From d909448ee3a08ddd4506646ee89303da763fce04 Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Wed, 12 Sep 2018 21:03:07 -0700
Subject: [PATCH] bump up pybullet version again

---
 examples/pybullet/examples/collisionFilter.py |  3 ++-
 .../pybullet/examples/mylittleminitaur.py     | 21 -------------------
 setup.py                                      | 10 ++++-----
 3 files changed, 7 insertions(+), 27 deletions(-)
 delete mode 100644 examples/pybullet/examples/mylittleminitaur.py

diff --git a/examples/pybullet/examples/collisionFilter.py b/examples/pybullet/examples/collisionFilter.py
index ca7108891..e94b1f0f3 100644
--- a/examples/pybullet/examples/collisionFilter.py
+++ b/examples/pybullet/examples/collisionFilter.py
@@ -14,4 +14,5 @@ p.setCollisionFilterPair(planeId, cubeId,-1,-1,enableCollision )
 p.setRealTimeSimulation(1)
 p.setGravity(0,0,-10)
 while (p.isConnected()):
-	time.sleep(1)
\ No newline at end of file
+	time.sleep(1./240.)
+	p.setGravity(0,0,-10)
diff --git a/examples/pybullet/examples/mylittleminitaur.py b/examples/pybullet/examples/mylittleminitaur.py
deleted file mode 100644
index fd1ad4718..000000000
--- a/examples/pybullet/examples/mylittleminitaur.py
+++ /dev/null
@@ -1,21 +0,0 @@
-import pybullet as p
-import time
-import math
-import sys
-sys.path.append(".")
-
-from minitaur import Minitaur
-p.connect(p.GUI)
-p.setTimeOut(5)
-#p.setPhysicsEngineParameter(numSolverIterations=50)
-p.setGravity(0,0,-10)
-p.setTimeStep(0.01)
-
-urdfRoot = ''
-p.loadURDF("%s/plane.urdf" % urdfRoot)
-minitaur = Minitaur(urdfRoot)
-
-while (True):
-	p.stepSimulation()
-	time.sleep(0.01)
-  
\ No newline at end of file
diff --git a/setup.py b/setup.py
index 075df915e..204e369a6 100644
--- a/setup.py
+++ b/setup.py
@@ -42,7 +42,6 @@ CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
 CXX_FLAGS += '-DBT_ENABLE_ENET '
 CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
 CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
-CXX_FLAGS += '-DBT_USE_EGL '
 
 EGL_CXX_FLAGS = ''
 
@@ -451,6 +450,10 @@ egl_renderer_sources = \
 +["examples/OpenGLWindow/LoadShader.cpp"] \
 +["src/LinearMath/btQuickprof.cpp"]
 
+if 'BT_USE_EGL' in CXX_FLAGS:
+    sources += ['examples/ThirdPartyLibs/glad/egl.c']
+    sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
+
 if _platform == "linux" or _platform == "linux2":
     libraries = ['dl','pthread']
     CXX_FLAGS += '-D_LINUX '
@@ -468,9 +471,6 @@ if _platform == "linux" or _platform == "linux2":
     +["examples/ThirdPartyLibs/glad/gl.c"]\
     +["examples/ThirdPartyLibs/glad/glx.c"]
     include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
-    if 'BT_USE_EGL' in CXX_FLAGS:
-        sources += ['examples/ThirdPartyLibs/glad/egl.c']
-        sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']
 
     if 'BT_USE_EGL' in EGL_CXX_FLAGS:
         egl_renderer_sources = egl_renderer_sources\
@@ -545,7 +545,7 @@ eglRender = Extension("eglRenderer",
 
 setup(
 	name = 'pybullet',
-	version='2.1.5',
+	version='2.1.6',
 	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',