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/ExampleBrowser/CMakeLists.txt

@@ -344,7 +344,7 @@ SET(BulletExampleBrowser_SRCS
 
 	../ThirdPartyLibs/stb_image/stb_image.cpp
 	../ThirdPartyLibs/stb_image/stb_image.h
-	
+	../ThirdPartyLibs/stb_image/stb_image_write.cpp
 	../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
 	
 	../ThirdPartyLibs/tinyxml2/tinyxml2.cpp

examples/ExampleBrowser/premake4.lua

@@ -182,7 +182,7 @@ project "App_BulletExampleBrowser"
 		"../MultiBody/MultiBodyConstraintFeedback.cpp",
 		"../MultiBody/InvertedPendulumPDControl.cpp",
 		"../RigidBody/RigidBodySoftContact.cpp",
-		"../ThirdPartyLibs/stb_image/*",
+		"../ThirdPartyLibs/stb_image/stb_image.cpp",
 		"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
 		"../ThirdPartyLibs/BussIK/*",
 		"../GyroscopicDemo/GyroscopicSetup.cpp",

examples/OpenGLWindow/CMakeLists.txt

@@ -51,6 +51,7 @@ IF(BUILD_EGL)
     SET(OpenGLWindow_SRCS ${OpenGLWindow_SRCS}  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad/egl.c)
 ENDIF(BUILD_EGL)
 
+SET(OpenGLWindow_SRCS ${OpenGLWindow_SRCS}  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/stb_image/stb_image_write.cpp)
 
 
 ADD_LIBRARY(OpenGLWindow ${OpenGLWindow_SRCS} ${OpenGLWindow_HDRS})

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -80,6 +80,7 @@ float shadowMapWorldSize=10;
 #include "Shaders/linesVS.h"
 
 #include "GLRenderToTexture.h"
+#include "stb_image/stb_image_write.h"
 
 
 
@@ -1542,10 +1543,6 @@ void GLInstancingRenderer::updateCamera(int upAxis)
 
 
 
-#ifdef STB_AGAIN  // first defn in examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
-#define STB_IMAGE_WRITE_IMPLEMENTATION
-#endif  //STB_AGAIN
-#include "stb_image/stb_image_write.h"
 void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName, int numComponents)
 {
 

examples/OpenGLWindow/opengl_fontstashcallbacks.cpp

@@ -9,7 +9,6 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#define STB_IMAGE_WRITE_IMPLEMENTATION
 #include "stb_image/stb_image_write.h"
 
 

examples/OpenGLWindow/premake4.lua

@@ -25,9 +25,12 @@
 			"*.h",
 			"OpenGLWindow/*.c",
 			"OpenGLWindow/*.h",
-			"OpenGLWindow/GL/*.h"
+			"OpenGLWindow/GL/*.h",
+			"../ThirdPartyLibs/stb_image/stb_image_write.cpp",
 		}
 
+		
+		
 		if not os.is("Windows") then 
 			excludes {  
 				"Win32OpenGLWindow.cpp",

examples/SharedMemory/b3PluginManager.cpp

@@ -18,13 +18,13 @@
     #define B3_DYNLIB_IMPORT  GetProcAddress
 #else
     #include <dlfcn.h>
-    
+
     typedef void*                   B3_DYNLIB_HANDLE;
 
-#ifdef __APPLE__
+#ifdef B3_USE_DLMOPEN
-    #define B3_DYNLIB_OPEN(path)  dlopen(path, RTLD_NOW | RTLD_GLOBAL)
-#else
     #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",
 
 }
 

examples/ThirdPartyLibs/stb_image/stb_image_write.cpp

@@ -0,0 +1,2 @@
+#define STB_IMAGE_WRITE_IMPLEMENTATION
+#include "stb_image_write.h"

