Merge branch 'master' of https://github.com/erwincoumans/bullet3

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp

@@ -591,6 +591,7 @@ void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLIn
 		if (actual==size)
 		{
 		}
+		fileIO->fileClose(fileHandle);
 	}
 	if (xmlString.size()==0)
 		return;

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -141,6 +141,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 											buffer.resize(0);
 										}
 									}
+									fileIO->fileClose(fileId);
 								}
 
 								if (buffer.size())

examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h

@@ -1,4 +1,3 @@
-
 #ifndef LOAD_MESH_FROM_STL_H
 #define LOAD_MESH_FROM_STL_H
 
@@ -46,6 +45,7 @@ static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName, st
 							if (expectedBinaryFileSize != size)
 							{
 								delete[] memoryBuffer;
+								fileIO->fileClose(fileHandle);
 								return 0;
 							}
 						}

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -10244,6 +10244,7 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
 								buffer.resize(0);
 							}
 						}
+						fileIO->fileClose(fileId);
 					}
 					if (buffer.size())
 					{

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp

@@ -1361,6 +1361,7 @@ int EGLRendererVisualShapeConverter::loadTextureFile(const char* filename, struc
 					buffer.resize(0);
 				}
 			}
+			fileIO->fileClose(fileId);
 		}
 		if (buffer.size())
 		{

examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp

@@ -1270,6 +1270,7 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename, stru
 					buffer.resize(0);
 				}
 			}
+			fileIO->fileClose(fileId);
 		}
 		if (buffer.size())
 		{

examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp

@@ -579,7 +579,7 @@ std::string LoadMtl(
 	// flush last material.
 	material_map.insert(std::pair<std::string, material_t>(material.name, material));
 
-	if (fileHandle)
+	if (fileHandle>=0)
 	{
 		fileIO->fileClose(fileHandle);
 	}
@@ -858,7 +858,7 @@ LoadObj(
 	}
 	faceGroup.resize(0);  // for safety
 
-	if (fileHandle)
+	if (fileHandle>=0)
 	{
 		fileIO->fileClose(fileHandle);
 	}

setup.py

@@ -585,7 +585,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
 	name = 'pybullet',
-	version='2.3.9',
+	version='2.4.0',
 	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',

src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

@@ -247,7 +247,9 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo,
 	// instead of just a local.
 	int threadIndex = btGetCurrentThreadIndex();
 	btAlignedObjectArray<const btDbvtNode*> localStack;
-	if (threadIndex < m_rayTestStacks.size())
+	//todo(erwincoumans, "why do we get tsan issue here?")
+	if (0)//threadIndex < m_rayTestStacks.size())
+	//if (threadIndex < m_rayTestStacks.size())
 	{
 		// use per-thread preallocated stack if possible to avoid dynamic allocations
 		stack = &m_rayTestStacks[threadIndex];