add command-line argument for example browser and shared memory app, --shared_memory_key=<int>

fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory
implement CMD_RESET_SIMULATION

examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp

@@ -188,6 +188,22 @@ void GwenParameterInterface::syncParameters()
 
 void GwenParameterInterface::removeAllParameters()
 {
+	for (int i=0;i<m_paramInternalData->m_buttons.size();i++)
+	{
+		delete m_paramInternalData->m_buttons[i];
+	}
+	m_paramInternalData->m_buttons.clear();
+	
+	for (int i=0;i<m_paramInternalData->m_buttonEventHandlers.size();i++)
+	{
+		delete m_paramInternalData->m_buttonEventHandlers[i];
+	}
+	m_paramInternalData->m_buttonEventHandlers.clear();
+	
+	
+	m_gwenInternalData->m_curYposition+=22;
+
+	
 	for (int i=0;i<m_paramInternalData->m_sliders.size();i++)
 	{
 		delete m_paramInternalData->m_sliders[i];

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -76,6 +76,9 @@ static bool pauseSimulation=false;
 int midiBaseIndex = 176;
 extern bool gDisableDeactivation;
 
+int gSharedMemoryKey=-1;
+
+
 ///some quick test variable for the OpenCL examples
 
 int gPreferredOpenCLDeviceIndex=-1;
@@ -739,6 +742,8 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	}
 
 	
+	args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey);
+								
 	float red,green,blue;
 	s_app->getBackgroundColor(&red,&green,&blue);
 	args.GetCmdLineArgument("background_color_red",red);

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -55,7 +55,7 @@ public:
 
 	void InitShaders();
 	void CleanupShaders();
-	void removeAllInstances();
+	virtual void removeAllInstances();
 
 	virtual void updateShape(int shapeIndex, const float* vertices);
 

examples/SharedMemory/PhysicsClient.cpp

@@ -24,6 +24,8 @@ struct PhysicsClientSharedMemoryInternalData
 	btAlignedObjectArray<bParse::btBulletFile*> m_robotMultiBodyData;
 	btAlignedObjectArray<b3JointInfo> m_jointInfo;
 	
+	int m_sharedMemoryKey;
+	
 	int m_counter;
 	bool m_serverLoadUrdfOK;
 	bool m_isConnected;
@@ -37,7 +39,8 @@ struct PhysicsClientSharedMemoryInternalData
 		m_serverLoadUrdfOK(false),
 		m_isConnected(false),
 		m_waitingForServer(false),
-		m_hasLastServerStatus(false)
+		m_hasLastServerStatus(false),
+		m_sharedMemoryKey(SHARED_MEMORY_KEY)
 	{
 	}
 
@@ -66,7 +69,7 @@ PhysicsClientSharedMemory::PhysicsClientSharedMemory()
 
 {
 	m_data = new PhysicsClientSharedMemoryInternalData;	
-
+	
 #ifdef _WIN32
 	m_data->m_sharedMemory = new Win32SharedMemoryClient();
 #else
@@ -85,11 +88,16 @@ PhysicsClientSharedMemory::~PhysicsClientSharedMemory()
 	delete m_data;
 }
 
+void PhysicsClientSharedMemory::setSharedMemoryKey(int key)
+{
+	m_data->m_sharedMemoryKey = key;
+}
+
 void PhysicsClientSharedMemory::disconnectSharedMemory ()
 {
     if (m_data->m_isConnected)
     {
-        m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
+        m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
         m_data->m_isConnected = false;
     }
 }
@@ -103,14 +111,14 @@ bool PhysicsClientSharedMemory::connect()
 {
     ///server always has to create and initialize shared memory
     bool allowCreation = false;
-	m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE, allowCreation);
+	m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE, allowCreation);
 	
     if (m_data->m_testBlock1)
     {
         if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
         {
             b3Error("Error: please start server before client\n");
-            m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
+            m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
             m_data->m_testBlock1 = 0;
             return false;
        } else
@@ -389,6 +397,18 @@ bool	PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& c
 
 	if (!m_data->m_waitingForServer)
 	{
+		//a reset simulation command needs special attention, cleanup state
+		if (command.m_type==CMD_RESET_SIMULATION)
+		{
+			for (int i=0;i<m_data->m_robotMultiBodyData.size();i++)
+			{
+				delete m_data->m_robotMultiBodyData[i];
+			}
+			m_data->m_robotMultiBodyData.clear();
+			
+			m_data->m_jointInfo.clear();
+			
+		}
 		m_data->m_testBlock1->m_clientCommands[0] = command;
 		m_data->m_testBlock1->m_numClientCommands++;
 		m_data->m_waitingForServer = true;

examples/SharedMemory/PhysicsClient.h

@@ -32,6 +32,7 @@ public:
 	
 	virtual void	getJointInfo(int index, b3JointInfo& info) const;
 	
