Merge pull request #1942 from erwincoumans/master

add missing file in MANIFEST.in,  fix potential memory leak in InMemoryFileIO, bump up PyBullet version

MANIFEST.in

@@ -8,5 +8,6 @@ recursive-include src *.hpp
 recursive-include examples/pybullet/gym *.*
 include examples/ThirdPartyLibs/enet/unix.c
 include examples/OpenGLWindow/*.*
+recursive-include examples/SharedMemory/plugins *.*
 recursive-include examples/ThirdPartyLibs/glad *.*
 include examples/ThirdPartyLibs/enet/win32.c

build3/premake4.lua

@@ -399,8 +399,8 @@ end
 		else
 			xcodebuildsettings
 			{
-				'ARCHS = "$(ARCHS_STANDARD_32_BIT) $(ARCHS_STANDARD_64_BIT)"',
+				'ARCHS = "$(ARCHS_STANDARD_64_BIT)"',
-				'VALID_ARCHS = "x86_64 i386"',
+				'VALID_ARCHS = "x86_64"',
 --			'SDKROOT = "macosx10.9"',
 			}
 		end

examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp

@@ -1,5 +1,3 @@
-
-
 #include "fileIOPlugin.h"
 #include "../../SharedMemoryPublic.h"
 #include "../b3PluginContext.h"
@@ -46,9 +44,14 @@ struct InMemoryFileIO : public CommonFileIOInterface
 {
 	b3HashMap<b3HashString,InMemoryFile*> m_fileCache;
 	InMemoryFileAccessor m_fileHandles[B3_MAX_FILEIO_INTERFACES];
+	int m_numAllocs;
+	int m_numFrees;
 
 	InMemoryFileIO()
 	{
+		m_numAllocs=0;
+		m_numFrees=0;
+
 		for (int i=0;i<B3_FILEIO_MAX_FILES;i++)
 		{
 			m_fileHandles[i].m_curPos = 0;
@@ -59,8 +62,11 @@ struct InMemoryFileIO : public CommonFileIOInterface
 	virtual ~InMemoryFileIO()
 	{
 		clearCache();
+		if (m_numAllocs != m_numFrees)
+		{
+			printf("Error: InMemoryFile::~InMemoryFileIO (numAllocs %d numFrees %d\n", m_numAllocs, m_numFrees);
+		}
 	}
-
 	void clearCache()
 	{
 		for (int i=0;i<m_fileCache.size();i++)
@@ -70,7 +76,9 @@ struct InMemoryFileIO : public CommonFileIOInterface
 			{
 				InMemoryFile* mem = *memPtr;
 				freeBuffer(mem->m_buffer);
+				m_numFrees++;
 				delete (mem);
+				m_numFrees++;
 			}
 		}
 	}
@@ -80,6 +88,7 @@ struct InMemoryFileIO : public CommonFileIOInterface
 		char* buffer = 0;
 		if (len)
 		{
+			m_numAllocs++;
 			buffer = new char[len];
 		}
 		return buffer;
@@ -92,6 +101,7 @@ struct InMemoryFileIO : public CommonFileIOInterface
 
 	virtual int registerFile(const char* fileName, char* buffer, int len)
 	{
+		m_numAllocs++;
 		InMemoryFile* f = new InMemoryFile();
 		f->m_buffer = buffer;
 		f->m_fileSize = len;
@@ -227,7 +237,6 @@ struct InMemoryFileIO : public CommonFileIOInterface
 					}
 					if (c && c!='\n')
 					{
-						char a='\r';
 						if (c!=13)
 						{
 							destBuffer[numRead++]=c;
@@ -347,8 +356,12 @@ struct WrapperFileIO : public CommonFileIOInterface
 		if (slot>=0)
 		{
 			//first check the cache
-			int childHandle = m_cachedFiles.fileOpen(fileName, mode);
+			int cacheHandle = m_cachedFiles.fileOpen(fileName, mode);
-			if (childHandle<0)
+			if (cacheHandle>=0)
+			{
+				m_cachedFiles.fileClose(cacheHandle);
+			}
+			if (cacheHandle<0)
 			{
 				for (int i=0;i<B3_MAX_FILEIO_INTERFACES;i++)
 				{
@@ -444,7 +457,6 @@ struct WrapperFileIO : public CommonFileIOInterface
 	}
 	virtual void fileClose(int fileHandle)
 	{
-		int fileReadResult=-1;
 		if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
 		{
 			if (m_wrapperFileHandles[fileHandle].childFileIO)
@@ -477,7 +489,6 @@ struct WrapperFileIO : public CommonFileIOInterface
 	{
 		char* result = 0;
 