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",

setup.py

@@ -1,14 +1,33 @@
 
-
 from setuptools import find_packages
 from sys import platform as _platform
 import sys
-import glob
+from glob import glob
 
 from distutils.core import setup
 from distutils.extension import Extension
 from distutils.util import get_platform
-from glob import glob
+
+
+# monkey-patch for parallel compilation
+import multiprocessing
+import multiprocessing.pool
+def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=None, debug=0, extra_preargs=None, extra_postargs=None, depends=None):
+    # those lines are copied from distutils.ccompiler.CCompiler directly
+    macros, objects, extra_postargs, pp_opts, build = self._setup_compile(output_dir, macros, include_dirs, sources, depends, extra_postargs)
+    cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
+    # parallel code
+    N = 2*multiprocessing.cpu_count()# number of parallel compilations
+    def _single_compile(obj):
+        try: src, ext = build[obj]
+        except KeyError: return
+        self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
+    # convert to list, imap is evaluated on-demand
+    list(multiprocessing.pool.ThreadPool(N).imap(_single_compile,objects))
+    return objects
+import distutils.ccompiler
+distutils.ccompiler.CCompiler.compile=parallelCCompile
+
 
 #see http://stackoverflow.com/a/8719066/295157
 import os
@@ -23,7 +42,7 @@ CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
 CXX_FLAGS += '-DBT_ENABLE_ENET '
 CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
 CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
-CXX_FLAGS += '-DSTATIC_EGLRENDERER_PLUGIN '
+CXX_FLAGS += '-DEGL_ADD_PYTHON_INIT '
 
 
 # libraries += [current_python]
@@ -50,8 +69,6 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/TinyRenderer/tgaimage.cpp"]\
 +["examples/TinyRenderer/our_gl.cpp"]\
 +["examples/TinyRenderer/TinyRenderer.cpp"]\
-+["examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp"]\
-+["examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp"]\
 +["examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp"]\
 +["examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp"]\
 +["examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp"]\
@@ -86,6 +103,7 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
 +["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
 +["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"]\
@@ -388,33 +406,93 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/ThirdPartyLibs/Gwen/Platforms/Windows.cpp"]\
 +["examples/ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.cpp"]\
 
+
+
+egl_renderer_sources = \
+["examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp"]\
++["examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp"]\
++["examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp"]\
++["examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp"]\
++["examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp"]\
++["examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp"]\
++["examples/TinyRenderer/geometry.cpp"]\
++["examples/TinyRenderer/model.cpp"]\
++["examples/TinyRenderer/tgaimage.cpp"]\
++["examples/TinyRenderer/our_gl.cpp"]\
++["examples/TinyRenderer/TinyRenderer.cpp"]\
++["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
++["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\
++["examples/ThirdPartyLibs/stb_image/stb_image_write.cpp"]\
++["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
++["examples/OpenGLWindow/SimpleCamera.cpp"]\
++["examples/Utils/b3Clock.cpp"]\
++["examples/Utils/b3ResourcePath.cpp"]\
++["src/BulletCollision/CollisionShapes/btShapeHull.cpp"]\
++["src/BulletCollision/CollisionShapes/btConvexHullShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btBoxShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btSphereShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btConvexShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btCollisionShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"]\
++["src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp"]\
++["src/Bullet3Common/b3Logging.cpp"]\
++["src/LinearMath/btAlignedAllocator.cpp"]\
++["src/LinearMath/btGeometryUtil.cpp"]\
++["src/LinearMath/btConvexHull.cpp"]\
++["src/LinearMath/btConvexHullComputer.cpp"]\
++["src/Bullet3Common/b3AlignedAllocator.cpp"] \
++["examples/ThirdPartyLibs/glad/gl.c"]\
++["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
++["examples/OpenGLWindow/GLRenderToTexture.cpp"] \
++["examples/OpenGLWindow/LoadShader.cpp"] \
++["src/LinearMath/btQuickprof.cpp"]
+
+
+
 if _platform == "linux" or _platform == "linux2":
-    libraries = ['dl','pthread']
+    libraries += ['dl','pthread']
     CXX_FLAGS += '-D_LINUX '
     CXX_FLAGS += '-DGLEW_STATIC '
     CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
     CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '
     CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
     CXX_FLAGS += '-DHAS_SOCKLEN_T '
+    CXX_FLAGS += '-fno-inline-functions-called-once '
+    CXX_FLAGS += '-fPIC '  # for plugins
     CXX_FLAGS += '-DBT_USE_EGL '
-    CXX_FLAGS += '-fno-inline-functions-called-once'
     sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
-    +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+    +["examples/ThirdPartyLibs/glad/gl.c"]
-    +["examples/ThirdPartyLibs/glad/gl.c"]\
+    
-    +["examples/ThirdPartyLibs/glad/glx.c"]\
-    +["examples/ThirdPartyLibs/glad/egl.c"]\
-    +["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]
-
     include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
+    if 'BT_USE_EGL' in CXX_FLAGS:
+        # linking with bullet's Glew libraries causes segfault
+        # for some reason.
+        sources += ['examples/ThirdPartyLibs/glad/egl.c']
+        sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
+        egl_renderer_sources = egl_renderer_sources\
+        +["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
+        +['examples/ThirdPartyLibs/glad/egl.c']
+    else:
+        sources = sources + ["examples/ThirdPartyLibs/glad/glx.c"]\
+        +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]
+        egl_renderer_sources = egl_renderer_sources\
+        +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+        +["examples/ThirdPartyLibs/glad/glx.c"]
+
 elif _platform == "win32":
     print("win32!")
-    libraries = ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
+    libraries += ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
     CXX_FLAGS += '-DWIN32 '
     CXX_FLAGS += '-DGLEW_STATIC '
     sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
     +["examples/OpenGLWindow/Win32Window.cpp"]\
     +["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]\
     +["examples/ThirdPartyLibs/glad/gl.c"]
+    egl_renderer_sources = egl_renderer_sources\
+    +["examples/ThirdPartyLibs/enet/win32.c"]\
+    +["examples/OpenGLWindow/Win32Window.cpp"]\
+    +["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]    
 elif _platform == "darwin":
     print("darwin!")
     os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
@@ -426,9 +504,12 @@ elif _platform == "darwin":
     +["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
     +["examples/ThirdPartyLibs/glad/gl.c"]\
     +["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
+    egl_renderer_sources = egl_renderer_sources\
+    +["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
+    +["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
 else:
     print("bsd!")
-    libraries = ['GL','GLEW','pthread']
+    libraries += ['GL','GLEW','pthread']
     os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
     CXX_FLAGS += '-D_BSD '
     CXX_FLAGS += '-I/usr/X11R6/include '
@@ -437,7 +518,13 @@ else:
     sources = ["examples/ThirdPartyLibs/enet/unix.c"]\
     +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
     +["examples/ThirdPartyLibs/glad/gl.c"]\
+    +["examples/ThirdPartyLibs/glad/glx.c"]\
     + sources
+    egl_renderer_sources = egl_renderer_sources\
+    +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+    +["examples/ThirdPartyLibs/glad/gl.c"]\
+    +["examples/ThirdPartyLibs/glad/glx.c"]
+
 