+	virtual void setSharedMemoryKey(int key);
 };
 
 #endif //BT_PHYSICS_CLIENT_API_H

examples/SharedMemory/PhysicsClientExample.cpp

@@ -29,6 +29,8 @@ protected:
 
 	void	createButton(const char* name, int id, bool isTrigger );
 
+	void createButtons();
+	
 public:
     
     //@todo, add accessor methods
@@ -64,6 +66,18 @@ public:
     
 	void enqueueCommand(const SharedMemoryCommand& orgCommand);
 	
+	virtual void    exitPhysics(){};
+	virtual void	renderScene(){}
+	virtual void	physicsDebugDraw(int debugFlags){}
+	virtual bool	mouseMoveCallback(float x,float y){return false;};
+	virtual bool	mouseButtonCallback(int button, int state, float x, float y){return false;}
+	virtual bool	keyboardCallback(int key, int state){return false;}
+
+	
+	virtual void setSharedMemoryKey(int key)
+	{
+		m_physicsClient.setSharedMemoryKey(key);
+	}
 };
 
 
@@ -97,6 +111,11 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
 	case CMD_CREATE_BOX_COLLISION_SHAPE:
 		{
 			command.m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
+			command.m_updateFlags = BOX_SHAPE_HAS_INITIAL_POSITION;
+			command.m_createBoxShapeArguments.m_initialPosition[0] = 0;
+			command.m_createBoxShapeArguments.m_initialPosition[1] = 0;
+			command.m_createBoxShapeArguments.m_initialPosition[2] = -3;
+			
 			cl->enqueueCommand(command);
 			break;
 		}
@@ -115,6 +134,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
 	
     case CMD_SEND_DESIRED_STATE:
 		{
+			
             command.m_type =CMD_SEND_DESIRED_STATE;
             int controlMode = CONTROL_MODE_VELOCITY;//CONTROL_MODE_TORQUE;
 
@@ -141,6 +161,12 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
 			cl->enqueueCommand(command);		
 			break;
 		}
+		case CMD_RESET_SIMULATION:
+		{
+			command.m_type = CMD_RESET_SIMULATION;
+			cl->enqueueCommand(command);
+			break;
+		}
 	case CMD_SEND_BULLET_DATA_STREAM:
 		{
 			command.m_type = buttonId;
@@ -167,7 +193,8 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
 
 PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
 :SharedMemoryCommon(helper),
-m_wantsTermination(false)
+m_wantsTermination(false),
+m_numMotors(0)
 {
 	b3Printf("Started PhysicsClientExample\n");
 }
@@ -184,18 +211,26 @@ void	PhysicsClientExample::createButton(const char* name, int buttonId, bool isT
 	button.m_userPointer = this;
 	m_guiHelper->getParameterInterface()->registerButtonParameter(button);
 }
+
+void	PhysicsClientExample::createButtons()
+{
+	bool isTrigger = false;
+	
+	createButton("Load URDF",CMD_LOAD_URDF,  isTrigger);
+	createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
+	createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM,  isTrigger);
+	createButton("Get State",CMD_REQUEST_ACTUAL_STATE,  isTrigger);
+	createButton("Send Desired State",CMD_SEND_DESIRED_STATE,  isTrigger);
+	createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
+	createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
+
+}
+
 void	PhysicsClientExample::initPhysics()
 {
 	if (m_guiHelper && m_guiHelper->getParameterInterface())
 	{
-		bool isTrigger = false;
+		createButtons();		
-		
-		createButton("Load URDF",CMD_LOAD_URDF,  isTrigger);
-		createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
-		createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM,  isTrigger);
-		createButton("Get State",CMD_REQUEST_ACTUAL_STATE,  isTrigger);
-		createButton("Send Desired State",CMD_SEND_DESIRED_STATE,  isTrigger);
-		createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
 		
 	} else
 	{
@@ -285,6 +320,14 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
 
 				m_userCommandRequests.pop_back();
 				
