move stb_image/stb_image_write.cpp into a cpp file instead of random files with the magic 'STB_IMAGE_WRITE_IMPLEMENTATION' define

move setup.py back to eglRenderer extension, use pkgutil.get_loader('eglRenderer').get_filename()
disable dlmopen by default, unless B3_USE_DLMOPEN is defined.

examples/SharedMemory/b3PluginManager.cpp

@@ -18,13 +18,13 @@
     #define B3_DYNLIB_IMPORT  GetProcAddress
 #else
     #include <dlfcn.h>
-    
+
     typedef void*                   B3_DYNLIB_HANDLE;
 
-#ifdef __APPLE__
-    #define B3_DYNLIB_OPEN(path)  dlopen(path, RTLD_NOW | RTLD_GLOBAL)
-#else
+#ifdef B3_USE_DLMOPEN
     #define B3_DYNLIB_OPEN(path)  dlmopen(LM_ID_NEWLM, path, RTLD_LAZY)
+#else
+    #define B3_DYNLIB_OPEN(path)  dlopen(path, RTLD_NOW | RTLD_GLOBAL)
 #endif
     #define B3_DYNLIB_CLOSE       dlclose
     #define B3_DYNLIB_IMPORT      dlsym
@@ -40,16 +40,16 @@ struct b3Plugin
 	PFN_INIT m_initFunc;
 	PFN_EXIT m_exitFunc;
 	PFN_EXECUTE m_executeCommandFunc;
-	
+
 	PFN_TICK m_preTickFunc;
 	PFN_TICK m_postTickFunc;
 	PFN_TICK m_processNotificationsFunc;
 	PFN_TICK m_processClientCommandsFunc;
 
 	PFN_GET_RENDER_INTERFACE m_getRendererFunc;
-	
+
 	void* m_userPointer;
-	
+
 	b3Plugin()
 		:m_pluginHandle(0),
 		m_ownsPluginHandle(false),
@@ -332,7 +332,7 @@ void b3PluginManager::tickPlugins(double timeStep, b3PluginManagerTickMode tickM
 		{
 			continue;
 		}
-		
+
 		PFN_TICK  tick = 0;
 		switch (tickMode)
 		{
@@ -355,7 +355,7 @@ void b3PluginManager::tickPlugins(double timeStep, b3PluginManagerTickMode tickM
 			{
 			}
 		}
-		
+
 		if (tick)
 		{
 			b3PluginContext context = { 0 };
@@ -437,7 +437,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 {
 
 	b3Plugin orgPlugin;
-	
+
 	int pluginUniqueId = m_data->m_plugins.allocHandle();
 	b3PluginHandle* pluginHandle = m_data->m_plugins.getHandle(pluginUniqueId);
 	pluginHandle->m_pluginHandle = 0;
@@ -453,7 +453,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 	pluginHandle->m_pluginHandle = 0;
 	pluginHandle->m_pluginPath = pluginPath;
 	pluginHandle->m_userPointer = 0;
-	
+
 
 	if (pluginHandle->m_processNotificationsFunc)
 	{

examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp

@@ -1,4 +1,12 @@
 
+#ifdef EGL_ADD_PYTHON_INIT
+#if defined(__APPLE__) && (!defined(B3_NO_PYTHON_FRAMEWORK))
+#include <Python/Python.h>
+#else
+#include <Python.h>
+#endif
+#endif //EGL_ADD_PYTHON_INIT
+
 //eglRenderer plugin
 
 //see Bullet/examples/pybullet/examples/eglRendererTest.py
@@ -52,3 +60,15 @@ B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugi
 	return &obj->m_renderer;
 }
 
+
+#ifdef EGL_ADD_PYTHON_INIT
+PyMODINIT_FUNC
+#if PY_MAJOR_VERSION >= 3
+PyInit_eglRenderer(void)
+#else
+initeglRenderer(void)
+#endif
+{
+	return 0;
+}
+#endif //EGL_ADD_PYTHON_INIT

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp

@@ -795,7 +795,7 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
                 // register mesh to m_instancingRenderer too.
                 
                 int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES, textureIndex);
-                btVector3 scaling(1,1,1);
+                double scaling[3]={1,1,1};
 				visuals->m_graphicsInstanceId = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0],scaling);
 	
                 m_data->m_instancingRenderer->writeTransforms();

examples/SharedMemory/plugins/eglPlugin/premake4.lua

@@ -6,7 +6,7 @@ project ("pybullet_eglRendererPlugin")
 		initEGL()
 		
 		includedirs {".","../../../../src", "../../../../examples",
-		"../../../ThirdPartyLibs", "../../examples/ThirdPartyLibs/glad"}
+		"../../../ThirdPartyLibs", "../../../ThirdPartyLibs/glad"}
 		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STB_AGAIN"}
 	hasCL = findOpenCL("clew")
 
@@ -25,7 +25,8 @@ project ("pybullet_eglRendererPlugin")
 	end
 
   if os.is("Linux") then
-  		files {"../../../ThirdPartyLibs/glad/glx.c",}
+	  files {"../../../OpenGLWindow/EGLOpenGLWindow.cpp"}
+
   end
 
 		files {

examples/SharedMemory/premake4.lua

@@ -98,7 +98,8 @@ myfiles =
 	"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",	
 	"../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
 	"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-	"../ThirdPartyLibs/stb_image/stb_image.cpp",     
+	"../ThirdPartyLibs/stb_image/stb_image.cpp",
+	"../ThirdPartyLibs/stb_image/stb_image_write.cpp",
 
 }