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/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h

@@ -0,0 +1,61 @@
+#ifndef TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
+#define TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
+
+#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
+
+struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
+{
+	
+	struct TinyRendererVisualShapeConverterInternalData* m_data;
+	
+	TinyRendererVisualShapeConverter();
+	
+	virtual ~TinyRendererVisualShapeConverter();
+	
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
+	
+	virtual int getNumVisualShapes(int bodyUniqueId);
+
+	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
+	
+	virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4]);
+
+	virtual void removeVisualShape(int shapeUid);
+
+	virtual void setUpAxis(int axis);
+	
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
+	
+	virtual void clearBuffers(struct TGAColor& clearColor);
+
+	virtual void resetAll();
+
+	virtual void getWidthAndHeight(int& width, int& height);
+	virtual void setWidthAndHeight(int width, int height);
+	virtual void setLightDirection(float x, float y, float z);
+	virtual void setLightColor(float x, float y, float z);
+	virtual void setLightDistance(float dist);
+	virtual void setLightAmbientCoeff(float ambientCoeff);
+	virtual void setLightDiffuseCoeff(float diffuseCoeff);
+	virtual void setLightSpecularCoeff(float specularCoeff);
+	virtual void setShadow(bool hasShadow);
+	virtual void setFlags(int flags);
+
+	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
+    
+	virtual void render();
+	virtual void render(const float viewMat[16], const float projMat[16]);
+    
+	virtual int loadTextureFile(const char* filename);
+	virtual int registerTexture(unsigned char* texels, int width, int height);
+   
+	virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
+
+	virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
+
+};
+
+
+
+
+#endif //TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H