Merge pull request #1985 from erwincoumans/master

fix setuptools 'monkey-patch' hang and 2 potential data race conditions.

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -1,6 +1,9 @@
+
 #include <stdio.h>
 #include "LinearMath/btTransform.h"
+#include "LinearMath/btThreads.h"
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
+
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 
@@ -28,10 +31,13 @@ static btVector4 colors[4] =
 
 static btVector4 selectColor2()
 {
+	static btSpinMutex sMutex;
+	sMutex.lock();
 	static int curColor = 0;
 	btVector4 color = colors[curColor];
 	curColor++;
 	curColor &= 3;
+	sMutex.unlock();
 	return color;
 }
 

setup.py

@@ -23,7 +23,8 @@ def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=N
         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))
+    pool = multiprocessing.pool.ThreadPool(N)
+    list(pool.imap(_single_compile,objects))
     return objects
 import distutils.ccompiler
 distutils.ccompiler.CCompiler.compile=parallelCCompile
@@ -583,7 +584,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
 	name = 'pybullet',
-	version='2.3.6',
+	version='2.3.7',
 	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/CollisionShapes/btShapeHull.cpp

@@ -37,21 +37,8 @@ btShapeHull::~btShapeHull()
 
 bool btShapeHull::buildHull(btScalar /*margin*/, int highres)
 {
+	
 	int numSampleDirections = highres ? NUM_UNITSPHERE_POINTS_HIGHRES : NUM_UNITSPHERE_POINTS;
-	{
-		int numPDA = m_shape->getNumPreferredPenetrationDirections();
-		if (numPDA)
-		{
-			for (int i = 0; i < numPDA; i++)
-			{
-				btVector3 norm;
-				m_shape->getPreferredPenetrationDirection(i, norm);
-				getUnitSpherePoints(highres)[numSampleDirections] = norm;
-				numSampleDirections++;
-			}
-		}
-	}
-
 	btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
 	int i;
 	for (i = 0; i < numSampleDirections; i++)
@@ -59,6 +46,17 @@ bool btShapeHull::buildHull(btScalar /*margin*/, int highres)
 		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
 	}
 
+	int numPDA = m_shape->getNumPreferredPenetrationDirections();
+	if (numPDA)
+	{
+		for (int s = 0; s < numPDA; s++)
+		{
+			btVector3 norm;
+			m_shape->getPreferredPenetrationDirection(s, norm);
+			supportPoints[i++] = m_shape->localGetSupportingVertex(norm);
+			numSampleDirections++;
+		}
+	}
 	HullDesc hd;
 	hd.mFlags = QF_TRIANGLES;
 	hd.mVcount = static_cast<unsigned int>(numSampleDirections);