Merge pull request #3296 from erwincoumans/master

add bullet_client.py options, fix memory leak in EGL/GUI mode with textures.

8 files changed, 124 insertions, 88 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6eed80b1d..a695b7172 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,6 +30,8 @@ OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
 OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
 OPTION(USE_OPENVR "Use OpenVR for virtual reality" OFF)
 
+OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pybullet" ON)
+
 OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
 IF (BULLET2_MULTITHREADING)
     OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
diff --git a/Extras/BulletRobotics/CMakeLists.txt b/Extras/BulletRobotics/CMakeLists.txt
index 19aaf8677..d2ab42334 100644
--- a/Extras/BulletRobotics/CMakeLists.txt
+++ b/Extras/BulletRobotics/CMakeLists.txt
@@ -7,6 +7,9 @@ INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
 )
+ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
+
+
 
 SET(BulletRobotics_INCLUDES
   ../../examples/CommonInterfaces/Common2dCanvasInterface.h
@@ -94,69 +97,102 @@ SET(BulletRobotics_INCLUDES
 )
 
 SET(BulletRobotics_SRCS ${BulletRobotics_INCLUDES}
-    ../../examples/OpenGLWindow/SimpleCamera.cpp
-
-		../../examples/TinyRenderer/geometry.cpp
-		../../examples/TinyRenderer/model.cpp
-		../../examples/TinyRenderer/tgaimage.cpp
-		../../examples/TinyRenderer/our_gl.cpp
-		../../examples/TinyRenderer/TinyRenderer.cpp
-
-    ../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
-		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
-		../../examples/SharedMemory/IKTrajectoryHelper.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
-		../../examples/SharedMemory/InProcessMemory.cpp
-		../../examples/SharedMemory/PhysicsClient.cpp
-		../../examples/SharedMemory/PhysicsServer.cpp
-		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsDirect.cpp
-		../../examples/SharedMemory/PhysicsDirectC_API.cpp
-		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
-		../../examples/SharedMemory/b3PluginManager.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
-		../../examples/SharedMemory/PhysicsClientC_API.cpp
-		../../examples/SharedMemory/Win32SharedMemory.cpp
-		../../examples/SharedMemory/PosixSharedMemory.cpp
-
-		../../examples/Utils/b3ResourcePath.cpp
-		../../examples/Utils/RobotLoggingUtil.cpp
-		../../examples/Utils/b3Clock.cpp
-		../../examples/Utils/b3ResourcePath.cpp
-		../../examples/Utils/ChromeTraceUtil.cpp
-
-		../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
-		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
-		../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
-		../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
-		../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
-		../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
-		../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
-		../../examples/ThirdPartyLibs/BussIK/Misc.cpp
-		../../examples/ThirdPartyLibs/BussIK/Node.cpp
-		../../examples/ThirdPartyLibs/BussIK/Tree.cpp
-		../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
-
-		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
-		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
-		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
-		../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
-		../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
-		../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
-		../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
-		../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
-		../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
-		../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
-
-		../../examples/MultiThreading/b3PosixThreadSupport.cpp
-		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
-		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
+	
+	../../examples/OpenGLWindow/SimpleCamera.cpp
+
+	../../examples/TinyRenderer/geometry.cpp
+	../../examples/TinyRenderer/model.cpp
+	../../examples/TinyRenderer/tgaimage.cpp
+	../../examples/TinyRenderer/our_gl.cpp
+	../../examples/TinyRenderer/TinyRenderer.cpp
+
+	../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+	../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
+	../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+	../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+	../../examples/SharedMemory/IKTrajectoryHelper.cpp
+	../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+	../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+	../../examples/SharedMemory/InProcessMemory.cpp
+	../../examples/SharedMemory/PhysicsClient.cpp
+	../../examples/SharedMemory/PhysicsServer.cpp
+	../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
+	../../examples/SharedMemory/PhysicsDirect.cpp
+	../../examples/SharedMemory/PhysicsDirectC_API.cpp
+	../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+	../../examples/SharedMemory/b3PluginManager.cpp
+	../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
+	../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
+	../../examples/SharedMemory/PhysicsClientC_API.cpp
+	../../examples/SharedMemory/Win32SharedMemory.cpp
+	../../examples/SharedMemory/PosixSharedMemory.cpp
+
+	../../examples/Utils/b3ResourcePath.cpp
+	../../examples/Utils/RobotLoggingUtil.cpp
+	../../examples/Utils/b3Clock.cpp
+	../../examples/Utils/b3ResourcePath.cpp
+	../../examples/Utils/ChromeTraceUtil.cpp
+
+	../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
+	../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+	../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
+	../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
+	../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
+	../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
+	../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
+	../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
+	../../examples/ThirdPartyLibs/BussIK/Misc.cpp
+	../../examples/ThirdPartyLibs/BussIK/Node.cpp
+	../../examples/ThirdPartyLibs/BussIK/Tree.cpp
+	../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
+
+	../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+	../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+	../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+	../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+	../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+	../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+	../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+	../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
+	../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+	../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
+
+	../../examples/MultiThreading/b3PosixThreadSupport.cpp
+	../../examples/MultiThreading/b3Win32ThreadSupport.cpp
+	../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+
+
+)
+
+IF(ENABLE_VHACD)
+ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
+SET(BulletRobotics_SRCS ${BulletRobotics_SRCS}
+  ../../Extras/VHACD/test/src/main_vhacd.cpp
+  ../../Extras/VHACD/src/VHACD.cpp
+  ../../Extras/VHACD/src/vhacdICHull.cpp
+  ../../Extras/VHACD/src/vhacdManifoldMesh.cpp
+  ../../Extras/VHACD/src/vhacdMesh.cpp
+  ../../Extras/VHACD/src/vhacdVolume.cpp
+)
+INCLUDE_DIRECTORIES( 
+  ../../Extras/VHACD/inc
+  ../../Extras/VHACD/public
 )
+ENDIF(ENABLE_VHACD)
 
