Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake

Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay))
Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)

CMakeLists.txt

@@ -392,7 +392,6 @@ IF(BUILD_EXTRAS)
 ENDIF(BUILD_EXTRAS)
 
 
-#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
 
 SUBDIRS(src)
 
@@ -425,7 +424,7 @@ ENDIF(INSTALL_LIBS)
 
 #INSTALL of other files requires CMake 2.6
 IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
-	OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF)
+	OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON)
 ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
 
 OPTION(BUILD_UNIT_TESTS "Build Unit Tests"	ON)
@@ -437,9 +436,8 @@ ENDIF()
 
 set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
 list (APPEND BULLET_LIBRARIES LinearMath)
-IF(BUILD_BULLET3)
+list (APPEND BULLET_LIBRARIES Bullet3Common)
-    list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
+list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
-ENDIF(BUILD_BULLET3)
 list (APPEND BULLET_LIBRARIES BulletCollision)
 list (APPEND BULLET_LIBRARIES BulletDynamics)
 list (APPEND BULLET_LIBRARIES BulletSoftBody)

Extras/BulletRobotics/CMakeLists.txt

@@ -0,0 +1,188 @@
+
+INCLUDE_DIRECTORIES(
+		${BULLET_PHYSICS_SOURCE_DIR}/src
+		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+)
+
+SET(BulletRobotics_SRCS
+		../../examples/SharedMemory/IKTrajectoryHelper.cpp
+		../../examples/SharedMemory/IKTrajectoryHelper.h
+		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+		../../examples/OpenGLWindow/SimpleCamera.cpp
+		../../examples/OpenGLWindow/SimpleCamera.h
+		../../examples/TinyRenderer/geometry.cpp
+		../../examples/TinyRenderer/model.cpp
+		../../examples/TinyRenderer/tgaimage.cpp
+		../../examples/TinyRenderer/our_gl.cpp
+		../../examples/TinyRenderer/TinyRenderer.cpp
+		../../examples/SharedMemory/InProcessMemory.cpp
+		../../examples/SharedMemory/PhysicsClient.cpp
+		../../examples/SharedMemory/PhysicsClient.h
+		../../examples/SharedMemory/PhysicsServer.cpp
+		../../examples/SharedMemory/PhysicsServer.h
+		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
+		../../examples/SharedMemory/PhysicsServerSharedMemory.h
+		../../examples/SharedMemory/PhysicsDirect.cpp
+		../../examples/SharedMemory/PhysicsDirect.h
+		../../examples/SharedMemory/PhysicsDirectC_API.cpp
+		../../examples/SharedMemory/PhysicsDirectC_API.h
+		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+		../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
+		../../examples/SharedMemory/PhysicsClientSharedMemory.h
+		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
+		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
+		../../examples/SharedMemory/PhysicsClientC_API.cpp
+	
+		../../examples/SharedMemory/PhysicsClientC_API.h
+		../../examples/SharedMemory/SharedMemoryPublic.h
+
+		../../examples/SharedMemory/Win32SharedMemory.cpp
+		../../examples/SharedMemory/Win32SharedMemory.h
+		../../examples/SharedMemory/PosixSharedMemory.cpp
+		../../examples/SharedMemory/PosixSharedMemory.h
+
+		../../examples/Utils/b3ResourcePath.cpp
+		../../examples/Utils/b3ResourcePath.h
+		../../examples/Utils/RobotLoggingUtil.cpp
+		../../examples/Utils/RobotLoggingUtil.h
+		../../examples/Utils/b3Clock.cpp
+		../../examples/Utils/b3ResourcePath.cpp
+		../../examples/Utils/b3ERPCFMHelper.hpp
+		../../examples/Utils/b3ReferenceFrameHelper.hpp
+		../../examples/Utils/ChromeTraceUtil.cpp
+
+		../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
+		../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
+		../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
+		../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+
+		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
+
+		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
+
+		../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
+		../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
+		../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
