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Merge pull request #509 from erwincoumans/master

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fix case sensitive issue
This commit is contained in:
erwincoumans
2015-10-30 11:00:27 -07:00
parent d3796ff814 c68c215ead
commit 5cea0d8660
11 changed files with 304 additions and 74 deletions
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5
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -215,6 +215,11 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
#ifdef ENABLE_LUA
ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",

4
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -71,6 +71,7 @@ extern bool useShadowMap;
static bool visualWireframe=false;
static bool renderVisualGeometry=true;
static bool renderGrid = true;
static bool renderGui = true;
static bool enable_experimental_opencl = false;
int gDebugDrawFlags = 0;
@@ -170,6 +171,7 @@ void MyKeyboardCallback(int key, int state)
if (key=='g' && state)
{
renderGrid = !renderGrid;
renderGui = !renderGui;
}
@@ -1041,7 +1043,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
}
static int toggle = 1;
if (1)
if (renderGui)
{
if (!pauseSimulation)
processProfileData(s_profWindow,false);

2
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -367,7 +367,7 @@ void ImportUrdfSetup::initPhysics()
m_guiHelper->createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(0,0,0);
groundOrigin[upAxis]=-2;//.5;
groundOrigin[upAxis]=-2.5;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
//m_dynamicsWorld->removeRigidBody(body);

