expose PyBullet.SHARED_MEMORY_SERVER

connect from 1 different PyBullet client using PyBullet.SHARED_MEMORY)
(don't use more than 1 other client to submit commands in parallel)

examples/CommonInterfaces/CommonExampleInterface.h

@@ -19,13 +19,15 @@ struct CommonExampleOptions
 	const char* m_fileName;
 	class SharedMemoryInterface* m_sharedMem;
 	CommandProcessorCreationInterface* m_commandProcessorCreation;
-	
+    bool m_skipGraphicsUpdate;
+    
 	CommonExampleOptions(struct GUIHelperInterface*	helper, int option=0)
 		:m_guiHelper(helper),
 		m_option(option),
 		m_fileName(0),
 		m_sharedMem(0),
-		m_commandProcessorCreation(0)
+		m_commandProcessorCreation(0),
+        m_skipGraphicsUpdate(false)
 	{
 	}
 

examples/SharedMemory/PhysicsServerExample.cpp

@@ -708,7 +708,8 @@ public:
 	int m_primitiveType;
 	int m_textureId;
 	int m_instanceId;
-	
+    bool m_skipGraphicsUpdate;
+    
 	void mainThreadRelease()
 	{
 		BT_PROFILE("mainThreadRelease");
@@ -725,7 +726,14 @@ public:
 
 	void workerThreadWait()
 	{
-		BT_PROFILE("workerThreadWait");
+        BT_PROFILE("workerThreadWait");
+
+        if (m_skipGraphicsUpdate)
+        {
+            getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+            m_cs->unlock();
+            return;
+        }
 		m_cs2->lock();
 		m_cs->unlock();
 		m_cs2->unlock();
@@ -740,7 +748,7 @@ public:
 		}
 	}
 
-	MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
+	MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper, int skipGraphicsUpdate)
 		:
 	//m_app(app),
 		m_cs(0),
@@ -750,7 +758,10 @@ public:
 		m_debugDraw(0),
 		m_uidGenerator(0),
 		m_texels(0),
-		m_textureId(-1)
+        m_shapeIndex(-1),
+        m_textureId(-1),
+        m_instanceId(-1),
+        m_skipGraphicsUpdate(skipGraphicsUpdate)
 	{
 		m_childGuiHelper = guiHelper;
 
@@ -971,6 +982,7 @@ public:
 		m_getShapeIndex_instance = instance;
 		m_cs->lock();
 		m_cs->setSharedParam(1,eGUIHelperGetShapeIndexFromInstance);
+        getShapeIndex_shapeIndex=-1;
 		workerThreadWait();		
 		return getShapeIndex_shapeIndex;
 	}
@@ -1205,6 +1217,7 @@ public:
 
 		m_cs->lock();
 		m_cs->setSharedParam(1, eGUIUserDebugAddText);
+        m_resultUserDebugTextUid=-1;
 		workerThreadWait();
 
 		return m_resultUserDebugTextUid;
@@ -1237,6 +1250,7 @@ public:
 
 		m_cs->lock();
 		m_cs->setSharedParam(1, eGUIUserDebugAddParameter);
+        m_userDebugParamUid=-1;
 		workerThreadWait();
 
 		return m_userDebugParamUid;
@@ -1265,6 +1279,7 @@ public:
 		m_tmpLine.m_trackingVisualShapeIndex = trackingVisualShapeIndex;
 		m_cs->lock();
 		m_cs->setSharedParam(1, eGUIUserDebugAddLine);
+        m_resultDebugLineUid=-1;
 		workerThreadWait();
 		return m_resultDebugLineUid;
 	}
@@ -1729,9 +1744,6 @@ void	PhysicsServerExample::initPhysics()
 	m_guiHelper->setUpAxis(upAxis);
 
 
-	
-
-
 	m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
 		
 		
@@ -3226,7 +3238,7 @@ extern int gSharedMemoryKey;
 class CommonExampleInterface*    PhysicsServerCreateFuncInternal(struct CommonExampleOptions& options)
 {
 
-	MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
+	MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper, options.m_skipGraphicsUpdate);
 	
 
   	PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper, 

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -7,7 +7,7 @@
 #include <stdio.h>
 #include <string.h>
 #include "PhysicsServerExampleBullet2.h"
-
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "InProcessMemory.h"
 
@@ -158,15 +158,19 @@ class InProcessPhysicsClientExistingExampleBrowser : public PhysicsClientSharedM
 	b3Clock m_clock;
 	unsigned long long int m_prevTime;
 public:
-	InProcessPhysicsClientExistingExampleBrowser (struct GUIHelperInterface* guiHelper)
+	InProcessPhysicsClientExistingExampleBrowser (struct GUIHelperInterface* guiHelper, bool useInProcessMemory, bool skipGraphicsUpdate)
 	{
-		
+        m_sharedMem=0;
-
-		m_sharedMem = new InProcessMemory;
 		CommonExampleOptions options(guiHelper);
-		options.m_sharedMem = m_sharedMem;
+        
-			
+        if (useInProcessMemory)
-		m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
+        {
+            m_sharedMem = new InProcessMemory;
+            options.m_sharedMem = m_sharedMem;
+        }
+        
+        options.m_skipGraphicsUpdate = skipGraphicsUpdate;
+        m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
 		m_physicsServerExample ->initPhysics();
 		m_physicsServerExample ->resetCamera();
 		setSharedMemoryInterface(m_sharedMem);
@@ -251,9 +255,36 @@ int b3InProcessMouseButtonCallback(b3PhysicsClientHandle clientHandle, int butto
 
