From b58978184c8a0394641977035c5c23fe73322606 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Mon, 20 Jun 2016 14:58:56 -0700
Subject: [PATCH 1/6] fix C99 issue, use malloc, not variable sized array.

.
---
 examples/pybullet/pybullet.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index fbd070ff9..eb1e88f6d 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -707,7 +707,7 @@ pybullet_getJointPositions(PyObject* self, PyObject* args)
       
       int i;
       int numJoints = b3GetNumJoints(sm,bodyIndex);
-      double jointPositions[numJoints];
+      double* jointPositions = malloc(numJoints*sizeof(double));
       pyListJointPos = PyTuple_New(numJoints);
 
 
@@ -718,7 +718,7 @@ pybullet_getJointPositions(PyObject* self, PyObject* args)
         item = PyFloat_FromDouble(jointPositions[i]);
         PyTuple_SetItem(pyListJointPos, i, item);
       }
-      
+      free(jointPositions);
       return pyListJointPos;
     }
     

From 01cad7c2a5e5a3a14e78bede0e8108b50cd6c99b Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Mon, 20 Jun 2016 15:00:35 -0700
Subject: [PATCH 2/6] fix return type in pybullet

.
---
 examples/pybullet/pybullet.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index eb1e88f6d..3731f4c4d 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -276,7 +276,7 @@ pybullet_resetSimulation(PyObject* self, PyObject* args)
 	return Py_None;
 }
 
-static int pybullet_setJointControl(PyObject* self, PyObject* args)
+static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
 {
     //todo(erwincoumans): set max forces, kp, kd
 

From 51da3863452f6bfe967ab9a24afe3104f2e8fffe Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Mon, 20 Jun 2016 15:05:14 -0700
Subject: [PATCH 3/6] also compile pybullet in one of the tests

---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index bb6dcde2e..8d309af7d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -8,7 +8,7 @@ compiler:
 script:
   - echo "CXX="$CXX
   - echo "CC="$CC
-  - cmake . -G "Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
+  - cmake . -G -DBUILD_PYBULLET=ON "Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
   - make -j8
   - ctest -j8 --output-on-failure
   # Build again with double precision

From 07ee9673efe9886d87c6b39131af355d39795de1 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 21 Jun 2016 08:43:04 -0700
Subject: [PATCH 4/6] try to get python dependency in travis (pybullet)

---
 .travis.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.travis.yml b/.travis.yml
index 8d309af7d..df480e393 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -5,6 +5,9 @@ os:
 compiler:
   - gcc
   - clang
+python:
+    - "2.7"
+    - "3.4"
 script:
   - echo "CXX="$CXX
   - echo "CC="$CC

From 08b88c445a2c03dcd1db5e7f547488cfafa93d07 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 21 Jun 2016 08:51:43 -0700
Subject: [PATCH 5/6] more travis/python testing fun

---
 .travis.yml | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/.travis.yml b/.travis.yml
index df480e393..25053a90d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -5,13 +5,14 @@ os:
 compiler:
   - gcc
   - clang
-python:
-    - "2.7"
-    - "3.4"
+addons:
+  apt:
+    packages:
+      - python3
 script:
   - echo "CXX="$CXX
   - echo "CC="$CC
-  - cmake . -G -DBUILD_PYBULLET=ON "Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
+  - cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
   - make -j8
   - ctest -j8 --output-on-failure
   # Build again with double precision

From 0b249361c243e27430838ee188dd08d9ff0e4cf4 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 21 Jun 2016 09:01:27 -0700
Subject: [PATCH 6/6] fix a c99 issue in pybullet

---
 examples/pybullet/pybullet.c | 21 ++-------------------
 1 file changed, 2 insertions(+), 19 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 3731f4c4d..9235f3e5a 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -302,6 +302,7 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
             len = PySequence_Size(targetValues);
             numJoints = b3GetNumJoints(sm,bodyIndex);
             b3SharedMemoryCommandHandle commandHandle;
+            int qIndex;
             
             if (len!=numJoints)
             {
@@ -321,7 +322,7 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
             
             commandHandle = b3JointControlCommandInit(sm, bodyIndex,controlMode);
             
-            for (int qIndex=0;qIndex<numJoints;qIndex++)
+            for (qIndex=0;qIndex<numJoints;qIndex++)
             {
                 float value = pybullet_internalGetFloatFromSequence(seq,qIndex);
             
@@ -360,24 +361,6 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
     return NULL;
 }
 
-                /*
-                 ///Set joint control variables such as desired position/angle, desired velocity,
-                 ///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
-                 b3SharedMemoryCommandHandle  b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
-                 ///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
-                 int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
-                 int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
-                 int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
-                 //Only use when controlMode is CONTROL_MODE_VELOCITY
-                 int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); 
-                 // find a better name for dof/q/u indices, point to b3JointInfo
-                int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex,  double value);
-                ///Only use if when controlMode is CONTROL_MODE_TORQUE,
-                int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int  dofIndex, double value);
-                
-                 */
-         
-
 
 // Set the gravity of the world with (x, y, z) arguments
 static PyObject *