pybullet, use eglPlugin statically instead of dynamic loading an Extension -DSTATIC_EGLRENDERER_PLUGIN

Fix compile errors of pybullet on Windows.

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -4,6 +4,11 @@
 #include "ShapeData.h"
 
 
+#ifdef BT_USE_EGL
+#include "EGLOpenGLWindow.h"
+#else
+#endif //BT_USE_EGL
+
 #ifdef B3_USE_GLFW
 #include "GLFWOpenGLWindow.h"
 #else
@@ -19,10 +24,6 @@
 //let's cross the fingers it is Linux/X11
 #include "X11OpenGLWindow.h"
 #define BT_USE_X11  // for runtime backend selection, move to build?
-#ifdef BT_USE_EGL
-#include "EGLOpenGLWindow.h"
-#else
-#endif //BT_USE_EGL
 #endif //_WIN32
 #endif//__APPLE__
 #endif //B3_USE_GLFW

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -68,6 +68,11 @@
 #endif
 
 
+#ifdef STATIC_EGLRENDERER_PLUGIN
+#include "plugins/eglPlugin/eglRendererPlugin.h"
+#endif//STATIC_EGLRENDERER_PLUGIN
+
+
 #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
 #include "plugins/tinyRendererPlugin/tinyRendererPlugin.h"
 #endif
@@ -1709,10 +1714,20 @@ struct PhysicsServerCommandProcessorInternalData
 	}
 #endif //ENABLE_STATIC_GRPC_PLUGIN
 
+#ifdef STATIC_EGLRENDERER_PLUGIN
+{
+		int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin,0,0,getRenderInterface_eglRendererPlugin,0);
+		m_pluginManager.selectPluginRenderer(renderPluginId);
+}
+#endif//STATIC_EGLRENDERER_PLUGIN
+
+
 
 #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
+	{
 			int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin,0);
 			m_pluginManager.selectPluginRenderer(renderPluginId);
+	}
 #endif
 		}
 

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp

@@ -13,10 +13,6 @@ subject to the following restrictions:
 
 
 #include "eglRendererVisualShapeConverter.h"
-
-
-
-
 #include "../Importers/ImportURDFDemo/URDFImporterInterface.h"
 #include "btBulletCollisionCommon.h"
 #include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
@@ -251,7 +247,8 @@ void EGLRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
     m_data->m_hasLightSpecularCoeff = true;
 }
 
-void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
+///todo: merge into single file with TinyRendererVisualShapeConverter
+static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut)
 {
 
 	visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
@@ -737,8 +734,8 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
             visualShape.m_rgbaColor[2] = rgbaColor[2];
             visualShape.m_rgbaColor[3] = rgbaColor[3];
             {
-                    B3_PROFILE("convertURDFToVisualShape");
+                    B3_PROFILE("convertURDFToVisualShape2");
-                    convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
+                    convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
             }
             m_data->m_visualShapes.push_back(visualShape);
 

setup.py

@@ -42,9 +42,11 @@ 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 ' #comment to disable static egl plugin
 CXX_FLAGS += '-DBT_USE_EGL '  # uncomment for EGL (old EGL versions fail)
 
 
+
 # libraries += [current_python]
 
 libraries = []
@@ -405,6 +407,12 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/ThirdPartyLibs/Gwen/Platforms/Windows.cpp"]\
 +["examples/ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.cpp"]\
 
+
+if 'STATIC_EGLRENDERER_PLUGIN' in CXX_FLAGS:
+    sources += ['examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp']\
+    + ['examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp']
+
+
 if _platform == "linux" or _platform == "linux2":
     libraries += ['dl','pthread']
     CXX_FLAGS += '-D_LINUX '
@@ -413,8 +421,7 @@ if _platform == "linux" or _platform == "linux2":
     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 += '-fno-inline-functions-called-once'
-    CXX_FLAGS += '-fPIC '  # for plugins
     sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
     +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
     +["examples/ThirdPartyLibs/glad/gl.c"]\
@@ -430,6 +437,7 @@ elif _platform == "win32":
     print("win32!")
     libraries += ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
     CXX_FLAGS += '-DWIN32 '
+    CXX_FLAGS += '-D_WIN32 '
     CXX_FLAGS += '-DGLEW_STATIC '
     sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
     +["examples/OpenGLWindow/Win32Window.cpp"]\
@@ -480,56 +488,6 @@ print("packages")
 print(find_packages('examples/pybullet/gym'))
 print("-----")
 
-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/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/ThirdPartyLibs/glad/egl.c'] \
-+["examples/ThirdPartyLibs/glad/glx.c"] \
-+["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
-+["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
-+["examples/OpenGLWindow/GLRenderToTexture.cpp"] \
-+["examples/OpenGLWindow/LoadShader.cpp"] \
-+["src/LinearMath/btQuickprof.cpp"] \
-
-eglRender = Extension("eglRenderer",
-        sources =  egl_renderer_sources,
-        libraries = libraries,
-        extra_compile_args=(CXX_FLAGS+'-DBT_USE_EGL -DSTB_AGAIN -DB3_DEBUG').split(),
-        include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
-     )
-
-
 setup(
 	name = 'pybullet',
 	version='2.1.4',
@@ -541,7 +499,7 @@ setup(
 	license='zlib',
 	platforms='any',
 	keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl'],
-        ext_modules = [eglRender, Extension("pybullet",
+	ext_modules = [Extension("pybullet", 
 	sources =  sources,
 	libraries = libraries,
 	extra_compile_args=CXX_FLAGS.split(),