create a C/C++ plugin system for pybullet / C-API.

examples/SharedMemory/CMakeLists.txt

@@ -41,6 +41,7 @@ SET(SharedMemory_SRCS
 	TinyRendererVisualShapeConverter.h
 	SharedMemoryCommands.h
 	SharedMemoryPublic.h
+	b3PluginManager.cpp
 	../TinyRenderer/geometry.cpp
 	../TinyRenderer/model.cpp
 	../TinyRenderer/tgaimage.cpp

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1631,6 +1631,7 @@ B3_SHARED_API	int	b3SubmitClientCommand(b3PhysicsClientHandle physClient, const
 #include "../Utils/b3Clock.h"
 
 
+
 B3_SHARED_API b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
 {
 	B3_PROFILE("b3SubmitClientCommandAndWaitStatus");
@@ -1733,6 +1734,100 @@ B3_SHARED_API	int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex
 	return cl->getJointInfo(bodyIndex, jointIndex, *info);
 }
 
+
+
+B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+	command->m_type = CMD_CUSTOM_COMMAND;
+	command->m_updateFlags = 0;
+	return (b3SharedMemoryCommandHandle)command;
+}
+
+B3_SHARED_API	void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath, int options)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
+	if (command->m_type == CMD_CUSTOM_COMMAND)
+	{
+		command->m_updateFlags |= CMD_CUSTOM_COMMAND_LOAD_PLUGIN;
+		command->m_customCommandArgs.m_pluginPath[0] = 0;
+		command->m_customCommandArgs.m_options = options;
+		int len = strlen(pluginPath);
+		if (len<MAX_FILENAME_LENGTH)
+		{
+			strcpy(command->m_customCommandArgs.m_pluginPath, pluginPath);
+		}
+	}
+}
+
+
+
+B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle)
+{
+	int statusUniqueId = -1;
+
+	const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
+	b3Assert(status);
+	b3Assert(status->m_type == CMD_CUSTOM_COMMAND_COMPLETED);
+	if (status->m_type == CMD_CUSTOM_COMMAND_COMPLETED)
+	{
+		statusUniqueId = status->m_customCommandResultArgs.m_executeCommandResult;
+	}
+	return statusUniqueId;
+}
+
+B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle)
+{
+	int statusUniqueId = -1;
+
+	const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
+	b3Assert(status);
+	b3Assert(status->m_type == CMD_CUSTOM_COMMAND_COMPLETED);
+	if (status->m_type == CMD_CUSTOM_COMMAND_COMPLETED)
+	{
+		statusUniqueId = status->m_customCommandResultArgs.m_pluginUniqueId;
+	}
+	return statusUniqueId;
+}
+
+B3_SHARED_API	void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId)
+{
+
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
+	if (command->m_type == CMD_CUSTOM_COMMAND)
+	{
+		command->m_updateFlags |= CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN;
+		command->m_customCommandArgs.m_pluginUniqueId = pluginUniqueId;
+	}
+}
+B3_SHARED_API	void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, int commandUniqueId, const char* arguments)
+{
+
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CUSTOM_COMMAND);
+	if (command->m_type == CMD_CUSTOM_COMMAND)
+	{
+		command->m_updateFlags |= CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND;
+		command->m_customCommandArgs.m_pluginUniqueId = pluginUniqueId;
+		command->m_customCommandArgs.m_commandUniqueId = commandUniqueId;
+		command->m_customCommandArgs.m_pluginArguments[0] = 0;
+		int len = strlen(arguments);
+		if (len<MAX_FILENAME_LENGTH)
+		{
+			strcpy(command->m_customCommandArgs.m_pluginArguments, arguments);
+		}
+
+
+	}
+}
+
+
 B3_SHARED_API	b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;

examples/SharedMemory/PhysicsClientC_API.h

@@ -60,6 +60,15 @@ B3_SHARED_API	b3SharedMemoryStatusHandle	b3ProcessServerStatus(b3PhysicsClientHa
 /// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes.
 B3_SHARED_API	int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
 
