added egl plugin commit

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -1367,7 +1367,9 @@ void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
 		UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
 		if (linkPtr)
 		{
-			m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
+                        //(gdb) p *model.m_links.m_valueArray.m_data[0]
+                        std::cout << "mvp " << (*linkPtr)->m_visualArray.size() << std::endl;
+                        m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
 		}
 	}
 }

examples/OpenGLWindow/EGLOpenGLWindow.cpp

@@ -36,8 +36,11 @@
 #include <string.h>
 #include <unistd.h>
 
-#include <glad/gl.h>
+#include "OpenGLInclude.h"
-#include <glad/egl.h>
+
+#include "EGL/egl.h"
+#include "EGL/eglext.h"
+#include "GL/gl.h"
 
 #include "EGLOpenGLWindow.h"
 

examples/SharedMemory/b3PluginManager.cpp

@@ -220,7 +220,13 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 		}
 		else
 		{
+
 			b3Warning("Warning: couldn't load plugin %s\n", pluginPath);
+                        #ifdef _WIN32
+                        #else
+                            b3Warning("Error: %s\n", dlerror() );
+                        #endif
+
 		}
 		if (!ok)
 		{

examples/SharedMemory/plugins/eglPlugin/bullet.py

@@ -0,0 +1,25 @@
+import os 
+import time
+import subprocess
+import pybullet as p
+#subprocess.call(["hardening-check", p.__file__])
+
+p.connect(p.DIRECT)
+
+plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
+plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
+print("plugin =",plugin)
+
+path = '/home/argusm/lang/bullet3/examples/pybullet/gym/pybullet_data/r2d2.urdf'
+path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka_weiss_bolt.sdf'
+#p.loadURDF(path)
+p.loadSDF(path)
+
+start = time.time()
+for i in range(2000):
+    p.getCameraImage(80,80)
+    if i % 100 == 0 and i > 0:
+        print("FPS",100/(time.time()-start))
+        start = time.time()
+
+

examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp

@@ -0,0 +1,62 @@
+
+//tinyRenderer plugin
+
+/*
+import pybullet as p
+p.connect(p.GUI)
+plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
+print("plugin=",plugin)
+p.loadURDF("r2d2.urdf")
+while (1):
+	p.getCameraImage(320,200)
+*/
+
+#include "eglRendererPlugin.h"
+#include "eglRendererVisualShapeConverter.h"
+
+#include "../../SharedMemoryPublic.h"
+#include "../b3PluginContext.h"
+#include <stdio.h>
+
+
+
+struct MyRendererPluginClass
+{
+	
+	TinyRendererVisualShapeConverter m_renderer;
+	MyRendererPluginClass()
+	{
+	}
+	virtual ~MyRendererPluginClass()
+	{
+	}
+};
+
+B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = new MyRendererPluginClass();
+	context->m_userPointer = obj;
+	return SHARED_MEMORY_MAGIC_NUMBER;
+}
+
+
+B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+{
+		return -1;
+}
+
+
+B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	delete obj;
+	context->m_userPointer = 0;
+}
+
+//all the APIs below are optional
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	return &obj->m_renderer;
+}
+

examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h

@@ -0,0 +1,25 @@
+#ifndef TINY_RENDERER_PLUGIN_H
+#define TINY_RENDERER_PLUGIN_H
+
+#include "../b3PluginAPI.h"
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
+B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
+
+//all the APIs below are optional
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context);
+
+
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif//#define TEST_PLUGIN_H

examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h

@@ -0,0 +1,63 @@
+#ifndef EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
+#define EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H
+
+#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
+
+struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
+{
+	
+        struct TinyRendererVisualShapeConverterInternalData* m_data;
+	
+        TinyRendererVisualShapeConverter();
+	
+        virtual ~TinyRendererVisualShapeConverter();
+	
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
+	
+	virtual int getNumVisualShapes(int bodyUniqueId);
+
+	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
+	
+	virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]);
+
+	virtual void changeShapeTexture(int objectUniqueId, int linkIndex, int shapeIndex, int textureUniqueId);
+
+	virtual void removeVisualShape(int shapeUid);
+
+	virtual void setUpAxis(int axis);
+	
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
+	
+	virtual void clearBuffers(struct TGAColor& clearColor);
+
+	virtual void resetAll();
+
+	virtual void getWidthAndHeight(int& width, int& height);
+	virtual void setWidthAndHeight(int width, int height);
+	virtual void setLightDirection(float x, float y, float z);
+	virtual void setLightColor(float x, float y, float z);
+	virtual void setLightDistance(float dist);
+	virtual void setLightAmbientCoeff(float ambientCoeff);
+	virtual void setLightDiffuseCoeff(float diffuseCoeff);
+	virtual void setLightSpecularCoeff(float specularCoeff);
+	virtual void setShadow(bool hasShadow);
+	virtual void setFlags(int flags);
+
+	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
+    
+	virtual void render();
+	virtual void render(const float viewMat[16], const float projMat[16]);
+    
+	virtual int loadTextureFile(const char* filename);
+	virtual int registerTexture(unsigned char* texels, int width, int height);
+   
+	
+
+	virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
+
+};
+
+
+
+
+#endif //EGL_RENDERER_VISUAL_SHAPE_CONVERTER_H

