setup.py

from setuptools import find_packages
from sys import platform as _platform
import sys
import glob
import os

from distutils.core import setup
from distutils.extension import Extension
from distutils.util import get_platform
from glob import glob

# monkey-patch for parallel compilation
import multiprocessing
import multiprocessing.pool


def parallelCCompile(self,
                     sources,
                     output_dir=None,
                     macros=None,
                     include_dirs=None,
                     debug=0,
                     extra_preargs=None,
                     extra_postargs=None,
                     depends=None):
  # those lines are copied from distutils.ccompiler.CCompiler directly
  macros, objects, extra_postargs, pp_opts, build = self._setup_compile(
      output_dir, macros, include_dirs, sources, depends, extra_postargs)
  cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
  # parallel code
  N = 2 * multiprocessing.cpu_count()  # number of parallel compilations
  try:
    # On Unix-like platforms attempt to obtain the total memory in the
    # machine and limit the number of parallel jobs to the number of Gbs
    # of RAM (to avoid killing smaller platforms like the Pi)
    mem = os.sysconf('SC_PHYS_PAGES') * os.sysconf('SC_PAGE_SIZE')  # bytes
  except (AttributeError, ValueError):
    # Couldn't query RAM; don't limit parallelism (it's probably a well
    # equipped Windows / Mac OS X box)
    pass
  else:
    mem = max(1, int(round(mem / 1024**3)))  # convert to Gb
    N = min(mem, N)

  def _single_compile(obj):
    try:
      src, ext = build[obj]
    except KeyError:
      return
    newcc_args = cc_args
    if _platform == "darwin":
      if src.endswith('.cpp'):
        newcc_args = cc_args + ["-mmacosx-version-min=10.7", "-stdlib=libc++"]
    self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts)

  # convert to list, imap is evaluated on-demand
  pool = multiprocessing.pool.ThreadPool(N)
  list(pool.imap(_single_compile, objects))
  return objects


import distutils.ccompiler
distutils.ccompiler.CCompiler.compile = parallelCCompile

#see http://stackoverflow.com/a/8719066/295157
import os

platform = get_platform()
print(platform)

CXX_FLAGS = ''
CXX_FLAGS += '-DGWEN_COMPILE_STATIC '
CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
CXX_FLAGS += '-DBT_ENABLE_ENET '
CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
CXX_FLAGS += '-DEGL_ADD_PYTHON_INIT '
CXX_FLAGS += '-DB3_ENABLE_FILEIO_PLUGIN '
CXX_FLAGS += '-DB3_USE_ZIPFILE_FILEIO '
CXX_FLAGS += '-DBT_THREADSAFE=1 '
CXX_FLAGS += '-DSTATIC_LINK_SPD_PLUGIN '
CXX_FLAGS += '-DBT_ENABLE_VHACD '

EGL_CXX_FLAGS = ''

# libraries += [current_python]

libraries = []
include_dirs = []

try:
  import numpy
  NP_DIRS = [numpy.get_include()]
except:
  print("numpy is disabled. getCameraImage maybe slower.")
else:
  print("numpy is enabled.")
  CXX_FLAGS += '-DPYBULLET_USE_NUMPY '
  for d in NP_DIRS:
    print("numpy_include_dirs = %s" % d)
  include_dirs += NP_DIRS

