PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.

examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h

@@ -0,0 +1,54 @@
+#ifndef URDF_RENDERING_INTERFACE_H
+#define URDF_RENDERING_INTERFACE_H
+
+struct UrdfLink;
+struct UrdfModel;
+class btTransform;
+
+
+struct UrdfRenderingInterface
+{
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0;
+	
+	virtual void removeVisualShape(int shapeUid)=0;
+
+	virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
+
+	virtual int getNumVisualShapes(int bodyUniqueId)=0;
+
+	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
+	
+	virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0;
+
+	virtual void setUpAxis(int axis)=0;
+	
+    virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
+	
+    virtual void clearBuffers(struct TGAColor& clearColor)=0;
+
+	virtual void resetAll()=0;
+
+    virtual void getWidthAndHeight(int& width, int& height)=0;
+	virtual void setWidthAndHeight(int width, int height)=0;
+	virtual void setLightDirection(float x, float y, float z)=0;
+    virtual void setLightColor(float x, float y, float z)=0;
+    virtual void setLightDistance(float dist)=0;
+    virtual void setLightAmbientCoeff(float ambientCoeff)=0;
+    virtual void setLightDiffuseCoeff(float diffuseCoeff)=0;
+    virtual void setLightSpecularCoeff(float specularCoeff)=0;
+    virtual void setShadow(bool hasShadow)=0;
+	virtual void setFlags(int flags)=0;
+
+    virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)=0;
+    
+	virtual void render()=0;
+	virtual void render(const float viewMat[16], const float projMat[16])=0;
+    
+    virtual int loadTextureFile(const char* filename)=0;
+    virtual int registerTexture(unsigned char* texels, int width, int height)=0;
+   
+    virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
+
+};
+
+#endif //LINK_VISUAL_SHAPES_CONVERTER_H