add yapf style and apply yapf to format all Python files
This recreates pull request #2192
This commit is contained in:
Erwin Coumans
@@ -11,16 +11,16 @@ import numpy as np
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import pybullet
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from multiprocessing import Process
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camTargetPos = [0,0,0]
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cameraUp = [0,0,1]
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cameraPos = [1,1,1]
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camTargetPos = [0, 0, 0]
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cameraUp = [0, 0, 1]
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cameraPos = [1, 1, 1]
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pitch = -10.0
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roll=0
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roll = 0
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upAxisIndex = 2
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camDistance = 4
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pixelWidth = 84 # 320
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pixelHeight = 84 # 200
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pixelWidth = 84 # 320
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pixelHeight = 84 # 200
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nearPlane = 0.01
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farPlane = 100
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fov = 60
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@@ -29,118 +29,122 @@ import matplotlib.pyplot as plt
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class BulletSim():
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def __init__(self, connection_mode, *argv):
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self.connection_mode = connection_mode
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self.argv = argv
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def __enter__(self):
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print("connecting")
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optionstring='--width={} --height={}'.format(pixelWidth,pixelHeight)
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optionstring += ' --window_backend=2 --render_device=0'
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def __init__(self, connection_mode, *argv):
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self.connection_mode = connection_mode
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self.argv = argv
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print(self.connection_mode, optionstring,*self.argv)
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cid = pybullet.connect(self.connection_mode, options=optionstring,*self.argv)
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if cid < 0:
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raise ValueError
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print("connected")
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI,0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW,0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW,0)
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def __enter__(self):
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print("connecting")
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optionstring = '--width={} --height={}'.format(pixelWidth, pixelHeight)
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optionstring += ' --window_backend=2 --render_device=0'
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pybullet.resetSimulation()
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pybullet.loadURDF("plane.urdf",[0,0,-1])
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pybullet.loadURDF("r2d2.urdf")
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pybullet.loadURDF("duck_vhacd.urdf")
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pybullet.setGravity(0,0,-10)
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print(self.connection_mode, optionstring, *self.argv)
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cid = pybullet.connect(self.connection_mode, options=optionstring, *self.argv)
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if cid < 0:
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raise ValueError
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print("connected")
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_GUI, 0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0)
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pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_RGB_BUFFER_PREVIEW, 0)
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pybullet.resetSimulation()
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pybullet.loadURDF("plane.urdf", [0, 0, -1])
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pybullet.loadURDF("r2d2.urdf")
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pybullet.loadURDF("duck_vhacd.urdf")
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pybullet.setGravity(0, 0, -10)
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def __exit__(self, *_, **__):
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pybullet.disconnect()
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def __exit__(self,*_,**__):
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pybullet.disconnect()
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def test(num_runs=300, shadow=1, log=True, plot=False):
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if log:
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logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
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if log:
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logId = pybullet.startStateLogging(pybullet.STATE_LOGGING_PROFILE_TIMINGS, "renderTimings")
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if plot:
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plt.ion()
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img = np.random.rand(200, 320)
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#img = [tandard_normal((50,100))
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image = plt.imshow(img, interpolation='none', animated=True, label="blah")
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ax = plt.gca()
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times = np.zeros(num_runs)
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yaw_gen = itertools.cycle(range(0, 360, 10))
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for i, yaw in zip(range(num_runs), yaw_gen):
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pybullet.stepSimulation()
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start = time.time()
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viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch,
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roll, upAxisIndex)
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aspect = pixelWidth / pixelHeight
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projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane)
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img_arr = pybullet.getCameraImage(pixelWidth,
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pixelHeight,
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viewMatrix,
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projectionMatrix,
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shadow=shadow,
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lightDirection=[1, 1, 1],
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renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
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#renderer=pybullet.ER_TINY_RENDERER)
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stop = time.time()
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duration = (stop - start)
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if (duration):
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fps = 1. / duration
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#print("fps=",fps)
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else:
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fps = 0
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#print("fps=",fps)
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#print("duraction=",duration)