examples/SharedMemory/plugins/eglPlugin/premake4.lua

@@ -0,0 +1,53 @@
+		
+
+project ("pybullet_eglRendererPlugin")
+		language "C++"
+		kind "SharedLib"
+		
+		includedirs {".","../../../../src", "../../../../examples",
+		"../../../ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletCollision", "Bullet3Common", "LinearMath"}
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+
+		files {
+			"eglRendererPlugin.cpp",
+			"eglRendererPlugin.h",
+			"TinyRendererVisualShapeConverter.cpp",
+			"TinyRendererVisualShapeConverter.h",
+			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
+			"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+			"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.h",
+			"../../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+			"../../../Importers/ImportObjDemo/LoadMeshFromObj.h",
+			"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+			"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h",
+			"../../../TinyRenderer/geometry.cpp",
+			"../../../TinyRenderer/model.cpp",
+			"../../../TinyRenderer/our_gl.cpp",
+			"../../../TinyRenderer/tgaimage.cpp",
+			"../../../TinyRenderer/TinyRenderer.cpp",
+			"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.cpp",
+			"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.h",
+			"../../../ThirdPartyLibs/stb_image/stb_image.cpp",
+			"../../../ThirdPartyLibs/stb_image/stb_image.h",
+			"../../../ThirdPartyLibs/eglxml2/eglxml2.cpp",
+			"../../../ThirdPartyLibs/eglxml2/eglxml2.h",
+			"../../../OpenGLWindow/SimpleCamera.cpp",
+			"../../../OpenGLWindow/SimpleCamera.h",
+			"../../../Utils/b3Clock.cpp",
+			"../../../Utils/b3Clock.h",
+			"../../../Utils/b3ResourcePath.cpp",
+			"../../../Utils/b3ResourcePath.h",
+			}
+	
+	
+	

setup.py

@@ -394,6 +394,7 @@ if _platform == "linux" or _platform == "linux2":
     CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
     CXX_FLAGS += '-DHAS_SOCKLEN_T '
     CXX_FLAGS += '-fno-inline-functions-called-once '
+    CXX_FLAGS += '-fPIC '  # for plugins
     sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
     +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
     +["examples/ThirdPartyLibs/glad/gl.c"]\
@@ -438,6 +439,7 @@ else:
     +["examples/ThirdPartyLibs/glad/gl.c"]\
     + sources
 
+
 setup_py_dir = os.path.dirname(os.path.realpath(__file__))
 
 need_files = []
@@ -458,6 +460,52 @@ print("packages")
 print(find_packages('examples/pybullet/gym'))
 print("-----")
 
+egl_renderer_sources = \
+["examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp"]\
++["examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp"]\
++["examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp"]\
++["examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp"]\
++["examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp"]\
++["examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp"]\
++["examples/TinyRenderer/geometry.cpp"]\
++["examples/TinyRenderer/model.cpp"]\
++["examples/TinyRenderer/tgaimage.cpp"]\
++["examples/TinyRenderer/our_gl.cpp"]\
++["examples/TinyRenderer/TinyRenderer.cpp"]\
++["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
++["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\
++["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
++["examples/OpenGLWindow/SimpleCamera.cpp"]\
++["examples/Utils/b3Clock.cpp"]\
++["examples/Utils/b3ResourcePath.cpp"]\
++["src/BulletCollision/CollisionShapes/btShapeHull.cpp"]\
++["src/BulletCollision/CollisionShapes/btConvexHullShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btBoxShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btSphereShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btConvexShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btCollisionShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"]\
++["src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp"]\
++["src/Bullet3Common/b3Logging.cpp"]\
++["src/LinearMath/btAlignedAllocator.cpp"]\
++["src/LinearMath/btGeometryUtil.cpp"]\
++["src/LinearMath/btConvexHull.cpp"]\
++["src/LinearMath/btConvexHullComputer.cpp"]\
++["src/Bullet3Common/b3AlignedAllocator.cpp"] \
++["examples/ThirdPartyLibs/glad/glad.c"]\
++["examples/ThirdPartyLibs/glad/glad_glx.c"] \
++["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
++["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
++["examples/OpenGLWindow/GLRenderToTexture.cpp"]\
+
+
+eglRender = Extension("eglRenderer",
+        sources =  egl_renderer_sources,
+        libraries = libraries,
+        extra_compile_args=(CXX_FLAGS+'-DBT_USE_EGL ').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',
@@ -469,7 +517,7 @@ setup(
 	license='zlib',
 	platforms='any',
 	keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl'],
-	ext_modules = [Extension("pybullet",
+        ext_modules = [eglRender, Extension("pybullet",
 	sources =  sources,
 	libraries = libraries,
 	extra_compile_args=CXX_FLAGS.split(),