+///Plugin system, load and unload a plugin, execute a command
+B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCustomCommand(b3PhysicsClientHandle physClient);
+B3_SHARED_API	void b3CustomCommandLoadPlugin(b3SharedMemoryCommandHandle commandHandle, const char* pluginPath, int options);
+B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHandle);
+B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle statusHandle);
+
+B3_SHARED_API	void b3CustomCommandUnloadPlugin(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId);
+B3_SHARED_API	void b3CustomCommandExecutePluginCommand(b3SharedMemoryCommandHandle commandHandle, int pluginUniqueId, int commandUniqueId, const char* arguments);
+
 B3_SHARED_API	int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity);
 
 B3_SHARED_API	int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle);

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -1200,6 +1200,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				b3Warning("Request getCollisionInfo failed");
 				break;
 			}
+			case CMD_CUSTOM_COMMAND_COMPLETED:
+			{
+				break;
+			}
+			case CMD_CUSTOM_COMMAND_FAILED:
+			{
+				b3Warning("custom plugin command failed");
+				break;
+			}
 
             default: {
                 b3Error("Unknown server status %d\n", serverCmd.m_type);

examples/SharedMemory/PhysicsDirect.cpp

@@ -940,6 +940,16 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 		break;
 	}
 
+	case CMD_CUSTOM_COMMAND_COMPLETED:
+	{
+		break;
+	}
+	case CMD_CUSTOM_COMMAND_FAILED:
+	{
+		b3Warning("custom plugin command failed");
+		break;
+	}
+
 	default:
 	{
 		//b3Warning("Unknown server status type");

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -37,6 +37,8 @@
 #include "LinearMath/btRandom.h"
 #include "Bullet3Common/b3ResizablePool.h"
 #include "../Utils/b3Clock.h"
+#include "b3PluginManager.h"
+
 #ifdef B3_ENABLE_TINY_AUDIO
 #include "../TinyAudio/b3SoundEngine.h"
 #endif
@@ -1430,6 +1432,8 @@ struct PhysicsServerCommandProcessorInternalData
 	b3ResizablePool< InternalBodyHandle > m_bodyHandles;
 	b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
 
+	b3PluginManager m_pluginManager;
+
 	bool m_allowRealTimeSimulation;
 	
 
@@ -7968,6 +7972,38 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 						break;        
 					}
+					case CMD_CUSTOM_COMMAND:
+					{
+						SharedMemoryStatus& serverCmd = serverStatusOut;
+						serverCmd.m_type = CMD_CUSTOM_COMMAND_FAILED;
+						serverCmd.m_customCommandResultArgs.m_pluginUniqueId = -1;
+
+						if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN)
+						{
+							//pluginPath could be registered or load from disk
+							int pluginUniqueId = m_data->m_pluginManager.loadPlugin(clientCmd.m_customCommandArgs.m_pluginPath);
+							if (pluginUniqueId>=0)
+							{
+								serverCmd.m_customCommandResultArgs.m_pluginUniqueId = pluginUniqueId;
+								serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
+							}
+						}
+						if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN)
+						{
+							m_data->m_pluginManager.unloadPlugin(clientCmd.m_customCommandArgs.m_pluginUniqueId);
+							serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
+						}
+						if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND)
+						{
+							int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, clientCmd.m_customCommandArgs.m_pluginArguments);
+							serverCmd.m_customCommandResultArgs.m_executeCommandResult = result;
+							serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
+
+						}
+
+						hasStatus = true;
+						break;
+					}
                 default:
                 {
 					BT_PROFILE("CMD_UNKNOWN");
@@ -8186,12 +8222,6 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
 }
 
 
-btVector3 gVRGripperPos(0.7, 0.3, 0.7);
-btQuaternion gVRGripperOrn(0,0,0,1);
-btVector3 gVRController2Pos(0,0,0.2);
-btQuaternion gVRController2Orn(0,0,0,1);
-btScalar gVRGripper2Analog = 0;
-btScalar gVRGripperAnalog = 0;
 
 
 

examples/SharedMemory/SharedMemoryCommands.h

@@ -109,6 +109,28 @@ struct b3SearchPathfArgs
 	char m_path[MAX_FILENAME_LENGTH];
 };
 