sources = ["examples/pybullet/pybullet.c"]\
+["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp"]\
+["src/btLinearMathAll.cpp"]\
+["src/btBulletCollisionAll.cpp"]\
+["src/btBulletDynamicsAll.cpp"]\
+["examples/ExampleBrowser/InProcessExampleBrowser.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/pdControlPlugin/pdControlPlugin.cpp"]\
+["examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp"]\
+["examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp"]\
+["examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp"]\
+["examples/SharedMemory/IKTrajectoryHelper.cpp"]\
+["examples/SharedMemory/InProcessMemory.cpp"]\
+["examples/SharedMemory/PhysicsClient.cpp"]\
+["examples/SharedMemory/PhysicsServer.cpp"]\
+["examples/SharedMemory/GraphicsClientExample.cpp"]\
+["examples/SharedMemory/GraphicsServerExample.cpp"]\
+["examples/SharedMemory/RemoteGUIHelper.cpp"]\
+["examples/SharedMemory/RemoteGUIHelperTCP.cpp"]\
+["examples/SharedMemory/PhysicsServerExample.cpp"]\
+["examples/SharedMemory/PhysicsServerExampleBullet2.cpp"]\
+["examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp"]\
+["examples/SharedMemory/PhysicsServerSharedMemory.cpp"]\
+["examples/SharedMemory/PhysicsDirect.cpp"]\
+["examples/SharedMemory/PhysicsDirectC_API.cpp"]\
+["examples/SharedMemory/PhysicsServerCommandProcessor.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/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp"]\
+["examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp"]\
+["examples/SharedMemory/PhysicsClientUDP.cpp"]\
+["examples/SharedMemory/PhysicsClientUDP_C_API.cpp"]\
+["examples/SharedMemory/PhysicsClientTCP.cpp"]\
+["examples/SharedMemory/PhysicsClientTCP_C_API.cpp"]\
+["examples/SharedMemory/b3PluginManager.cpp"]\
+["examples/Utils/b3ResourcePath.cpp"]\
+["examples/Utils/RobotLoggingUtil.cpp"]\
+["examples/Utils/ChromeTraceUtil.cpp"]\
+["examples/Utils/b3Clock.cpp"]\
+["examples/Utils/b3Quickprof.cpp"]\
+["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
+["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\
+["examples/ThirdPartyLibs/stb_image/stb_image_write.cpp"]\
+["examples/ThirdPartyLibs/minizip/ioapi.c"]\
+["examples/ThirdPartyLibs/minizip/unzip.c"]\
+["examples/ThirdPartyLibs/minizip/zip.c"]\
+["examples/ThirdPartyLibs/zlib/adler32.c"]\
+["examples/ThirdPartyLibs/zlib/compress.c"]\
+["examples/ThirdPartyLibs/zlib/crc32.c"]\
+["examples/ThirdPartyLibs/zlib/deflate.c"]\
+["examples/ThirdPartyLibs/zlib/gzclose.c"]\
+["examples/ThirdPartyLibs/zlib/gzlib.c"]\
+["examples/ThirdPartyLibs/zlib/gzread.c"]\
+["examples/ThirdPartyLibs/zlib/gzwrite.c"]\
+["examples/ThirdPartyLibs/zlib/infback.c"]\
+["examples/ThirdPartyLibs/zlib/inffast.c"]\
+["examples/ThirdPartyLibs/zlib/inflate.c"]\
+["examples/ThirdPartyLibs/zlib/inftrees.c"]\
+["examples/ThirdPartyLibs/zlib/trees.c"]\
+["examples/ThirdPartyLibs/zlib/uncompr.c"]\
+["examples/ThirdPartyLibs/zlib/zutil.c"]\
+["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/ThirdPartyLibs/enet/callbacks.c"]\
+["examples/ThirdPartyLibs/enet/compress.c"]\
+["examples/ThirdPartyLibs/enet/host.c"]\
+["examples/ThirdPartyLibs/enet/list.c"]\
+["examples/ThirdPartyLibs/enet/packet.c"]\
+["examples/ThirdPartyLibs/enet/peer.c"]\
+["examples/ThirdPartyLibs/enet/protocol.c"]\
+["examples/ExampleBrowser/OpenGLGuiHelper.cpp"]\
+["examples/ExampleBrowser/OpenGLExampleBrowser.cpp"]\
+["examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp"]\
+["examples/ExampleBrowser/GL_ShapeDrawer.cpp"]\
+["examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp"]\
+["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
+["examples/OpenGLWindow/SimpleOpenGL3App.cpp"]\
+["examples/OpenGLWindow/GLPrimitiveRenderer.cpp"]\
+["examples/OpenGLWindow/TwFonts.cpp"]\
+["examples/OpenGLWindow/GLRenderToTexture.cpp"]\
+["examples/OpenGLWindow/LoadShader.cpp"]\
+["examples/OpenGLWindow/OpenSans.cpp"]\
+["examples/OpenGLWindow/SimpleCamera.cpp"]\
+["examples/OpenGLWindow/fontstash.cpp"]\
+["examples/OpenGLWindow/SimpleOpenGL2App.cpp"]\
+["examples/OpenGLWindow/opengl_fontstashcallbacks.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.cpp"]\
+["src/Bullet3Common/b3AlignedAllocator.cpp"]\
+["src/Bullet3Common/b3Logging.cpp"]\
+["src/Bullet3Common/b3Vector3.cpp"]\
+["examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp"]\
+["examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp"]\
+["examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp"]\
+["Extras/Serialize/BulletFileLoader/bChunk.cpp"]\
+["Extras/Serialize/BulletFileLoader/bDNA.cpp"]\
+["Extras/Serialize/BulletFileLoader/bFile.cpp"]\
+["Extras/Serialize/BulletFileLoader/btBulletFile.cpp"]\
+["Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp"]\
+["Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp"]\
+["Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp"]\
+["Extras/InverseDynamics/CloneTreeCreator.cpp"]\
+["Extras/InverseDynamics/IDRandomUtil.cpp"]\
+["Extras/InverseDynamics/MultiBodyTreeDebugGraph.cpp"]\
+["Extras/InverseDynamics/User2InternalIndex.cpp"]\
+["Extras/InverseDynamics/CoilCreator.cpp"]\
+["Extras/InverseDynamics/MultiBodyNameMap.cpp"]\
+["Extras/InverseDynamics/RandomTreeCreator.cpp"]\
+["Extras/InverseDynamics/btMultiBodyTreeCreator.cpp"]\
+["Extras/InverseDynamics/DillCreator.cpp"]\
+["Extras/InverseDynamics/MultiBodyTreeCreator.cpp"]\
+["Extras/InverseDynamics/SimpleTreeCreator.cpp"]\
+["Extras/InverseDynamics/invdyn_bullet_comparison.cpp"]\
+["src/BulletSoftBody/btDefaultSoftBodySolver.cpp"]\
+["src/BulletSoftBody/btSoftBodyHelpers.cpp"]\
+["src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp"]\
+["src/BulletSoftBody/btSoftBody.cpp"]\
+["src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp"]\
+["src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp"]\
+["src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp"]\
+["src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp"]\
+["src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp"]\
+["src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp"]\
+["src/BulletSoftBody/btDeformableBodySolver.cpp"]\
+["src/BulletSoftBody/btDeformableContactProjection.cpp"]\
+["src/BulletSoftBody/btDeformableContactConstraint.cpp"]\
+["src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp"]\
+["src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp"]\
+["src/BulletSoftBody/poly34.cpp"]\
+["src/BulletInverseDynamics/IDMath.cpp"]\
+["src/BulletInverseDynamics/MultiBodyTree.cpp"]\
+["src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp"]\
+["src/BulletInverseDynamics/details/MultiBodyTreeInitCache.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/ThirdPartyLibs/Gwen/Anim.cpp"]\
+["examples/ThirdPartyLibs/Gwen/DragAndDrop.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Hook.cpp"]\
+["examples/ThirdPartyLibs/Gwen/ToolTip.cpp"]\
+["examples/ThirdPartyLibs/Gwen/events.cpp"]\
+["examples/ThirdPartyLibs/Gwen/BaseRender.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Gwen.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Skin.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Utility.cpp"]\
+["examples/ThirdPartyLibs/Gwen/inputhandler.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Base.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Button.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Canvas.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/CheckBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ColorControls.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ColorPicker.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ComboBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/CrossSplitter.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/DockBase.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/DockedTabControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Dragger.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/GroupBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/HSVColorPicker.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/HorizontalScrollBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ImagePanel.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/HorizontalSlider.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Label.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/LabelClickable.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ListBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/MenuItem.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Menu.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/MenuStrip.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/NumericUpDown.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/PanelListPanel.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ProgressBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Properties.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/RadioButton.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/RadioButtonController.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ResizableControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Resizer.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/RichLabel.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ScrollBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ScrollBarBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ScrollBarButton.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ScrollControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Slider.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/SplitterBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TabButton.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TabControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TabStrip.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Text.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TextBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TextBoxNumeric.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TreeControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TreeNode.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/VerticalScrollBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/VerticalSlider.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/WindowControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Dialog/FileOpen.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Dialog/FileSave.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Dialog/Query.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Platforms/Null.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Platforms/Windows.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.cpp"]\
+["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"]


