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PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window).

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postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread.
When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
This commit is contained in:
erwincoumans
2018-09-09 21:08:47 -07:00
parent 2744e84592
commit 9698c3d600
6 changed files with 59 additions and 13 deletions
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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1715,16 +1715,18 @@ 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);
{
bool initPlugin = false;
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("eglRendererPlugin", initPlugin_eglRendererPlugin, exitPlugin_eglRendererPlugin, executePluginCommand_eglRendererPlugin,0,0,getRenderInterface_eglRendererPlugin,0, initPlugin);
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);
}

30
examples/SharedMemory/b3PluginManager.cpp
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@@ -34,6 +34,7 @@ struct b3Plugin
{
B3_DYNLIB_HANDLE m_pluginHandle;
bool m_ownsPluginHandle;
bool m_isInitialized;
std::string m_pluginPath;
int m_pluginUniqueId;
PFN_INIT m_initFunc;
@@ -52,6 +53,7 @@ struct b3Plugin
b3Plugin()
:m_pluginHandle(0),
m_ownsPluginHandle(false),
m_isInitialized(false),
m_pluginUniqueId(-1),
m_initFunc(0),
m_exitFunc(0),
@@ -80,6 +82,7 @@ struct b3Plugin
m_processClientCommandsFunc = 0;
m_getRendererFunc = 0;
m_userPointer = 0;
m_isInitialized = false;
}
};
@@ -171,8 +174,20 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
int* pluginUidPtr = m_data->m_pluginMap.find(pluginPath);
if (pluginUidPtr)
{
//already loaded
pluginUniqueId = *pluginUidPtr;
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (!plugin->m_isInitialized)
{
b3PluginContext context = {0};
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int result = plugin->m_initFunc(&context);
plugin->m_isInitialized = true;
plugin->m_userPointer = context.m_userPointer;
}
}
else
{
@@ -211,16 +226,18 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
{
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int version = plugin->m_initFunc(&context);
plugin->m_isInitialized = true;
//keep the user pointer persistent
plugin->m_userPointer = context.m_userPointer;
if (version == SHARED_MEMORY_MAGIC_NUMBER)
{
ok = true;
plugin->m_ownsPluginHandle = true;
plugin->m_pluginHandle = pluginHandle;
@@ -286,7 +303,12 @@ void b3PluginManager::unloadPlugin(int pluginUniqueId)
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
plugin->m_exitFunc(&context);
if (plugin->m_isInitialized)
{
plugin->m_exitFunc(&context);
plugin->m_userPointer = 0;
plugin->m_isInitialized = false;
}
m_data->m_pluginMap.remove(plugin->m_pluginPath.c_str());
m_data->m_plugins.freeHandle(pluginUniqueId);
}
@@ -411,7 +433,7 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
}
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc)
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, bool initPlugin)
{
b3Plugin orgPlugin;
@@ -440,12 +462,14 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
if (initPlugin)
{
b3PluginContext context = {0};
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int result = pluginHandle->m_initFunc(&context);
pluginHandle->m_isInitialized = true;
pluginHandle->m_userPointer = context.m_userPointer;
}
return pluginUniqueId;

2
examples/SharedMemory/b3PluginManager.h
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@@ -30,7 +30,7 @@ class b3PluginManager
void tickPlugins(double timeStep, b3PluginManagerTickMode tickMode);
int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc);
int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, bool initPlugin=true);
void selectPluginRenderer(int pluginUniqueId);
UrdfRenderingInterface* getRenderInterface();
};

17
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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@@ -161,6 +161,8 @@ struct EGLRendererVisualShapeConverterInternalData
glClearColor(.7f, .7f, .8f, 1.f);
m_window->startRendering();
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -170,21 +172,34 @@ struct EGLRendererVisualShapeConverterInternalData
int maxNumObjectCapacity = 128 * 1024;
int maxShapeCapacityInBytes = 128 * 1024 * 1024;
m_instancingRenderer = new GLInstancingRenderer(maxNumObjectCapacity, maxShapeCapacityInBytes);
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer->init();
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer->resize(m_swWidth,m_swHeight);
m_instancingRenderer->InitShaders();
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer->setActiveCamera(&m_camera);
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer->updateCamera();
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer->setLightPosition(m_lightDirection);
m_window->endRendering();
}
virtual ~EGLRendererVisualShapeConverterInternalData()
{
delete m_instancingRenderer;
m_window->closeWindow();
delete m_window;
}
};
EGLRendererVisualShapeConverter::EGLRendererVisualShapeConverter()
{
m_data = new EGLRendererVisualShapeConverterInternalData();
m_data = new EGLRendererVisualShapeConverterInternalData();
float dist = 1.5;
float pitch = -10;

4
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
View File

@@ -120,6 +120,10 @@ struct TinyRendererVisualShapeConverterInternalData
m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
}
virtual ~TinyRendererVisualShapeConverterInternalData()
{
printf("~TinyRendererVisualShapeConverterInternalData()\n");
}
};

11
setup.py
View File

@@ -43,7 +43,7 @@ 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)
@@ -412,9 +412,10 @@ 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 '
CXX_FLAGS += '-D_LINUX '
CXX_FLAGS += '-DGLEW_STATIC '
CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
@@ -430,8 +431,8 @@ if _platform == "linux" or _platform == "linux2":
if 'BT_USE_EGL' in CXX_FLAGS:
# linking with bullet's Glew libraries causes segfault
# for some reason.
sources += ['examples/ThirdPartyLibs/glad/egl.c']
sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
sources += ['examples/ThirdPartyLibs/glad/egl.c']\
+ ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
elif _platform == "win32":
print("win32!")
@@ -503,7 +504,7 @@ setup(
sources = sources,
libraries = libraries,
extra_compile_args=CXX_FLAGS.split(),
include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
include_dirs = include_dirs + ["src","examples", "examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
) ],
classifiers=['Development Status :: 5 - Production/Stable',
'License :: OSI Approved :: zlib/libpng License',