fixes in libdl/DL cmake

minor tweaks in pybullet OpenAI gym locomotion envs (connect to shared memory before going GUI/DIRECT)
bump up pybullet version to 1.3.6

CMakeLists.txt

@@ -39,7 +39,7 @@ ENDIF (BULLET2_USE_THREAD_LOCKS)
 
 
 IF(NOT WIN32)
-	SET(DL dl)
+	SET(DL ${CMAKE_DL_LIBS})
 	IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
 		MESSAGE("Linux")
 		SET(OSDEF -D_LINUX)
@@ -50,7 +50,6 @@ IF(NOT WIN32)
 		ELSE(APPLE)
 			MESSAGE("BSD?")
 			SET(OSDEF -D_BSD)
-			SET(DL "")
 		ENDIF(APPLE)
 	ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
 ENDIF(NOT WIN32)

examples/OpenGLWindow/CMakeLists.txt

@@ -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()
 

examples/ThirdPartyLibs/Gwen/Macros.h

@@ -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>

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -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()

setup.py

@@ -440,7 +440,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.3.5',
+	version='1.3.6',
 	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',