 setup_py_dir = os.path.dirname(os.path.realpath(__file__))
 
@@ -459,6 +546,16 @@ print("packages")
 print(find_packages('examples/pybullet/gym'))
 print("-----")
 
+
+
+eglRender = Extension("eglRenderer",
+        sources =  egl_renderer_sources,
+        libraries = libraries,
+        extra_compile_args=(CXX_FLAGS+'-DBT_USE_EGL  ').split(),
+        include_dirs = include_dirs + ["src","examples", "examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
+     )
+
+
 setup(
 	name = 'pybullet',
 	version='2.1.4',
@@ -469,8 +566,8 @@ setup(
 	author_email='erwincoumans@google.com',
 	license='zlib',
 	platforms='any',
-	keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl'],
+	keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'reinforcement learning', 'collision detection', 'opengl'],
-	ext_modules = [Extension("pybullet", 
+	ext_modules = [eglRender, Extension("pybullet",
 	sources =  sources,
 	libraries = libraries,
 	extra_compile_args=CXX_FLAGS.split(),

test/GwenOpenGLTest/OpenGLSample.cpp

@@ -356,7 +356,7 @@ int main()
 #ifndef _WIN32
     //we need glewExperimental on Linux
 #endif // _WIN32
-	gladLoadGLInternalLoader();
+		gladLoaderLoadGL();
 #endif
 #endif //B3_USE_GLFW
     //we ned to call glGetError twice, because of some Ubuntu/Intel/OpenGL issue

test/GwenOpenGLTest/premake4.lua

@@ -41,6 +41,7 @@
  		"../../examples/OpenGLWindow/opengl_fontstashcallbacks.h",
 		"../../examples/Utils/b3Clock.cpp",
 		"../../examples/Utils/b3Clock.h",
+		"../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp",
 		"**.cpp",
 		"**.h",
 	}