 B3_SHARED_API	b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr)
 {
+    static DummyGUIHelper noGfx;
+    
 	GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
-	InProcessPhysicsClientExistingExampleBrowser* cl  = new InProcessPhysicsClientExistingExampleBrowser(guiHelper);
+    if (!guiHelper)
-	//InProcessPhysicsClientFromGuiHelper* cl = new InProcessPhysicsClientFromGuiHelper(guiHelper);
+    {
+        guiHelper = &noGfx;
+    }
+    bool useInprocessMemory = true;
+    bool skipGraphicsUpdate = false;
+    
+	InProcessPhysicsClientExistingExampleBrowser* cl  = new InProcessPhysicsClientExistingExampleBrowser(guiHelper,useInprocessMemory,skipGraphicsUpdate);
+	
     cl->connect();
 	return (b3PhysicsClientHandle ) cl;
 }
+
+B3_SHARED_API    b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr)
+{
+    static DummyGUIHelper noGfx;
+    
+    GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
+    if (!guiHelper)
+    {
+        guiHelper = &noGfx;
+    }
+    bool useInprocessMemory = false;
+    bool skipGraphicsUpdate = true;
+    InProcessPhysicsClientExistingExampleBrowser* cl  = new InProcessPhysicsClientExistingExampleBrowser(guiHelper, useInprocessMemory, skipGraphicsUpdate);
+    
+    cl->connect();
+    return (b3PhysicsClientHandle ) cl;
+}
+

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h

@@ -16,7 +16,9 @@ B3_SHARED_API	b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectShar
 B3_SHARED_API	b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[]);
 B3_SHARED_API	b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]);
 
-B3_SHARED_API	b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
+//B3_SHARED_API	b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
+//create a shared memory physics server, with a DummyGUIHelper (no graphics)
+B3_SHARED_API    b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr);
 
 ///ignore the following APIs, they are for internal use for example browser
 void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle);

examples/SharedMemory/SharedMemoryPublic.h

@@ -668,6 +668,7 @@ enum eCONNECT_METHOD {
   eCONNECT_EXISTING_EXAMPLE_BROWSER=6,
   eCONNECT_GUI_SERVER=7,
   eCONNECT_GUI_MAIN_THREAD=8,
+  eCONNECT_SHARED_MEMORY_SERVER=9,
 };
 
 enum eURDF_Flags

examples/pybullet/pybullet.c

@@ -397,6 +397,11 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 #endif
 				break;
 			}
+            case eCONNECT_SHARED_MEMORY_SERVER:
+            {
+                sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(0);
+                break;
+            }
 			case eCONNECT_DIRECT:
 			{
 				sm = b3ConnectPhysicsDirect();
@@ -594,6 +599,42 @@ static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyOb
 }
 
 
+static PyObject* pybullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject* keywds)
+{
+    
+    b3PhysicsClientHandle sm = 0;
+    int physicsClientId = 0;
+    static char* kwlist[] = {"physicsClientId", NULL};
+    if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
+    {
+        return NULL;
+    }
+    sm = getPhysicsClient(physicsClientId);
+    if (sm == 0)
+    {
+        PyErr_SetString(SpamError, "Not connected to physics server.");
+        return NULL;
+    }
+   
+    b3SharedMemoryCommandHandle command;
+    b3SharedMemoryStatusHandle statusHandle;
+    int statusType;
+    
+    command = b3InitSyncBodyInfoCommand(sm);
+    statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+    statusType = b3GetStatusType(statusHandle);
+    
+    if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
+    {
+        PyErr_SetString(SpamError, "Error in syncBodyzInfo command.");
+        return NULL;
+    }
+    
+    Py_INCREF(Py_None);
+    return Py_None;
+}
+
+
 static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	const char* worldFileName = "";
@@ -8611,6 +8652,8 @@ static PyMethodDef SpamMethods[] = {
 	"disconnect(physicsClientId=0)\n"
 	 "Disconnect from the physics server."},
 
+   
+    
 	 {"getConnectionInfo", (PyCFunction)pybullet_getConnectionInfo, METH_VARARGS | METH_KEYWORDS,
 	  "getConnectionInfo(physicsClientId=0)\n"
 	  "Return if a given client id is connected, and using what method."},
@@ -8725,6 +8768,10 @@ static PyMethodDef SpamMethods[] = {
 	{"getBodyInfo", (PyCFunction)pybullet_getBodyInfo, METH_VARARGS | METH_KEYWORDS,
 	 "Get the body info, given a body unique id."},
 
+    {"syncBodyInfo", (PyCFunction)pybullet_syncBodyInfo, METH_VARARGS | METH_KEYWORDS,
+        "syncBodyInfo(physicsClientId=0)\n"
+        "Update body and constraint/joint information, in case other clients made changes."},
+    
 	{"removeBody", (PyCFunction)pybullet_removeBody, METH_VARARGS | METH_KEYWORDS,
 	 "Remove a body by its body unique id."},
 
@@ -9113,7 +9160,11 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP);        // user read
 	PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER);        // user read
 	PyModule_AddIntConstant(m, "GUI_MAIN_THREAD", eCONNECT_GUI_MAIN_THREAD);        // user read
+    PyModule_AddIntConstant(m, "SHARED_MEMORY_SERVER", eCONNECT_SHARED_MEMORY_SERVER);        // user read
 
+    PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY", SHARED_MEMORY_KEY);
+    PyModule_AddIntConstant(m, "SHARED_MEMORY_KEY2", SHARED_MEMORY_KEY+1);
+    
 	PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType);        // user read
 	PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType);      // user read
 	PyModule_AddIntConstant(m, "JOINT_SPHERICAL", eSphericalType);      // user read