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

build_and_run_cmake_pybullet_double.sh

@@ -2,5 +2,9 @@
 rm CMakeCache.txt
 mkdir build_cmake
 cd build_cmake
-cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
+cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
 make -j12
+cd examples
+cd pybullet
+ln -s pybullet.dylib pybullet.so
+

examples/CMakeLists.txt

@@ -1,6 +1,6 @@
 SUBDIRS( HelloWorld BasicDemo )
 IF(BUILD_BULLET3)
-	SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
+	SUBDIRS( ExampleBrowser SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
 ENDIF()
 IF(BUILD_PYBULLET)
 	SUBDIRS(pybullet)

examples/SharedMemory/CMakeLists.txt

@@ -0,0 +1,205 @@
+
+
+SET(SharedMemory_SRCS
+	IKTrajectoryHelper.cpp
+	IKTrajectoryHelper.h
+	PhysicsClient.cpp
+	PhysicsClientSharedMemory.cpp
+	PhysicsClientExample.cpp
+	PhysicsServerExample.cpp
+	PhysicsServerSharedMemory.cpp
+	PhysicsServerSharedMemory.h
+	PhysicsServer.cpp
+	PhysicsServer.h
+	PhysicsClientC_API.cpp
+	SharedMemoryCommands.h
+	SharedMemoryPublic.h
+	PhysicsServer.cpp
+	PosixSharedMemory.cpp
+	Win32SharedMemory.cpp
+	InProcessMemory.cpp
+	PhysicsDirect.cpp
+	PhysicsDirect.h
+	PhysicsDirectC_API.cpp
+	PhysicsDirectC_API.h
+	PhysicsLoopBack.cpp
+	PhysicsLoopBack.h
+	PhysicsLoopBackC_API.cpp
+	PhysicsLoopBackC_API.h
+	PhysicsClientSharedMemory_C_API.cpp
+	PhysicsClientSharedMemory_C_API.h
+	PhysicsClientSharedMemory2_C_API.cpp
+	PhysicsClientSharedMemory2_C_API.h
+	PhysicsClientSharedMemory2.cpp
+	PhysicsClientSharedMemory2.h
+	SharedMemoryCommandProcessor.cpp
+	SharedMemoryCommandProcessor.h
+	PhysicsServerCommandProcessor.cpp
+	PhysicsServerCommandProcessor.h
+	TinyRendererVisualShapeConverter.cpp
+	TinyRendererVisualShapeConverter.h
+	../TinyRenderer/geometry.cpp
+	../TinyRenderer/model.cpp
+	../TinyRenderer/tgaimage.cpp
+	../TinyRenderer/our_gl.cpp
+	../TinyRenderer/TinyRenderer.cpp
+	../OpenGLWindow/SimpleCamera.cpp
+	../OpenGLWindow/SimpleCamera.h
+	../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
+	../Importers/ImportURDFDemo/MultiBodyCreationInterface.h
+	../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+	../Importers/ImportURDFDemo/MyMultiBodyCreator.h
+	../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+	../Importers/ImportURDFDemo/BulletUrdfImporter.h
+	../Importers/ImportURDFDemo/UrdfParser.cpp
+ 	../Importers/ImportURDFDemo/urdfStringSplit.cpp
+	../Importers/ImportURDFDemo/UrdfParser.cpp
+	../Importers/ImportURDFDemo/UrdfParser.h
+	../Importers/ImportURDFDemo/URDF2Bullet.cpp
+	../Importers/ImportURDFDemo/URDF2Bullet.h
+	../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+	../Importers/ImportMJCFDemo/BulletMJCFImporter.h
+	../Utils/b3ResourcePath.cpp
+	../Utils/b3Clock.cpp	
+	../Importers/ImportURDFDemo/URDFImporterInterface.h
+	../Importers/ImportURDFDemo/URDFJointTypes.h
+	../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+	../Importers/ImportObjDemo/LoadMeshFromObj.cpp
+	../Importers/ImportSTLDemo/ImportSTLSetup.h
+	../Importers/ImportSTLDemo/LoadMeshFromSTL.h
+	../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+	../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
+	../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp	
+	../ThirdPartyLibs/tinyxml/tinystr.cpp
+	../ThirdPartyLibs/tinyxml/tinyxml.cpp
+	../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
+	../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+	../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+	../ThirdPartyLibs/stb_image/stb_image.cpp  
+	../MultiThreading/b3ThreadSupportInterface.cpp
+	../MultiThreading/b3ThreadSupportInterface.h
+)
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+)
+
+LINK_LIBRARIES(
+ Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
+)
+
+IF (WIN32)
+        ADD_EXECUTABLE(App_SharedMemoryPhysics
+                ${SharedMemory_SRCS}
+                main.cpp
+                ../MultiThreading/b3Win32ThreadSupport.cpp
+	              ../MultiThreading/b3Win32ThreadSupport.h
+                ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
+        )
+ELSE(WIN32)
+			 IF(APPLE)
+			        LINK_LIBRARIES(  pthread dl )
+			        ADD_EXECUTABLE(App_SharedMemoryPhysics
+			                ${SharedMemory_SRCS}
+			                ../MultiThreading/b3PosixThreadSupport.cpp
+	               			../MultiThreading/b3PosixThreadSupport.h
