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

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -1942,22 +1942,21 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
 	glUseProgram(0);
 }
 
-struct SortableTransparentInstance
+B3_ATTRIBUTE_ALIGNED16(struct) SortableTransparentInstance
 {
+	b3Scalar m_projection;
+
 	int m_shapeIndex;
 	int m_instanceId;
-	b3Vector3 m_centerPosition;
 };
 
-struct TransparentDistanceSortPredicate
+B3_ATTRIBUTE_ALIGNED16(struct) TransparentDistanceSortPredicate
 {
-	b3Vector3 m_camForwardVec;
 
 	inline bool operator() (const SortableTransparentInstance& a, const SortableTransparentInstance& b) const 
 	{
-		b3Scalar projA = a.m_centerPosition.dot(m_camForwardVec);
-		b3Scalar projB = b.m_centerPosition.dot(m_camForwardVec);
-		return (projA > projB);
+		
+		return (a.m_projection > b.m_projection);
 	}
 };
 
@@ -2152,13 +2151,18 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 	}
 	
 	b3AlignedObjectArray<SortableTransparentInstance> transparentInstances;
-	
 	{
 		int curOffset = 0;
 		//GLuint lastBindTexture = 0;
 
 		transparentInstances.reserve(totalNumInstances);
 
+		float fwd[3];
+		m_data->m_activeCamera->getCameraForwardVector(fwd);
+		b3Vector3 camForwardVec;
+		camForwardVec.setValue(fwd[0],fwd[1],fwd[2]);
+		
+		
 		for (int obj=0;obj<m_graphicsInstances.size();obj++)
 		{
 			b3GraphicsInstance* gfxObj = m_graphicsInstances[obj];
@@ -2172,19 +2176,24 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 				if ((gfxObj->m_flags&eGfxTransparency)==0)
 				{
 					inst.m_instanceId = curOffset;
-					inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
+					b3Vector3 centerPosition;
+					centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
 								m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
 								m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
-					inst.m_centerPosition *= -1;//reverse sort opaque instances
+					centerPosition *= -1;//reverse sort opaque instances
+					inst.m_projection = centerPosition.dot(camForwardVec);
 					transparentInstances.push_back(inst);
 				} else
 				{
 					for (int i=0;i<gfxObj->m_numGraphicsInstances;i++)
 					{
 						inst.m_instanceId = curOffset+i;
-						inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
+						b3Vector3 centerPosition;
+
+						centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
 										m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
 										m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
+						inst.m_projection = centerPosition.dot(camForwardVec);
 						transparentInstances.push_back(inst);
 					}
 				}
@@ -2192,10 +2201,9 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 			}
 		}
 		TransparentDistanceSortPredicate sorter;
-		float fwd[3];
-		m_data->m_activeCamera->getCameraForwardVector(fwd);
-		sorter.m_camForwardVec.setValue(fwd[0],fwd[1],fwd[2]);
+		
 		transparentInstances.quickSort(sorter);
+		
 	}
 
 	

examples/SharedMemory/b3PluginManager.cpp

@@ -78,7 +78,7 @@ typedef b3PoolBodyHandle<b3Plugin> b3PluginHandle;
 struct b3PluginManagerInternalData
 {
 	b3ResizablePool<b3PluginHandle> m_plugins;
-	b3HashMap<b3HashString, b3PluginHandle*> m_pluginMap;
+	b3HashMap<b3HashString, int> m_pluginMap;
 	PhysicsDirect* m_physicsDirect;
 	b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
 	b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
@@ -102,8 +102,12 @@ b3PluginManager::~b3PluginManager()
 {
 	while (m_data->m_pluginMap.size())
 	{
-		b3PluginHandle** plugin = m_data->m_pluginMap.getAtIndex(0);
-		unloadPlugin((*plugin)->m_pluginUniqueId);
+		int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(0);
+		if (pluginUidPtr)
+		{
+			int pluginUid = *pluginUidPtr;
+			unloadPlugin(*pluginUidPtr);
+		}
 	}
 	delete m_data->m_physicsDirect;
 	m_data->m_pluginMap.clear();
@@ -140,11 +144,11 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 {
 	int pluginUniqueId = -1;
 
