text: 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/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBody.cpp"]\
  +["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodyHelpers.cpp"]\
  +["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableBodySolver.cpp"]\
  +["src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.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='3.2.5',
      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})
  