Merge pull request #1886 from erwincoumans/master

pybullet, fix single step synchronous rendering, add missing files in pip version 2.1.8

MANIFEST.in

@@ -7,11 +7,6 @@ recursive-include src *.h
 recursive-include src *.hpp
 recursive-include examples/pybullet/gym *.*
 include examples/ThirdPartyLibs/enet/unix.c
-include examples/OpenGLWindow/X11OpenGLWindow.cpp
+include examples/OpenGLWindow/*.cpp
 recursive-include examples/ThirdPartyLibs/glad *.*
 include examples/ThirdPartyLibs/enet/win32.c
-include examples/OpenGLWindow/Win32Window.cpp
-include examples/OpenGLWindow/Win32OpenGLWindow.cpp
-include examples/ThirdPartyLibs/Glew/glew.c
-include examples/OpenGLWindow/MacOpenGLWindow.cpp
-include examples/OpenGLWindow/MacOpenGLWindowObjC.m

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -393,7 +393,15 @@ void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
 
 	if (flag == COV_ENABLE_SINGLE_STEP_RENDERING)
     {
-        singleStepSimulation = true;
+		if (enable)
+		{
+			gEnableRenderLoop = false;
+			singleStepSimulation = true;
+		} else
+		{
+			gEnableRenderLoop = true;
+			singleStepSimulation = false;
+		}
     }
 
 
@@ -1235,7 +1243,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 {
     b3ChromeUtilsEnableProfiling();
 
-    if (!gEnableRenderLoop)
+    if (!gEnableRenderLoop && !singleStepSimulation)
     {
         sCurrentDemo->updateGraphics();
 		return;

examples/SharedMemory/PhysicsClientGRPC.cpp

@@ -67,7 +67,11 @@ struct	GRPCNetworkedInternalData
 	{
 		if (m_isConnected)
 			return true;
-		std::string hostport = m_hostName + ':' + std::to_string(m_port);
+		std::string hostport = m_hostName;
+		if (m_port >= 0)
+		{
+			hostport += ':' + std::to_string(m_port);
+		}
 		m_grpcChannel  = grpc::CreateChannel(
 			hostport, grpc::InsecureChannelCredentials());
 

examples/SharedMemory/PhysicsServerExample.cpp

@@ -137,6 +137,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIHelperGetShapeIndexFromInstance,
 	eGUIHelperChangeTexture,
 	eGUIHelperRemoveTexture,
+	eGUIHelperSetVisualizerFlagCheckRenderedFrame,
 };
 
 
@@ -940,7 +941,9 @@ public:
 
 	int m_visualizerFlag;
 	int m_visualizerEnable;
-	 void setVisualizerFlag(int flag, int enable)
+	int m_renderedFrames;
+
+	void setVisualizerFlag(int flag, int enable)
     {
 		m_visualizerFlag = flag;
 		m_visualizerEnable = enable;
@@ -1358,6 +1361,7 @@ class PhysicsServerExample : public SharedMemoryCommon
 	int m_canvasRGBIndex;
 	int m_canvasDepthIndex;
 	int m_canvasSegMaskIndex;
+	
 
 //	int m_options;
 	
@@ -1365,6 +1369,8 @@ class PhysicsServerExample : public SharedMemoryCommon
 	TinyVRGui* m_tinyVrGui;
 #endif
 
+	int m_renderedFrames;
+
 public:
 
 	PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, CommandProcessorCreationInterface* commandProcessorCreator, SharedMemoryInterface* sharedMem=0, int options=0);
@@ -1723,6 +1729,7 @@ m_canvasSegMaskIndex(-1)
 #ifdef BT_ENABLE_VR
 ,m_tinyVrGui(0)
 #endif
+,m_renderedFrames(0)
 {
 
 	m_multiThreadedHelper = helper;
@@ -2066,11 +2073,29 @@ void	PhysicsServerExample::updateGraphics()
 			gEnableDefaultMousePicking = (enable!=0);
 		}
 
