From e15fb0866ce95c49375d07199b812f15aeaeff81 Mon Sep 17 00:00:00 2001
From: Max Argus <argus.max@gmail.com>
Date: Tue, 17 Jul 2018 10:48:28 +0200
Subject: [PATCH] rendertest + parallel pip + no debug for plugin

---
 .../eglRendererVisualShapeConverter.cpp       | 10 ++--
 examples/pybullet/examples/rendertest.py      | 50 ++++++++-----------
 setup.py                                      | 26 +++++++++-
 3 files changed, 51 insertions(+), 35 deletions(-)

diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
index 1d40f8263..712845712 100644
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
@@ -937,10 +937,10 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
     m_data->m_instancingRenderer->updateCamera();
     m_data->m_instancingRenderer->renderScene();
 
-    cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl;
-    cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl;
-    cout<<viewMat[4*2 + 0]<<" "<<viewMat[4*2+1]<<" "<<viewMat[4*2+2]<<" "<<viewMat[4*2+3] << endl;
-    cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
+    //cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl;
+    //cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl;
+    //cout<<viewMat[4*2 + 0]<<" "<<viewMat[4*2+1]<<" "<<viewMat[4*2+2]<<" "<<viewMat[4*2+3] << endl;
+    //cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
 }
 
 void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height)
@@ -998,7 +998,7 @@ void TinyRendererVisualShapeConverter::copyCameraImageDataGL(
                     // Copied from SimpleOpenGL3App::getScreenPixels
                     b3Assert((sourceWidth*sourceHeight*4) == rgbaBufferSizeInPixels);
                     //glClear(GL_COLOR_BUFFER_BIT);
-                    b3Warning("EGL\n");
+                    //b3Warning("EGL\n");
                     if ((sourceWidth*sourceHeight*4) == rgbaBufferSizeInPixels)  // remove this if
                     {
                         glReadPixels(0,0,sourceWidth, sourceHeight, GL_RGBA, GL_UNSIGNED_BYTE, &(sourceRgbaPixelBuffer[0]));
diff --git a/examples/pybullet/examples/rendertest.py b/examples/pybullet/examples/rendertest.py
index a19d17249..a4771cc16 100644
--- a/examples/pybullet/examples/rendertest.py
+++ b/examples/pybullet/examples/rendertest.py
@@ -37,7 +37,6 @@ class BulletSim():
         print("connecting")
         optionstring='--width={} --height={}'.format(pixelWidth,pixelHeight)
         optionstring += ' --window_backend=2 --render_device=0'
-        #optionstring += ' --window_backend=X11 --render_device=0'
 
         print(self.connection_mode, optionstring,*self.argv)
         cid = pybullet.connect(self.connection_mode, options=optionstring,*self.argv)
@@ -58,7 +57,10 @@ class BulletSim():
     def __exit__(self,*_,**__):
         pybullet.disconnect()
 
-def test(num_runs=100, shadow=1, plot=False):
+def test(num_runs=100, shadow=1, log=True, plot=False):
+    if log:
+        logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
+
     if plot:
         plt.ion()
 
@@ -102,39 +104,31 @@ def test(num_runs=100, shadow=1, plot=False):
 
     print("mean: {0} for {1} runs".format(np.mean(times), num_runs))
     print("")
+    if log:
+        pybullet.stopStateLogging(logId)
+
 
 
 if __name__ == "__main__":
 
-    '''
+
     with BulletSim(pybullet.DIRECT):
-        print("Testing DIRECT w/ shadow")
-        test()
+        print("\nTesting DIRECT")
+        test(log=False)
 
-        print("Testing DIRECT w/o shadow")
-        test(shadow=0)
+
+    with BulletSim(pybullet.DIRECT):
+        plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
+        plugin = pybullet.loadPlugin(plugin_fn,"_tinyRendererPlugin")
+        if plugin < 0:
+            print("\nPlugin Failed to load!\n")
+            sys.exit()
+
+        print("\nTesting DIRECT+OpenGL")
+        test()
 
     with BulletSim(pybullet.GUI):
-        print("Testing GUI")  # could have OpenGL?
-        test()
-
-        print("Testing GUI w/o shadow")  # could have OpenGL?
-        test(shadow=0)
+        print("\nTesting GUI")
+        test(log=False)
 
 
-    server_bin = "../../../build_cmake/examples/ExampleBrowser/App_ExampleBrowser"
-    server_f = lambda : subprocess.run([server_bin],shell=True)
-    server = Process(target=server_f)
-    #server.start()
-    '''
-    
-    with BulletSim(pybullet.GUI):
-        logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
-        print("Testing GUI")
-        test()
-
-        print("Testing GUI w/o shadow")
-        test(shadow=0)
-        pybullet.stopStateLogging(logId)
-		
-    #server.join()
diff --git a/setup.py b/setup.py
index 07e7ba612..1f0a0d397 100644
--- a/setup.py
+++ b/setup.py
@@ -2,12 +2,32 @@
 from setuptools import find_packages
 from sys import platform as _platform
 import sys
-import glob
+from glob import glob
 
 from distutils.core import setup
 from distutils.extension import Extension
 from distutils.util import get_platform
-from glob import glob
+
+
+# monkey-patch for parallel compilation
+import multiprocessing
+import multiprocessing.pool
+def parallelCCompile(self, sources, output_dir=None, macros=None, include_dirs=None, debug=0, extra_preargs=None, extra_postargs=None, depends=None):
+    # those lines are copied from distutils.ccompiler.CCompiler directly
+    macros, objects, extra_postargs, pp_opts, build = self._setup_compile(output_dir, macros, include_dirs, sources, depends, extra_postargs)
+    cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
+    # parallel code
+    N = 2*multiprocessing.cpu_count()# number of parallel compilations
+    def _single_compile(obj):
+        try: src, ext = build[obj]
+        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))
+    return objects
+import distutils.ccompiler
+distutils.ccompiler.CCompiler.compile=parallelCCompile
+
 
 #see http://stackoverflow.com/a/8719066/295157
 import os
@@ -508,6 +528,8 @@ eglRender = Extension("eglRenderer",
         extra_compile_args=(CXX_FLAGS+'-DBT_USE_EGL -DSTB_AGAIN -DB3_DEBUG').split(),
         include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
      )
+
+
 setup(
 	name = 'pybullet',
 	version='2.1.3',