From d3fe21ef171cb83fe93769dd612e4926137fc447 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 14 Feb 2018 16:49:44 -0800
Subject: [PATCH] Add option GUI_MAIN_THREAD for running OpenGL in the main
 thread (Python thread). This already happens on Mac OSX by default. Pass all
 argc/argc from options to InProcessPhysicsClientSharedMemoryMainThread

---
 .../SharedMemoryInProcessPhysicsC_API.cpp          | 14 +++++++-------
 examples/SharedMemory/SharedMemoryPublic.h         |  1 +
 .../gym/pybullet_envs/bullet/bullet_client.py      |  5 +++--
 .../prediction/pybullet_sim_gym_env.py             |  6 +++---
 examples/pybullet/pybullet.c                       |  6 ++++++
 5 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index fa1a31201..ee601ac4e 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -21,15 +21,15 @@ public:
     
     InProcessPhysicsClientSharedMemoryMainThread(int argc, char* argv[], bool useInProcessMemory)
     {
-        int newargc = argc+2;
+        int newargc = argc+3;
         char** newargv = (char**)malloc(sizeof(void*)*newargc);
-        for (int i=0;i<argc;i++)
-            newargv[i] = argv[i];
+		char* t0 = (char*)"--unused";
+        newargv[0] = t0;
+		for (int i=0;i<argc;i++)
+            newargv[i+1] = argv[i];
+        newargv[argc+1]=(char*)"--logtostderr";
+		newargv[argc+2]=(char*)"--start_demo_name=Physics Server";
         
-        char* t0 = (char*)"--logtostderr";
-        char* t1 = (char*)"--start_demo_name=Physics Server";
-        newargv[argc] = t0;
-        newargv[argc+1] = t1;
         m_data = btCreateInProcessExampleBrowserMainThread(newargc,newargv, useInProcessMemory);
         SharedMemoryInterface* shMem = btGetSharedMemoryInterfaceMainThread(m_data);
         
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 6db0355e3..3aebed782 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -664,6 +664,7 @@ enum eCONNECT_METHOD {
   eCONNECT_TCP = 5,
   eCONNECT_EXISTING_EXAMPLE_BROWSER=6,
   eCONNECT_GUI_SERVER=7,
+  eCONNECT_GUI_MAIN_THREAD=8,
 };
 
 enum eURDF_Flags
diff --git a/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py b/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
index 0eda1fb2e..13a82eef5 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
@@ -6,11 +6,12 @@ import pybullet
 class BulletClient(object):
   """A wrapper for pybullet to manage different clients."""
 
-  def __init__(self, connection_mode=pybullet.DIRECT):
+  def __init__(self, connection_mode=pybullet.DIRECT, options=""):
     """Create a simulation and connect to it."""
     self._client = pybullet.connect(pybullet.SHARED_MEMORY)
     if(self._client<0):
-      self._client = pybullet.connect(connection_mode)
+      print("options=",options)
+      self._client = pybullet.connect(connection_mode,options=options)
     self._shapes = {}
 
   def __del__(self):
diff --git a/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py b/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py
index 84833f88f..5c1b52757 100644
--- a/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py
+++ b/examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py
@@ -40,8 +40,8 @@ class PyBulletSimGymEnv(gym.Env):
                render_sleep=False,
                debug_visualization=True,
                hard_reset = False,
-               render_width=740,
-               render_height=740,
+               render_width=240,
+               render_height=240,
                action_repeat=1,
                time_step = 1./240.,
                num_bullet_solver_iterations=50,
@@ -190,7 +190,7 @@ class PyBulletSimGymEnv(gym.Env):
     proj_matrix=[1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
     (_, _, px, _, _) = self._pybullet_client.getCameraImage(
         width=self._render_width, height=self._render_height, viewMatrix=view_matrix,
-        projectionMatrix=proj_matrix, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
+        projectionMatrix=proj_matrix, renderer=pybullet.ER_TINY_RENDERER)
     rgb_array = np.array(px, dtype=np.uint8)
     rgb_array = np.reshape(rgb_array, (self._render_height, self._render_width, 4))
     rgb_array = rgb_array[:, :, :3]
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index f2e8dd194..4c5c50413 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -382,6 +382,11 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 #endif
 				break;
 			}
+			case eCONNECT_GUI_MAIN_THREAD:
+				{
+					sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
+					break;
+				}
 			case eCONNECT_GUI_SERVER:
 			{
 				
@@ -8776,6 +8781,7 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP);        // user read
 	PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP);        // user read
 	PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER);        // user read
+	PyModule_AddIntConstant(m, "GUI_MAIN_THREAD", eCONNECT_GUI_MAIN_THREAD);        // user read
 
 	PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType);        // user read
 	PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType);      // user read