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/tinyRendererPlugin.cpp

@@ -0,0 +1,62 @@
+
+//tinyRenderer plugin
+
+/*
+import pybullet as p
+p.connect(p.GUI)
+pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
+commandUid = 0
+argument = "plane.urdf"
+p.executePluginCommand(pluginUid,commandUid,argument)
+p.unloadPlugin(pluginUid)
+*/
+
+#include "tinyRendererPlugin.h"
+#include "TinyRendererVisualShapeConverter.h"
+
+#include "../../SharedMemoryPublic.h"
+#include "../b3PluginContext.h"
+#include <stdio.h>
+
+
+
+struct MyRendererPluginClass
+{
+	
+	TinyRendererVisualShapeConverter m_renderer;
+	MyRendererPluginClass()
+	{
+	}
+	virtual ~MyRendererPluginClass()
+	{
+	}
+};
+
+B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = new MyRendererPluginClass();
+	context->m_userPointer = obj;
+	return SHARED_MEMORY_MAGIC_NUMBER;
+}
+
+
+B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+{
+		return -1;
+}
+
+
+B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = (MyRendererPluginClass*) 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)
+{
+	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	return &obj->m_renderer;
+}
+