improve premake4 build in case X11 headers are missing

improve video_sync_mp4.py example
allow to create a heightfield from file or programmatically in C++ robotics api. Example:

{
		b3RobotSimulatorCreateCollisionShapeArgs shapeArgs;
		shapeArgs.m_shapeType = GEOM_HEIGHTFIELD;
		bool useFile = true;
		if (useFile)
		{
			shapeArgs.m_fileName = "D:/dev/bullet3/data/heightmaps/gimp_overlay_out.png";
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
		}
		else
		{
			shapeArgs.m_numHeightfieldColumns = 256;
			shapeArgs.m_numHeightfieldRows = 256;
			shapeArgs.m_meshScale.setValue(.05, .05, 1);
			shapeArgs.m_heightfieldData.resize(shapeArgs.m_numHeightfieldRows * shapeArgs.m_numHeightfieldColumns);
			double heightPerturbationRange = 0.05;
			for (int j = 0; j<int(shapeArgs.m_numHeightfieldColumns / 2); j++)
			{
				for (int i = 0; i < (int(shapeArgs.m_numHeightfieldRows / 2)); i++)
				{
					double height = ((double)rand() / (RAND_MAX)) * heightPerturbationRange;
					shapeArgs.m_heightfieldData[2 * i + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
					shapeArgs.m_heightfieldData[2 * i + 1 + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
				}
			}
		}
		int shape = sim->createCollisionShape(shapeArgs.m_shapeType, shapeArgs);
		b3RobotSimulatorCreateMultiBodyArgs bodyArgs;
		bodyArgs.m_baseCollisionShapeIndex = shape;
		int groundId = sim->createMultiBody(bodyArgs);
		int texId = sim->loadTexture(shapeArgs.m_fileName);
		b3RobotSimulatorChangeVisualShapeArgs args;
		args.m_objectUniqueId = groundId;
		args.m_linkIndex = -1;
		args.m_textureUniqueId = texId;
		sim->changeVisualShape(args);
	}

4 files changed, 58 insertions, 17 deletions

diff --git a/build3/findOpenGLGlewGlut.lua b/build3/findOpenGLGlewGlut.lua
index 5d53a25d9..189f5f5cd 100644
--- a/build3/findOpenGLGlewGlut.lua
+++ b/build3/findOpenGLGlewGlut.lua
@@ -43,6 +43,21 @@
 		configuration{}
 	end
 
+	function initX11()
+		if os.is("Linux") then
+			if _OPTIONS["enable_system_x11"] and (os.isdir("/usr/include") and os.isfile("/usr/include/X11/X.h")) then
+				links{"X11","pthread"}
+			else
+				print("No X11/X.h found, using dynamic loading of X11")
+				includedirs {
+                                        projectRootDir .. "examples/ThirdPartyLibs/optionalX11"
+                                }
+				defines {"DYNAMIC_LOAD_X11_FUNCTIONS"}	
+				links {"dl","pthread"}
+			end
+		end
+	end
+
 
 	function initGlew()
 		configuration {}
@@ -63,8 +78,9 @@
 
 		if os.is("Linux") then
 			configuration{"Linux"}
+			  initX11()
 				if  _OPTIONS["enable_system_glx"] then --# and (os.isdir("/usr/include") and os.isfile("/usr/include/GL/glx.h")) then
-                                	links{"X11","pthread"}
+                                	links{"pthread"}
 					print("Using system GL/glx.h")
                         	else
 					print("Using glad_glx")
@@ -86,18 +102,4 @@
 		configuration{}
 	end
 
-	function initX11()
-		if os.is("Linux") then
-			if _OPTIONS["enable_system_x11"] and (os.isdir("/usr/include") and os.isfile("/usr/include/X11/X.h")) then
-				links{"X11","pthread"}
-			else
-				print("No X11/X.h found, using dynamic loading of X11")
-				includedirs {
-                                        projectRootDir .. "examples/ThirdPartyLibs/optionalX11"
-                                }
-				defines {"DYNAMIC_LOAD_X11_FUNCTIONS"}	
-				links {"dl","pthread"}
-			end
-		end
-	end
 
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
index e7de912e6..f2777e129 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
@@ -2309,6 +2309,29 @@ int b3RobotSimulatorClientAPI_NoDirect::createCollisionShape(int shapeType, stru
 		scalarToDouble3(args.m_meshScale, meshScale);
 		shapeIndex = b3CreateCollisionShapeAddMesh(command, args.m_fileName, meshScale);
 	}
+	if (shapeType == GEOM_HEIGHTFIELD)
+	{
+		double meshScale[3];
+		scalarToDouble3(args.m_meshScale, meshScale);
+		if (args.m_fileName)
+		{
+			shapeIndex = b3CreateCollisionShapeAddHeightfield(command, args.m_fileName, meshScale, args.m_heightfieldTextureScaling);
+		}
+		else
+		{
+			if (args.m_heightfieldData.size() && args.m_numHeightfieldRows>0 && args.m_numHeightfieldColumns>0)
+			{
+				shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, command, meshScale, args.m_heightfieldTextureScaling,
+					&args.m_heightfieldData[0],
+					args.m_numHeightfieldRows,
+					args.m_numHeightfieldColumns,
+					args.m_replaceHeightfieldIndex);
+			}
+		}
+		
+
+	}
+
 	if (shapeType == GEOM_PLANE)
 	{
 		double planeConstant = 0;
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
index 5de719669..5c8f9e2ff 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
@@ -471,12 +471,23 @@ struct b3RobotSimulatorCreateCollisionShapeArgs
 	btVector3 m_meshScale;
 	btVector3 m_planeNormal;
 	int m_flags;
+
+	double m_heightfieldTextureScaling;
+	btAlignedObjectArray<float> m_heightfieldData;
+	int m_numHeightfieldRows;
+	int m_numHeightfieldColumns;
+	int m_replaceHeightfieldIndex;
+
 	b3RobotSimulatorCreateCollisionShapeArgs()
 		: m_shapeType(-1),
 		  m_radius(0.5),
 		  m_height(1),
 		  m_fileName(NULL),
-		  m_flags(0)
+		  m_flags(0),
+		  m_heightfieldTextureScaling(1),
+		  m_numHeightfieldRows(0),
+		  m_numHeightfieldColumns(0),
+		  m_replaceHeightfieldIndex(-1)
 	{
 		m_halfExtents.m_floats[0] = 1;
 		m_halfExtents.m_floats[1] = 1;
diff --git a/examples/pybullet/examples/video_sync_mp4.py b/examples/pybullet/examples/video_sync_mp4.py
index 3859de538..754101744 100644
--- a/examples/pybullet/examples/video_sync_mp4.py
+++ b/examples/pybullet/examples/video_sync_mp4.py
@@ -2,10 +2,15 @@ import pybullet as p
 import time
 import pybullet_data
 
+#Once the video is recorded, you can extract all individual frames using ffmpeg
+#mkdir frames
+#ffmpeg -i test.mp4 "frames/out-%03d.png"
+
 #by default, PyBullet runs at 240Hz
-p.connect(p.GUI, options="--mp4=\"test.mp4\" --mp4fps=240")
+p.connect(p.GUI, options="--width=1920 --height=1080 --mp4=\"test.mp4\" --mp4fps=240")
 
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
 p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
 p.loadURDF("plane.urdf")