298
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -109,6 +109,123 @@ struct InternalBodyHandle : public InteralBodyData
}
};
class btCommandChunk
{
public:
int m_chunkCode;
int m_length;
void *m_oldPtr;
int m_dna_nr;
int m_number;
};
struct CommandLogger
{
FILE* m_file;
void writeHeader(unsigned char* buffer) const
{
#ifdef BT_USE_DOUBLE_PRECISION
memcpy(buffer, "BT3CMDd", 7);
#else
memcpy(buffer, "BT3CMDf", 7);
#endif //BT_USE_DOUBLE_PRECISION
int littleEndian= 1;
littleEndian= ((char*)&littleEndian)[0];
if (sizeof(void*)==8)
{
buffer[7] = '-';
} else
{
buffer[7] = '_';
}
if (littleEndian)
{
buffer[8]='v';
} else
{
buffer[8]='V';
}
buffer[9] = 0;
buffer[10] = 0;
buffer[11] = 0;
int ver = btGetVersion();
if (ver>=0 && ver<999)
{
sprintf((char*)&buffer[9],"%d",ver);
}
}
void logCommand(SharedMemoryBlock* testBlock1)
{
btCommandChunk chunk;
chunk.m_chunkCode = testBlock1->m_clientCommands[0].m_type;
chunk.m_oldPtr = 0;
chunk.m_dna_nr = 0;
chunk.m_length = sizeof(SharedMemoryCommand);
chunk.m_number = 1;
fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
fwrite((const char*)&testBlock1->m_clientCommands[0],sizeof(SharedMemoryCommand),1,m_file);
}
CommandLogger(const char* fileName)
{
m_file = fopen(fileName,"wb");
unsigned char buf[15];
buf[12] = 12;
buf[13] = 13;
buf[14] = 14;
writeHeader(buf);
fwrite(buf,12,1,m_file);
}
virtual ~CommandLogger()
{
fclose(m_file);
}
};
struct CommandLogPlayback
{
unsigned char* m_header[12];
FILE* m_file;
CommandLogPlayback(const char* fileName)
{
m_file = fopen(fileName,"rb");
if (m_file)
{
fread(m_header,12,1,m_file);
}
}
virtual ~CommandLogPlayback()
{
if (m_file)
{
fclose(m_file);
m_file=0;
}
}
bool processNextCommand(SharedMemoryCommand* cmd)
{
btCommandChunk chunk;
size_t s = fread((void*)&chunk,sizeof(btCommandChunk),1,m_file);
if (s==1)
{
s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
return (s==1);
}
return false;
}
};
struct PhysicsServerInternalData
{
///handle management
@@ -200,6 +317,9 @@ struct PhysicsServerInternalData
SharedMemoryInterface* m_sharedMemory;
SharedMemoryBlock* m_testBlock1;
CommandLogger* m_commandLogger;
CommandLogPlayback* m_logPlayback;
bool m_isConnected;
btScalar m_physicsDeltaTime;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
@@ -217,8 +337,8 @@ struct PhysicsServerInternalData
btMultiBodyConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btMultiBodyDynamicsWorld* m_dynamicsWorld;
SharedMemoryDebugDrawer* m_debugDrawer;
SharedMemoryDebugDrawer* m_remoteDebugDrawer;
@@ -240,10 +360,12 @@ struct PhysicsServerInternalData
PhysicsServerInternalData()
:m_sharedMemory(0),
m_testBlock1(0),
m_commandLogger(0),
m_logPlayback(0),
m_isConnected(false),
m_physicsDeltaTime(1./240.),
m_dynamicsWorld(0),
m_debugDrawer(0),
m_remoteDebugDrawer(0),
m_guiHelper(0),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false),
@@ -332,6 +454,12 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory()
PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
{
deleteDynamicsWorld();
if (m_data->m_commandLogger)
{
delete m_data->m_commandLogger;
m_data->m_commandLogger = 0;
}
delete m_data;
}
@@ -356,8 +484,8 @@ void PhysicsServerSharedMemory::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
m_data->m_debugDrawer = new SharedMemoryDebugDrawer();
m_data->m_dynamicsWorld->setDebugDrawer(m_data->m_debugDrawer);
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
}
@@ -424,8 +552,8 @@ void PhysicsServerSharedMemory::deleteDynamicsWorld()
delete m_data->m_dynamicsWorld;
m_data->m_dynamicsWorld=0;
delete m_data->m_debugDrawer;
m_data->m_debugDrawer=0;
delete m_data->m_remoteDebugDrawer;
m_data->m_remoteDebugDrawer =0;
delete m_data->m_solver;
m_data->m_solver=0;
@@ -445,8 +573,13 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
{
m_data->m_guiHelper = guiHelper;
if (m_data->m_guiHelper)
{
m_data->m_guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld);
}
bool allowCreation = true;
bool allowConnectToExistingSharedMemory = false;
if (m_data->m_isConnected)
{
@@ -455,41 +588,58 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
}
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE,allowCreation);
if (m_data->m_testBlock1)
{
int magicId =m_data->m_testBlock1->m_magicId;
if (m_data->m_verboseOutput)
int counter = 0;
do
{
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE,allowCreation);
if (m_data->m_testBlock1)
{
b3Printf("magicId = %d\n", magicId);
}
if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
InitSharedMemoryBlock(m_data->m_testBlock1);
int magicId =m_data->m_testBlock1->m_magicId;
if (m_data->m_verboseOutput)
{
b3Printf("Created and initialized shared memory block\n");
b3Printf("magicId = %d\n", magicId);
}
m_data->m_isConnected = true;
} else
if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
InitSharedMemoryBlock(m_data->m_testBlock1);
if (m_data->m_verboseOutput)
{
b3Printf("Created and initialized shared memory block\n");
}
m_data->m_isConnected = true;
} else
{
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_testBlock1 = 0;
m_data->m_isConnected = false;
}
} else
{
b3Error("Server cannot connect to existing shared memory, disconnecting shared memory.\n");
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE);
m_data->m_testBlock1 = 0;
m_data->m_isConnected = false;
b3Error("Cannot connect to shared memory");
m_data->m_isConnected = false;
}
} else
} while (counter++ < 10 && !m_data->m_isConnected);
if (!m_data->m_isConnected)
{
b3Error("Cannot connect to shared memory");
m_data->m_isConnected = false;
b3Error("Server cannot connect to shared memory.\n");
}
return m_data->m_isConnected;
}
void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMemory)
{
if (m_data->m_guiHelper)
{
if (m_data->m_guiHelper && m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getDebugDrawer())
{
m_data->m_dynamicsWorld->setDebugDrawer(0);
}
}
if (m_data->m_verboseOutput)
{
b3Printf("releaseSharedMemory1\n");
@@ -708,15 +858,35 @@ void PhysicsServerSharedMemory::processClientCommands()
{
if (m_data->m_isConnected && m_data->m_testBlock1)