+				//for the CMD_RESET_SIMULATION we need to do something special: clear the GUI sliders
+				if (command.m_type==CMD_RESET_SIMULATION)
+				{
+					m_guiHelper->getParameterInterface()->removeAllParameters();
+					m_numMotors=0;
+					createButtons();
+				}
+				
 				m_physicsClient.submitClientCommand(command);
 			}
 		}
@@ -293,8 +336,15 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
 
 }
 
+extern int gSharedMemoryKey;
+
 
 class CommonExampleInterface*    PhysicsClientCreateFunc(struct CommonExampleOptions& options)
 {
-    return new PhysicsClientExample(options.m_guiHelper);
+    PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper);
+	if (gSharedMemoryKey>=0)
+	{
+		example->setSharedMemoryKey(gSharedMemoryKey);
+	}
+	return example;
 }

examples/SharedMemory/PhysicsServer.cpp

@@ -10,8 +10,11 @@
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+
 #include "btBulletDynamicsCommon.h"
 
+
 #include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
 #include "LinearMath/btSerializer.h"
@@ -42,17 +45,24 @@ struct PhysicsServerInternalData
 	btHashMap<btHashInt, btMultiBodyJointMotor*>	m_multiBodyJointMotorMap;
 	btAlignedObjectArray<std::string*> m_strings;
 
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+	btBroadphaseInterface*	m_broadphase;
+	btCollisionDispatcher*	m_dispatcher;
+	btMultiBodyConstraintSolver*	m_solver;
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
 	btMultiBodyDynamicsWorld* m_dynamicsWorld;
 	struct GUIHelperInterface* m_guiHelper;
-	
+	int m_sharedMemoryKey;
 
+	
 	PhysicsServerInternalData()
 		:m_sharedMemory(0),
 		m_testBlock1(0),
 		m_isConnected(false),
 		m_physicsDeltaTime(1./60.),
 		m_dynamicsWorld(0),
-		m_guiHelper(0)
+		m_guiHelper(0),
+		m_sharedMemoryKey(SHARED_MEMORY_KEY)
 	{
 	}
 
@@ -81,20 +91,115 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory()
 #else
 	m_data->m_sharedMemory = new PosixSharedMemory();
 #endif
+	
+	createEmptyDynamicsWorld();
 
 
 }
 
 PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
 {
+	deleteDynamicsWorld();
 	delete m_data;
 }
 
-
+void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
-
+{
-bool PhysicsServerSharedMemory::connectSharedMemory( class btMultiBodyDynamicsWorld* dynamicsWorld, struct GUIHelperInterface* guiHelper)
+	m_data->m_sharedMemoryKey = key;
+}
+
+
+void PhysicsServerSharedMemory::createEmptyDynamicsWorld()
+{
+	///collision configuration contains default setup for memory, collision setup
+	m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	//m_collisionConfiguration->setConvexConvexMultipointIterations();
+	
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_data->m_dispatcher = new	btCollisionDispatcher(m_data->m_collisionConfiguration);
+	
+	m_data->m_broadphase = new btDbvtBroadphase();
+	
+	m_data->m_solver = new btMultiBodyConstraintSolver;
+	
+	m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
+	
+	m_data->m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+}
+
+void PhysicsServerSharedMemory::deleteDynamicsWorld()
+{
+	
+	for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++)
+	{
+		delete m_data->m_multiBodyJointFeedbacks[i];
+	}
+	m_data->m_multiBodyJointFeedbacks.clear();
+	
+	
+	for (int i=0;i<m_data->m_worldImporters.size();i++)
+	{
+		delete m_data->m_worldImporters[i];
+	}
+	m_data->m_worldImporters.clear();
+	
+	for (int i=0;i<m_data->m_urdfLinkNameMapper.size();i++)
+	{
+		delete m_data->m_urdfLinkNameMapper[i];
+	}
+	m_data->m_urdfLinkNameMapper.clear();
+	
+	m_data->m_multiBodyJointMotorMap.clear();
+	
+	for (int i=0;i<m_data->m_strings.size();i++)
+	{
+		delete m_data->m_strings[i];
+	}
+	m_data->m_strings.clear();
+
+	
+	if (m_data->m_dynamicsWorld)
+	{
+		
+		int i;
+		for (i = m_data->m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
+		{
+			m_data->m_dynamicsWorld->removeConstraint(m_data->m_dynamicsWorld->getConstraint(i));
+		}
+		for (i = m_data->m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
+		{
+			btCollisionObject* obj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
+			btRigidBody* body = btRigidBody::upcast(obj);
+			if (body && body->getMotionState())
+			{
+				delete body->getMotionState();
+			}
+			m_data->m_dynamicsWorld->removeCollisionObject(obj);
+			delete obj;
+		}
+	}
+	//delete collision shapes
+	for (int j = 0; j<m_data->m_collisionShapes.size(); j++)
+	{
+		btCollisionShape* shape = m_data->m_collisionShapes[j];
+		delete shape;
+	}
+	m_data->m_collisionShapes.clear();
+
+	delete m_data->m_dynamicsWorld;
+
+	delete m_data->m_solver;
+
+	delete m_data->m_broadphase;
+
+	delete m_data->m_dispatcher;
+
+	delete m_data->m_collisionConfiguration;
+
+}
+
+bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface* guiHelper)
 {
-	m_data->m_dynamicsWorld = dynamicsWorld;
 	m_data->m_guiHelper = guiHelper;
 	