+		m_multiThreadedHelper->m_renderedFrames = m_renderedFrames;
+
 		m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag,m_multiThreadedHelper->m_visualizerEnable);
-		m_multiThreadedHelper->mainThreadRelease();
+
+		//postpone the release until an actual frame is rendered
+		if (flag == COV_ENABLE_SINGLE_STEP_RENDERING)
+		{
+			m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperSetVisualizerFlagCheckRenderedFrame);
+		} else
+		{
+			m_multiThreadedHelper->mainThreadRelease();
+		}
 		break;
     }
-
+	
+	case eGUIHelperSetVisualizerFlagCheckRenderedFrame:
+	{
+		if (m_renderedFrames!=m_multiThreadedHelper->m_renderedFrames)
+		{
+			m_multiThreadedHelper->mainThreadRelease();
+		}
+		break;
+	}
 
 	case eGUIHelperRegisterGraphicsInstance:
 	{
@@ -2732,6 +2757,8 @@ void PhysicsServerExample::drawUserDebugLines()
 
 void PhysicsServerExample::renderScene()
 {
+	m_renderedFrames++;
+
 	btTransform vrTrans;
 
 
@@ -2893,12 +2920,14 @@ void PhysicsServerExample::renderScene()
 
 	drawUserDebugLines();
 
-
+	
 	//m_args[0].m_cs->unlock();
 }
 
 void    PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
 {
+	m_renderedFrames++;
+
 	if (gEnableSyncPhysicsRendering)
 	{
 		m_physicsServer.syncPhysicsToGraphics();

examples/SharedMemory/grpc/main.cpp

@@ -255,7 +255,11 @@ int main(int argc, char** argv)
 	int port = 6667;
 	parseArgs.GetCmdLineArgument("port", port);
 	std::string hostName = "localhost";
-	std::string hostNamePort = hostName + ":" + std::to_string(port);
+	std::string hostNamePort = hostName;
+	if (port>=0)
+	{
+		hostNamePort += ":" + std::to_string(port);
+	}
 
 	gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
 

examples/pybullet/examples/grpcClient.py

@@ -0,0 +1,19 @@
+
+import pybullet as p
+
+usePort = True
+
+if (usePort):
+	id = p.connect(p.GRPC,"localhost:12345")
+else:
+	id = p.connect(p.GRPC,"localhost") 
+print("id=",id)
+
+if (id<0):
+	print("Cannot connect to GRPC server")
+	exit(0)
+	
+print ("Connected to GRPC")
+r2d2 = p.loadURDF("r2d2.urdf")
+print("numJoints = ", p.getNumJoints(r2d2))
+

examples/pybullet/examples/grpcServer.py

@@ -0,0 +1,29 @@
+import pybullet as p
+import time
+
+useDirect = False
+usePort = True
+
+p.connect(p.GUI)
+id = p.loadPlugin("grpcPlugin")
+#dynamically loading the plugin
+#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")
+
+#start the GRPC server at hostname, port
+if (id<0):
+	print("Cannot load grpcPlugin")
+	exit(0)
+	
+if usePort:
+	p.executePluginCommand(id, "localhost:12345")
+else:
+	p.executePluginCommand(id, "localhost")
+
+while p.isConnected():
+	if (useDirect):
+		#Only in DIRECT mode, since there is no 'ping' you need to manually call to handle RCPs:
+		numRPC = 10
+		p.executePluginCommand(id, intArgs=[numRPC])
+	else:
+		dt = 1./240.
+		time.sleep(dt)

examples/pybullet/pybullet.c

@@ -330,6 +330,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 		int key = SHARED_MEMORY_KEY;
 		int udpPort = 1234;
 		int tcpPort = 6667;
+		int grpcPort = -1;
 		int argc = 0;
 		char** argv=0;
 
@@ -352,6 +353,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 				{
 					udpPort = port;
 					tcpPort = port;
+					grpcPort = port;
 				}
 			}
 		}
@@ -437,7 +439,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 			case eCONNECT_GRPC:
 			{
 #ifdef BT_ENABLE_GRPC
-				sm = b3ConnectPhysicsGRPC(hostName, tcpPort);
+				sm = b3ConnectPhysicsGRPC(hostName, grpcPort);
 #else
 				PyErr_SetString(SpamError, "GRPC is not enabled in this pybullet build");
 #endif

setup.py

@@ -545,7 +545,7 @@ eglRender = Extension("eglRenderer",
 
 setup(
 	name = 'pybullet',
-	version='2.1.6',
+	version='2.1.9',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',