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fixes in libdl/DL cmake

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minor tweaks in pybullet OpenAI gym locomotion envs (connect to shared memory before going GUI/DIRECT)
bump up pybullet version to 1.3.6
This commit is contained in:
Erwin Coumans
2017-09-10 16:22:45 -07:00
parent 466c853489
commit ee082396d1
5 changed files with 11 additions and 8 deletions
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2
examples/OpenGLWindow/CMakeLists.txt
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@@ -62,7 +62,7 @@ if (BUILD_SHARED_LIBS)
else()
set (CMAKE_THREAD_PREFER_PTHREAD TRUE)
FIND_PACKAGE(Threads)
target_link_libraries(OpenGLWindow ${DL} ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries(OpenGLWindow ${CMAKE_THREAD_LIBS_INIT})
endif()
endif()

6
examples/ThirdPartyLibs/Gwen/Macros.h
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@@ -4,8 +4,10 @@
#define GWEN_MACROS_H
#include <stdlib.h>
#include <stdarg.h>
#if !defined(__APPLE__) && !defined(__OpenBSD__)
#include <malloc.h>
#if !defined(__APPLE__) && !defined(__OpenBSD__) && !defined(__FreeBSD__)
#include <malloc.h>
#else
#include <stdlib.h>
#endif //__APPLE__
#include <memory.h>
#include <algorithm>

6
examples/pybullet/gym/pybullet_envs/env_bases.py
View File

@@ -40,10 +40,12 @@ class MJCFBaseBulletEnv(gym.Env):
def _reset(self):
if (self.physicsClientId<0):
if (self.isRender):
self.physicsClientId = p.connect(p.GUI)
self.physicsClientId = p.connect(p.SHARED_MEMORY)
if (self.physicsClientId<0):
self.physicsClientId = p.connect(p.GUI)
else:
self.physicsClientId = p.connect(p.DIRECT)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
if self.scene is None:
self.scene = self.create_single_player_scene()