+			                main.cpp
+			        )
+							
+        ELSE(APPLE)
+         			LINK_LIBRARIES(  pthread dl )
+			        ADD_EXECUTABLE(App_SharedMemoryPhysics
+			                ${SharedMemory_SRCS}
+			                ../MultiThreading/b3PosixThreadSupport.cpp
+	               			../MultiThreading/b3PosixThreadSupport.h
+			                main.cpp
+			        )
+        ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES  DEBUG_POSTFIX "_Debug")
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
+
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+)
+
+ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)
+
+LINK_LIBRARIES(
+ Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK OpenGLWindow
+)
+
+
+
+IF (WIN32)
+ 				ADD_DEFINITIONS(-DGLEW_STATIC)
+				LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
+	
+        ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
+                ${SharedMemory_SRCS}
+								../StandaloneMain/main_opengl_single_example.cpp
+								../ExampleBrowser/OpenGLGuiHelper.cpp
+								../ExampleBrowser/GL_ShapeDrawer.cpp
+								../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+								../MultiThreading/b3Win32ThreadSupport.cpp
+								../MultiThreading/b3Win32ThreadSupport.h
+			          ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
+        )
+ELSE(WIN32)
+			 IF(APPLE)
+			        LINK_LIBRARIES(  pthread dl )
+			        FIND_LIBRARY(COCOA NAMES Cocoa)
+              MESSAGE(${COCOA})
+              LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
+                
+			        ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
+			                ${SharedMemory_SRCS}
+	               			../StandaloneMain/main_opengl_single_example.cpp
+											../ExampleBrowser/OpenGLGuiHelper.cpp
+											../ExampleBrowser/GL_ShapeDrawer.cpp
+											../ExampleBrowser/CollisionShape2TriangleMesh.cpp					
+			                ../MultiThreading/b3PosixThreadSupport.cpp
+	               			../MultiThreading/b3PosixThreadSupport.h
+			        )
+							
+        ELSE(APPLE)
+         			LINK_LIBRARIES(  pthread dl )
+         			ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+              ADD_DEFINITIONS("-DGLEW_STATIC")
+              ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+                
+			        ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
+			                ${SharedMemory_SRCS}
+	              			../StandaloneMain/main_opengl_single_example.cpp
+											../ExampleBrowser/OpenGLGuiHelper.cpp
+											../ExampleBrowser/GL_ShapeDrawer.cpp
+											../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+			                ../MultiThreading/b3PosixThreadSupport.cpp
+	               			../MultiThreading/b3PosixThreadSupport.h
+			        )
+        ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES  DEBUG_POSTFIX "_Debug")
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
+
+
+				

examples/SharedMemory/PhysicsServerSharedMemory.cpp

@@ -128,10 +128,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
 	
 	bool allowCreation = true;
     bool allConnected = false;
-    
+	int numConnected = 0;
-	
-
-   
 	
 	 
 	int counter = 0;
@@ -140,6 +137,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
         if (m_data->m_areConnected[block])
         {
             allConnected = true;
+			numConnected++;
             b3Warning("connectSharedMemory, while already connected");
             continue;
         }
@@ -163,6 +161,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
                         b3Printf("Created and initialized shared memory block\n");
                     }
                     m_data->m_areConnected[block] = true;
+					numConnected++;
                 } else
                 {
                     m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE);
@@ -181,6 +180,8 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
         }
     }
 	
+	allConnected = (numConnected==MAX_SHARED_MEMORY_BLOCKS);
+	
 	return allConnected;
 }
 

examples/SharedMemory/main.cpp

@@ -81,6 +81,8 @@ int main(int argc, char* argv[])
 	
 	
 	example->initPhysics();
+
+	
 	while (example->isConnected() && !(example->wantsTermination() || interrupted))
 	{
 		example->stepSimulation(1.f/60.f);