 	bool allowCreation = true;
@@ -107,7 +212,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( class btMultiBodyDynamicsWo
     }
     
     
-	m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE,allowCreation);
+	m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE,allowCreation);
     if (m_data->m_testBlock1)
     {
         int magicId =m_data->m_testBlock1->m_magicId;
@@ -121,7 +226,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( class btMultiBodyDynamicsWo
         } else
 		{
 			b3Error("Server cannot connect to existing shared memory, disconnecting shared memory.\n");
-            m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
+            m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
             m_data->m_testBlock1 = 0;
             m_data->m_isConnected = false;
 		}
@@ -146,7 +251,7 @@ void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMe
 			b3Printf("De-initialized shared memory, magic id = %d\n",m_data->m_testBlock1->m_magicId);
 		}
 		btAssert(m_data->m_sharedMemory);
-		m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
+		m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
 	}
 	if (m_data->m_sharedMemory)
 	{
@@ -166,7 +271,8 @@ void PhysicsServerSharedMemory::releaseSharedMemory()
         m_data->m_testBlock1->m_magicId = 0;
         b3Printf("magic id = %d\n",m_data->m_testBlock1->m_magicId);
         btAssert(m_data->m_sharedMemory);
-        m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
+		m_data->m_sharedMemory->releaseSharedMemory(	m_data->m_sharedMemoryKey
+, SHARED_MEMORY_SIZE);
     }
     if (m_data->m_sharedMemory)
     {
@@ -684,11 +790,15 @@ void PhysicsServerSharedMemory::processClientCommands()
 					
 
 					
-                case CMD_SHUTDOWN:
+                case CMD_RESET_SIMULATION:
                 {
-					btAssert(0);
+					//clean up all data
-                    //wantsShutdown = true;
+					
-					SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
+					m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
+					deleteDynamicsWorld();
+					createEmptyDynamicsWorld();
+					
+                    SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
 					m_data->submitServerStatus(serverCmd);
 
                     break;
@@ -751,3 +861,28 @@ void PhysicsServerSharedMemory::processClientCommands()
         }
     }
 }
+
+void PhysicsServerSharedMemory::renderScene()
+{
+	if (m_data->m_guiHelper)
+	{
+		m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
+		
+		m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
+	}
+	
+}
+
+void    PhysicsServerSharedMemory::physicsDebugDraw(int debugDrawFlags)
+{
+	if (m_data->m_dynamicsWorld)
+	{
+		if (m_data->m_dynamicsWorld->getDebugDrawer())
+		{
+			m_data->m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
+		}
+		m_data->m_dynamicsWorld->debugDrawWorld();
+	}
+}
+
+

examples/SharedMemory/PhysicsServer.h

@@ -9,6 +9,8 @@ protected:
 
 	void	createJointMotors(class btMultiBody* body);
 	
+	virtual void createEmptyDynamicsWorld();
+	virtual void deleteDynamicsWorld();
 	
 	void	releaseSharedMemory();
 	
@@ -19,8 +21,10 @@ public:
 	PhysicsServerSharedMemory();
 	virtual ~PhysicsServerSharedMemory();
 
+	virtual void setSharedMemoryKey(int key);
+	
 	//todo: implement option to allocated shared memory from client 
-	virtual bool connectSharedMemory(class btMultiBodyDynamicsWorld* dynamicsWorld, struct GUIHelperInterface* guiHelper);
+	virtual bool connectSharedMemory( struct GUIHelperInterface* guiHelper);
 
 	virtual void disconnectSharedMemory (bool deInitializeSharedMemory);
 
