Merge pull request #1874 from erwincoumans/master

more egl plugin fixes, create stb_image_write.cpp (instead of magic defines in various source files)

examples/ExampleBrowser/CMakeLists.txt

@@ -344,7 +344,7 @@ SET(BulletExampleBrowser_SRCS
 
 	../ThirdPartyLibs/stb_image/stb_image.cpp
 	../ThirdPartyLibs/stb_image/stb_image.h
-	
+	../ThirdPartyLibs/stb_image/stb_image_write.cpp
 	../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
 	
 	../ThirdPartyLibs/tinyxml2/tinyxml2.cpp

examples/ExampleBrowser/premake4.lua

@@ -182,7 +182,7 @@ project "App_BulletExampleBrowser"
 		"../MultiBody/MultiBodyConstraintFeedback.cpp",
 		"../MultiBody/InvertedPendulumPDControl.cpp",
 		"../RigidBody/RigidBodySoftContact.cpp",
-		"../ThirdPartyLibs/stb_image/*",
+		"../ThirdPartyLibs/stb_image/stb_image.cpp",
 		"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
 		"../ThirdPartyLibs/BussIK/*",
 		"../GyroscopicDemo/GyroscopicSetup.cpp",

examples/OpenGLWindow/CMakeLists.txt

@@ -51,6 +51,7 @@ IF(BUILD_EGL)
     SET(OpenGLWindow_SRCS ${OpenGLWindow_SRCS}  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad/egl.c)
 ENDIF(BUILD_EGL)
 
+SET(OpenGLWindow_SRCS ${OpenGLWindow_SRCS}  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/stb_image/stb_image_write.cpp)
 
 
 ADD_LIBRARY(OpenGLWindow ${OpenGLWindow_SRCS} ${OpenGLWindow_HDRS})

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -80,6 +80,7 @@ float shadowMapWorldSize=10;
 #include "Shaders/linesVS.h"
 
 #include "GLRenderToTexture.h"
+#include "stb_image/stb_image_write.h"
 
 
 
@@ -1542,10 +1543,6 @@ void GLInstancingRenderer::updateCamera(int upAxis)
 
 
 
-#ifdef STB_AGAIN  // first defn in examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
-#define STB_IMAGE_WRITE_IMPLEMENTATION
-#endif  //STB_AGAIN
-#include "stb_image/stb_image_write.h"
 void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName, int numComponents)
 {
 

examples/OpenGLWindow/opengl_fontstashcallbacks.cpp

@@ -9,7 +9,6 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#define STB_IMAGE_WRITE_IMPLEMENTATION
 #include "stb_image/stb_image_write.h"
 
 

examples/OpenGLWindow/premake4.lua

@@ -25,9 +25,12 @@
 			"*.h",
 			"OpenGLWindow/*.c",
 			"OpenGLWindow/*.h",
-			"OpenGLWindow/GL/*.h"
+			"OpenGLWindow/GL/*.h",
+			"../ThirdPartyLibs/stb_image/stb_image_write.cpp",
 		}
 
+		
+		
 		if not os.is("Windows") then 
 			excludes {  
 				"Win32OpenGLWindow.cpp",

examples/SharedMemory/b3PluginManager.cpp

@@ -18,13 +18,13 @@
     #define B3_DYNLIB_IMPORT  GetProcAddress
 #else
     #include <dlfcn.h>
-    
+
     typedef void*                   B3_DYNLIB_HANDLE;
 
