fix _WIN32 lacking #include <inttypes.h>

allow creation of multiple shared memory segments on win32.
fix pybullet compilation on Visual Studio 2010 (old compiler)

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -162,7 +162,12 @@ FILE* gTimingFile = 0;
 #ifndef __STDC_FORMAT_MACROS
 #define __STDC_FORMAT_MACROS
 #endif //__STDC_FORMAT_MACROS
+
+//see http://stackoverflow.com/questions/18107426/printf-format-for-unsigned-int64-on-windows
+#ifndef _WIN32
 #include <inttypes.h>
+#endif
+
 #define BT_TIMING_CAPACITY 16*65536
 static bool m_firstTiming = true;
 
@@ -246,12 +251,21 @@ struct btTimings
             
             char newname[1024];
 			static int counter2=0;
-         
             sprintf(newname,"%s%d",name,counter2++);
+         
+#ifdef _WIN32
+			
+			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%I64d.%s ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
+				threadId, startTimeDiv1000,startTimeRem1000Str, newname);
+			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%I64d.%s ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
+				threadId, endTimeDiv1000,endTimeRem1000Str,newname);
+
+#else
 			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".%s ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
 				threadId, startTimeDiv1000,startTimeRem1000Str, newname);
 			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".%s ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
 				threadId, endTimeDiv1000,endTimeRem1000Str,newname);
+#endif
 #endif
 
 		}

examples/SharedMemory/Win32SharedMemory.cpp

@@ -2,22 +2,36 @@
 #include "Win32SharedMemory.h"
 #include "Bullet3Common/b3Logging.h"
 #include "Bullet3Common/b3Scalar.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
 #include <windows.h>
 #include <stdio.h>
 //see also https://msdn.microsoft.com/en-us/library/windows/desktop/aa366551%28v=vs.85%29.aspx
 
 
-struct Win32SharedMemoryInteralData
+struct Win32SharedMemorySegment
 {
+	int m_key;
 	HANDLE m_hMapFile;
-
 	void*	m_buf;
 	TCHAR m_szName[1024];
+
+	Win32SharedMemorySegment()
+			:m_hMapFile(0),
+			m_buf(0),
+			m_key(-1)
+	{
+		m_szName[0] = 0;
+	}
+
+};
+
+struct Win32SharedMemoryInteralData
+{
 	
+	btAlignedObjectArray<Win32SharedMemorySegment> m_segments;
+
 	Win32SharedMemoryInteralData()
-		:m_hMapFile(0),
-		m_buf(0)
 	{
 	}
 };
@@ -33,32 +47,53 @@ Win32SharedMemory::~Win32SharedMemory()
 
 void*   Win32SharedMemory::allocateSharedMemory(int key, int size, bool allowCreation)
 {
-	b3Assert(m_internalData->m_buf==0);
+	{
+		
+        Win32SharedMemorySegment* seg = 0;
+        int i=0;
+        
+        for (i=0;i<m_internalData->m_segments.size();i++)
+        {
+            if (m_internalData->m_segments[i].m_key == key)
+            {
+                seg = &m_internalData->m_segments[i];
+                break;
+            }
+        }
+        if (seg)
+        {
+            b3Error("already created shared memory segment using same key");
+            return seg->m_buf;
+        }
 
+    }
+
+	Win32SharedMemorySegment seg;
+	seg.m_key = key;
 #ifdef UNICODE
-	swprintf_s (m_internalData->m_szName,TEXT("MyFileMappingObject%d"),key);
+	swprintf_s (seg.m_szName,TEXT("MyFileMappingObject%d"),key);
 #else
 	
-	sprintf(m_internalData->m_szName,"MyFileMappingObject%d",key);	
+	sprintf(seg.m_szName,"MyFileMappingObject%d",key);	
 #endif
 
 
-	m_internalData->m_hMapFile = OpenFileMapping(
+	seg.m_hMapFile = OpenFileMapping(
                    FILE_MAP_ALL_ACCESS,   // read/write access
                    FALSE,                 // do not inherit the name
-                   m_internalData->m_szName);               // name of mapping object
+                   seg.m_szName);               // name of mapping object
 