@@ -28,6 +32,12 @@ public:
 
 	bool	supportsJointMotor(class btMultiBody* body, int linkIndex);
 
+	//for physicsDebugDraw and renderScene are mainly for debugging purposes
+	//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
+	//to a physics client, over shared memory
+	void    physicsDebugDraw(int debugDrawFlags);
+	void    renderScene();
+	
 };
 
 

examples/SharedMemory/PhysicsServerExample.cpp

@@ -9,16 +9,7 @@
 #include "PhysicsServer.h"
 
 #include "SharedMemoryCommon.h"
-//const char* blaatnaam = "basename";
-struct UrdfLinkNameMapUtil
-{
-	btMultiBody* m_mb;
-	btDefaultSerializer* m_memSerializer;
 
-	UrdfLinkNameMapUtil():m_mb(0),m_memSerializer(0)
-	{
-	}
-};
 
 class PhysicsServerExample : public SharedMemoryCommon
 {
@@ -51,6 +42,19 @@ public:
     
     virtual bool wantsTermination();
     virtual bool isConnected();
+	virtual void	renderScene();
+	virtual void    exitPhysics(){}
+
+	virtual void	physicsDebugDraw(int debugFlags);
+	virtual bool	mouseMoveCallback(float x,float y){return false;};
+	virtual bool	mouseButtonCallback(int button, int state, float x, float y){return false;}
+	virtual bool	keyboardCallback(int key, int state){return false;}
+
+	virtual void setSharedMemoryKey(int key)
+	{
+		m_physicsServer.setSharedMemoryKey(key);
+	}
+
 
 };
 
@@ -82,14 +86,18 @@ void	PhysicsServerExample::initPhysics()
 	int upAxis = 2;
 	m_guiHelper->setUpAxis(upAxis);
 
+#if 0
+	
     createEmptyDynamicsWorld();
+
 	//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
-	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 	btVector3 grav(0,0,0);
 	grav[upAxis] = 0;//-9.8;
 	this->m_dynamicsWorld->setGravity(grav);
     
-	m_isConnected = m_physicsServer.connectSharedMemory( m_dynamicsWorld,m_guiHelper);
+#endif
+	
+	m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
   
 }
 
@@ -106,10 +114,30 @@ void	PhysicsServerExample::stepSimulation(float deltaTime)
     m_physicsServer.processClientCommands();
 }
 
+void PhysicsServerExample::renderScene()
+{
+	///debug rendering
+	m_physicsServer.renderScene();
+}
+
+void    PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
+{
+	///debug rendering
+	m_physicsServer.physicsDebugDraw(debugDrawFlags);
+
+}
+
+extern int gSharedMemoryKey;
 
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
 {
-    return new PhysicsServerExample(options.m_guiHelper);
+  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper);
+	if (gSharedMemoryKey>=0)
+	{
+		example->setSharedMemoryKey(gSharedMemoryKey);
+	}
+	return example;
+	
 }
 
 

examples/SharedMemory/PosixSharedMemory.cpp

@@ -18,8 +18,16 @@
 
 struct PosixSharedMemoryInteralData
 {
-
+	bool m_createdSharedMemory;
+	void* m_sharedMemoryPtr;
+	
+	PosixSharedMemoryInteralData()
+	:m_createdSharedMemory(false),
+	m_sharedMemoryPtr(0)
+	{
+	}
 };
+
 PosixSharedMemory::PosixSharedMemory()
 {
     
@@ -57,6 +65,8 @@ void*   PosixSharedMemory::allocateSharedMemory(int key, int size,  bool allowCr
             b3Error("shmat returned -1");
         } else
         {
+			m_internalData->m_createdSharedMemory = allowCreation;
+			m_internalData->m_sharedMemoryPtr = result.ptr;
             return result.ptr;
         }
     }
@@ -76,11 +86,24 @@ void PosixSharedMemory::releaseSharedMemory(int key, int size)
         b3Error("PosixSharedMemory::releaseSharedMemory: shmget error");
     } else
     {
-        int result = shmctl(id,IPC_RMID,0);
+		if (m_internalData->m_createdSharedMemory)
-        if (result == -1)
+		{
-        {
+			int result = shmctl(id,IPC_RMID,0);
-            b3Error("PosixSharedMemory::releaseSharedMemory: shmat returned -1");
+			if (result == -1)
-        }
+			{
+				b3Error("PosixSharedMemory::releaseSharedMemory: shmat returned -1");
+			} else
+			{
+				b3Printf("PosixSharedMemory::releaseSharedMemory removed shared memory");
+			}
+			m_internalData->m_createdSharedMemory = false;
+			m_internalData->m_sharedMemoryPtr = 0;
+		} else
+		{
+			shmdt(m_internalData->m_sharedMemoryPtr);
+			m_internalData->m_sharedMemoryPtr  = 0;
+			b3Printf("PosixSharedMemory::releaseSharedMemory detached shared memory\n");
+		}
     }
 #endif
 }

