fix setup.py to work better on Windows and Linux (with default eglPlugin static built-in,

just use pybullet.loadPlugin("eglRendererPlugin") before loading/creating any objects.
use end/startRendering (swap buffers) before the rendering in the eglPlugin

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp

@@ -38,8 +38,13 @@ subject to the following restrictions:
 #include "OpenGLWindow/Win32OpenGLWindow.h"
 typedef Win32OpenGLWindow DefaultOpenGLWindow;
 #else
+#ifdef BT_USE_EGL
 #include "OpenGLWindow/EGLOpenGLWindow.h"
 typedef EGLOpenGLWindow DefaultOpenGLWindow;
+#else
+#include "OpenGLWindow/X11OpenGLWindow.h"
+typedef X11OpenGLWindow DefaultOpenGLWindow;
+#endif
 #endif
 
 #include "OpenGLWindow/GLInstancingRenderer.h"
@@ -935,6 +940,8 @@ void EGLRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
 
 void EGLRendererVisualShapeConverter::render()
 {
+	m_data->m_window->endRendering();
+	m_data->m_window->startRendering();
     /*
     ATTRIBUTE_ALIGNED16(float viewMat[16]);
     ATTRIBUTE_ALIGNED16(float projMat[16]);
@@ -956,8 +963,6 @@ void EGLRendererVisualShapeConverter::render()
 	m_data->m_instancingRenderer->updateCamera(m_data->m_upAxis);
 
     m_data->m_instancingRenderer->renderScene();
-	m_data->m_window->endRendering();
-	m_data->m_window->startRendering();
 
 }
 

examples/SharedMemory/plugins/eglPlugin/premake4.lua

@@ -6,7 +6,7 @@ project ("pybullet_eglRendererPlugin")
 		initEGL()
 		
 		includedirs {".","../../../../src", "../../../../examples",
-		"../../../ThirdPartyLibs", ""../../examples/ThirdPartyLibs/glad"}
+		"../../../ThirdPartyLibs", "../../examples/ThirdPartyLibs/glad"}
 		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STB_AGAIN"}
 	hasCL = findOpenCL("clew")
 

examples/pybullet/examples/testrender.py

@@ -15,6 +15,8 @@ ax = plt.gca()
 
 
 pybullet.connect(pybullet.DIRECT)
+
+#pybullet.loadPlugin("eglRendererPlugin")
 pybullet.loadURDF("plane.urdf",[0,0,-1])
 pybullet.loadURDF("r2d2.urdf")
 

examples/pybullet/pybullet.c

@@ -9596,7 +9596,7 @@ PyMODINIT_FUNC
 #if PY_MAJOR_VERSION >= 3
 PyInit_pybullet(void)
 #else
-#ifdef BT_USE_EGL
+#ifdef BT_USE_EGL2
 initpybullet_egl(void)
 #else
 #ifdef BT_PYBULLET_GRPC

setup.py

@@ -1,33 +1,14 @@
 
+
 from setuptools import find_packages
 from sys import platform as _platform
 import sys
-from glob import 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
@@ -42,9 +23,7 @@ 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 ' #comment to disable static egl plugin
+CXX_FLAGS += '-DSTATIC_EGLRENDERER_PLUGIN '
-
-
 
 
 # libraries += [current_python]
@@ -71,6 +50,8 @@ 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"]\
@@ -407,38 +388,28 @@ 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":
-    print("linux!")
+    libraries = ['dl','pthread']
-    libraries += ['dl','pthread']
-    CXX_FLAGS += '-DBT_USE_EGL '
     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 += '-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/glx.c"]
+    +["examples/ThirdPartyLibs/glad/glx.c"]\
-    include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
+    +["examples/ThirdPartyLibs/glad/egl.c"]\
-    if 'BT_USE_EGL' in CXX_FLAGS:
+    +["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]
-        # linking with bullet's Glew libraries causes segfault
-        # for some reason.
-        sources += ['examples/ThirdPartyLibs/glad/egl.c']\
-        + ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
 
+    include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
 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 += '-D_WIN32 '
     CXX_FLAGS += '-DGLEW_STATIC '
     sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
     +["examples/OpenGLWindow/Win32Window.cpp"]\
@@ -457,7 +428,7 @@ elif _platform == "darwin":
     +["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 '
@@ -468,7 +439,6 @@ else:
     +["examples/ThirdPartyLibs/glad/gl.c"]\
     + sources
 
-
 setup_py_dir = os.path.dirname(os.path.realpath(__file__))
 
 need_files = []
@@ -523,4 +493,4 @@ setup(
     package_dir = { '': 'examples/pybullet/gym'},
     packages=[x for x in find_packages('examples/pybullet/gym')],
     package_data = { 'pybullet_data': need_files }
-)
+)