Merge branch 'master' of https://github.com/erwincoumans/bullet3

examples/SharedMemory/b3PluginManager.cpp

@@ -112,7 +112,7 @@ struct b3PluginManagerInternalData
 	b3BulletDefaultFileIO m_defaultFileIO;
 
 	b3PluginManagerInternalData()
-		: m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1), m_activeCollisionPluginUid(-1), m_numNotificationPlugins(0), m_activeFileIOPluginUid(-1)
+		: m_physicsDirect(0), m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1), m_activeCollisionPluginUid(-1), m_numNotificationPlugins(0), m_activeFileIOPluginUid(-1)
 	{
 	}
 };

examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp

@@ -388,35 +388,37 @@ struct WrapperFileIO : public CommonFileIOInterface
 						int childHandle = childFileIO->fileOpen(fileName, mode);
 						if (childHandle>=0)
 						{
-							int fileSize = childFileIO->getFileSize(childHandle);
-							char* buffer = 0;
-							if (fileSize)
+							if (m_enableFileCaching)
 							{
-								buffer = m_cachedFiles.allocateBuffer(fileSize);
-								if (buffer)
+								int fileSize = childFileIO->getFileSize(childHandle);
+								char* buffer = 0;
+								if (fileSize)
 								{
-									int readBytes = childFileIO->fileRead(childHandle, buffer, fileSize);
-									if (readBytes!=fileSize)
+									buffer = m_cachedFiles.allocateBuffer(fileSize);
+									if (buffer)
 									{
-										if (readBytes<fileSize)
-										{
-											fileSize = readBytes;
-										} else
+										int readBytes = childFileIO->fileRead(childHandle, buffer, fileSize);
+										if (readBytes!=fileSize)
 										{
-											printf("WrapperFileIO error: reading more bytes (%d) then reported file size (%d) of file %s.\n", readBytes, fileSize, fileName);
+											if (readBytes<fileSize)
+												{
+												fileSize = readBytes;
+											} else
+											{
+												printf("WrapperFileIO error: reading more bytes (%d) then reported file size (%d) of file %s.\n", readBytes, fileSize, fileName);
+											}
 										}
+									} else
+									{
+										fileSize=0;
 									}
-								} else
-								{
-									fileSize=0;
 								}
-							}
 
-							//potentially register a zero byte file, or files that only can be read partially
-							if (m_enableFileCaching)
-							{
+								//potentially register a zero byte file, or files that only can be read partially
+
 								m_cachedFiles.registerFile(fileName, buffer, fileSize);
 							}
+
 							childFileIO->fileClose(childHandle);
 							break;
 						}

examples/pybullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py

@@ -116,7 +116,7 @@
 
 mocapData = motion_capture_data.MotionCaptureData()
 
-motionPath = pybullet_data.getDataPath()+"/data/motions/laikago_walk.json"
+motionPath = pybullet_data.getDataPath()+"/data/motions/laikago_walk.txt"
 
 mocapData.Load(motionPath)
 print("mocapData.NumFrames=",mocapData.NumFrames())

setup.py

@@ -468,7 +468,7 @@ def _single_compile(obj):
 
 setup(
 	name = 'pybullet',
-	version='2.4.8',
+	version='2.4.9',
 	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',