+		../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
+		../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
+		../../examples/ThirdPartyLibs/BussIK/Misc.cpp
+		../../examples/ThirdPartyLibs/BussIK/Node.cpp
+		../../examples/ThirdPartyLibs/BussIK/Tree.cpp
+		../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
+
+		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+		../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+		../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+		../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+		../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+		../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
+		../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+		../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
+
+		../../examples/MultiThreading/b3PosixThreadSupport.cpp
+		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
+		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+		
+
+)
+
+IF(BUILD_CLSOCKET)
+ ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ENDIF(BUILD_CLSOCKET)
+
+IF(WIN32)
+	LINK_LIBRARIES(
+		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+	IF(BUILD_CLSOCKET)
+		ADD_DEFINITIONS(-DWIN32)
+	ENDIF(BUILD_CLSOCKET)
+
+ELSE(WIN32)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+
+	IF(BUILD_CLSOCKET)	
+		ADD_DEFINITIONS(${OSDEF})
+	ENDIF(BUILD_CLSOCKET)
+ENDIF(WIN32)
+
+IF(BUILD_ENET)
+	set(BulletRobotics_SRCS ${BulletRobotics_SRCS} 
+		../../examples/SharedMemory/PhysicsClientUDP.cpp
+		../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
+		../../examples/SharedMemory/PhysicsClientUDP.h		
+		../../examples/SharedMemory/PhysicsClientUDP_C_API.h
+		../../examples/ThirdPartyLibs/enet/win32.c
+		../../examples/ThirdPartyLibs/enet/unix.c
+		../../examples/ThirdPartyLibs/enet/callbacks.c
+		../../examples/ThirdPartyLibs/enet/compress.c
+		../../examples/ThirdPartyLibs/enet/host.c
+		../../examples/ThirdPartyLibs/enet/list.c
+		../../examples/ThirdPartyLibs/enet/packet.c
+		../../examples/ThirdPartyLibs/enet/peer.c
+		../../examples/ThirdPartyLibs/enet/protocol.c
+	)
+
+ENDIF(BUILD_ENET)
+
+IF(BUILD_CLSOCKET)
+	set(BulletRobotics_SRCS ${BulletRobotics_SRCS}
+		../../examples/SharedMemory/PhysicsClientTCP.cpp
+		../../examples/SharedMemory/PhysicsClientTCP.h
+		../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
+		../../examples/SharedMemory/PhysicsClientTCP_C_API.h
+		../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
+		../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
+		../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
+	)
+ENDIF()
+
+ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
+
+
+ADD_LIBRARY(BulletRobotics ${BulletRobotics_SRCS})
+
+SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (BUILD_SHARED_LIBS)
+	TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
+ENDIF (BUILD_SHARED_LIBS)
+
+IF (INSTALL_EXTRA_LIBS)
+	INSTALL(FILES
+		../../examples/SharedMemory/PhysicsClientC_API.h
+		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
+		../../examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h
+		../../examples/SharedMemory/PhysicsDirectC_API.h
+		../../examples/SharedMemory/PhysicsClientUDP_C_API.h
+		../../examples/SharedMemory/PhysicsClientTCP_C_API.h
+		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
+		../../examples/SharedMemory/SharedMemoryPublic.h
+		DESTINATION include/bullet
+		)
+	INSTALL(TARGETS
+		BulletRobotics
+		LIBRARY DESTINATION lib${LIB_SUFFIX}
+		ARCHIVE DESTINATION lib${LIB_SUFFIX}
+		)
+		
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(BulletRobotics  PROPERTIES FRAMEWORK true)
+			SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		
+ENDIF (INSTALL_EXTRA_LIBS)

Extras/CMakeLists.txt

@@ -1,8 +1,6 @@
-SUBDIRS( obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
+SUBDIRS( InverseDynamics BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
+
 
-IF(BUILD_BULLET3)
-	SUBDIRS( InverseDynamics)
-ENDIF()
 