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/stb_image/stb_image_write.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/btConvexHull.cpp"]\
+["src/LinearMath/btConvexHullComputer.cpp"] \
+["src/LinearMath/btGeometryUtil.cpp"]\
+["src/LinearMath/btQuickprof.cpp"] \
+["src/LinearMath/btThreads.cpp"] \
+["src/Bullet3Common/b3AlignedAllocator.cpp"] \
+["examples/ThirdPartyLibs/glad/gl.c"]\
+["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
+["examples/OpenGLWindow/GLRenderToTexture.cpp"] \
+["examples/OpenGLWindow/LoadShader.cpp"]

if 'BT_USE_EGL' in CXX_FLAGS:
  sources += ['examples/ThirdPartyLibs/glad/egl.c']
  sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']

if _platform == "linux" or _platform == "linux2":
  libraries = ['dl', 'pthread']
  CXX_FLAGS += '-D_LINUX '
  CXX_FLAGS += '-DGLEW_STATIC '
  CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
  CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '
  CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
  CXX_FLAGS += '-DHAS_SOCKLEN_T '
  CXX_FLAGS += '-fno-inline-functions-called-once '
  CXX_FLAGS += '-fvisibility=hidden '
  CXX_FLAGS += '-fvisibility-inlines-hidden '
  EGL_CXX_FLAGS += '-DBT_USE_EGL '
  EGL_CXX_FLAGS += '-fPIC '  # for plugins

  sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
  +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
  +["examples/ThirdPartyLibs/glad/gl.c"]\
  +["examples/ThirdPartyLibs/glad/glx.c"]
  include_dirs += ["examples/ThirdPartyLibs/optionalX11"]