examples/SharedMemory/RobotControlExample.cpp

@@ -72,6 +72,20 @@ public:
     
     virtual bool wantsTermination();
     virtual bool isConnected();
+	virtual void	renderScene(){}
+	virtual void    exitPhysics(){}
+	
+	virtual void	physicsDebugDraw(int debugFlags){}
+	virtual bool	mouseMoveCallback(float x,float y){return false;};
+	virtual bool	mouseButtonCallback(int button, int state, float x, float y){return false;}
+	virtual bool	keyboardCallback(int key, int state){return false;}
+	
+	virtual void setSharedMemoryKey(int key)
+	{
+		m_physicsServer.setSharedMemoryKey(key);
+		m_physicsClient.setSharedMemoryKey(key);
+	}
+
 };
 
 bool RobotControlExample::isConnected()
@@ -253,14 +267,14 @@ void	RobotControlExample::initPhysics()
 	int upAxis = 2;
 	m_guiHelper->setUpAxis(upAxis);
 
-    createEmptyDynamicsWorld();
+  /*  createEmptyDynamicsWorld();
 	//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 	btVector3 grav(0,0,0);
 	grav[upAxis] = 0;//-9.8;
 	this->m_dynamicsWorld->setGravity(grav);
-    
+    */
-	m_physicsServer.connectSharedMemory( m_dynamicsWorld,m_guiHelper);
+	m_physicsServer.connectSharedMemory( m_guiHelper);
   
 	if (m_guiHelper && m_guiHelper->getParameterInterface())
 	{
@@ -364,10 +378,16 @@ void	RobotControlExample::stepSimulation(float deltaTime)
 	}
 }
 
+extern int gSharedMemoryKey;
 
 class CommonExampleInterface*    RobotControlExampleCreateFunc(struct CommonExampleOptions& options)
 {
-    return new RobotControlExample(options.m_guiHelper);
+    RobotControlExample* example = new RobotControlExample(options.m_guiHelper);
+	if (gSharedMemoryKey>=0)
+	{
+		example->setSharedMemoryKey(gSharedMemoryKey);
+	}
+	return example;
 }
 
 

examples/SharedMemory/SharedMemoryCommands.h

@@ -37,7 +37,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE?
 	CMD_REQUEST_ACTUAL_STATE,
     CMD_STEP_FORWARD_SIMULATION,
-    CMD_SHUTDOWN,
+    CMD_RESET_SIMULATION,
     CMD_MAX_CLIENT_COMMANDS
 };
 

examples/SharedMemory/SharedMemoryCommon.h

@@ -3,14 +3,19 @@
 
 #include "../CommonInterfaces/CommonMultiBodyBase.h"
 
-class SharedMemoryCommon : public CommonMultiBodyBase
+class SharedMemoryCommon : public CommonExampleInterface
 {
+protected:
+	
+	struct GUIHelperInterface* m_guiHelper;
+	
 public:
 	SharedMemoryCommon(GUIHelperInterface* helper)
-	:CommonMultiBodyBase(helper)
+	:m_guiHelper(helper)
 	{
 	}
 
+	virtual void setSharedMemoryKey(int key)=0;
 	virtual bool wantsTermination()=0;
     virtual bool isConnected()=0;
 };

examples/SharedMemory/main.cpp

@@ -25,6 +25,7 @@ subject to the following restrictions:
 
 #include <stdlib.h>
 
+int gSharedMemoryKey = -1;
 
 static SharedMemoryCommon*    example = NULL;
 static bool interrupted = false;
@@ -70,6 +71,8 @@ int main(int argc, char* argv[])
 
 	CommonExampleOptions options(&noGfx);
 
+	args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey);
+	
   	if (args.CheckCmdLineFlag("client"))
     {
         example = (SharedMemoryCommon*)PhysicsClientCreateFunc(options);
@@ -78,6 +81,7 @@ int main(int argc, char* argv[])
         example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options);
     }
 	
+	
 	example->initPhysics();
 	while (example->isConnected() && !(example->wantsTermination() || interrupted))
 	{