{
if (m_data->m_logPlayback)
{
if (m_data->m_testBlock1->m_numServerCommands>m_data->m_testBlock1->m_numProcessedServerCommands)
{
m_data->m_testBlock1->m_numProcessedServerCommands++;
}
//push a command from log file
bool hasCommand = m_data->m_logPlayback->processNextCommand(&m_data->m_testBlock1->m_clientCommands[0]);
if (hasCommand)
{
m_data->m_testBlock1->m_numClientCommands++;
}
}
///we ignore overflow of integer for now
if (m_data->m_testBlock1->m_numClientCommands> m_data->m_testBlock1->m_numProcessedClientCommands)
{
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_data->m_testBlock1->m_numClientCommands==m_data->m_testBlock1->m_numProcessedClientCommands+1);
const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0];
if (m_data->m_commandLogger)
{
m_data->m_commandLogger->logCommand(m_data->m_testBlock1);
}
m_data->m_testBlock1->m_numProcessedClientCommands++;
//no timestamp yet
int timeStamp = 0;
@@ -749,7 +919,7 @@ void PhysicsServerSharedMemory::processClientCommands()
}
case CMD_REQUEST_DEBUG_LINES:
{
int curFlags =m_data->m_debugDrawer->getDebugMode();
int curFlags =m_data->m_remoteDebugDrawer->getDebugMode();
int debugMode = clientCmd.m_requestDebugLinesArguments.m_debugMode;//clientCmd.btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb;
int startingLineIndex = clientCmd.m_requestDebugLinesArguments.m_startingLineIndex;
@@ -761,23 +931,26 @@ void PhysicsServerSharedMemory::processClientCommands()
if (clientCmd.m_requestDebugLinesArguments.m_startingLineIndex==0)
{
m_data->m_debugDrawer->m_lines2.resize(0);
m_data->m_remoteDebugDrawer->m_lines2.resize(0);
//|btIDebugDraw::DBG_DrawAabb|
// btIDebugDraw::DBG_DrawConstraints |btIDebugDraw::DBG_DrawConstraintLimits ;
m_data->m_debugDrawer->setDebugMode(debugMode);
m_data->m_remoteDebugDrawer->setDebugMode(debugMode);
btIDebugDraw* oldDebugDrawer = m_data->m_dynamicsWorld->getDebugDrawer();
m_data->m_dynamicsWorld->setDebugDrawer(m_data->m_remoteDebugDrawer);
m_data->m_dynamicsWorld->debugDrawWorld();
m_data->m_debugDrawer->setDebugMode(curFlags);
m_data->m_dynamicsWorld->setDebugDrawer(oldDebugDrawer);
m_data->m_remoteDebugDrawer->setDebugMode(curFlags);
}
//9 floats per line: 3 floats for 'from', 3 floats for 'to' and 3 floats for 'color'
int maxNumLines = SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE/(sizeof(float)*9)-1;
if (startingLineIndex >m_data->m_debugDrawer->m_lines2.size())
if (startingLineIndex >m_data->m_remoteDebugDrawer->m_lines2.size())
{
b3Warning("m_startingLineIndex exceeds total number of debug lines");
startingLineIndex =m_data->m_debugDrawer->m_lines2.size();
startingLineIndex =m_data->m_remoteDebugDrawer->m_lines2.size();
}
int numLines = btMin(maxNumLines,m_data->m_debugDrawer->m_lines2.size()-startingLineIndex);
int numLines = btMin(maxNumLines,m_data->m_remoteDebugDrawer->m_lines2.size()-startingLineIndex);
if (numLines)
{
@@ -788,24 +961,24 @@ void PhysicsServerSharedMemory::processClientCommands()
for (int i=0;i<numLines;i++)
{
linesFrom[i*3] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_from.x();
linesTo[i*3] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_to.x();
linesColor[i*3] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_color.x();
linesFrom[i*3] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_from.x();
linesTo[i*3] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_to.x();
linesColor[i*3] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.x();
linesFrom[i*3+1] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_from.y();
linesTo[i*3+1] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_to.y();
linesColor[i*3+1] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_color.y();
linesFrom[i*3+1] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_from.y();
linesTo[i*3+1] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_to.y();
linesColor[i*3+1] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.y();
linesFrom[i*3+2] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_from.z();
linesTo[i*3+2] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_to.z();
linesColor[i*3+2] = m_data->m_debugDrawer->m_lines2[i+startingLineIndex].m_color.z();
linesFrom[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_from.z();
linesTo[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_to.z();
linesColor[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.z();
}
}
SharedMemoryStatus& status = m_data->createServerStatus(CMD_DEBUG_LINES_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
status.m_sendDebugLinesArgs.m_numDebugLines = numLines;
status.m_sendDebugLinesArgs.m_startingLineIndex = startingLineIndex;
status.m_sendDebugLinesArgs.m_numRemainingDebugLines = m_data->m_debugDrawer->m_lines2.size()-(startingLineIndex+numLines);
status.m_sendDebugLinesArgs.m_numRemainingDebugLines = m_data->m_remoteDebugDrawer->m_lines2.size()-(startingLineIndex+numLines);
m_data->submitServerStatus(status);
break;
@@ -1533,17 +1706,14 @@ void PhysicsServerSharedMemory::renderScene()
void PhysicsServerSharedMemory::physicsDebugDraw(int debugDrawFlags)
{
#if 0
if (m_data->m_dynamicsWorld)
{
if (m_data->m_dynamicsWorld->getDebugDrawer())
{
//m_data->m_debugDrawer->m_lines.clear();
//m_data->m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
m_data->m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
m_data->m_dynamicsWorld->debugDrawWorld();
}
m_data->m_dynamicsWorld->debugDrawWorld();
}
#endif
}
@@ -1665,3 +1835,27 @@ void PhysicsServerSharedMemory::removePickingConstraint()
m_data->m_pickingMultiBodyPoint2Point = 0;
}
}
void PhysicsServerSharedMemory::enableCommandLogging(bool enable, const char* fileName)
{
if (enable)
{
if (0==m_data->m_commandLogger)
{
m_data->m_commandLogger = new CommandLogger(fileName);
}
} else
{
if (0!=m_data->m_commandLogger)
{
delete m_data->m_commandLogger;
m_data->m_commandLogger = 0;
}
}
}
void PhysicsServerSharedMemory::replayFromLogFile(const char* fileName)
{
CommandLogPlayback* pb = new CommandLogPlayback(fileName);
m_data->m_logPlayback = pb;
}