-	if (m_internalData->m_hMapFile==NULL)
+	if (seg.m_hMapFile==NULL)
 	{
 		 if (allowCreation)
 		 {
-			  m_internalData->m_hMapFile = CreateFileMapping(
+			  seg.m_hMapFile = CreateFileMapping(
                  INVALID_HANDLE_VALUE,    // use paging file
                  NULL,                    // default security
                  PAGE_READWRITE,          // read/write access
                  0,                       // maximum object size (high-order DWORD)
                  size,						// maximum object size (low-order DWORD)
-                 m_internalData->m_szName);                 // name of mapping object
+                 seg.m_szName);                 // name of mapping object
 		 } else
 		 {
 			   b3Warning("Could not create file mapping object (%d).\n",GetLastError());
@@ -67,37 +102,56 @@ void*   Win32SharedMemory::allocateSharedMemory(int key, int size, bool allowCre
 
 	}
 
-   m_internalData->m_buf =  MapViewOfFile(m_internalData->m_hMapFile,   // handle to map object
+   seg.m_buf =  MapViewOfFile(seg.m_hMapFile,   // handle to map object
                         FILE_MAP_ALL_ACCESS, // read/write permission
                         0,
                         0,
                         size);
 
-   if (m_internalData->m_buf == NULL)
+   if (seg.m_buf == NULL)
 	{
 		b3Warning("Could not map view of file (%d).\n",GetLastError());
-		CloseHandle(m_internalData->m_hMapFile);
+		CloseHandle(seg.m_hMapFile);
 		return 0;
    }
 
-   return m_internalData->m_buf;
+   m_internalData->m_segments.push_back(seg);
+   return seg.m_buf;
 }
 void Win32SharedMemory::releaseSharedMemory(int key, int size)
 {
 
-	if (m_internalData->m_buf)
-	{
+    Win32SharedMemorySegment* seg = 0;
+    int i=0;
+        
+    for (i=0;i<m_internalData->m_segments.size();i++)
+    {
+        if (m_internalData->m_segments[i].m_key == key)
+        {
+            seg = &m_internalData->m_segments[i];
+            break;
+        }
+    }
 
-		UnmapViewOfFile(m_internalData->m_buf);
-		m_internalData->m_buf=0;
+	if (seg==0)
+	{
+		b3Error("Couldn't find shared memory segment");
+		return;
 	}
 
-	if (m_internalData->m_hMapFile)
+	if (seg->m_buf)
 	{
-		CloseHandle(m_internalData->m_hMapFile);
-		m_internalData->m_hMapFile = 0;
+		UnmapViewOfFile(seg->m_buf);
+		seg->m_buf=0;
 	}
 
+	if (seg->m_hMapFile)
+	{
+		CloseHandle(seg->m_hMapFile);
+		seg->m_hMapFile = 0;
+	}
+
+	m_internalData->m_segments.removeAtIndex(i);
 }
 
 Win32SharedMemoryServer::Win32SharedMemoryServer()

examples/pybullet/pybullet.c

@@ -1174,6 +1174,8 @@ static PyObject* pybullet_setGravity(PyObject* self, PyObject* args, PyObject* k
     double gravZ = -10.0;
     int ret;
 	b3PhysicsClientHandle sm  = 0;
+	b3SharedMemoryCommandHandle command;
+	b3SharedMemoryStatusHandle statusHandle;
 
 	int physicsClientId = 0;
 	static char *kwlist[] = { "gravX", "gravY", "gravZ", "physicsClientId", NULL };
@@ -1189,9 +1191,8 @@ static PyObject* pybullet_setGravity(PyObject* self, PyObject* args, PyObject* k
 	}
 	
 
-    b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
-    b3SharedMemoryStatusHandle statusHandle;
-
+    command = b3InitPhysicsParamCommand(sm);
+    
     ret = b3PhysicsParamSetGravity(command, gravX, gravY, gravZ);
     // ret = b3PhysicsParamSetTimeStep(command,  timeStep);
     statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);