+enum CustomCommandEnum
+{
+	CMD_CUSTOM_COMMAND_LOAD_PLUGIN=1,
+	CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN=2,
+	CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND=4,
+};
+
+struct b3CustomCommand
+{
+	int m_pluginUniqueId;
+	int m_commandUniqueId;
+	int m_options;
+	char m_pluginPath[MAX_FILENAME_LENGTH];
+	char m_pluginArguments[MAX_FILENAME_LENGTH];
+};
+
+struct b3CustomCommandResultArgs
+{
+	int m_pluginUniqueId;
+	int m_executeCommandResult;
+
+};
 
 struct BulletDataStreamArgs
 {
@@ -968,6 +990,7 @@ struct SharedMemoryCommand
 		struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
 		struct b3ChangeTextureArgs m_changeTextureArgs;
 		struct b3SearchPathfArgs m_searchPathArgs;
+		struct b3CustomCommand m_customCommandArgs;
     };
 };
 
@@ -1039,6 +1062,7 @@ struct SharedMemoryStatus
 		struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
 		struct SendMouseEvents m_sendMouseEvents;
 		struct b3LoadTextureResultArgs m_loadTextureResultArguments;
+		struct b3CustomCommandResultArgs m_customCommandResultArgs;
 
 	};
 };

examples/SharedMemory/SharedMemoryPublic.h

@@ -72,6 +72,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_REQUEST_MOUSE_EVENTS_DATA,
 	CMD_CHANGE_TEXTURE,
 	CMD_SET_ADDITIONAL_SEARCH_PATH,
+	CMD_CUSTOM_COMMAND,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -167,6 +168,9 @@ enum EnumSharedMemoryServerStatus
 		CMD_REQUEST_COLLISION_INFO_FAILED,
 		CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
 		CMD_CHANGE_TEXTURE_COMMAND_FAILED,
+		CMD_CUSTOM_COMMAND_COMPLETED,
+		CMD_CUSTOM_COMMAND_FAILED,
+
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };

examples/SharedMemory/b3PluginManager.cpp

@@ -0,0 +1,151 @@
+
+#include "b3PluginManager.h"
+#include "Bullet3Common/b3HashMap.h"
+#include "Bullet3Common/b3ResizablePool.h"
+#include "plugins/b3PluginAPI.h"
+#include "SharedMemoryPublic.h"
+
+#ifdef _WIN32
+    #define WIN32_LEAN_AND_MEAN
+    #define VC_EXTRALEAN
+    #include <windows.h>
+
+    typedef HMODULE             B3_DYNLIB_HANDLE;
+
+    #define B3_DYNLIB_OPEN    LoadLibrary
+    #define B3_DYNLIB_CLOSE   FreeLibrary
+    #define B3_DYNLIB_IMPORT  GetProcAddress
+#else
+    #include <dlfcn.h>
+    
+    typedef void*                   B3_DYNLIB_HANDLE;
+
+    #define B3_DYNLIB_OPEN(path)  dlopen(path, RTLD_NOW | RTLD_GLOBAL)
+    #define B3_DYNLIB_CLOSE       dlclose
+    #define B3_DYNLIB_IMPORT      dlsym
+#endif
+
+struct b3Plugin
+{
+	B3_DYNLIB_HANDLE m_pluginHandle;
+	std::string m_pluginPath;
+
+	PFN_INIT m_initFunc;
+	PFN_EXIT m_exitFunc;
+	PFN_EXECUTE m_executeCommandFunc;
+
+	void clear()
+	{
+		B3_DYNLIB_CLOSE(m_pluginHandle);
+		m_pluginHandle = 0;
+		m_initFunc = 0;
+		m_exitFunc = 0;
+		m_executeCommandFunc = 0;
+	}
+};
+
+typedef b3PoolBodyHandle<b3Plugin> b3PluginHandle;
+
+struct b3PluginManagerInternalData
+{
+	b3ResizablePool<b3PluginHandle> m_plugins;
+	b3HashMap<b3HashString, b3PluginHandle> m_pluginMap;
+};
+
+b3PluginManager::b3PluginManager()
+{
+	m_data = new b3PluginManagerInternalData;
+}
+
+b3PluginManager::~b3PluginManager()
+{
+	m_data->m_pluginMap.clear();
+	m_data->m_plugins.exitHandles();
+	delete m_data;
+}
+		
+int b3PluginManager::loadPlugin(const char* pluginPath)
+{
+	int pluginUniqueId = -1;
+
+	b3Plugin* plugin = m_data->m_pluginMap.find(pluginPath);
+	if (plugin)
+	{
+		//already loaded
+	}
+	else
+	{
+		pluginUniqueId = m_data->m_plugins.allocHandle();
+		b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
+
+		B3_DYNLIB_HANDLE pluginHandle = B3_DYNLIB_OPEN(pluginPath);
+		bool ok = false;
+		if (pluginHandle)
+		{
+
+			plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, "initPlugin");
+			plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, "exitPlugin");
+			plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, "executePluginCommand");
+
+			if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
+			{
+				int version = plugin->m_initFunc();
+				if (version == SHARED_MEMORY_MAGIC_NUMBER)
+				{
+					ok = true;
+					plugin->m_pluginHandle = pluginHandle;
+					plugin->m_pluginPath = pluginPath;
+					m_data->m_pluginMap.insert(pluginPath, *plugin);
+				}
+				else
+				{
+					int expect = SHARED_MEMORY_MAGIC_NUMBER;
+					b3Warning("Warning: plugin is wrong version: expected %d, got %d\n", expect, version);
+				}
+			}
+			else
+			{
+				b3Warning("Loaded plugin but couldn't bind functions");
+			}
+
+			if (!ok)
+			{
+				B3_DYNLIB_CLOSE(pluginHandle);
+			}
+		}
+		else
+		{
+			b3Warning("Warning: couldn't load plugin %s\n", pluginPath);
+		}
+		if (!ok)
+		{
+			m_data->m_plugins.freeHandle(pluginUniqueId);
+			pluginUniqueId = -1;
+		}
+	}
+	return pluginUniqueId;
+}
+
+void b3PluginManager::unloadPlugin(int pluginUniqueId)
+{
+	b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
+	if (plugin)
+	{
+		plugin->m_exitFunc();
+		m_data->m_pluginMap.remove(plugin->m_pluginPath.c_str());
+		m_data->m_plugins.freeHandle(pluginUniqueId);
+	}
+}
+		
+
+int b3PluginManager::executePluginCommand(int pluginUniqueId, const char* arguments)
+{
+	int result = -1;
+
+	b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
+	if (plugin)
+	{
+		result = plugin->m_executeCommandFunc();
+	}
+	return result;
+}