-	b3PluginHandle** pluginOrgPtr = m_data->m_pluginMap.find(pluginPath);
-	if (pluginOrgPtr)
+	int* pluginUidPtr = m_data->m_pluginMap.find(pluginPath);
+	if (pluginUidPtr)
 	{
 		//already loaded
-		pluginUniqueId = (*pluginOrgPtr)->m_pluginUniqueId;
+		pluginUniqueId = *pluginUidPtr;
 	}
 	else
 	{
@@ -185,7 +189,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 					plugin->m_ownsPluginHandle = true;
 					plugin->m_pluginHandle = pluginHandle;
 					plugin->m_pluginPath = pluginPath;
-					m_data->m_pluginMap.insert(pluginPath, plugin);
+					m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
 				}
 				else
 				{
@@ -246,16 +250,19 @@ void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
 {
 	for (int i=0;i<m_data->m_pluginMap.size();i++)
 	{
-		b3PluginHandle** pluginPtr = m_data->m_pluginMap.getAtIndex(i);
+		int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(i);
 		b3PluginHandle* plugin = 0;
-		if (pluginPtr && *pluginPtr)
+
+		if (pluginUidPtr)
 		{
-			plugin = *pluginPtr;
+			int pluginUid = *pluginUidPtr;
+			plugin = m_data->m_plugins.getHandle(pluginUid);
 		}
 		else
 		{
 			continue;
 		}
+		
 		PFN_TICK  tick = isPreTick? plugin->m_preTickFunc : plugin->m_postTickFunc;
 		if (tick)
 		{
@@ -319,7 +326,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 	pluginHandle->m_userPointer = 0;
 	
 
-	m_data->m_pluginMap.insert(pluginPath, pluginHandle);
+	m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
 
 	{
 		b3PluginContext context;

examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_diverse_object_grasping.py

@@ -47,7 +47,7 @@ def main():
         print(obs)
         episode_rew = 0
         while not done:
-            env.render()
+            env.render(mode='human')
             act = policy.sample_action(obs, .1)
             print("Action")
             print(act)

examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py

@@ -17,7 +17,7 @@ import time
 import subprocess
 import pybullet as p
 import pybullet_data
-
+from pkg_resources import parse_version
 
 logger = logging.getLogger(__name__)
 
@@ -100,7 +100,8 @@ class CartPoleBulletEnv(gym.Env):
   def _render(self, mode='human', close=False):
       return
 
-  render = _render
-  reset = _reset
-  seed = _seed
-  step = _step
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py

@@ -14,6 +14,8 @@ import pybullet as p
 from . import kuka
 import random
 import pybullet_data
+from pkg_resources import parse_version
+
 maxSteps = 1000
 
 RENDER_HEIGHT = 720
@@ -254,7 +256,8 @@ class KukaCamGymEnv(gym.Env):
     #print(reward)
     return reward
 
-  render = _render
-  reset = _reset
-  seed = _seed
-  step = _step
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):  
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py

@@ -13,6 +13,7 @@ import pybullet as p
 from . import kuka
 import random
 import pybullet_data
+from pkg_resources import parse_version
 
 largeValObservation = 100
 
@@ -185,6 +186,7 @@ class KukaGymEnv(gym.Env):
   def _render(self, mode="rgb_array", close=False):
     if mode != "rgb_array":
       return np.array([])
+    
     base_pos,orn = self._p.getBasePositionAndOrientation(self._kuka.kukaUid)
     view_matrix = self._p.computeViewMatrixFromYawPitchRoll(
         cameraTargetPosition=base_pos,
@@ -199,7 +201,12 @@ class KukaGymEnv(gym.Env):
     (_, _, px, _, _) = self._p.getCameraImage(
         width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
         projectionMatrix=proj_matrix, renderer=self._p.ER_BULLET_HARDWARE_OPENGL)
-    rgb_array = np.array(px)
+        #renderer=self._p.ER_TINY_RENDERER)
+
+        
+    rgb_array = np.array(px, dtype=np.uint8)
+    rgb_array = np.reshape(rgb_array, (RENDER_WIDTH, RENDER_HEIGHT, 4))
+		
     rgb_array = rgb_array[:, :, :3]
     return rgb_array
 
