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

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just use pybullet.loadPlugin("eglRendererPlugin") before loading/creating any objects.
use end/startRendering (swap buffers) before the rendering in the eglPlugin
This commit is contained in:
bla
2018-09-09 22:58:08 -07:00
parent 9698c3d600
commit 8f711462e0
5 changed files with 26 additions and 49 deletions
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9
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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@@ -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();
}

2
examples/SharedMemory/plugins/eglPlugin/premake4.lua
View File

@@ -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")

2
examples/pybullet/examples/testrender.py
View File

@@ -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")

2
examples/pybullet/pybullet.c
View File

@@ -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

58
setup.py
View File

@@ -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
# 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
from glob import glob
#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']
CXX_FLAGS += '-DBT_USE_EGL '
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 += '-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"]
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']\
+ ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
+["examples/ThirdPartyLibs/glad/glx.c"]\
+["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 = []