examples/SharedMemory/b3PluginManager.h

@@ -0,0 +1,19 @@
+#ifndef B3_PLUGIN_MANAGER_H
+#define B3_PLUGIN_MANAGER_H
+
+class b3PluginManager
+{
+	struct b3PluginManagerInternalData* m_data;
+
+	public:
+		
+		b3PluginManager();
+		virtual ~b3PluginManager();
+		
+		int loadPlugin(const char* pluginPath);
+		void unloadPlugin(int pluginUniqueId);
+		int executePluginCommand(int pluginUniqueId, const char* arguments);
+		
+};
+
+#endif //B3_PLUGIN_MANAGER_H

examples/SharedMemory/plugins/b3PluginAPI.h

@@ -0,0 +1,37 @@
+#ifndef B3_PLUGIN_API_H
+#define B3_PLUGIN_API_H
+
+#ifdef _WIN32
+#define B3_SHARED_API __declspec(dllexport)
+#elif defined (__GNUC__)
+#define B3_SHARED_API __attribute__((visibility("default")))
+#else
+#define B3_SHARED_API
+#endif
+
+
+#if defined(_WIN32)
+#define B3_API_ENTRY
+#define B3_API_CALL     __stdcall
+#define B3_CALLBACK     __stdcall
+#else
+#define B3_API_ENTRY
+#define B3_API_CALL
+#define B3_CALLBACK
+#endif
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+	/* Plugin API */
+	typedef B3_API_ENTRY int (B3_API_CALL * PFN_INIT)();
+	typedef B3_API_ENTRY void (B3_API_CALL * PFN_EXIT)();
+	typedef B3_API_ENTRY int (B3_API_CALL * PFN_EXECUTE)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //B3_PLUGIN_API_H

