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/pybullet/CMakeLists.txt

@@ -73,6 +73,7 @@ SET(pybullet_SRCS
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
 		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
+		../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
 		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
 		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
 		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

examples/pybullet/examples/eglRenderTest.py

@@ -0,0 +1,40 @@
+
+import pybullet as p
+import time
+import pkgutil
+egl = pkgutil.get_loader('eglRenderer')
+
+p.connect(p.SHARED_MEMORY_SERVER)
+
+plugin = p.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
+print("plugin=",plugin)
+	
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
+
+p.setGravity(0,0,-10)
+p.loadURDF("plane.urdf",[0,0,-1])
+p.loadURDF("r2d2.urdf")
+
+pixelWidth = 320
+pixelHeight = 220
+camTargetPos = [0,0,0]
+camDistance = 4
+pitch = -10.0
+roll=0
+upAxisIndex = 2
+
+
+while (p.isConnected()):
+	
+	for yaw in range (0,360,10) :
+		p.stepSimulation()
+		#viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
+		viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
+		projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]
+		img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix=viewMatrix, projectionMatrix=projectionMatrix, shadow=1,lightDirection=[1,1,1])
+		#time.sleep(.1)
+		#print("img_arr=",img_arr)
+	
+	
+p.unloadPlugin(plugin)

examples/pybullet/examples/testrender_egl.py

@@ -9,7 +9,7 @@ import numpy as np
 import matplotlib.pyplot as plt
 import pybullet
 import time
-
+import pkgutil
 
 plt.ion()
 
@@ -20,7 +20,9 @@ ax = plt.gca()
     
 pybullet.connect(pybullet.DIRECT)
 
-pybullet.loadPlugin("eglRendererPlugin")
+egl = pkgutil.get_loader('eglRenderer')
+
+pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
 pybullet.loadURDF("plane.urdf",[0,0,-1])
 pybullet.loadURDF("r2d2.urdf")
 

examples/pybullet/premake4.lua

@@ -153,6 +153,7 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
 			"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
 			"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
+			"../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp",
 			"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",