add App_SharedMemoryPhysics and App_SharedMemoryPhysics_GUI to cmake
fix 'connection' detection for shared memory (due to multiple shmem blocks) add link to pybullet.so
This commit is contained in:
Erwin Coumans
@@ -2,5 +2,9 @@
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rm CMakeCache.txt
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mkdir build_cmake
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cd build_cmake
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cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
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cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
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make -j12
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cd examples
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cd pybullet
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ln -s pybullet.dylib pybullet.so
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@@ -1,6 +1,6 @@
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SUBDIRS( HelloWorld BasicDemo )
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IF(BUILD_BULLET3)
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SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
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SUBDIRS( ExampleBrowser SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
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ENDIF()
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IF(BUILD_PYBULLET)
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SUBDIRS(pybullet)
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205
examples/SharedMemory/CMakeLists.txt
Normal file
205
examples/SharedMemory/CMakeLists.txt
Normal file
@@ -0,0 +1,205 @@
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SET(SharedMemory_SRCS
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IKTrajectoryHelper.cpp
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IKTrajectoryHelper.h
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PhysicsClient.cpp
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PhysicsClientSharedMemory.cpp
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PhysicsClientExample.cpp
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PhysicsServerExample.cpp
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PhysicsServerSharedMemory.cpp
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PhysicsServerSharedMemory.h
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PhysicsServer.cpp
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PhysicsServer.h
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PhysicsClientC_API.cpp
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SharedMemoryCommands.h
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SharedMemoryPublic.h
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PhysicsServer.cpp
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PosixSharedMemory.cpp
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Win32SharedMemory.cpp
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InProcessMemory.cpp
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PhysicsDirect.cpp
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PhysicsDirect.h
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PhysicsDirectC_API.cpp
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PhysicsDirectC_API.h
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PhysicsLoopBack.cpp
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PhysicsLoopBack.h
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PhysicsLoopBackC_API.cpp
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PhysicsLoopBackC_API.h
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PhysicsClientSharedMemory_C_API.cpp
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PhysicsClientSharedMemory_C_API.h
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PhysicsClientSharedMemory2_C_API.cpp
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PhysicsClientSharedMemory2_C_API.h
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PhysicsClientSharedMemory2.cpp
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PhysicsClientSharedMemory2.h
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SharedMemoryCommandProcessor.cpp
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SharedMemoryCommandProcessor.h
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PhysicsServerCommandProcessor.cpp
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PhysicsServerCommandProcessor.h
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TinyRendererVisualShapeConverter.cpp
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TinyRendererVisualShapeConverter.h
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../TinyRenderer/geometry.cpp
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../TinyRenderer/model.cpp
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../TinyRenderer/tgaimage.cpp
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../TinyRenderer/our_gl.cpp
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../TinyRenderer/TinyRenderer.cpp
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../OpenGLWindow/SimpleCamera.cpp
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../OpenGLWindow/SimpleCamera.h
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../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
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../Importers/ImportURDFDemo/MultiBodyCreationInterface.h
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../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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../Importers/ImportURDFDemo/MyMultiBodyCreator.h
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../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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../Importers/ImportURDFDemo/BulletUrdfImporter.h
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../Importers/ImportURDFDemo/UrdfParser.cpp
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../Importers/ImportURDFDemo/urdfStringSplit.cpp
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../Importers/ImportURDFDemo/UrdfParser.cpp
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../Importers/ImportURDFDemo/UrdfParser.h
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../Importers/ImportURDFDemo/URDF2Bullet.cpp
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../Importers/ImportURDFDemo/URDF2Bullet.h
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../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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../Importers/ImportMJCFDemo/BulletMJCFImporter.h
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../Utils/b3ResourcePath.cpp
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../Utils/b3Clock.cpp
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../Importers/ImportURDFDemo/URDFImporterInterface.h
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../Importers/ImportURDFDemo/URDFJointTypes.h
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../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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../Importers/ImportObjDemo/LoadMeshFromObj.cpp
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../Importers/ImportSTLDemo/ImportSTLSetup.h
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../Importers/ImportSTLDemo/LoadMeshFromSTL.h
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../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
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../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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../ThirdPartyLibs/tinyxml/tinystr.cpp
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../ThirdPartyLibs/tinyxml/tinyxml.cpp
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../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
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../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
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../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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../ThirdPartyLibs/stb_image/stb_image.cpp
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../MultiThreading/b3ThreadSupportInterface.cpp
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../MultiThreading/b3ThreadSupportInterface.h
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)
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
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)
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LINK_LIBRARIES(
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Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
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)
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IF (WIN32)
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ADD_EXECUTABLE(App_SharedMemoryPhysics