examples/SharedMemory/plugins/testPlugin/premake4.lua

@@ -0,0 +1,42 @@
+		
+
+project ("pybullet_testplugin")
+		language "C++"
+		kind "SharedLib"
+		
+		includedirs {".","../../../../src", "../../../../examples",
+		"../../../ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletFileLoader", "Bullet3Common", "LinearMath"}
+
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+
+		files {
+			"testplugin.cpp",
+			"../../PhysicsClient.cpp",
+			"../../PhysicsClient.h",
+			"../../PhysicsClientSharedMemory.cpp",
+			"../../PhysicsClientSharedMemory.h",
+			"../../PhysicsClientSharedMemory_C_API.cpp",
+			"../../PhysicsClientSharedMemory_C_API.h",
+			"../../PhysicsClientC_API.cpp",
+			"../../PhysicsClientC_API.h",
+			"../../Win32SharedMemory.cpp",
+			"../../Win32SharedMemory.h",
+			"../../PosixSharedMemory.cpp",
+			"../../PosixSharedMemory.h",
+			"../../../Utils/b3Clock.cpp",
+			"../../../Utils/b3Clock.h",
+			"../../../Utils/b3ResourcePath.cpp",
+			"../../../Utils/b3ResourcePath.h",
+				}
+	
+	
+	

examples/SharedMemory/plugins/testPlugin/testplugin.cpp

@@ -0,0 +1,22 @@
+
+#include "testplugin.h"
+#include "../../SharedMemoryPublic.h"
+
+#include <stdio.h>
+
+B3_SHARED_API int initPlugin()
+{
+	printf("hi!\n");
+	return SHARED_MEMORY_MAGIC_NUMBER;
+}
+
+B3_SHARED_API int executePluginCommand()
+{
+	return 42;
+}
+
+
+B3_SHARED_API void exitPlugin()
+{
+	printf("bye!\n");
+}

examples/SharedMemory/plugins/testPlugin/testplugin.h

@@ -0,0 +1,19 @@
+#ifndef TEST_PLUGIN_H
+#define TEST_PLUGIN_H
+
+#include "../b3PluginAPI.h"
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+B3_SHARED_API int initPlugin();
+B3_SHARED_API void exitPlugin();
+B3_SHARED_API int executePluginCommand();
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif//#define TEST_PLUGIN_H

examples/SharedMemory/premake4.lua

@@ -7,7 +7,7 @@ else
 	kind "ConsoleApp"
 end
 
-includedirs {".","../../src", "../ThirdPartyLibs",}
+includedirs {".","../../src", "../ThirdPartyLibs"}
 
 links {
 	"Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletDynamics","BulletCollision", "LinearMath", "BussIK"
@@ -53,6 +53,8 @@ myfiles =
 	"SharedMemoryCommandProcessor.h",
 	"PhysicsServerCommandProcessor.cpp",
 	"PhysicsServerCommandProcessor.h",
+	"b3PluginManager.cpp",
+	"b3PluginManager.h",
 	"TinyRendererVisualShapeConverter.cpp",
 	"TinyRendererVisualShapeConverter.h",
 	"../TinyRenderer/geometry.cpp",
@@ -99,6 +101,7 @@ myfiles =
 	"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
 	"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
 	"../ThirdPartyLibs/stb_image/stb_image.cpp",     
+
 }
 
 files {
@@ -405,4 +408,4 @@ end
 
 include "udp"
 include "tcp"
-
+include "plugins/testPlugin"

examples/SharedMemory/tcp/premake4.lua

@@ -88,6 +88,7 @@ myfiles =
 	"../SharedMemoryPublic.h",
 	"../PhysicsServerCommandProcessor.cpp",
 	"../PhysicsServerCommandProcessor.h",
+	"../b3PluginManager.cpp",
 	"../TinyRendererVisualShapeConverter.cpp",
 	"../TinyRendererVisualShapeConverter.h",
 	"../../TinyRenderer/geometry.cpp",

examples/SharedMemory/udp/premake4.lua

@@ -79,6 +79,7 @@ myfiles =
 	"../SharedMemoryPublic.h",
 	"../PhysicsServerCommandProcessor.cpp",
 	"../PhysicsServerCommandProcessor.h",
+	"../b3PluginManager.cpp",
 	"../TinyRendererVisualShapeConverter.cpp",
 	"../TinyRendererVisualShapeConverter.h",
 	"../../TinyRenderer/geometry.cpp",