add --serial option in premake, added serial library to test vr glove in C++ (pybullet works already fine)

examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp

@@ -506,6 +506,22 @@ bool b3RobotSimulatorClientAPI::resetBaseVelocity(int bodyUniqueId, const b3Vect
 	return true;
 }
 
+void b3RobotSimulatorClientAPI::setInternalSimFlags(int flags)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+	{
+		b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
+		b3SharedMemoryStatusHandle statusHandle;
+		b3PhysicsParamSetInternalSimFlags(command, flags);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+	}
+}
+
+
 void b3RobotSimulatorClientAPI::setRealTimeSimulation(bool enableRealTimeSimulation)
 {
 	if (!isConnected())

examples/RobotSimulator/b3RobotSimulatorClientAPI.h

@@ -17,6 +17,15 @@ struct b3RobotSimulatorLoadUrdfFileArgs
 	bool m_useMultiBody;
 	int m_flags;
 
+	b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
+		: m_startPosition(startPos),
+		  m_startOrientation(startOrn),
+		  m_forceOverrideFixedBase(false),
+		  m_useMultiBody(true),
+		  m_flags(0)
+	{
+	}
+
 	b3RobotSimulatorLoadUrdfFileArgs()
 		: m_startPosition(b3MakeVector3(0, 0, 0)),
 		  m_startOrientation(b3Quaternion(0, 0, 0, 1)),
@@ -172,6 +181,8 @@ public:
 
 	void setRealTimeSimulation(bool enableRealTimeSimulation);
 
+	void setInternalSimFlags(int flags);
+
 	void setGravity(const b3Vector3& gravityAcceleration);
 
 	void setTimeStep(double timeStepInSeconds);

examples/RobotSimulator/premake4.lua

@@ -98,6 +98,12 @@ if not _OPTIONS["no-enet"] then
 				"../TinyAudio/RtAudio.cpp",
 			}
 			defines {"B3_ENABLE_TINY_AUDIO"}
+
+			if _OPTIONS["serial"] then
+				defines{"B3_ENABLE_SERIAL"}
+				includedirs {"../../examples/ThirdPartyLibs/serial/include"}
+				links {"serial"}
+			end
 			
 			if os.is("Windows") then
 				links {"winmm","Wsock32","dsound"}