 #Maya Dynamica plugin is moved to http://dynamica.googlecode.com
 

build_visual_studio_vr_pybullet_double_cmake.bat

@@ -1,4 +1,4 @@
 mkdir build_cmake
 cd build_cmake
-cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib -G "Visual Studio 14 2015" ..
+cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.3.amd64\include -DPYTHON_LIBRARY=c:\python-3.5.3.amd64\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.3.amd64\libs\python35_d.lib -G "Visual Studio 14 2015 Win64" ..
 start .

examples/SharedMemory/CMakeLists.txt

@@ -324,4 +324,4 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
                         SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 
-ENDIF(WIN32)
+ENDIF(WIN32 OR APPLE)

examples/SharedMemory/PhysicsClientC_API.h

@@ -15,7 +15,15 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
 #include "PhysicsClientSharedMemory_C_API.h"
 #include "PhysicsClientSharedMemory2_C_API.h"
 #include "PhysicsDirectC_API.h"
+
+#ifdef BT_ENABLE_ENET
 #include "PhysicsClientUDP_C_API.h"
+#endif
+
+#ifdef BT_ENABLE_CLSOCKET
+#include "PhysicsClientTCP_C_API.h"
+#endif
+
 #include "SharedMemoryInProcessPhysicsC_API.h"
 
 #ifdef __cplusplus

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -293,29 +293,108 @@ struct CommandLogger
 
 	void logCommand(const SharedMemoryCommand& command)
 	{
-		btCommandChunk chunk;
+		if (m_file)
-		chunk.m_chunkCode = command.m_type;
+		{
-		chunk.m_oldPtr = 0;
+			btCommandChunk chunk;
-		chunk.m_dna_nr = 0;
+			chunk.m_chunkCode = command.m_type;
-		chunk.m_length = sizeof(SharedMemoryCommand);
+			chunk.m_oldPtr = 0;
-		chunk.m_number = 1;
+			chunk.m_dna_nr = 0;
-		fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
+			chunk.m_length = sizeof(SharedMemoryCommand);
-		fwrite((const char*)&command,sizeof(SharedMemoryCommand),1,m_file);
+			chunk.m_number = 1;
+			fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
+			
+			switch (command.m_type)
+			{
+				
+				case CMD_LOAD_MJCF:
+				{
+					fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
+					fwrite((const char*)&command.m_mjcfArguments , sizeof(MjcfArgs),1,m_file);
+					break;
+				}
+				case CMD_REQUEST_BODY_INFO:
+                {
+					fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
+					fwrite((const char*)&command.m_sdfRequestInfoArgs, sizeof(SdfRequestInfoArgs),1,m_file);
+					break;
+				}
+				case CMD_REQUEST_VISUAL_SHAPE_INFO:
+				{
+					fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
+					fwrite((const char*)&command.m_requestVisualShapeDataArguments, sizeof(RequestVisualShapeDataArgs),1,m_file);
+					break;
+				}
+				case CMD_LOAD_URDF:
+                {
+					fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
+					fwrite((const char*)&command.m_urdfArguments, sizeof(UrdfArgs),1,m_file);
+					break;
+				 }
+				 case CMD_INIT_POSE:
+				 {
+					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
+					 fwrite((const char*)&command.m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
+					break;
+				 };
+				 case CMD_REQUEST_ACTUAL_STATE:
+				 {
+					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
+					 fwrite((const char*)&command.m_requestActualStateInformationCommandArgument,
+						 sizeof(RequestActualStateArgs),1,m_file);
+					break;
+				 };
+				 case CMD_SEND_DESIRED_STATE:
+				 {
+					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
+					 fwrite((const char*)&command.m_sendDesiredStateCommandArgument,sizeof(SendDesiredStateArgs),1,m_file);
+					 break;
+				 }
+				 case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
+				 {
+					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
+					 fwrite((const char*)&command.m_physSimParamArgs, sizeof(SendPhysicsSimulationParameters), 1,m_file);
+					 break;
+				 }
+				 case CMD_REQUEST_CONTACT_POINT_INFORMATION:
+				 {
+					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
+					 fwrite((const char*)&command.m_requestContactPointArguments,sizeof(RequestContactDataArgs),1,m_file);
+					 break;
+				 }
+				case CMD_STEP_FORWARD_SIMULATION:
+				case CMD_RESET_SIMULATION:
+				case CMD_REQUEST_INTERNAL_DATA:
+				{
+					break;
+				};
+				default:
+				{
+					fwrite((const char*)&command,sizeof(SharedMemoryCommand),1,m_file);
+				}
+
+			};
+		}
 	}
 