  if 'BT_USE_EGL' in EGL_CXX_FLAGS:
    egl_renderer_sources = egl_renderer_sources\
    +["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
    +['examples/ThirdPartyLibs/glad/egl.c']
  else:
    egl_renderer_sources = egl_renderer_sources\
    +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
    +["examples/ThirdPartyLibs/glad/glx.c"]

elif _platform == "win32":
  print("win32!")
  libraries = ['Ws2_32', 'Winmm', 'User32', 'Opengl32', 'kernel32', 'glu32', 'Gdi32', 'Comdlg32']
  CXX_FLAGS += '-DWIN32 '
  CXX_FLAGS += '-DGLEW_STATIC '
  sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
  +["examples/OpenGLWindow/Win32Window.cpp"]\
  +["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]\
  +["examples/ThirdPartyLibs/glad/gl.c"]
elif _platform == "darwin":
  print("darwin!")
  os.environ['LDFLAGS'] = '-framework Cocoa -mmacosx-version-min=10.7 -stdlib=libc++ -framework OpenGL'
  CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
  CXX_FLAGS += '-DHAS_SOCKLEN_T '
  CXX_FLAGS += '-D_DARWIN '
  #    CXX_FLAGS += '-framework Cocoa '
  sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
  +["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
  +["examples/ThirdPartyLibs/glad/gl.c"]\
  +["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
else:
  print("bsd!")
  libraries = ['GL', 'GLEW', 'pthread']
  os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
  CXX_FLAGS += '-D_BSD '
  CXX_FLAGS += '-I/usr/X11R6/include '
  CXX_FLAGS += '-DHAS_SOCKLEN_T '
  CXX_FLAGS += '-fno-inline-functions-called-once'
  sources = ["examples/ThirdPartyLibs/enet/unix.c"]\
  +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
  +["examples/ThirdPartyLibs/glad/gl.c"]\
  + sources

setup_py_dir = os.path.dirname(os.path.realpath(__file__))

need_files = []
datadir = "examples/pybullet/gym/pybullet_data"

hh = setup_py_dir + "/" + datadir

for root, dirs, files in os.walk(hh):
  for fn in files:
    ext = os.path.splitext(fn)[1][1:]
    if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml gin npy '.split(
    ):
      fn = root + "/" + fn
      need_files.append(fn[1 + len(hh):])

print("found resource files: %i" % len(need_files))
for n in need_files:
  print("-- %s" % n)
print("packages")
print(find_packages('examples/pybullet/gym'))
print("-----")

extensions = []

pybullet_ext = Extension(
    "pybullet",
    sources=sources,
    libraries=libraries,
    extra_compile_args=CXX_FLAGS.split(),
    include_dirs=include_dirs + [
        "src", "examples/ThirdPartyLibs", "examples/ThirdPartyLibs/glad",
        "examples/ThirdPartyLibs/enet/include", "examples/ThirdPartyLibs/clsocket/src",
        "Extras/VHACD/inc", "Extras/VHACD/public",
    ])
extensions.append(pybullet_ext)

if 'BT_USE_EGL' in EGL_CXX_FLAGS:

  eglRender = Extension(
      "eglRenderer",
      sources=egl_renderer_sources,
      libraries=libraries,
      extra_compile_args=(CXX_FLAGS + EGL_CXX_FLAGS).split(),
      include_dirs=include_dirs + [
          "src", "examples", "examples/ThirdPartyLibs", "examples/ThirdPartyLibs/glad",
          "examples/ThirdPartyLibs/enet/include", "examples/ThirdPartyLibs/clsocket/src"
      ])

  extensions.append(eglRender)

setup(
    name='pybullet',
    version='3.1.7',
    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',
    author='Erwin Coumans, Yunfei Bai, Jasmine Hsu',
    author_email='erwincoumans@google.com',
    license='zlib',
    platforms='any',
    keywords=[
        'game development', 'virtual reality', 'physics simulation', 'robotics',
        'collision detection', 'opengl'
    ],
    ext_modules=extensions,
    classifiers=[
        'Development Status :: 5 - Production/Stable',
        'License :: OSI Approved :: zlib/libpng License',
        'Operating System :: Microsoft :: Windows', 'Operating System :: POSIX :: Linux',
        'Operating System :: MacOS', 'Intended Audience :: Science/Research',
        "Programming Language :: Python", 'Programming Language :: Python :: 2.7',
        'Programming Language :: Python :: 3.4', 'Programming Language :: Python :: 3.5',
        'Programming Language :: Python :: 3.6', 'Programming Language :: Python :: 3.7',
        'Programming Language :: Python :: 3.8', 'Topic :: Games/Entertainment :: Simulation',
        'Topic :: Scientific/Engineering :: Artificial Intelligence',
        'Framework :: Robot Framework'
    ],
    package_dir={'': 'examples/pybullet/gym'},
    packages=[x for x in find_packages('examples/pybullet/gym')],
    package_data={'pybullet_data': need_files})