-#ifdef __APPLE__
-    #define B3_DYNLIB_OPEN(path)  dlopen(path, RTLD_NOW | RTLD_GLOBAL)
-#else
+#ifdef B3_USE_DLMOPEN
     #define B3_DYNLIB_OPEN(path)  dlmopen(LM_ID_NEWLM, path, RTLD_LAZY)
+#else
+    #define B3_DYNLIB_OPEN(path)  dlopen(path, RTLD_NOW | RTLD_GLOBAL)
 #endif
     #define B3_DYNLIB_CLOSE       dlclose
     #define B3_DYNLIB_IMPORT      dlsym
@@ -40,16 +40,16 @@ struct b3Plugin
 	PFN_INIT m_initFunc;
 	PFN_EXIT m_exitFunc;
 	PFN_EXECUTE m_executeCommandFunc;
-	
+
 	PFN_TICK m_preTickFunc;
 	PFN_TICK m_postTickFunc;
 	PFN_TICK m_processNotificationsFunc;
 	PFN_TICK m_processClientCommandsFunc;
 
 	PFN_GET_RENDER_INTERFACE m_getRendererFunc;
-	
+
 	void* m_userPointer;
-	
+
 	b3Plugin()
 		:m_pluginHandle(0),
 		m_ownsPluginHandle(false),
@@ -332,7 +332,7 @@ void b3PluginManager::tickPlugins(double timeStep, b3PluginManagerTickMode tickM
 		{
 			continue;
 		}
-		
+
 		PFN_TICK  tick = 0;
 		switch (tickMode)
 		{
@@ -355,7 +355,7 @@ void b3PluginManager::tickPlugins(double timeStep, b3PluginManagerTickMode tickM
 			{
 			}
 		}
-		
+
 		if (tick)
 		{
 			b3PluginContext context = { 0 };
@@ -437,7 +437,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 {
 
 	b3Plugin orgPlugin;
-	
+
 	int pluginUniqueId = m_data->m_plugins.allocHandle();
 	b3PluginHandle* pluginHandle = m_data->m_plugins.getHandle(pluginUniqueId);
 	pluginHandle->m_pluginHandle = 0;
@@ -453,7 +453,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 	pluginHandle->m_pluginHandle = 0;
 	pluginHandle->m_pluginPath = pluginPath;
 	pluginHandle->m_userPointer = 0;
-	
+
 
 	if (pluginHandle->m_processNotificationsFunc)
 	{

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/SharedMemory/grpc/proto/createProtobufs.sh

@@ -1,19 +1,15 @@
-rm ../pybullet.pb.cpp
-rm ../pybullet.pb.h
-rm ../pybullet.grpc.pb.cpp
-rm ../pybullet.grpc.pb.h
+rm pybullet.pb.cpp
+rm pybullet.pb.h
+rm pybullet.grpc.pb.cpp
+rm pybullet.grpc.pb.h
 
 protoc --proto_path=. --cpp_out=. pybullet.proto
 protoc --plugin=protoc-gen-grpc=`which grpc_cpp_plugin` --grpc_out=. pybullet.proto
-mv pybullet.grpc.pb.cc ../pybullet.grpc.pb.cpp
-mv pybullet.grpc.pb.h ../pybullet.grpc.pb.h
-mv pybullet.pb.cc ../pybullet.pb.cpp
-mv pybullet.pb.h ../pybullet.pb.h
+mv pybullet.grpc.pb.cc pybullet.grpc.pb.cpp
+mv pybullet.pb.cc pybullet.pb.cpp
 
-rm ../pybullet_pb2.py
-rm ../pybullet_pb2_grpc.py
+rm pybullet_pb2.py
+rm pybullet_pb2_grpc.py
 
 protoc --proto_path=. --python_out=. pybullet.proto
 python -m grpc_tools.protoc -I. --python_out=. --grpc_python_out=. pybullet.proto
-mv pybullet_pb2.py ../pybullet_pb2.py
-mv pybullet_pb2_grpc.py ../pybullet_pb2_grpc.py 

examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp

@@ -1,4 +1,12 @@
 
+#ifdef EGL_ADD_PYTHON_INIT
+#if defined(__APPLE__) && (!defined(B3_NO_PYTHON_FRAMEWORK))
+#include <Python/Python.h>
+#else
+#include <Python.h>
+#endif
+#endif //EGL_ADD_PYTHON_INIT
+
 //eglRenderer plugin
 