 	CommandLogger(const char* fileName)
 	{
 		m_file = fopen(fileName,"wb");
-		unsigned char buf[15];
+		if (m_file)
-		buf[12] = 12;
+		{
-		buf[13] = 13;
+			unsigned char buf[15];
-		buf[14] = 14;
+			buf[12] = 12;
-		writeHeader(buf);
+			buf[13] = 13;
-		fwrite(buf,12,1,m_file);
+			buf[14] = 14;
+			writeHeader(buf);
+			fwrite(buf,12,1,m_file);
+		}
 	}
 	virtual ~CommandLogger()
 	{
-		fclose(m_file);
+		if (m_file)
+		{
+			fclose(m_file);
+		}
 	}
 };
 
@@ -355,28 +434,162 @@ struct CommandLogPlayback
 	}
 	bool processNextCommand(SharedMemoryCommand* cmd)
 	{
+//for a little while, keep this flag to be able to read 'old' log files
+//#define BACKWARD_COMPAT
+#if BACKWARD_COMPAT
+		SharedMemoryCommand unused;
+#endif//BACKWARD_COMPAT
+		bool result = false;
+
 		if (m_file)
 		{
 			size_t s = 0;
-
+			int commandType = -1;
 
 			if (m_fileIs64bit)
 			{
 				bCommandChunkPtr8 chunk8;
 				s = fread((void*)&chunk8,sizeof(bCommandChunkPtr8),1,m_file);
+				commandType = chunk8.code;
 			} else
 			{
 				bCommandChunkPtr4 chunk4;
 				s = fread((void*)&chunk4,sizeof(bCommandChunkPtr4),1,m_file);
+				commandType = chunk4.code;
 			}
 
