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

examples/SharedMemory/grpc/proto/createProtobufs.bat

@@ -6,6 +6,9 @@ del pybullet.grpc.pb.h
 ..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc --proto_path=. --cpp_out=. pybullet.proto
 ..\..\..\ThirdPartyLibs\grpc\lib\win32\protoc.exe --plugin=protoc-gen-grpc="..\..\..\ThirdPartyLibs\grpc\lib\win32\grpc_cpp_plugin.exe" --grpc_out=. pybullet.proto
 
+rename pybullet.grpc.pb.cc pybullet.grpc.pb.cpp
+rename pybullet.pb.cc pybullet.pb.cpp
+
 del pybullet_pb2.py
 del pybullet_pb2_grpc.py
 

examples/ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.cpp

@@ -14,25 +14,10 @@
 	#include <OpenGL/OpenGL.h>
 	#include <OpenGL/gl.h>
 #else
-#ifdef GLEW_STATIC
 #include "glad/gl.h"
-#else
-#ifdef NO_GLEW
-#define GL_GLEXT_LEGACY
-#include "third_party/GL/gl/include/GL/gl.h"
-#include "third_party/GL/gl/include/GL/glext.h"
-#else
+#endif//__APPLE__
 
-#ifdef BT_NO_GLAD
-#include <GL/glew.h>
-#else
-#include "glad/glad.h"
-#endif
-
-#endif //NO_GLEW
-#endif //GLEW_STATIC
-#endif//(__APPLE__)
-#endif
+#endif //B3_USE_GLFW
 
 #include "FontData.h"
 

examples/pybullet/examples/eglRenderTest.py

@@ -8,7 +8,7 @@ p.connect(p.DIRECT)
 
 plugin = p.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
 print("plugin=",plugin)
-	
+
 p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
 p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
 
@@ -26,15 +26,22 @@ upAxisIndex = 2
 
 
 while (p.isConnected()):
-	
-	for yaw in range (0,360,10) :
-		p.stepSimulation()
-		#viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
-		viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
-		projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]
-		img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1,lightDirection=[1,1,1])
-		#time.sleep(.1)
-		#print("img_arr=",img_arr)
-	
-	
+    for yaw in range (0,360,10) :
+        start = time.time()
+        p.stepSimulation()
+        stop = time.time()
+        print ("stepSimulation %f" % (stop - start))
+
+        #viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
+        viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
+        projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]
+
+        start = time.time()
+        img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1,lightDirection=[1,1,1])
+        stop = time.time()
+        print ("renderImage %f" % (stop - start))
+        #time.sleep(.1)
+        #print("img_arr=",img_arr)
+
+
 p.unloadPlugin(plugin)