-		int fileReadResult=-1;
 		if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
 		{
 			if (m_wrapperFileHandles[fileHandle].childFileIO)
@@ -493,7 +504,6 @@ struct WrapperFileIO : public CommonFileIOInterface
 	{
 		int numBytes = 0;
 
-		int fileReadResult=-1;
 		if (fileHandle>=0 && fileHandle<B3_MAX_FILEIO_INTERFACES)
 		{
 			if (m_wrapperFileHandles[fileHandle].childFileIO)
@@ -589,8 +599,7 @@ B3_SHARED_API int executePluginCommand_fileIOPlugin(struct b3PluginContext* cont
 					case eCNSFileIO:
 					{
 #ifdef B3_USE_CNS_FILEIO
-						B3_USE_ZIPFILE_FILEIO
+						if (strlen(arguments->m_text))
-						if (arguments->m_text)
 						{
 							obj->m_fileIO.addFileIOInterface(new CNSFileIO(arguments->m_text));
 						}

setup.py

@@ -581,7 +581,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
 	name = 'pybullet',
-	version='2.3.0',
+	version='2.3.2',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -1711,7 +1711,7 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link,
 												 const btVector3 &normal_ang,
 												 const btVector3 &normal_lin,
 												 btScalar *jac,
-												 btAlignedObjectArray<btScalar> &scratch_r,
+												 btAlignedObjectArray<btScalar> &scratch_r1,
 												 btAlignedObjectArray<btVector3> &scratch_v,
 												 btAlignedObjectArray<btMatrix3x3> &scratch_m) const
 {
@@ -1730,9 +1730,20 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link,
 	v_ptr += num_links + 1;
 	btAssert(v_ptr - &scratch_v[0] == scratch_v.size());
 
-	scratch_r.resize(m_dofCount);
+	//scratch_r.resize(m_dofCount);
-	btScalar *results = m_dofCount > 0 ? &scratch_r[0] : 0;
+	//btScalar *results = m_dofCount > 0 ? &scratch_r[0] : 0;
 
+    scratch_r1.resize(m_dofCount+num_links);
+    btScalar * results = m_dofCount > 0 ? &scratch_r1[0] : 0;
+    btScalar* links = num_links? &scratch_r1[m_dofCount] : 0;
+    int numLinksChildToRoot=0;
+    int l = link;
+    while (l != -1)
+    {
+        links[numLinksChildToRoot++]=l;
+        l = m_links[l].m_parent;
+    }
+    
 	btMatrix3x3 *rot_from_world = &scratch_m[0];
 
 	const btVector3 p_minus_com_world = contact_point - m_basePos;
@@ -1766,14 +1777,14 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link,
 	// Qdot coefficients, if necessary.
 	if (num_links > 0 && link > -1)
 	{
-		// TODO: speed this up -- don't calculate for m_links we don't need.
+        // TODO: (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions,
-		// (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions,
 		// which is resulting in repeated work being done...)
 
 		// calculate required normals & positions in the local frames.
-		for (int i = 0; i < num_links; ++i)
+        for (int a = 0; a < numLinksChildToRoot; a++)
-		{
+        {
-			// transform to local frame
+            int i = links[numLinksChildToRoot-1-a];
+        	// transform to local frame
 			const int parent = m_links[i].m_parent;
 			const btMatrix3x3 mtx(m_links[i].m_cachedRotParentToThis);
 			rot_from_world[i + 1] = mtx * rot_from_world[parent + 1];