 //see Bullet/examples/pybullet/examples/eglRendererTest.py
@@ -52,3 +60,17 @@ B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugi
 	return &obj->m_renderer;
 }
 
+
+#ifdef EGL_ADD_PYTHON_INIT
+PyMODINIT_FUNC
+#if PY_MAJOR_VERSION >= 3
+PyInit_eglRenderer(void)
+#else
+initeglRenderer(void)
+#endif
+{
+#if PY_MAJOR_VERSION >= 3
+	return 0;
+#endif
+}
+#endif //EGL_ADD_PYTHON_INIT

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp

@@ -795,7 +795,7 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
                 // register mesh to m_instancingRenderer too.
                 
                 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);
+                double scaling[3]={1,1,1};
 				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();

examples/SharedMemory/plugins/eglPlugin/premake4.lua

@@ -6,7 +6,7 @@ project ("pybullet_eglRendererPlugin")
 		initEGL()
 		
 		includedirs {".","../../../../src", "../../../../examples",
-		"../../../ThirdPartyLibs", "../../examples/ThirdPartyLibs/glad"}
+		"../../../ThirdPartyLibs", "../../../ThirdPartyLibs/glad"}
 		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STB_AGAIN"}
 	hasCL = findOpenCL("clew")
 
@@ -25,7 +25,8 @@ project ("pybullet_eglRendererPlugin")
 	end
 
   if os.is("Linux") then
-  		files {"../../../ThirdPartyLibs/glad/glx.c",}
+	  files {"../../../OpenGLWindow/EGLOpenGLWindow.cpp"}
+
   end
 
 		files {

examples/SharedMemory/premake4.lua

@@ -98,7 +98,8 @@ myfiles =
 	"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",	
 	"../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
 	"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-	"../ThirdPartyLibs/stb_image/stb_image.cpp",     
+	"../ThirdPartyLibs/stb_image/stb_image.cpp",
+	"../ThirdPartyLibs/stb_image/stb_image_write.cpp",
 
 }
 

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/ThirdPartyLibs/stb_image/stb_image_write.cpp

@@ -0,0 +1,2 @@
+#define STB_IMAGE_WRITE_IMPLEMENTATION
+#include "stb_image_write.h"

examples/pybullet/CMakeLists.txt

@@ -73,6 +73,7 @@ SET(pybullet_SRCS
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
 		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
+		../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
 		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
 		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
 		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

examples/pybullet/examples/eglRenderTest.py

@@ -0,0 +1,47 @@
+
+import pybullet as p
+import time
+import pkgutil
+egl = pkgutil.get_loader('eglRenderer')
+
+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)
+
+p.setGravity(0,0,-10)
+p.loadURDF("plane.urdf",[0,0,-1])
+p.loadURDF("r2d2.urdf")
+
+pixelWidth = 320
+pixelHeight = 220
+camTargetPos = [0,0,0]
+camDistance = 4
+pitch = -10.0
+roll=0
+upAxisIndex = 2
+
+
+while (p.isConnected()):
+    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)

examples/pybullet/examples/testrender_egl.py

@@ -9,7 +9,7 @@ import numpy as np
 import matplotlib.pyplot as plt
 import pybullet
 import time
-
+import pkgutil
 
 plt.ion()
 
@@ -20,7 +20,9 @@ ax = plt.gca()
     
 pybullet.connect(pybullet.DIRECT)
 
-pybullet.loadPlugin("eglRendererPlugin")
+egl = pkgutil.get_loader('eglRenderer')
+
+pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
 pybullet.loadURDF("plane.urdf",[0,0,-1])
 pybullet.loadURDF("r2d2.urdf")
 
@@ -64,14 +66,14 @@ while (1):
     #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.)
+    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)
+    image.set_data(np_img_arr)
     ax.plot([0])
     #plt.draw()
     #plt.show()

examples/pybullet/premake4.lua

@@ -153,6 +153,7 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
 			"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
 			"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
+			"../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp",
 			"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",