@@ -276,7 +283,8 @@ class KukaGymEnv(gym.Env):
     #print(reward)
     return reward
 
-  render = _render
-  reset = _reset
-  seed = _seed
-  step = _step
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py

@@ -10,7 +10,8 @@ import pybullet_data
 import pdb
 import distutils.dir_util
 import glob
-
+from pkg_resources import parse_version
+import gym
 
 class KukaDiverseObjectEnv(KukaGymEnv):
   """Class for Kuka environment with diverse objects.
@@ -323,4 +324,10 @@ class KukaDiverseObjectEnv(KukaGymEnv):
     selected_objects_filenames = []
     for object_index in selected_objects:
       selected_objects_filenames += [found_object_directories[object_index]]
-    return selected_objects_filenames
+    return selected_objects_filenames
+  
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    
+    reset = _reset
+    
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py

@@ -20,6 +20,7 @@ from . import minitaur
 import os
 import pybullet_data
 from . import minitaur_env_randomizer
+from pkg_resources import parse_version
 
 NUM_SUBSTEPS = 5
 NUM_MOTORS = 8
@@ -377,7 +378,8 @@ class MinitaurBulletEnv(gym.Env):
                       self.minitaur.GetObservationUpperBound())
     return observation
 
-  render = _render
-  reset = _reset
-  seed = _seed
-  step = _step
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py

@@ -14,6 +14,7 @@ from . import racecar
 import random
 from . import bullet_client
 import pybullet_data
+from pkg_resources import parse_version
 
 RENDER_HEIGHT = 720
 RENDER_WIDTH = 960
@@ -175,7 +176,8 @@ class RacecarGymEnv(gym.Env):
       #print(reward)
     return reward
 
-  render = _render
-  reset = _reset
-  seed = _seed
-  step = _step
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py

@@ -14,6 +14,7 @@ from . import bullet_client
 from . import racecar
 import random
 import pybullet_data
+from pkg_resources import parse_version
 
 RENDER_HEIGHT = 720
 RENDER_WIDTH = 960
@@ -190,7 +191,8 @@ class RacecarZEDGymEnv(gym.Env):
       #print(reward)
     return reward
 
-  render = _render
-  reset = _reset
-  seed = _seed
-  step = _step
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py

@@ -12,7 +12,7 @@ import time
 import pybullet as p
 from . import simpleHumanoid
 import random
-
+from pkg_resources import parse_version
 
 import pybullet_data
 
@@ -110,7 +110,8 @@ class SimpleHumanoidGymEnv(gym.Env):
     print(reward)
     return reward
 
-  render = _render
-  reset = _reset
-  seed = _seed
-  step = _step
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -1,7 +1,7 @@
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
 import pybullet as p
-
+from pkg_resources import parse_version
 
 class MJCFBaseBulletEnv(gym.Env):
 	"""
@@ -115,10 +115,11 @@ class MJCFBaseBulletEnv(gym.Env):
 	def step(self, *args, **kwargs):
 		return self._step(*args, **kwargs)
 
-	close = _close
-	render = _render
-	reset = _reset
-	seed = _seed
+	if parse_version(gym.__version__)>=parse_version('0.9.6'):
+		close = _close
+		render = _render
+		reset = _reset
+		seed = _seed
 
 
 class Camera:

examples/pybullet/gym/pybullet_envs/examples/minitaur_gym_env_example.py

@@ -1,6 +1,12 @@
 r"""An example to run of the minitaur gym environment with sine gaits.
 """
 
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
 import math
 import numpy as np
 from pybullet_envs.bullet import minitaur_gym_env

examples/pybullet/gym/pybullet_envs/examples/testBike.py

@@ -1,3 +1,9 @@
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
 import pybullet as p
 import math
 import time