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${SharedMemory_SRCS}
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main.cpp
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../MultiThreading/b3Win32ThreadSupport.cpp
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../MultiThreading/b3Win32ThreadSupport.h
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${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
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)
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ELSE(WIN32)
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IF(APPLE)
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LINK_LIBRARIES( pthread dl )
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ADD_EXECUTABLE(App_SharedMemoryPhysics
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${SharedMemory_SRCS}
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../MultiThreading/b3PosixThreadSupport.cpp
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../MultiThreading/b3PosixThreadSupport.h
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main.cpp
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)
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ELSE(APPLE)
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LINK_LIBRARIES( pthread dl )
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ADD_EXECUTABLE(App_SharedMemoryPhysics
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${SharedMemory_SRCS}
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../MultiThreading/b3PosixThreadSupport.cpp
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../MultiThreading/b3PosixThreadSupport.h
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main.cpp
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)
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ENDIF(APPLE)
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ENDIF(WIN32)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
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)
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ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)
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LINK_LIBRARIES(
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Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK OpenGLWindow
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)
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IF (WIN32)
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ADD_DEFINITIONS(-DGLEW_STATIC)
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LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
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ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
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${SharedMemory_SRCS}
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../StandaloneMain/main_opengl_single_example.cpp
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../ExampleBrowser/OpenGLGuiHelper.cpp
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../ExampleBrowser/GL_ShapeDrawer.cpp
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../ExampleBrowser/CollisionShape2TriangleMesh.cpp
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../MultiThreading/b3Win32ThreadSupport.cpp
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../MultiThreading/b3Win32ThreadSupport.h
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${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
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)
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ELSE(WIN32)
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IF(APPLE)
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LINK_LIBRARIES( pthread dl )
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FIND_LIBRARY(COCOA NAMES Cocoa)
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MESSAGE(${COCOA})
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LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
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ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
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${SharedMemory_SRCS}
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../StandaloneMain/main_opengl_single_example.cpp
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../ExampleBrowser/OpenGLGuiHelper.cpp
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../ExampleBrowser/GL_ShapeDrawer.cpp
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../ExampleBrowser/CollisionShape2TriangleMesh.cpp
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../MultiThreading/b3PosixThreadSupport.cpp
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../MultiThreading/b3PosixThreadSupport.h
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)
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ELSE(APPLE)
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LINK_LIBRARIES( pthread dl )
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ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
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ADD_DEFINITIONS("-DGLEW_STATIC")
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ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
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ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
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${SharedMemory_SRCS}
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../StandaloneMain/main_opengl_single_example.cpp
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../ExampleBrowser/OpenGLGuiHelper.cpp
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../ExampleBrowser/GL_ShapeDrawer.cpp
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../ExampleBrowser/CollisionShape2TriangleMesh.cpp
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../MultiThreading/b3PosixThreadSupport.cpp
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../MultiThreading/b3PosixThreadSupport.h
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)
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ENDIF(APPLE)
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ENDIF(WIN32)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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@@ -128,18 +128,16 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
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bool allowCreation = true;
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bool allConnected = false;
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int numConnected = 0;
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int counter = 0;
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for (int block=0;block<MAX_SHARED_MEMORY_BLOCKS;block++)
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{
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if (m_data->m_areConnected[block])
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{
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allConnected = true;
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numConnected++;
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b3Warning("connectSharedMemory, while already connected");
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continue;
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}
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@@ -163,6 +161,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
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b3Printf("Created and initialized shared memory block\n");
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}
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m_data->m_areConnected[block] = true;
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numConnected++;
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} else
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{
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m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE);
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@@ -181,6 +180,8 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
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}
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}
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allConnected = (numConnected==MAX_SHARED_MEMORY_BLOCKS);
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return allConnected;
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}
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@@ -81,6 +81,8 @@ int main(int argc, char* argv[])
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example->initPhysics();
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while (example->isConnected() && !(example->wantsTermination() || interrupted))
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{
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example->stepSimulation(1.f/60.f);
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