 			if (s==1)
 			{
-				s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
+				memset(cmd,0,sizeof(SharedMemoryCommand));
-				return (s==1);
+				cmd->m_type = commandType;				
+
+#ifdef BACKWARD_COMPAT
+				s = fread(&unused,sizeof(SharedMemoryCommand),1,m_file);
+				cmd->m_updateFlags = unused.m_updateFlags;
+#endif
+
+
+				switch (commandType)
+				{
+				case CMD_LOAD_MJCF:
+				{
+#ifdef BACKWARD_COMPAT
+					cmd->m_mjcfArguments = unused.m_mjcfArguments;
+#else
+					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
+					fread(&cmd->m_mjcfArguments,sizeof(MjcfArgs),1,m_file);
+#endif
+					result=true;
+					break;
+				}
+				case CMD_REQUEST_BODY_INFO:
+                {
+#ifdef BACKWARD_COMPAT
+					cmd->m_sdfRequestInfoArgs = unused.m_sdfRequestInfoArgs;
+#else
+					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
+					fread(&cmd->m_sdfRequestInfoArgs,sizeof(SdfRequestInfoArgs),1,m_file);					
+#endif
+					result=true;
+					break;
+				}
+				case CMD_REQUEST_VISUAL_SHAPE_INFO:
+				{
+#ifdef BACKWARD_COMPAT
+					cmd->m_requestVisualShapeDataArguments = unused.m_requestVisualShapeDataArguments;
+#else
+					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
+					fread(&cmd->m_requestVisualShapeDataArguments,sizeof(RequestVisualShapeDataArgs),1,m_file);					
+#endif
+					result=true;
+					break;
+				}
+				 case CMD_LOAD_URDF:
+                {
+#ifdef BACKWARD_COMPAT
+					 cmd->m_urdfArguments = unused.m_urdfArguments;
+#else
+					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
+					fread(&cmd->m_urdfArguments,sizeof(UrdfArgs),1,m_file);					
+#endif
+					result=true;
+					break;
+				 }
+				 case CMD_INIT_POSE:
+				 {
+#ifdef BACKWARD_COMPAT
+					 cmd->m_initPoseArgs = unused.m_initPoseArgs;
+#else
+					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
+					fread(&cmd->m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);					
+
+#endif
+					 result=true;
+					break;
+				 };
+				 case CMD_REQUEST_ACTUAL_STATE:
+				 {
+#ifdef BACKWARD_COMPAT					 
+					cmd->m_requestActualStateInformationCommandArgument = unused.m_requestActualStateInformationCommandArgument;
+#else
+					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
+					fread(&cmd->m_requestActualStateInformationCommandArgument,sizeof(RequestActualStateArgs),1,m_file);					
+#endif
+					 result=true;
+					break;
+				 };
+				 case CMD_SEND_DESIRED_STATE:
+				 {
+#ifdef BACKWARD_COMPAT	
+					 cmd->m_sendDesiredStateCommandArgument = unused.m_sendDesiredStateCommandArgument;
+#else
+					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
+					fread(&cmd->m_sendDesiredStateCommandArgument ,sizeof(SendDesiredStateArgs),1,m_file);					
+
+#endif
+					 result = true;
+					 break;
+				 }
+				 case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
+				 {
+#ifdef BACKWARD_COMPAT	
+					 cmd->m_physSimParamArgs = unused.m_physSimParamArgs;
+					 #else
+					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
+					fread(&cmd->m_physSimParamArgs ,sizeof(SendPhysicsSimulationParameters),1,m_file);					
+
+					 #endif
+					 result = true;
+					 break;
+				 }
+				 case CMD_REQUEST_CONTACT_POINT_INFORMATION:
+				 {
+#ifdef BACKWARD_COMPAT	
+					 cmd->m_requestContactPointArguments = unused.m_requestContactPointArguments;
+					 #else
+					 fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
+					fread(&cmd->m_requestContactPointArguments ,sizeof(RequestContactDataArgs),1,m_file);					
+
+					 #endif
+					 result = true;
+					 break;
+				 }
+				 case CMD_STEP_FORWARD_SIMULATION:
+				case CMD_RESET_SIMULATION:
+				case CMD_REQUEST_INTERNAL_DATA:
+				{
+					result=true;
+					break;
+				}
+				default:
+				{
+					s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
+					result=(s==1);
+				}
+				};
 			}
 		}
-		return false;
+		return result;
 
 	}
 };
@@ -3458,7 +3671,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                         serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
                         serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
 						
-						InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
+						InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(sdfInfoArgs.m_bodyUniqueId);
 						if (bodyHandle)
 						{
 							strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName,bodyHandle->m_bodyName.c_str());

src/CMakeLists.txt

@@ -1,10 +1,10 @@
 
 IF(BUILD_BULLET3)
-	SUBDIRS(  Bullet3OpenCL Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry Bullet3Common )
+	SUBDIRS(  Bullet3OpenCL Bullet3Serialize/Bullet2FileLoader Bullet3Dynamics Bullet3Collision Bullet3Geometry )
-	SUBDIRS(  BulletInverseDynamics  )
 ENDIF(BUILD_BULLET3)
 
-SUBDIRS(  BulletSoftBody BulletCollision BulletDynamics LinearMath )
+
+SUBDIRS(   BulletInverseDynamics BulletSoftBody BulletCollision BulletDynamics LinearMath Bullet3Common)
 
 
 IF(INSTALL_LIBS)