraries = ['GL','GLEW','pthread']
    os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
    CXX_FLAGS += '-D_BSD '
    CXX_FLAGS += '-I/usr/X11R6/include '
@@ -459,7 +439,6 @@ else:
    +["examples/ThirdPartyLibs/glad/gl.c"]\
    + sources

-
 setup_py_dir = os.path.dirname(os.path.realpath(__file__))

 need_files = []
@@ -480,56 +459,6 @@ print("packages")
 print(find_packages('examples/pybullet/gym'))
 print("-----")

-egl_renderer_sources = \
-["examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp"]\
-+["examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp"]\
-+["examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp"]\
-+["examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp"]\
-+["examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp"]\
-+["examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp"]\
-+["examples/TinyRenderer/geometry.cpp"]\
-+["examples/TinyRenderer/model.cpp"]\
-+["examples/TinyRenderer/tgaimage.cpp"]\
-+["examples/TinyRenderer/our_gl.cpp"]\
-+["examples/TinyRenderer/TinyRenderer.cpp"]\
-+["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
-+["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\
-+["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
-+["examples/OpenGLWindow/SimpleCamera.cpp"]\
-+["examples/Utils/b3Clock.cpp"]\
-+["examples/Utils/b3ResourcePath.cpp"]\
-+["src/BulletCollision/CollisionShapes/btShapeHull.cpp"]\
-+["src/BulletCollision/CollisionShapes/btConvexHullShape.cpp"]\
-+["src/BulletCollision/CollisionShapes/btBoxShape.cpp"]\
-+["src/BulletCollision/CollisionShapes/btSphereShape.cpp"]\
-+["src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"]\
-+["src/BulletCollision/CollisionShapes/btConvexShape.cpp"]\
-+["src/BulletCollision/CollisionShapes/btCollisionShape.cpp"]\
-+["src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"]\
-+["src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp"]\
-+["src/Bullet3Common/b3Logging.cpp"]\
-+["src/LinearMath/btAlignedAllocator.cpp"]\
-+["src/LinearMath/btGeometryUtil.cpp"]\
-+["src/LinearMath/btConvexHull.cpp"]\
-+["src/LinearMath/btConvexHullComputer.cpp"]\
-+["src/Bullet3Common/b3AlignedAllocator.cpp"] \
-+["examples/ThirdPartyLibs/glad/gl.c"]\
-+['examples/ThirdPartyLibs/glad/egl.c'] \
-+["examples/ThirdPartyLibs/glad/glx.c"] \
-+["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
-+["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
-+["examples/OpenGLWindow/GLRenderToTexture.cpp"] \
-+["examples/OpenGLWindow/LoadShader.cpp"] \
-+["src/LinearMath/btQuickprof.cpp"] \
-
-eglRender = Extension("eglRenderer",
-        sources =  egl_renderer_sources,
-        libraries = libraries,
-        extra_compile_args=(CXX_FLAGS+'-DBT_USE_EGL -DSTB_AGAIN -DB3_DEBUG').split(),
-        include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
-     )
-
-
 setup(
 	name = 'pybullet',
 	version='2.1.4',
@@ -541,11 +470,11 @@ setup(
 	license='zlib',
 	platforms='any',
 	keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl'],
-        ext_modules = [eglRender, Extension("pybullet",
+	ext_modules = [Extension("pybullet", 
 	sources =  sources,
 	libraries = libraries,
 	extra_compile_args=CXX_FLAGS.split(),
-	include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
+	include_dirs = include_dirs + ["src","examples", "examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
     ) ],
     classifiers=['Development Status :: 5 - Production/Stable',
                   'License :: OSI Approved :: zlib/libpng License',