4
examples/SharedMemory/PhysicsServer.h
View File

@@ -54,6 +54,10 @@ public:
void physicsDebugDraw(int debugDrawFlags);
void renderScene();
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
};

44
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -29,7 +29,17 @@ public:
virtual void stepSimulation(float deltaTime);
void enableCommandLogging()
{
m_physicsServer.enableCommandLogging(true,"BulletPhysicsCommandLog.bin");
}
void replayFromLogFile()
{
m_physicsServer.replayFromLogFile("BulletPhysicsCommandLog.bin");
}
virtual void resetCamera()
{
@@ -190,18 +200,7 @@ void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
}
extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);
}
return example;
}
btVector3 PhysicsServerExample::getRayTo(int x,int y)
{
@@ -267,3 +266,24 @@ btVector3 PhysicsServerExample::getRayTo(int x,int y)
return rayTo;
}
extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);
}
if (options.m_option & PHYSICS_SERVER_ENABLE_COMMAND_LOGGING)
{
example->enableCommandLogging();
}
if (options.m_option & PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG)
{
example->replayFromLogFile();
}
return example;
}

5
examples/SharedMemory/PhysicsServerExample.h
View File

@@ -1,6 +1,11 @@
#ifndef PHYSICS_SERVER_EXAMPLE_H
#define PHYSICS_SERVER_EXAMPLE_H
enum PhysicsServerOptions
{
PHYSICS_SERVER_ENABLE_COMMAND_LOGGING=1,
PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG=2,
};
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options);

2
examples/SharedMemory/SharedMemoryBlock.h
View File

@@ -2,7 +2,7 @@
#define SHARED_MEMORY_BLOCK_H
#define SHARED_MEMORY_MAGIC_NUMBER 64738
#define SHARED_MEMORY_MAX_COMMANDS 32
#define SHARED_MEMORY_MAX_COMMANDS 4
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#include "SharedMemoryCommands.h"

2
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -26,7 +26,7 @@
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 256
#define MAX_DEGREE_OF_FREEDOM 64
#define MAX_NUM_SENSORS 256
#define MAX_URDF_FILENAME_LENGTH 1024
#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH

10
test/SharedMemory/premake4.lua
View File

@@ -49,10 +49,10 @@ project ("Test_PhysicsLoopBack")
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsLoopback.cpp",
"../../examples/SharedMemory/PhysicsLoopback.h",
"../../examples/SharedMemory/PhysicsLoopbackC_Api.cpp",
"../../examples/SharedMemory/PhysicsLoopbackC_Api.h",
"../../examples/SharedMemory/PhysicsLoopBack.cpp",
"../../examples/SharedMemory/PhysicsLoopBack.h",
"../../examples/SharedMemory/PhysicsLoopBackC_Api.cpp",
"../../examples/SharedMemory/PhysicsLoopBackC_Api.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
@@ -78,4 +78,4 @@ project ("Test_PhysicsLoopBack")
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

2
test/SharedMemory/test.c
View File

@@ -2,7 +2,7 @@
#include "PhysicsClientC_API.h"
#ifdef PHYSICS_LOOP_BACK
#include "PhysicsLoopbackC_API.h"
#include "PhysicsLoopBackC_API.h"
#endif //PHYSICS_LOOP_BACK
#include "SharedMemoryPublic.h"