Merge pull request #4269 from erwincoumans/master

OpenAI Gym API change: add mode argument to render method

13 files changed, 15 insertions, 14 deletions

diff --git a/VERSION b/VERSION
index bd2342316..ed5e66e1d 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-3.24
+3.25
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py
index 29f5db65d..671cf0e8e 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py
@@ -54,7 +54,7 @@ def main():
       frame += 1
       distance = 5
       yaw = 0
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
index b95ff2e31..be1971677 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
@@ -49,7 +49,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
index 18b902d5a..9b04c44a2 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
@@ -48,7 +48,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py
index cfbbbfd73..cad0ca566 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul.py
@@ -53,7 +53,7 @@ def demo_run():
       score += r
       frame += 1
 
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
 
       if still_open == False:
         return
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
index fbd35164d..e0227fe1d 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
@@ -48,7 +48,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
index e4e84dd93..82ed97329 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
@@ -48,7 +48,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
index 8c1ccd08d..fc612f393 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
@@ -48,7 +48,7 @@ def main():
       obs, r, done, _ = env.step(a)
       score += r
       frame += 1
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
index b88e19f51..de71b9770 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
@@ -50,7 +50,7 @@ def main():
       score += r
       frame += 1
 
-      still_open = env.render("human")
+      still_open = env.render(mode="human")
       if still_open == False:
         return
       if not done: continue
diff --git a/setup.py b/setup.py
index 86a7a9cbe..2ef922a01 100644
--- a/setup.py
+++ b/setup.py
@@ -505,7 +505,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
     name='pybullet',
-    version='3.2.4',
+    version='3.2.5',
     description=
     'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
     long_description=
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index 8d59ba95a..95bce9e7c 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -103,7 +103,8 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
 
 	if (m_convexBodyWrap->getCollisionShape()->isConvex())
 	{
-#ifndef BT_DISABLE_CONVEX_CONCAVE_EARLY_OUT		
+#ifdef BT_ENABLE_CONVEX_CONCAVE_EARLY_OUT
+    //todo: check this issue https://github.com/bulletphysics/bullet3/issues/4263
 		//an early out optimisation if the object is separated from the triangle
 		//projected on the triangle normal)
 		{
@@ -139,7 +140,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
 			if (dist > contact_threshold)
 				return;
         }
-#endif //BT_DISABLE_CONVEX_CONCAVE_EARLY_OUT
+#endif //BT_ENABLE_CONVEX_CONCAVE_EARLY_OUT
 
 		btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
 		tm.setMargin(m_collisionMarginTriangle);
diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h
index 9f5408c79..dea1b05ea 100644
--- a/src/LinearMath/btScalar.h
+++ b/src/LinearMath/btScalar.h
@@ -25,7 +25,7 @@ subject to the following restrictions:
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 324
+#define BT_BULLET_VERSION 325
 
 inline int btGetVersion()
 {
diff --git a/src/LinearMath/btSerializer.h b/src/LinearMath/btSerializer.h
index 59695ab32..eabf47864 100644
--- a/src/LinearMath/btSerializer.h
+++ b/src/LinearMath/btSerializer.h
@@ -481,7 +481,7 @@ public:
 
 		buffer[9] = '3';
 		buffer[10] = '2';
-		buffer[11] = '4';
+		buffer[11] = '5';
 	}
 
 	virtual void startSerialization()