Merge pull request #2501 from erwincoumans/master

bump up pybullet version, fix old examples

examples/MultiThreading/MultiThreadingExample.cpp

@@ -29,6 +29,7 @@ void SamplelsMemoryReleaseFunc(void* ptr);
 #ifndef _WIN32
 #include "b3PosixThreadSupport.h"
 
+
 b3ThreadSupportInterface* createThreadSupport(int numThreads)
 {
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",

examples/MultiThreading/main.cpp

@@ -22,7 +22,7 @@ subject to the following restrictions:
 
 void SampleThreadFunc(void* userPtr, void* lsMemory);
 void* SamplelsMemoryFunc();
-
+void SamplelsMemoryReleaseFunc(void* ptr);
 #include <stdio.h>
 //#include "BulletMultiThreaded/PlatformDefinitions.h"
 
@@ -34,6 +34,7 @@ b3ThreadSupportInterface* createThreadSupport(int numThreads)
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
 																  SampleThreadFunc,
 																  SamplelsMemoryFunc,
+SamplelsMemoryReleaseFunc,
 																  numThreads);
 	b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
 
@@ -99,6 +100,13 @@ void* SamplelsMemoryFunc()
 	return new SampleThreadLocalStorage;
 }
 
+void SamplelsMemoryReleaseFunc(void* ptr)
+{
+        SampleThreadLocalStorage* p = (SampleThreadLocalStorage*)ptr;
+        delete p;
+}
+
+
 int main(int argc, char** argv)
 {
 	int numThreads = 8;

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -404,7 +404,7 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle
 	return 0;
 }
 
-B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
+B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
 	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);

examples/SharedMemory/PhysicsClientC_API.h

@@ -640,7 +640,7 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
 	B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
 	B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
-	B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
+	B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
     B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
 	B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
 	B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings);

examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py

@@ -807,7 +807,10 @@ class HumanoidStablePD(object):
     rootPosSim, rootOrnSim = self._pybullet_client.getBasePositionAndOrientation(self._sim_model)
     rootPosKin, rootOrnKin = self._pybullet_client.getBasePositionAndOrientation(self._kin_model)
     linVelSim, angVelSim = self._pybullet_client.getBaseVelocity(self._sim_model)
-    linVelKin, angVelKin = self._pybullet_client.getBaseVelocity(self._kin_model)
+    #don't read the velocities from the kinematic model (they are zero), use the pose interpolator velocity
+    #see also issue https://github.com/bulletphysics/bullet3/issues/2401 
+    linVelKin = self._poseInterpolator._baseLinVel
+    angVelKin = self._poseInterpolator._baseAngVel
 
     root_rot_err = self.calcRootRotDiff(rootOrnSim, rootOrnKin)
     pose_err += root_rot_w * root_rot_err

setup.py

@@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
     name='pybullet',
-    version='2.5.7',
+    version='2.5.8',
     description=
     'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
     long_description=