 IF(BUILD_CLSOCKET)
  ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
diff --git a/Extras/BulletRoboticsGUI/CMakeLists.txt b/Extras/BulletRoboticsGUI/CMakeLists.txt
index 29786e2c3..57ab97f24 100644
--- a/Extras/BulletRoboticsGUI/CMakeLists.txt
+++ b/Extras/BulletRoboticsGUI/CMakeLists.txt
@@ -94,21 +94,6 @@ SET(BulletRoboticsGUI_INCLUDES
 )
 
 SET(BulletRoboticsGUI_SRCS ${BulletRoboticsGUI_INCLUDES}
-
-	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
 	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
 	../../examples/SharedMemory/GraphicsServerExample.cpp
 	../../examples/SharedMemory/GraphicsClientExample.cpp
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 3754c4a9e..81f9ec8c6 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -397,6 +397,15 @@ void GLInstancingRenderer::removeAllInstances()
 	m_graphicsInstances.clear();
 	m_data->m_publicGraphicsInstances.exitHandles();
 	m_data->m_publicGraphicsInstances.initHandles();
+
+	for (int i=0;i<m_data->m_textureHandles.size();i++)
+	{
+		InternalTextureHandle& h = m_data->m_textureHandles[i];
+		glDeleteTextures(1, &h.m_glTexture);
+	}
+
+	m_data->m_textureHandles.clear();
+
 }
 
 GLInstancingRenderer::~GLInstancingRenderer()
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index 1a7f0d5f2..5ee71645e 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -13,15 +13,19 @@ IF(BUILD_PYBULLET_NUMPY)
 	)
 ENDIF()
 
-ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
+ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN )
 
-SET(pybullet3_SRCS
-	pybullet.c
-	)
+IF(ENABLE_VHACD)
+ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
+
+INCLUDE_DIRECTORIES( 
+  ../../Extras/VHACD/inc
+  ../../Extras/VHACD/public
+)
+ENDIF(ENABLE_VHACD)
 	
 SET(pybullet_SRCS
 	pybullet.c
-
 )
 
 IF(BUILD_CLSOCKET)
diff --git a/examples/pybullet/gym/pybullet_utils/bullet_client.py b/examples/pybullet/gym/pybullet_utils/bullet_client.py
index f4995d3b5..6543313d0 100644
--- a/examples/pybullet/gym/pybullet_utils/bullet_client.py
+++ b/examples/pybullet/gym/pybullet_utils/bullet_client.py
@@ -9,7 +9,7 @@ import pybullet
 class BulletClient(object):
   """A wrapper for pybullet to manage different clients."""
 
-  def __init__(self, connection_mode=None, hostName=None):
+  def __init__(self, connection_mode=None, hostName=None, options=''):
     """Creates a Bullet client and connects to a simulation.
 
     Args:
@@ -22,15 +22,15 @@ class BulletClient(object):
     """
     self._shapes = {}
     if connection_mode is None:
-      self._client = pybullet.connect(pybullet.SHARED_MEMORY)
+      self._client = pybullet.connect(pybullet.SHARED_MEMORY, options=options)
       if self._client >= 0:
         return
       else:
         connection_mode = pybullet.DIRECT
     if hostName is None:
-        self._client = pybullet.connect(connection_mode)
+        self._client = pybullet.connect(connection_mode, options=options)
     else:
-        self._client = pybullet.connect(connection_mode, hostName=hostName)
+        self._client = pybullet.connect(connection_mode, hostName=hostName, options=options)
 
   def __del__(self):
     """Clean up connection if not already done."""
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 7cb92fa3b..dfc4f92a3 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -1411,7 +1411,7 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV
 	}
 }
 
-void btMultiBody::mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
+void btMultiBody::mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
 {
 	for (int row = 0; row < rowsA; row++)
 	{
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index 5a3efc941..9cf1ceb5a 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -745,7 +745,7 @@ private:
 		}
 	}
 
-	void mulMatrix(btScalar * pA, btScalar * pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
+	void mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
 
 private:
 	btMultiBodyLinkCollider *m_baseCollider;  //can be NULL