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#print("fps=",fps)
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times[i] = fps
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if plot:
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plt.ion()
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img = np.random.rand(200, 320)
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#img = [tandard_normal((50,100))
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image = plt.imshow(img,interpolation='none',animated=True,label="blah")
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ax = plt.gca()
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times = np.zeros(num_runs)
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yaw_gen = itertools.cycle(range(0,360,10))
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for i, yaw in zip(range(num_runs),yaw_gen):
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pybullet.stepSimulation()
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start = time.time()
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viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
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aspect = pixelWidth / pixelHeight;
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projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
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img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,
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projectionMatrix, shadow=shadow,lightDirection=[1,1,1],
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renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
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#renderer=pybullet.ER_TINY_RENDERER)
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stop = time.time()
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duration = (stop - start)
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if (duration):
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fps = 1./duration
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#print("fps=",fps)
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else:
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fps=0
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#print("fps=",fps)
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#print("duraction=",duration)
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#print("fps=",fps)
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times[i] = fps
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if plot:
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rgb = img_arr[2]
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image.set_data(rgb)#np_img_arr)
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ax.plot([0])
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#plt.draw()
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#plt.show()
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plt.pause(0.01)
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mean_time = float(np.mean(times))
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print("mean: {0} for {1} runs".format(mean_time, num_runs))
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print("")
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if log:
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pybullet.stopStateLogging(logId)
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return mean_time
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rgb = img_arr[2]
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image.set_data(rgb) #np_img_arr)
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ax.plot([0])
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#plt.draw()
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#plt.show()
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plt.pause(0.01)
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mean_time = float(np.mean(times))
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print("mean: {0} for {1} runs".format(mean_time, num_runs))
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print("")
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if log:
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pybullet.stopStateLogging(logId)
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return mean_time
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if __name__ == "__main__":
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res = []
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res = []
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with BulletSim(pybullet.DIRECT):
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print("\nTesting DIRECT")
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mean_time = test(log=False, plot=True)
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res.append(("tiny", mean_time))
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with BulletSim(pybullet.DIRECT):
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print("\nTesting DIRECT")
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mean_time = test(log=False,plot=True)
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res.append(("tiny",mean_time))
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with BulletSim(pybullet.DIRECT):
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plugin_fn = os.path.join(
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pybullet.__file__.split("bullet3")[0],
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"bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so")
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plugin = pybullet.loadPlugin(plugin_fn, "_tinyRendererPlugin")
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if plugin < 0:
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print("\nPlugin Failed to load!\n")
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sys.exit()
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print("\nTesting DIRECT+OpenGL")
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mean_time = test(log=True)
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res.append(("plugin", mean_time))
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with BulletSim(pybullet.DIRECT):
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plugin_fn = os.path.join(pybullet.__file__.split("bullet3")[0],"bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so")
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plugin = pybullet.loadPlugin(plugin_fn,"_tinyRendererPlugin")
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if plugin < 0:
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print("\nPlugin Failed to load!\n")
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sys.exit()
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print("\nTesting DIRECT+OpenGL")
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mean_time = test(log=True)
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res.append(("plugin",mean_time))
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with BulletSim(pybullet.GUI):
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print("\nTesting GUI")
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mean_time = test(log=False)
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res.append(("egl",mean_time))
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print()
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print("rendertest.py")
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print("back nenv fps fps_tot")
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for r in res:
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print(r[0],"\t",1,round(r[1]),"\t",round(r[1]))
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with BulletSim(pybullet.GUI):
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print("\nTesting GUI")
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mean_time = test(log=False)
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res.append(("egl", mean_time))
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print()
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print("rendertest.py")
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print("back nenv fps fps_tot")
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for r in res:
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print(r[0], "\t", 1, round(r[1]), "\t", round(r[1]))
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